Manipulator of setting machine

Abstract

The utility model discloses a mechanical arm of a setting machine, which comprises a workbench, a first suction nozzle assembly, a second suction nozzle assembly, a first servo mechanism and a second servo mechanism, the first servo mechanism and the second servo mechanism are both fixedly arranged on the workbench, the first servo mechanism comprises a first lifting driving device and a first pushing driving device, and the second servo mechanism comprises a second lifting driving device and a second pushing driving device. The second servo mechanism comprises a second lifting driving device and a second pushing driving device, and the first pushing driving device and the second pushing driving device can drive the corresponding first suction nozzle assembly and the corresponding second suction nozzle assembly to move front and back in the length direction of the first pushing driving device and the second pushing driving device correspondingly. The first lifting driving device can respectively drive the first pushing driving device and the first suction nozzle assembly as well as the second pushing driving device and the second suction nozzle assembly to move up and down at the same time. According to the utility model, the simulated floral leaves can be discharged and carried, the labor is saved, the high-precision servo driver is adopted for control, the position precision is high, the continuous work can be realized, the quality is ensured, and the cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, and more specifically, to a manipulator of a shaping machine. Background Art

[0002] At present, a large number of artificial decorative greening products such as plastic leaves, grass, and flowers are formed by a bone shooting machine during the production process. The bone shooting machine is a device suitable for hot pressing and shaping of various artificial plant silk printed leaves. When traditional simulated flower petals and leaves are shaped, they can only be processed manually in a single way. After processing, they need to be manually carried and sent to the bone shooting machine again for the next process. Manual operation is rather troublesome and time-consuming, resulting in low production efficiency, inaccurate shaping alignment, being unfavorable for production, and there are also product quality problems. Content of the Utility Model

[0003] The purpose of the utility model is to overcome the above-mentioned defects in the prior art, and provide a manipulator of a shaping machine that can feed and carry simulated flower and leaves, ensure the accuracy of product control position, can realize continuous operation, can also ensure product quality, improve production efficiency, and reduce labor costs.

[0004] To achieve the above purpose, the utility model provides a manipulator of a shaping machine, which includes a workbench, a first suction nozzle assembly, a second suction nozzle assembly, a first servo mechanism, and a second servo mechanism. The first servo mechanism and the second servo mechanism are both fixedly installed on the workbench. The first servo mechanism includes a first lifting driving device and a first pushing driving device. The second servo mechanism includes a second lifting driving device and a second pushing driving device. The first pushing driving device is fixedly arranged on the lifting part of the first lifting driving device. The first suction nozzle assembly is fixedly arranged on the translation part of the first pushing driving device. The first pushing driving device can drive the first suction nozzle assembly to move back and forth along its length direction. The first lifting driving device can simultaneously drive the first pushing driving device and the first suction nozzle assembly to move up and down. The second pushing driving device is fixedly arranged on the lifting part of the second lifting driving device. The second suction nozzle assembly is fixedly arranged on the translation part of the second pushing driving device. The second pushing driving device can drive the second suction nozzle assembly to move back and forth along its length direction. The second lifting driving device can simultaneously drive the second pushing driving device and the second suction nozzle assembly to move up and down.

[0005] Preferably, the structures of the first and second suction nozzle assemblies are the same. Among them, the first suction nozzle assembly includes a first suction nozzle frame, a first suction nozzle mounting plate, and a first suction nozzle. The first suction nozzle frame is in a U-shaped setting and its opening faces outward. The first suction nozzle mounting plate is fixedly arranged between the openings of the first suction nozzle frame. The first suction nozzle has several and respectively penetrates through the first suction nozzle mounting plate and is arranged downward.

[0006] Preferably, the first and second lifting drive devices have the same structure; wherein, the first lifting drive device includes a first lifting bottom plate, a first lifting top plate, a first lifting guide column, a first bearing lifting plate, a first lifting drive motor, a first lifting screw rod, a first lifting screw rod nut, and a first lifting bearing; the first lifting bottom plate is fixedly arranged on the workbench, the first lifting guide columns are respectively fixedly arranged on the first lifting bottom plate, the first lifting top plate is fixedly arranged on the top of the first lifting guide column, the first lifting drive motor is downwardly mounted on the first lifting top plate through a first lifting motor coupling, the first lifting screw rod is transmission-connected to the output part of the first lifting drive motor and is rotatably mounted between the first lifting top plate and the first lifting bottom plate, the first bearing lifting plate is slidably connected to the first lifting guide column through a first lifting bearing sleeved on each first lifting guide column, and the first lifting screw rod nut is sleeved on the first lifting screw rod and downwardly penetrates the middle part of the first bearing lifting plate.

[0007] Preferably, the first and second push drive devices have the same structure; wherein, the first push drive device includes a first translation guide rail, a first translation slider, a first guide rail aluminum material, a first limit block, a first push motor, a first motor plate, a first toothed belt, a first toothed belt pulley, and a first toothed belt fixing member, the first translation slider is provided with two and respectively mounted downward on the bottom surface of the first bearing lifting plate, the first translation guide rail is fixedly arranged on the top surface of the first guide rail aluminum material along the length direction of the first guide rail aluminum material, the first translation guide rail is cooperatively mounted on the two first translation sliders and can slide back and forth relative to the first translation slider, and the first limit block is transversely arranged One end of the first guide rail aluminum material, the middle part of the first suction nozzle assembly is fixedly connected to the other end of the first guide rail aluminum material, the first push motor is installed on the upper side of the first bearing lifting plate through the first motor plate, the first bearing lifting plate is provided with a first through hole, the first toothed belt fixing member is provided with two and is horizontally and parallelly fixed on the outer side of the middle part of the first suction nozzle assembly and the outer side of the first limit block, the first toothed belt wheel is transmission-connected with the output part of the first push motor passing through the first motor plate, the first toothed belt is sleeved on the first toothed belt wheel and meshed with the first toothed belt wheel, and the two ends of the first toothed belt pass through the first through hole and are fixed in the two first toothed belt fixing members.

[0008] Preferably, the first and second toothed belt fixing members have the same structure; wherein, the first toothed belt fixing members each include a first fixing block, a first clamping block, a first pressure block and a first fixing bolt, the first fixing block is L-shaped, the vertical sections of the first fixing block are respectively fixedly connected to the outer side of the middle part of the first suction nozzle frame and the outer side of the first limit block, the tooth structure on the bottom surface of one end of the first toothed belt is clamped with the tooth structure on the top surface of the first clamping block and is located between the first pressure block and the first clamping block, and the first clamping block is fixedly connected to the first fixing block by four first fixing bolts that pass through its top surface, the first clamping block and the first fixing block in sequence.

[0009] Compared with the prior art, the beneficial effects of the utility model are:

[0010] The utility model has a simple structure and a reasonable design. The first servo mechanism and the second servo mechanism respectively drive the first suction nozzle assembly and the second suction nozzle assembly to move and perform suction, discharge and transportation work on the simulated petals and leaves, which can omit the process of manual discharge and transportation. The first servo mechanism and the second servo mechanism both include a lifting drive device and a pushing drive device, and both are operated by a high-precision servo driver control device, which ensures the accuracy of the product control position, can realize continuous operation, ensure product quality, improve production efficiency, and at the same time save part of the labor cost, thereby relatively reducing the product cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 It is a structural schematic diagram of a manipulator of a shaping machine provided by an embodiment of the utility model;

[0013] Figure 2 It is a partial structural schematic diagram of a manipulator of a shaping machine provided by an embodiment of the utility model;

[0014] Figure 3 It is an enlarged view of a part of the structure of a manipulator of a setting machine provided by an embodiment of the utility model;

[0015] Figure 4 It is a structural schematic diagram of a first toothed belt fixing part and a second toothed belt fixing part of a manipulator of a shaping machine provided by an embodiment of the utility model. DETAILED DESCRIPTION

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0017] Please refer to Figure 1 , the embodiment of the present utility model provides a manipulator for a stenter, including components such as a workbench 1, a first suction nozzle assembly 2, a second suction nozzle assembly 3, a first servo mechanism 40, and a second servo mechanism 60. Each component of this embodiment will be described in detail below in conjunction with the accompanying drawings.

[0018] As Figure 1 shown, both the first servo mechanism 40 and the second servo mechanism 60 can be fixedly installed on the workbench 1. The first servo mechanism 40 includes a first lifting drive device 4 and a first pushing drive device 5, and the second servo mechanism 60 includes a second lifting drive device 6 and a second pushing drive device 7.

[0019] In this embodiment, the first pushing drive device 5 can be fixedly arranged on the lifting part of the first lifting drive device 4, the first suction nozzle assembly 2 is fixedly arranged on the translation part of the first pushing drive device 5, the second pushing drive device 7 is fixedly arranged on the lifting part of the second lifting drive device 6, and the second suction nozzle assembly 3 is fixedly arranged on the translation part of the second pushing drive device 7.

[0020] During specific implementation, the first pushing drive device 5 can drive the first suction nozzle assembly 2 to move back and forth along its length direction, the first lifting drive device 4 can drive the first pushing drive device 5 and the first suction nozzle assembly 2 to move up and down simultaneously, the second pushing drive device 7 can drive the second suction nozzle assembly 3 to move back and forth along its length direction, and the second lifting drive device 6 can drive the second pushing drive device 7 and the second suction nozzle assembly 3 to move up and down simultaneously.

[0021] Preferably, the first suction nozzle assembly 2 can include a first suction nozzle frame 21, a first suction nozzle mounting plate 22, and a first suction nozzle 23. The first suction nozzle frame 21 is arranged in a U shape with its opening facing outward, the first suction nozzle mounting plate 22 is fixedly arranged between the openings of the first suction nozzle frame 21, and several first suction nozzles 23 are provided and respectively penetrate the first suction nozzle mounting plate 22 and are arranged downward.

[0022] As Figure 2 and Figure 3As shown, the first lifting drive device 4 may include a first lifting bottom plate 41, a first lifting top plate 42, a first lifting guide column 43, a first bearing lifting plate 44, a first lifting drive motor 45, a first lifting screw rod 46, a first lifting screw rod nut 47, and a first lifting bearing 48. The first lifting bottom plate 41 is fixedly arranged on the workbench 1, the first lifting guide columns 43 are respectively fixedly arranged on the first lifting bottom plate 41, the first lifting top plate 42 is fixedly arranged on the top of the first lifting guide column 43, the first lifting drive motor 45 is downwardly mounted on the first lifting top plate 42 through a first lifting motor coupling 451, the first lifting screw rod 46 is transmission-connected to the output part of the first lifting drive motor 45 and is rotatably mounted between the first lifting top plate 42 and the first lifting bottom plate 41, the first bearing lifting plate 44 is slidably connected to the first lifting guide column 43 through a first lifting bearing 48 sleeved on each first lifting guide column 43, and the first lifting screw rod nut 47 is sleeved on the first lifting screw rod 46 and passes through the middle part of the first bearing lifting plate 44 downward.

[0023] In a specific implementation, the first lifting drive motor 45 can drive the first lifting screw 46 to rotate and drive the first bearing lifting plate 44 to move up and down along the length direction of the first lifting guide column 43 through the first lifting screw nut 47 .

[0024] Preferably, the first push drive device 5 may include a first translation guide rail 51, a first translation slider 52, a first guide rail aluminum material 53, a first limit block 54, a first push motor 55, a first motor plate 56, a first toothed belt 57, a first toothed belt wheel 58, and a first toothed belt fixing member 59. The first translation slider 52 is provided with two and is respectively mounted downward on the bottom surface of the first bearing lifting plate 44. The first translation guide rail 51 is fixedly arranged on the top surface of the first guide rail aluminum material 53 along the length direction of the first guide rail aluminum material 53. The first translation guide rail 51 is mounted on the two first translation sliders 52 and can slide back and forth relative to the first translation sliders 52. The first limit block 54 is transversely arranged on one side of the first guide rail aluminum material 53. end, the middle part of the first suction nozzle assembly 2 is fixedly connected to the other end of the first guide rail aluminum material 53, the first push motor 55 is installed on the upper side of the first bearing lifting plate 44 through the first motor plate 56, the first bearing lifting plate 44 is provided with a first through hole 441, the first toothed belt fixing member 59 is provided with two and is horizontally and parallelly fixed on the outer side of the middle part of the first suction nozzle assembly 2 and the outer side of the first limit block 54, the first toothed belt pulley 58 is transmission-connected with the output part of the first push motor 55 passing through the first motor plate 56, the first toothed belt 57 is sleeved on the first toothed belt pulley 58 and meshed with the first toothed belt pulley 58, and the two ends of the first toothed belt 57 pass through the first through hole 441 and are fixedly penetrated in the two first toothed belt fixing members 59.

[0025] like Figure 3 and Figure 4As shown in the figure, the first toothed belt fixing member 59 may include a first fixing block 592, a first clamping block 593, a first pressing block 594 and a first fixing bolt 595. The shape of the first fixing block 592 is L-shaped. The vertical sections of the first fixing block 592 are respectively fixedly connected to the outer side of the middle part of the first suction nozzle frame 21 and the outer side of the first limiting block 54. The engaging teeth structure on the bottom surface of one end of the first toothed belt 57 is engaged with the engaging teeth structure on the top surface of the first clamping block 593 and is located between the first pressing block 594 and the first clamping block 593. The first pressing block 594 is fixedly connected to the first fixing block 592 by the first fixing bolts 595 that sequentially pass through the top surface thereof, the first clamping block 593 and the four first fixing blocks 592.

[0026] During specific implementation, the first pushing motor 55 drives the first toothed belt wheel 58 to rotate, thereby driving the first toothed belt 57 engaged with the first toothed belt wheel 58 to move back and forth, and further driving the first suction nozzle assembly 2 fixedly connected to one end of the first toothed belt 57 to translate back and forth.

[0027] Specifically, the second suction nozzle assembly 3 includes a second suction nozzle frame 31, a second suction nozzle mounting plate 32, and second suction nozzles 33. The second suction nozzle frame 31 is in a U-shaped configuration and its opening faces outward. The second suction nozzle mounting plate 32 is fixedly arranged between the openings of the second suction nozzle frame 31. A plurality of second suction nozzles 33 are provided and respectively penetrate through the second suction nozzle mounting plate 32 and are arranged downward.

[0028] Furthermore, the second lifting drive device 6 may include a second lifting bottom plate 61, a second lifting top plate 62, second lifting guide columns 63, a second bearing lifting plate 64, a second lifting drive motor 65, a second lifting lead screw 66, a second lifting lead screw nut 67, and a second lifting bearing 68. The second lifting bottom plate 61 is fixedly arranged on the workbench 1. The second lifting guide columns 63 are respectively fixedly arranged on the second lifting bottom plate 61. The second lifting top plate 62 is fixedly arranged on the top of the second lifting guide columns 63. The second lifting drive motor 65 is mounted downward on the second lifting top plate 62 through a second lifting motor coupling 651. The second lifting lead screw 66 is in transmission connection with the output part of the second lifting drive motor 65 and is rotatably installed between the second lifting top plate 62 and the second lifting bottom plate 61. The second bearing lifting plate 64 is slidably connected to the second lifting guide columns 63 by the second lifting bearings 68 sleeved on each second lifting guide column 63. The second lifting lead screw nut 67 is sleeved on the second lifting lead screw 66 and penetrates downward through the middle of the second bearing lifting plate 64.

[0029] During specific implementation, the second lifting drive motor 65 can drive the second lifting lead screw 66 to rotate and drive the second bearing lifting plate 64 to move up and down along the length direction of the second lifting guide columns 63 through the second lifting lead screw nut 67.

[0030] Preferably, the second push drive device 7 may include a second translation guide rail 71, a second translation slider 72, a second guide rail aluminum material 73, a second limit block 74, a second push motor 75, a second motor plate 76, a second toothed belt 77, a second toothed belt wheel 78, and a second toothed belt fixing member 79. The second translation slider 72 is provided with two and is respectively mounted downward on the bottom surface of the second bearing lifting plate 74. The second translation guide rail 71 is fixedly arranged on the top surface of the second guide rail aluminum material 73 along the length direction of the second guide rail aluminum material 73. The second translation guide rail 71 is cooperated and installed on the two second translation sliders 72 and can slide back and forth relative to the second translation sliders 72. The second limit block 74 is transversely arranged on one side of the second guide rail aluminum material 73. The second end of the second suction nozzle assembly 3 is fixedly connected to the other end of the second guide rail aluminum material 73, the second push motor 75 is installed on the upper side of the second bearing lifting plate 74 through the second motor plate 76, and the second bearing lifting plate 74 is provided with a second through hole 741. The second toothed belt fixing member 79 is provided with two and is horizontally and parallelly fixed on the outer side of the middle part of the second suction nozzle assembly 3 and the outer side of the second limit block 74. The second toothed belt pulley 78 is transmission-connected with the second push motor 77 passing through the output part of the second motor plate 76. The second toothed belt 77 is sleeved on the second toothed belt pulley 78 and meshed with the second toothed belt pulley 78. The two ends of the second toothed belt 77 pass through the second through hole 441 and are fixedly penetrated in the two second toothed belt fixing members 79.

[0031] Specifically, the second toothed belt fixing member 79 may include a second fixing block 792, a second clamping block 793, a second clamping block 794 and a second fixing bolt 797. The second fixing block 792 is L-shaped, and the vertical sections of the second fixing block 792 are fixedly connected to the outer side of the middle part of the second suction nozzle frame 31 and the outer side of the second limit block 74, respectively. The tooth structure on the bottom surface of one end of the second toothed belt 77 is clamped with the tooth structure on the top surface of the second clamping block 793 and is located between the second clamping block 794 and the second clamping block 793. The second clamping block 794 is fixedly connected to the second fixing block 792 by four second fixing bolts 797 that pass through its top surface, the second clamping block 793 and the second fixing block 792 in sequence.

[0032] In specific implementation, the second push motor 75 drives the second toothed belt wheel 78 to rotate, thereby driving the second toothed belt 77 meshing with the second toothed belt wheel 78 to move back and forth, thereby driving the second suction nozzle assembly 3 fixedly connected to one end of the second toothed belt 77 to translate forward and backward.

[0033] In this embodiment, the vacuum joints at the top of the first suction nozzle 23 and the second suction nozzle 33 can be connected to common vacuum adsorption equipment on the market through air pipes to perform suction, release and transportation operations on products such as simulated leaves and petals. This embodiment does not limit the type of suction nozzle.

[0034] It should be noted here that the high-precision servo drivers used in the first lifting drive motor 45, the second lifting drive motor 65, the first pushing motor 55 and the second pushing motor 75 of this embodiment can be connected to computers, control panels, control buttons and other common control devices currently on the market through wires, but this embodiment does not involve structural improvements to the control equipment, which will not be elaborated here.

[0035] To sum up, the utility model uses the first servo mechanism and the second servo mechanism to respectively drive the movement of the respective first suction nozzle assembly and the second suction nozzle assembly to suck, release and transport the simulated petals and leaves, which can omit the process of manual material placement and transportation. The first servo mechanism and the second servo mechanism both include a lifting drive device and a pushing drive device, and both are operated with a high-precision servo driver control device, which ensures the accuracy of the product control position, can achieve continuous operation, ensure product quality, improve production efficiency, and at the same time save part of the labor cost, thereby relatively reducing the product cost.

[0036] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A manipulator for a shaping machine, characterized in that: It includes a workbench (1), a first nozzle assembly (2), a second nozzle assembly (3), a first servo mechanism (40) and a second servo mechanism (60). The first servo mechanism (40) and the second servo mechanism (60) are both fixedly installed on the workbench (1). The first servo mechanism (40) includes a first lifting drive device (4) and a first pushing drive device (5). The second servo mechanism (60) includes a second lifting drive device (6) and a second pushing drive device (7). The first pushing drive device (5) is fixedly arranged on the lifting part of the first lifting drive device (4). The first nozzle assembly (2) is fixedly arranged on the translation part of the first pushing drive device (5). The first pushing drive device (5) can drive the first nozzle assembly (2) to move back and forth along its length direction. The first lifting drive device (4) can simultaneously drive the first pushing drive device (5) and the first nozzle assembly (2) to move up and down. The second pushing drive device (7) is fixedly arranged on the lifting part of the second lifting drive device (6). The second nozzle assembly (3) is fixedly arranged on the translation part of the second pushing drive device (7). The second pushing drive device (7) can drive the second nozzle assembly (3) to move back and forth along its length direction. The second lifting drive device (6) can simultaneously drive the second pushing drive device (7) and the second nozzle assembly (3) to move up and down.

2. The manipulator of a shaping machine according to claim 1, characterized in that: The structures of the first and second nozzle assemblies (2, 3) are the same. Among them, the first nozzle assembly (2) includes a first nozzle frame (21), a first nozzle mounting plate (22), and a first nozzle (23). The first nozzle frame (21) is arranged in a U shape with its opening facing outward. The first nozzle mounting plate (22) is fixedly arranged between the openings of the first nozzle frame (21). A number of first nozzles (23) are provided and respectively penetrate through the first nozzle mounting plate (22) and are arranged downward.

3. The manipulator of a shaping machine according to claim 2, characterized in that: The first and second lifting drive devices (4, 6) have the same structure; wherein the first lifting drive device (4) comprises a first lifting bottom plate (41), a first lifting top plate (42), a first lifting guide column (43), a first bearing lifting plate (44), a first lifting drive motor (45), a first lifting screw rod (46), a first lifting screw rod nut (47), and a first lifting bearing (48); the first lifting bottom plate (41) is fixedly arranged on the workbench (1); the first lifting guide columns (43) are respectively fixedly arranged on the first lifting bottom plate (41); and the first lifting top plate (42) is fixedly arranged on the top of the first lifting guide column (43). The first lifting drive motor (45) is installed downward on the first lifting top plate (42) through a first lifting motor coupling (451); the first lifting screw rod (46) is transmission-connected to the output portion of the first lifting drive motor (45) and is rotatably installed between the first lifting top plate (42) and the first lifting bottom plate (41); the first bearing lifting plate (44) is slidably connected to the first lifting guide column (43) through a first lifting bearing (48) sleeved on each first lifting guide column (43); the first lifting screw rod nut (47) is sleeved on the first lifting screw rod (46) and penetrates downward through the middle of the first bearing lifting plate (44).

4. The manipulator of a shaping machine according to claim 3, characterized in that: The first and second push drive devices (5, 7) have the same structure; wherein the first push drive device (5) comprises a first translation guide rail (51), a first translation slider (52), a first guide rail aluminum material (53), a first limit block (54), a first push motor (55), a first motor plate (56), a first toothed belt (57), a first toothed belt wheel (58), and a first toothed belt fixing member (59); the first translation slider (52) is provided with two and respectively mounted downward on the bottom surface of the first bearing lifting plate (44); the first translation guide rail (51) is fixedly arranged on the top surface of the first guide rail aluminum material (53) along the length direction of the first guide rail aluminum material (53); the first translation guide rail (51) is cooperatively mounted on the two first translation sliders (52) and can slide back and forth relative to the first translation sliders (52); the first limit block (54) is transversely arranged on the first guide slider (52) and the first guide rail (51) is fixedly arranged on the top surface of the first guide rail aluminum material (53) along the length direction of the first guide rail aluminum material (53); the first translation guide rail (51) is cooperatively mounted on the two first translation sliders (52) and can slide back and forth relative to the first translation slider ... and the first guide rail (51) is fixedly arranged on the top surface of the first guide rail aluminum material (53 One end of the rail aluminum material (53), the middle part of the first suction nozzle assembly (2) is fixedly connected to the other end of the first guide rail aluminum material (53), the first push motor (55) is installed on the upper side of the first bearing lifting plate (44) through the first motor plate (56), the first bearing lifting plate (44) is provided with a first through hole (441), the first toothed belt fixing member (59) is provided with two and respectively fixed horizontally and parallelly on the outer side of the middle part of the first suction nozzle assembly (2) and the outer side of the first limit block (54), the first toothed belt wheel (58) is transmission-connected with the output part of the first push motor (55) passing through the first motor plate (56), the first toothed belt (57) is sleeved on the first toothed belt wheel (58) and meshed with the first toothed belt wheel (58), the two ends of the first toothed belt (57) pass through the first through hole (441) and are fixedly penetrated in the two first toothed belt fixing members (59).

5. The manipulator of a shaping machine according to claim 4, characterized in that: The structures of the first and second toothed belt fixing members (59, 79) are the same; wherein, the first toothed belt fixing members (59) each include a first fixing block (592), a first clamping block (593), a first pressing block (594) and a first fixing bolt (595); the first fixing block (592) is L-shaped; the vertical sections of the first fixing block (592) are respectively fixedly connected to the outer side of the middle part of the first suction nozzle frame (21) and the outer side of the first limit block (54); the tooth structure on the bottom surface of one end of the first toothed belt (57) is clamped with the tooth structure on the top surface of the first clamping block (593) and is located between the first clamping block (594) and the first clamping block (593); the first clamping block (594) is fixedly connected to the first fixing block (592) by four first fixing bolts (595) that pass through its top surface, the first clamping block (593) and the first fixing block (592) in sequence.

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