CN107838939B

CN107838939B - Five-linked sucker manipulator system

Info

Publication number: CN107838939B
Application number: CN201711188833.5A
Authority: CN
Inventors: 段宗军; 陈安伟
Original assignee: Anhui Kingpower Equipment and Mould Manufacture Co Ltd
Current assignee: Anhui Kingpower Equipment and Mould Manufacture Co Ltd
Priority date: 2017-11-24
Filing date: 2017-11-24
Publication date: 2023-09-08
Anticipated expiration: 2037-11-24
Also published as: CN107838939A

Abstract

The invention discloses a five-linked sucker manipulator system which comprises a rail frame beam mechanism and five sucker manipulators. The track girder erection mechanism comprises a water balance girder. The sucker manipulator comprises a translation frame plate, a lifting mechanism and a sucker mechanism. The translation frame plate is clamped on the trapezoid wheel rails arranged on the top surface and the bottom surface of the water balance beam through the inclined clamping wheel mechanism, and can translate along the water balance beam under the driving of the translation mechanism. The linkage rod is arranged between the translation frame plates of the five sucker manipulators, so that the distance between the five sucker manipulators is fixed, and the five sucker manipulators are arranged at equal intervals. The sucker mechanism is arranged on the translation frame plate through the lifting mechanism, so that the sucker mechanism can be driven by the lifting mechanism to lift. The lifting mechanism is a lifting mechanism with three times of travel.

Description

Five-linked sucker manipulator system

Technical Field

The invention relates to a sucker manipulator, in particular to a sucker manipulator in a bottom plate riveting line of a refrigerator liner.

Background

The refrigerator liner bottom plate riveting line is used for riveting the port-shaped coaming and the Z-shaped bottom plate, and comprises six stations. In order to ensure the production beat, six stations of the refrigerator liner need to be synchronously linked, so that a five-linked sucker manipulator is needed. Because the five sucker manipulators are connected, the common sliding rail mode and the rack and pinion driving mode are not applicable. Under the slide rail mode, the frictional force between five sucking disc manipulators and the slide rail is great, is difficult to drive the translation. In addition, each sucker manipulator is used for holding the refrigerator liner instead of the flat plate, and has a considerable height. The refrigerator liner is required to be placed into processing equipment on a station from top to bottom through the sucker manipulator, so that the lifting stroke of the sucker manipulator is required to be large, and at least the lifting stroke is required to be doubled to the height of the refrigerator liner. If the design mode of the sucker manipulator lifted by the common cylinder is adopted, the height of the cylinder is required to be very high. On the one hand, the translation rail of the sucker manipulator is required to be erected highly, and on the other hand, a vertically-arranged cylinder with a high height is required to translate on the translation rail, so that the translation rail requires a high up-down space, and the translation rail is a great obstacle for a plate processing line. Therefore, the lifting of the sucker manipulator can be designed to be telescopic, so that the problem that the lifting track is too high in erection and the sucker manipulator needs a very high up-down space is avoided. Patent document CN 206306138U discloses a suction cup manipulator based on a stroke multiplying translation mechanism. The stroke multiplication translation mechanism is a telescopic translation mechanism, so that the stroke multiplication translation mechanism can be designed into a vertical mode to become a lifting mechanism for stroke multiplication, and the telescopic lifting of the sucker manipulator is realized. However, the stroke multiplying translation mechanism needs two racks and gears to form a gear mechanism, and has the following three problems: the first is that the gear stroke multiplication mechanism formed by two oppositely arranged racks meshed with the middle gear is large in size and cannot be applied to the sucker manipulator. Secondly, the assembly precision requirement is higher, and two oppositely arranged racks are strictly parallel, and a slight error can cause the middle gear to be clamped between the two racks. Thirdly, the mechanism is a double-stroke mechanism, the expansion ratio is insufficient, the mechanism is used in a sucker manipulator, and the whole height of the sucker manipulator is still very high.

Disclosure of Invention

The invention aims to solve the problems that: the design can be used for the five allies oneself with sucking disc manipulator of synchronous linkage between six stations of freezer inner bag bottom plate riveting line, and the elevating system of sucking disc manipulator can go up and down with the mode of many times stroke to the frictional force between five sucking disc manipulators and the translation track is less so that translation mechanism drive translation is required.

In order to solve the problems, the invention adopts the following scheme:

a five-linked sucker manipulator system comprises a track girder erecting mechanism and five sucker manipulators; the track frame beam mechanism comprises a water balance beam, a track mechanism and a translation mechanism, wherein the track mechanism and the translation mechanism are arranged on the water balance beam; the sucker manipulator comprises a translation frame plate, a lifting mechanism and a sucker mechanism; the translation frame plate is arranged on the track mechanism and is connected with the translation mechanism, so that the translation frame plate can translate along the water balance beam under the drive of the translation mechanism; a linkage rod is arranged between the translation frame plates of the five sucker manipulators, so that the distance between the five sucker manipulators is fixed, and the five sucker manipulators are arranged at equal intervals; the sucker mechanism is arranged on the translation frame plate through the lifting mechanism, so that the sucker mechanism can be driven by the lifting mechanism to lift; the lifting mechanism comprises a first lifting frame, a second lifting frame, a third lifting frame, a first synchronous belt mechanism and a second synchronous belt mechanism; the first lifting frame is arranged on the translation frame plate and can lift relative to the translation frame plate; the second lifting frame is arranged on the first lifting frame and can lift relative to the first lifting frame; the third lifting frame is arranged on the second lifting frame and can lift relative to the second lifting frame; the first synchronous belt mechanism comprises a first upper synchronous belt pulley and a first lower synchronous belt pulley which are arranged on the first lifting frame; the first upper synchronous pulley and the first lower synchronous pulley are respectively arranged at the upper end and the lower end of the first lifting frame; a first synchronous belt is wound on the first upper synchronous belt pulley and the first lower synchronous belt pulley; one side of a first synchronous belt wound on the first upper synchronous belt wheel and the first lower synchronous belt wheel is fixed on the first fixing piece, and the other side of the first synchronous belt is connected with the second lifting frame through a first connecting block; the first fixing piece is fixed on the translation frame plate; the second synchronous belt mechanism comprises a second upper synchronous belt pulley and a second lower synchronous belt pulley which are arranged on a second lifting frame; the second upper synchronous pulley and the second lower synchronous pulley are respectively arranged at the upper end and the lower end of the second lifting frame; a second synchronous belt is wound on the second upper synchronous belt pulley and the second lower synchronous belt pulley; one side of a second synchronous belt wound on the second upper synchronous belt pulley and the second lower synchronous belt pulley is fixed on the second fixing piece, and the other side of the second synchronous belt is connected with the third lifting frame through a second connecting block; the second fixing piece is fixed on the first lifting frame; the sucking disc mechanism is arranged at the bottom end of the third lifting frame; the first lifting frame is connected with a lifting driving mechanism.

Further, the first synchronous belt mechanism is provided with two synchronous belt mechanisms; the two first synchronous belt mechanisms are respectively arranged at two sides of the second lifting frame.

Further, the device also comprises two track frames; the two first synchronous belt mechanisms are respectively arranged on the two track frames; a vertical second lifting slide rail is arranged on the inner side of the track frame; the second lifting frame is clamped between the second lifting sliding rails of the two track frames through the sliding blocks.

Further, a vertical third sliding rail is arranged on the front surface of the second lifting frame; the third sliding rail consists of two sliding rails; the third lifting frame is arranged on the third sliding rail through a sliding block; the second synchronous belt mechanism is positioned between the two slide rails of the third slide rail; two sides of a second synchronous belt wound on the second upper synchronous belt pulley and the second lower synchronous belt pulley are respectively positioned on the front surface and the back surface of the second lifting frame; the second fixing piece is positioned on the back of the second lifting frame; the second connecting block is positioned on the front surface of the second lifting frame and on the back surface of the third lifting frame.

Further, the lifting driving mechanism comprises a lifting motor, a transmission synchronous pulley and a dragging synchronous belt; the upper end and the lower end of the dragging synchronous belt are respectively fixed with the first lifting frame through an upper dragging fixing piece and a lower dragging fixing piece; the middle of the dragging synchronous belt bypasses the two tensioning wheels and then winds on the transmission synchronous belt wheel, so that the dragging synchronous belt is in an omega structure; the transmission synchronous belt wheel is connected with the lifting motor.

Further, the track mechanism comprises two trapezoidal wheel tracks; the two trapezoid wheel tracks are respectively arranged on the top surface and the bottom surface of the horizontal balance beam along the horizontal balance beam; the translation mechanism comprises a translation motor and a translation synchronous belt; the translation synchronous belt is arranged on the toothed belt wheels arranged at the two ends of the water balance beam and is connected with the translation frame plate; the toothed belt wheel at one end of the water balance beam is connected with a translation motor; the back of the translation frame plate is provided with an inclined clamping wheel mechanism; the translation frame plate is clamped on trapezoid wheel rails arranged on the top surface and the bottom surface of the water balance beam through the inclined clamping wheel mechanism.

Further, the trapezoid wheel rail comprises two roller inclined planes; the inclined clamping mechanism comprises a roller bracket and at least two inclined rollers; the roller bracket is arranged on the translation frame plate; the oblique idler wheel is arranged on the idler wheel bracket; the two oblique rollers are respectively clamped on the roller inclined planes.

Further, the inclined clamping wheel mechanism is four; the two inclined clamping wheel mechanisms are clamped on the trapezoid wheel rail on the top surface of the water balance beam, and the two inclined clamping wheel mechanisms are clamped on the trapezoid wheel rail on the bottom surface of the water balance beam; four oblique rollers on the oblique clamping wheel mechanism are arranged; two oblique rollers are clamped on the roller inclined plane at one side of the trapezoid wheel rail, and the other two oblique rollers are clamped on the roller inclined plane at the other side of the trapezoid wheel rail.

Further, the inclined clamping wheel mechanism also comprises a trapezoid clamping block; the trapezoid clamping block is provided with a trapezoid bayonet and is clamped on the trapezoid wheel rail through the trapezoid bayonet.

Further, the horizontal included angle of the inclined surface of the roller is 45 degrees; the vertical included angle of the axes of the oblique idler wheels is 45 degrees.

The invention has the following technical effects:

1. the lifting device is exquisite in structural design, the second lifting frame can be lifted double that of the first lifting frame, and the third lifting frame can be lifted three times that of the first lifting frame, so that telescopic lifting is realized, and the whole height of the sucker manipulator is one third of the height of the lifting frame after the lifting frame is stretched.

2. The clamping mode between the inclined clamping wheel mechanism and the trapezoid wheel rail enables the friction force between the sucker manipulator and the rail to be small.

Drawings

Fig. 1 is a schematic overall structure of an embodiment of the present invention.

Fig. 2 is an enlarged view of the hidden track support and suction cup mechanism of fig. 1.

Fig. 3 is an enlarged view of one end of the horizontal beam of fig. 2 with a translation motor mounted.

Fig. 4 is an end view of the translating carriage plate mounted to the horizontal cross member.

Fig. 5 is a schematic cross-sectional structure of a trapezoidal wheel track.

Fig. 6 is a schematic view of the structure of the suction cup mechanism in the suction cup manipulator when the suction cup mechanism is lifted.

Fig. 7 is a schematic view of the structure of the suction cup mechanism in the suction cup manipulator when it is lowered.

Fig. 8 is a front view of the suction cup robot lift mechanism.

Fig. 9 is a cross-sectional view of the chuck robot lift mechanism.

Fig. 10 is a rear view of the chuck robot lift mechanism.

Fig. 11 is a schematic view of a simple structure of the suction cup manipulator lifting mechanism.

Detailed Description

The invention is described in further detail below with reference to the accompanying drawings.

As shown in fig. 1 and 2, a five-linked sucker manipulator system comprises a rail frame beam mechanism and five sucker manipulators. The rail frame beam mechanism comprises a water balance beam 2, and a rail mechanism and a translation mechanism which are arranged on the water balance beam 2. The water balance beam 2 is mounted on a track support 29, suspended and horizontal. Five suction cup manipulators are 1A, 1B, 1C, 1D and 1E respectively. The suction cup manipulators 1A, 1B, 1C, 1D and 1E are mounted on the horizontal beam 2, are arranged at equal intervals, and can move along the horizontal beam 2 in synchronization.

As shown in fig. 3 and 4, the track mechanism includes two trapezoidal wheel rails 21. Two trapezoidal wheel rails 21 are respectively mounted on the top surface and the bottom surface of the horizontal balance beam 2 along the horizontal balance beam 2. The trapezoidal wheel rail 21 has a trapezoidal cross section, and as shown in fig. 5, includes two roller inclined surfaces 211 and a middle top surface 212. The roller ramp 211 is at an angle of 35 to 55 degrees, preferably 45 degrees, from the intermediate top surface 212. The bottom surface of the trapezoidal wheel rail 21 is wider than the middle top surface 212 and contacts with the top surface or the bottom surface of the water balance beam 2. The translation mechanism includes a translation motor 22 and a translation timing belt 23. As shown in fig. 6, 7, 8, 9, 10, and 11, the suction cup robot includes a translation stage plate 19, a lifting mechanism, and a suction cup mechanism. The suction cup mechanism is arranged on the translation frame plate 19 through a lifting mechanism and comprises a suction cup frame 181 and a vacuum suction cup 182 arranged on the suction cup frame 181. The translation synchronous belt 23 is arranged on the toothed belt wheels arranged at the two ends of the water balance beam 2 and is fixed with the translation frame plate 19 through a synchronous belt clamping block 26 on the translation frame plate 19. The toothed belt wheel at one end of the water balance beam 2 is connected with a translation motor 22. In fig. 3, 24 is a toothed belt wheel box, and a toothed belt wheel is provided in the toothed belt wheel box 24. The toothed wheel box 24 is provided at the end of the horizontal cross member 2. The translation motor 22 is mounted on the toothed belt wheel box 24 and is connected to the toothed belt wheel in the toothed belt wheel box 24. The rear surface of the translation frame plate 19 is provided with an inclined clamping wheel mechanism 25. The translation frame plate 19 is clamped on the trapezoid wheel rails 21 arranged on the top surface and the bottom surface of the water balance beam 2 through the inclined clamping wheel mechanism 25, so that the translation frame plate 19 can translate along the horizontal beam 2. The oblique clamping wheel mechanism 25, as shown in fig. 4 and 10, comprises a roller bracket 251, at least two oblique rollers 252 and a trapezoid clamping block 253. The roller bracket 252 is mounted on the rear face of the translating carriage plate 19. The diagonal roller 252 is diagonally mounted on the roller bracket 251. The two oblique rollers 252 are respectively clamped on the roller inclined planes 211 in a scissor-edge mode. That is, the vertical angle of the axis of the oblique roller 252 and the horizontal angle of the roller incline 211 have the same angle. That is, the vertical angle of the axis of the oblique roller 252 is 35-55 degrees, preferably 45 degrees.

In this embodiment, the inclined clamping wheel mechanisms 25 on the back of the translation frame plate 19 are four, two are up and two are down. The upper two inclined clamping wheel mechanisms 25 are clamped on the trapezoid wheel rails 21 on the top surface of the water balance beam 2, and the lower two inclined clamping wheel mechanisms 25 are clamped on the trapezoid wheel rails 21 on the bottom surface of the water balance beam 2. The inclined rollers 252 on the inclined roller mechanism 25 are four. Two oblique rollers 252 are clamped on the roller inclined surface 211 on one side of the trapezoid wheel rail 21, and the other two oblique rollers 252 are clamped on the roller inclined surface 211 on the other side of the trapezoid wheel rail 21. The inclined clamping wheel mechanism 25 has two trapezoidal clamping blocks 253. Two trapezoidal blocks 253 are respectively installed at both ends of the roller bracket 251. The trapezoid clamping block 253 is provided with a trapezoid bayonet matched with the trapezoid wheel rail 21, and is clamped on the trapezoid wheel rail 21 through the trapezoid bayonet. As shown in fig. 6 and 7, a linkage rod 191 is disposed between the translation frame plates 19 of the five suction cup manipulators, so that the space between the five suction cup manipulators is fixed. Therefore, when the translation motor 22 drives the translation synchronous belt 23 to move through the toothed belt wheel, the translation synchronous belt 23 drives the translation frame plate 19 to move through the synchronous belt clamping block 26, and then drives the sucker manipulator to move. Because the interval between the five sucking disc manipulators is fixed, the five sucking disc manipulators synchronously move.

The lifting mechanism is a lifting mechanism with three times of travel and comprises a first lifting frame 11, a second lifting frame 12, a third lifting frame 13, a first synchronous belt mechanism, a second synchronous belt mechanism and a lifting driving mechanism. The suction cup mechanism is arranged at the bottom end of the third lifting frame 13. The first lifting frame 11 is mounted on the translating frame plate 19 and can be lifted relative to the translating frame plate 19. Specifically, the back of the first lifting frame 11 is provided with a vertical first lifting slide rail 111, the front of the translation frame plate 19 is provided with a slide block, and the first lifting frame 11 is erected on the slide block of the translation frame plate 19 through the first lifting slide rail 111 on the back, so that the first lifting frame 11 can lift relative to the translation frame plate 19. The first lifting frame 11 is connected to a lifting driving mechanism. The lifting driving mechanism is used for driving the first lifting frame 11 to lift and comprises a lifting motor 168, a transmission synchronous pulley 161 and a dragging synchronous belt 163. The upper and lower ends of the drag timing belt 163 are fixed to the first elevation frame 11 by upper and lower drag fixing members 1621 and 1622, respectively. The upper and lower drag fixing parts 1621 and 1622 are respectively disposed at upper and lower ends of the first lifting frame 11. The middle of the drag timing belt 163 bypasses the two tension pulleys 164 and then winds around the transmission timing pulley 161, so that the drag timing belt 163 has an omega structure. The driving timing pulley 161 is connected to the lifting motor 168. The driving timing pulley 161 and the elevating motor 168 are mounted on the back surface of the translation frame plate 19 through a bearing block 169. The tension pulley 164 and the pulley 161 are disposed in the gear box 1611. Thus, when the lift motor 168 can drag the first lift 11 along the first lift rail 111 by the drag timing belt 163, it can be lifted and lowered.

The second lifter 12 is attached to the first lifter 11 and is capable of being lifted and lowered relative to the first lifter 11. Specifically, two vertical rail frames 14 are installed at both sides of the front surface of the first elevation frame 11. A second vertical elevating slide rail 141 is installed at the inner sides of the two rail frames 14. The second lifting frame 12 is clamped between the second lifting slide rails 141 of the two track frames 14 through the second sliding block 121, so that the second lifting frame 12 can lift along the second lifting slide rails 141. A first timing belt mechanism is provided in each of the two track frames 14. The first timing belt mechanism includes a first upper timing pulley 1421 and a first lower timing pulley 1422 mounted on the first crane 11 and located inside the track frame 14. The first upper synchronous pulley 1421 and the first lower synchronous pulley 1422 are provided at the upper and lower ends of the first lifting frame 11, that is, at the upper and lower ends of the track frame 14, respectively. The first upper synchronous pulley 1421 and the first lower synchronous pulley 1422 are wound with a first synchronous belt 143. The outer side of the first timing belt 143 wound around the first upper timing pulley 1421 and the first lower timing pulley 1422 is fixed to the first fixing member 144, and the inner side is connected to the second lifting frame 12 via the first connecting block 145. The first fixing member 144 is fixed to the translating carriage plate 19. Thus, when the lifting driving mechanism drives the first lifting frame 11 to lift, the first upper synchronous pulley 1421 and the first lower synchronous pulley 1422 move relative to the first fixing member 144 due to the fixed position of the first fixing member 144. The sum of the distance of the first fixing member 144 from the first upper timing pulley 1421 plus the distance of the first upper timing pulley 1421 from the first connecting block 145 is always kept constant. The movement of the first upper synchronous pulley 1421 relative to the first mount 144 also necessarily means that the first connecting block 145 moves relative to the first upper synchronous pulley 1421. That is, when the first lift 11 is lifted, the first synchronization belt 143 on the left and right sides pulls the first connection block 145 to lift with respect to the first lift 11, and further pulls the second lift 12 to lift with respect to the first lift 11. The lifting height of the second lifting frame 12 relative to the first lifting frame 11 is always the same as the lifting height of the first lifting frame 11 relative to the mounting frame plate 19. This also means that the lifting height of the second lifting frame 12 relative to the mounting frame plate 19 is always twice the lifting height of the first lifting frame 11 relative to the mounting frame plate 19.

The third lifter 13 is attached to the second lifter 12 and is capable of being lifted and lowered relative to the second lifter 12. The front face of the second lifting frame 12 is provided with a vertical third slide rail 151. The third lifting frame 13 is mounted on the third slide rail 151 through the second slider 131 so that the third lifting frame 13 can lift and lower along the third slide rail 151. The third slide rail 151 is composed of two slide rails. The second timing belt mechanism is located between the two slide rails of the third slide rail 151, and includes a second upper timing pulley 1521 and a second lower timing pulley 1522 mounted on the second lifting frame 12. The second upper pulley 1521 and the second lower pulley 1522 are provided at the upper and lower ends of the second crane 12, respectively. A second timing belt 153 is wound around the second upper timing pulley 1521 and the second lower timing pulley 1522. The second timing belt 153 is disposed across the second lifting frame 12, that is, one side of the second timing belt 153 is located at the front side of the second lifting frame 12 and the other side is located at the rear side of the second lifting frame 12. The second timing belt 153 is fixed to the second fixing member 154 on the rear side of the second lifter 12. The third lifting frame 13 is connected to one side of the front surface of the second lifting frame 12 through a second connecting block 155. The second connection block 155 is located at the rear surface of the third lifter 13. The second fixing member 154 is fixed to the first elevation frame 11. Thus, when the first timing belt 143 pulls the second lifter 12 up and down, the second upper timing pulley 1521 and the second lower timing pulley 1522 move relative to the second fixing member 154 due to the second fixing member 154 being fixed in position to the first lifter 11. The sum of the distance of the second fixing member 154 from the second upper timing pulley 1521 plus the distance of the second upper timing pulley 1521 from the second connecting block 155 is always kept constant. The movement of the second upper timing pulley 1521 relative to the second mount 154 also necessarily means that the second connecting block 155 moves relative to the second upper timing pulley 1521. That is, when the second crane 12 is lifted, the second timing belt 153 pulls the second connection block 155 to lift relative to the second crane 12, and further pulls the third crane 13 to lift relative to the second crane 12. The lifting height of the third lifting frame 13 relative to the second lifting frame 12 is always the same as the lifting height of the second lifting frame 12 relative to the first lifting frame 11. This also means that the lifting height of the third lifting frame 13 relative to the first lifting frame 11 is always twice the lifting height of the second lifting frame 12 relative to the first lifting frame 11, and that the lifting height of the third lifting frame 13 relative to the mounting frame plate 19 is always three times the lifting height of the first lifting frame 11 relative to the mounting frame plate 19.

Claims

1. A five-joint sucker manipulator system is characterized by comprising a rail frame beam mechanism and five sucker manipulators; the track frame beam mechanism comprises a water balance beam (2) and a track mechanism and a translation mechanism which are arranged on the water balance beam (2); the sucker manipulator comprises a translation frame plate (19), a lifting mechanism and a sucker mechanism; the translation frame plate (19) is arranged on the track mechanism and is connected with the translation mechanism, so that the translation frame plate (19) can translate along the water balance beam (2) under the drive of the translation mechanism; a linkage rod (191) is arranged between the translation frame plates (19) of the five sucker manipulators, so that the distance between the five sucker manipulators is fixed, and the five sucker manipulators are arranged at equal intervals; the sucker mechanism is arranged on the translation frame plate (19) through the lifting mechanism, so that the sucker mechanism can be driven by the lifting mechanism to lift; the lifting mechanism comprises a first lifting frame (11), a second lifting frame (12), a third lifting frame (13), a first synchronous belt mechanism and a second synchronous belt mechanism; the first lifting frame (11) is arranged on the translation frame plate (19) and can lift relative to the translation frame plate (19); the second lifting frame (12) is arranged on the first lifting frame (11) and can lift relative to the first lifting frame (11); the third lifting frame (13) is arranged on the second lifting frame (12) and can lift relative to the second lifting frame (12); the first synchronous belt mechanism comprises a first upper synchronous pulley (1421) and a first lower synchronous pulley (1422) which are arranged on a first lifting frame (11); the first upper synchronous pulley (1421) and the first lower synchronous pulley (1422) are respectively arranged at the upper end and the lower end of the first lifting frame (11); a first synchronous belt (143) is wound on the first upper synchronous pulley (1421) and the first lower synchronous pulley (1422); one side of a first synchronous belt (143) wound on the first upper synchronous pulley (1421) and the first lower synchronous pulley (1422) is fixed on a first fixing piece (144), and the other side is connected with a second lifting frame (12) through a first connecting block (145); the first fixing piece (144) is fixed on the translation frame plate (19); the second synchronous belt mechanism comprises a second upper synchronous pulley (1521) and a second lower synchronous pulley (1522) which are arranged on a second lifting frame (12); the second upper synchronous pulley (1521) and the second lower synchronous pulley (1522) are respectively arranged at the upper end and the lower end of the second lifting frame (12); a second synchronous belt (153) is wound on the second upper synchronous pulley (1521) and the second lower synchronous pulley (1522); one side of a second synchronous belt (153) wound on the second upper synchronous belt wheel (1521) and the second lower synchronous belt wheel (1522) is fixed on a second fixing piece (154), and the other side is connected with a third lifting frame (13) through a second connecting block (155); the second fixing piece (154) is fixed on the first lifting frame (11); the sucking disc mechanism is arranged at the bottom end of the third lifting frame (13); the first lifting frame (11) is connected with a lifting driving mechanism; the lifting driving mechanism comprises a lifting motor (168), a transmission synchronous pulley (161) and a dragging synchronous belt (163); the upper end and the lower end of the dragging synchronous belt (163) are respectively fixed with the first lifting frame (11) through an upper dragging fixing part (1621) and a lower dragging fixing part (1622); the middle of the dragging synchronous belt (163) winds around the two tensioning wheels (164) and then winds on the transmission synchronous belt wheel (161), so that the dragging synchronous belt (163) is in an omega structure; the transmission synchronous belt wheel (161) is connected with the lifting motor (168); the track mechanism comprises two trapezoidal wheel tracks (21); two trapezoid wheel rails (21) are respectively arranged on the top surface and the bottom surface of the horizontal balance beam (2) along the horizontal balance beam (2); the translation mechanism comprises a translation motor (22) and a translation synchronous belt (23); the translation synchronous belt (23) is arranged on the toothed belt wheels arranged at the two ends of the water balance beam (2) and is connected with the translation frame plate (19); a toothed belt wheel at one end of the water balance beam (2) is connected with a translation motor (22); the back of the translation frame plate (19) is provided with an inclined clamping wheel mechanism (25); the translation frame plate (19) is clamped on trapezoid wheel rails (21) arranged on the top surface and the bottom surface of the water balance beam (2) through an inclined clamping wheel mechanism (25); the trapezoid wheel rail (21) comprises two roller inclined planes (211); the inclined clamping wheel mechanism (25) comprises a roller bracket (251) and at least two inclined rollers (252); the roller bracket (251) is arranged on the translation frame plate (19); the oblique roller (252) is arranged on the roller bracket (251); the two oblique rollers (252) are respectively clamped on the roller inclined planes (211).

2. The five-joint chuck manipulator system of claim 1, wherein the first timing belt mechanism has two; the two first synchronous belt mechanisms are respectively arranged at two sides of the second lifting frame (12).

3. The five-gang suction cup manipulator system of claim 2, further comprising two rail brackets (14); the two first synchronous belt mechanisms are respectively arranged on the two track frames (14); a vertical second lifting slide rail (141) is arranged on the inner side of the track frame (14); the second lifting frame (12) is clamped between the second lifting slide rails (141) of the two track frames (14) through the sliding blocks.

4. The five-joint sucker manipulator system according to claim 1, wherein the front face of the second lifting frame (12) is provided with a vertical third sliding rail (151); the third sliding rail (151) consists of two sliding rails; the third lifting frame (13) is arranged on the third sliding rail (151) through a sliding block; the second synchronous belt mechanism is positioned between two slide rails of the third slide rail (151); two sides of a second synchronous belt (153) wound on the second upper synchronous belt wheel (1521) and the second lower synchronous belt wheel (1522) are respectively positioned on the front surface and the back surface of the second lifting frame (12); the second fixing piece (154) is positioned on the back of the second lifting frame (12); the second connecting block (155) is positioned on the front surface of the second lifting frame (12) and on the back surface of the third lifting frame (13).

5. The five-linked sucker manipulator system according to claim 1, wherein the diagonal clamping wheel mechanism (25) has four; the two inclined clamping wheel mechanisms (25) are clamped on the trapezoid wheel rail (21) on the top surface of the water balance beam (2), and the two inclined clamping wheel mechanisms (25) are clamped on the trapezoid wheel rail (21) on the bottom surface of the water balance beam (2); four oblique rollers (252) on the oblique clamping wheel mechanism (25); two oblique rollers (252) are clamped on the roller inclined surface (211) on one side of the trapezoid wheel rail (21), and the other two oblique rollers (252) are clamped on the roller inclined surface (211) on the other side of the trapezoid wheel rail (21).

6. The five-linked suction cup manipulator system of claim 1, wherein the diagonal clamping wheel mechanism (25) further comprises a trapezoidal clamping block (253); the trapezoid clamping block (253) is provided with a trapezoid bayonet and is clamped on the trapezoid wheel rail (21) through the trapezoid bayonet.

7. The five-joint sucker manipulator system according to claim 1, wherein the horizontal included angle of the roller inclined surface (211) is 45 degrees; the vertical included angle of the axes of the oblique roller (252) is 45 degrees.