CN209396557U - Transport device - Google Patents

Abstract

The utility model provides a kind of transport device, for transmitting workpiece in the rack of process equipment to be arranged in, the transport device includes for setting up guide slide mechanism on the rack, can drive on the guide slide mechanism and by the guide slide mechanism manipulator that slidably reciprocate, and the manipulator is used to place workpiece to be processed on the workbench of the process equipment or folder walks finished work from the workbench.In transport device provided by the utility model, the manipulator being arranged on guide slide mechanism can do the left and right back and forth movement oriented with respect to rack, so as to clamp the workpiece to be processed of a upper process to the workbench of process equipment or clamp the finished work on workbench to subsequent processing, conevying efficiency convenient for the positioning of manipulator and is improved by guide slide mechanism driving.

Description

Transport device

Technical field

The utility model relates to machine-building manufacture field more particularly to a kind of transport devices.

Background technique

During the manufacturing of component of machine, it usually needs carry out the processing of multiple processes by multiple devices. Currently, in the assembly line of full-automation processing, transport of the workpiece between different processes especially can position workpiece having When being transported between workbench, the transmitting workpiece by the way of manipulator and conveyer belt cooperation is generally required, is delivered to respectively in workpiece It is required to relocate when a process and folds up workpiece again, structure is complicated and conevying efficiency is not high.

Utility model content

The simple and high conevying efficiency transport device the purpose of the utility model is to provide a kind of structure.

To achieve the goals above, the utility model the following technical schemes are provided:

A kind of transport device, for transmitting workpiece in the rack of process equipment to be arranged in, the transport device includes being used for It sets up guide slide mechanism on the rack, can be driven on the guide slide mechanism and by the guide slide mechanism The manipulator to slidably reciprocate, the manipulator are used to place workpiece to be processed on the workbench of the process equipment or from institute It states folder on workbench and walks finished work.

Preferably, including two manipulators, two manipulator intervals are set on the guide slide mechanism, In manipulator for placing workpiece to be processed on the workbench, another manipulator from the workbench for pressing from both sides Walk finished work.

Preferably, the manipulator includes the first cylinder connecting with the guide slide mechanism and first cylinder The fixture of connection, the fixture is for folding up workpiece and can move up and down under the driving of first cylinder.

Further, the fixture includes connecting and being driven by first cylinder to move up and down with first cylinder The second cylinder and the claw that is connect with second cylinder, the claw can be shunk under the driving of second cylinder or Expansion.

Preferably, the manipulator further includes the top plate connecting with the fixture, and the top plate is used in first gas Cylinder drive the fixture when moving downward by the workpiece pre-tightening on the fixture on the table device.

Preferably, the transport device further includes being set on the guide slide mechanism and being located at the table device just The spring bearing of top, the manipulator abut the spring bearing when being moved to above the table device.

Preferably, the transport device further includes being set on the guide slide mechanism and for limiting first cylinder Move downward the locating part of stroke.

Further, the transport device further includes cylinder mounting plate, first cylinder and the cylinder mounting plate with The guide slide mechanism connects, and offers pilot hole on the cylinder mounting plate, the manipulator further includes and the fixture The guide rod for connecting and being arranged in the pilot hole, the end of the guide rod are equipped with the stop part for abutting the locating part.

Preferably, the guide slide mechanism include for set up transport guide rails on the rack and with the transport guide rails The pallet being slidably connected, and the driving assembly for driving the pallet mobile relative to the transport guide rails, the machine Tool hand is set on the pallet.

Further, the driving component include the transport motor being connect with the transport guide rails and with the transport motor Output axis connection driving wheel, and the transmission belt for being set around on the driving wheel and being connect with the pallet, the fortune Defeated frame can be moved back and forth under the driving of the transport motor by the cooperation of the driving wheel and transmission belt.

Compared with prior art, the embodiment of the utility model has the advantage that

1. in transport device provided by the utility model, the manipulator being arranged on guide slide mechanism can be done with respect to rack The left and right back and forth movement of orientation, so as to clamp the workpiece to be processed of a upper process to the workbench of process equipment or by work Make the finished work on platform to clamp to subsequent processing, convenient for the positioning of manipulator and be improved by guide slide mechanism driving Conevying efficiency.

2. guide slide mechanism provided by the utility model is equipped with locating part and spring bearing, the locating part and support Bearing is located at the surface of workbench, when manipulator being made to fold up workpiece on the table, can control manipulator by locating part Stroke and by spring bearing support manipulator, to improve the stability of manipulator.

3. the bottom of manipulator provided by the utility model is equipped with top plate, the top plate in manipulator for moving downward When by the workpiece pre-tightening on the manipulator on workbench, the shape of top plate is arranged according to the shape of workpiece, while can also rise To the effect for positioning workpiece when folding up workpiece, the precision of manipulator is further increased.

The additional aspect of the utility model and advantage will be set forth in part in the description, these will be from following description In become obvious, or recognized by the practice of the utility model.

Detailed description of the invention

The utility model is above-mentioned and/or additional aspect and advantage from the following description of the accompanying drawings of embodiments will Become obvious and be readily appreciated that, in which:

Fig. 1 is the perspective view that digital control tapping provided by the utility model bores milling all-in-one machine；

Fig. 2 is that digital control tapping shown in FIG. 1 bores the perspective view after milling all-in-one machine removal protective cover；

Fig. 3 is the perspective view of table device shown in Fig. 2 and processing unit (plant)；

Fig. 4 is the exploded view of processing unit (plant) shown in Fig. 3；

Fig. 5 is the perspective view of the connection structure of spindle motor shown in Fig. 4 and main shaft；

Fig. 6 is the exploded view of table device shown in Fig. 2；

Fig. 7 is the perspective view of transport device shown in Fig. 2；

Fig. 8 is the perspective view of manipulator shown in Fig. 7.

Specific embodiment

The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, and is only used for explaining the utility model, and cannot be construed to the utility model Limitation.

Those skilled in the art of the present technique are appreciated that unless expressly stated, arrange used in the specification of the utility model Diction " comprising " refer to that there are the feature, integer, step, operation, zero/component and/or components, but it is not excluded that in the presence of or add Add other one or more features, integer, step, operation, zero/component, component and/or their group.It should be understood that working as us When zero/component being claimed to be "connected" to another zero/component, it can be directly connected to other zero/components, or there may also be in Between zero/component.Wording "and/or" used herein includes one or more associated wholes for listing item or any cell With whole combinations.

As shown in Figure 1, the utility model provides a kind of digital control tapping brill milling all-in-one machine 1000, it is applicable to intelligent lock face The tapping drilling and milling of the workpiece such as plate 2000.It includes 1 He of rack designed for cabinet body that the digital control tapping, which bores milling all-in-one machine 1000, Protective cover 5 in the rack 1, the protective cover 5 are equipped with for showing the indicator light 51 of working condition and for adjusting The control panel 52 for saving parameter and controlling equipment where being not belonging to the improvement of the utility model due to its structure, therefore does not repeat.

As shown in Fig. 2, it further includes being located in the protective cover 5 and being set to institute that the digital control tapping, which bores milling all-in-one machine 1000, It states in rack 1 and sequentially connected transport device 2, table device 3 and processing unit (plant) 4.

Specifically, the transport device 2 is used for transmitting workpiece (such as intelligent lock panel 2000, similarly hereinafter), is set up in The top and both ends of the table device 3 are connect with the equipment of a upper process and subsequent processing respectively, and the transport device 2 can By in workpiece transport to the table device 3 to be processed after a upper process, and can will be processed on the table device 3 At workpiece transport to subsequent processing, so that the digital control tapping is bored milling all-in-one machine 1000 by the transport device 2 can flow in production Full-automatic processing and transmission are realized in waterline.Correspondingly, position of the protective cover 5 at correspondence 2 both ends of transport device It sets and offers delivery windows 53, the transport device 2 can be pierced by the protective cover 5 and other equipment by the delivery windows 53 Connection.

The both ends of the table device 3 are connect with the transport device 2 and processing unit (plant) 3 respectively, can determine workpiece Position is fixed and can move back and forth the workpiece between the transport device 2 and processing unit (plant) 3, plays while realizing tooling Connect the effect of the transport device 2 and processing unit (plant) 3.Specifically, as shown in figure 3, the table device 3 is transported including X-axis Motivation structure 31 and workbench 32 for positioning workpiece to be processed, the workbench 32 are set on the X-axis movement mechanism 31 simultaneously Can under the driving of the X-axis movement mechanism 31 between the transport device 2 and processing unit (plant) 3 back and forth movement.

As shown in figure 4, the processing unit (plant) 4 includes the Y for being set up in 31 top of X-axis movement mechanism by support base 41 Shaft movement mechanism 42, the Z axis movement mechanism 43 on the Y-axis movement mechanism 42, and set on the Z axis movement mechanism Spindle motor 44 on 43, the X-axis movement mechanism 31, Y-axis movement mechanism 42 and Z axis movement mechanism 43 are arranged in a mutually vertical manner shape At triaxial connecting system, make the cutter connecting with the spindle motor 44 that can carry out multi-faceted numerical control processing, is adjusted without artificial Position workpiece is adjusted, processing efficiency is higher.

As shown in figure 5, the processing unit (plant) 4 further include with the output axis connection of the spindle motor 44 and can by main shaft electricity Machine 44 driving rotation the first main shaft 45, with first main shaft 45 be arranged side by side the second main shaft 46 and both ends respectively with The transmission mechanism 47 of first main shaft 45 and the connection of the second main shaft 46, second main shaft 46 can pass through the transmission mechanism 47 It is rotated synchronously with first main shaft 45, the end of first main shaft 45 and the second main shaft 46 is equipped with for connecting cutter Collet, the processing unit (plant) 4 can drive two main axis by a spindle motor 44 simultaneously, so as to simultaneously drive respectively with Two cutters of two main shafts connection carry out processing operation, so can workpiece on two stations of simultaneous processing, improve production Efficiency and attenuating production cost.

Further, the collet includes the first collet connecting respectively with first main shaft 45 and the second main shaft 46 451 and second collet 461, first collet 451 and the second collet 461 are connected separately with the first cutter 452 and the second cutter 462, first cutter 452 and the second cutter 462 are identical in the present embodiment, arranged side by side so as to synchronous processing two Workpiece.

In other embodiments, first cutter 452 and the second cutter 462 can also be different types of cutter, institute The processing of the different modes such as tapping, drilling, milling can be carried out by a spindle motor 44 to workpiece by stating processing unit (plant) 4, Multiple devices are needed not move through when workpiece needs plurality of step to process, and improve processing efficiency, and reduce production cost.

As shown in figure 5, the transmission mechanism 47 includes being sheathed on first main shaft 45 and the second main shaft 46 respectively First driving wheel 471 and the second driving wheel 471, and connect respectively with first driving wheel 471 and the second driving wheel 472 Synchronous Transmission part 473.

Specifically, the Synchronous Transmission part 473 includes being set around on first driving wheel 471 and the second driving wheel 472 Synchronous belt 4731, elasticity for adjusting the synchronous belt 4731 tension assembly 4732, pass through the tension assembly 4732 adjusting ensures that the synchronous belt 4731 keeps tensioning state, and without in first main shaft 45 and the second main shaft 46 Spacing has the synchronous belt 4731 that different length is re-replaced when adjustment, is driven when being driven additionally by synchronous belt 4731 and realize work Steady noiseless reduces the noise of equipment, and the cost of 4731 drive mechanism of synchronous belt is low, can reduce the digital control tapping and bore milling The manufacturing cost of all-in-one machine 1000.

It should be understood that in other embodiments, the first driving wheel 471 and the second driving wheel 472 can be gear, band Wheel or sprocket wheel, correspondingly the Synchronous Transmission part 473 can be gear, synchronous belt or chain, and those skilled in the art can be according to reality Border situation is specifically arranged.

Preferably, the processing unit (plant) 47 further includes the planetary reduction gear of the output axis connection of one end and the spindle motor 44 Machine 48, the other end of the planetary reducer 48 are connect with first main shaft 45, can ensure that equipped with the planetary reducer 48 Spindle motor 44 still has enough torques when driving two cutters to be processed, to guarantee that two cutters can normally turn It is dynamic, it will not swaging clamp easily.

As shown in figure 4, the Z axis movement mechanism 43 includes Z axis motor 431 and connects with the output shaft of the Z axis motor 431 The Z axis feed screw nut's assembly 432 connect, the spindle motor 44 pass through motor fixing plate 441 and the Z axis feed screw nut's assembly 432 connections, and the spindle motor 44 can pass through the Z axis feed screw nut's assembly 432 under the driving of the Z axis motor 431 Drive moves up and down.Similarly, the Y-axis movement mechanism 42 includes y-axis motor 421 and connects with the output shaft of the y-axis motor 421 The Y-axis feed screw nut's assembly 422 connect, the Z axis movement mechanism 43 can pass through the Y-axis screw rod under the driving of y-axis motor 421 Nut assembly 422 drives transverse shifting.

Further, the processing unit (plant) 4 further includes being covered on outside the spindle motor 44 and the first, second main shaft Shield 442, prevents the entrance of the slag charge generated when dust and processing, and keeps the processing unit (plant) 4 more aesthetically pleasing on the whole, and Prevent the generation of operating accident.

As shown in fig. 6, the workbench 32 includes support plate 321 and the fixed plate above the support plate 321 322, support column 323 is equipped between the support plate 321 and fixed plate 322 so that the support plate 321 and fixed plate 322 are spaced Setting, the workbench 32 further include set on the chip removal mechanism 324 between the support plate 321 and fixed plate 322.

Specifically, the fixed plate 322 offers the chip-removal hole 3221 of multiple connection chip removal mechanisms 324, i.e., described The setting of 322 hollow out of fixed plate, the slag charge generated in workpieces processing in the fixed plate 322 can be fallen by the chip-removal hole 3221 It falls in the support plate 321.The chip removal mechanism 324 includes chip removal actuator 3241 and can pass through the chip removal actuator The V-arrangement chip removal plate 3242 of back and forth movement is done in 3241 drivings, the slag that will quickly can be generated when processing by the V-arrangement chip removal plate 3242 Material cleaning is released, and guarantees in the multiple workpiece of Continuous maching will not to influence the normal operation of equipment because of the congestion of slag charge, and due to The chip removal mechanism 324 is set to the inside of workbench 32, can avoid having an impact the workpiece processed, and guarantees processing essence Degree.

Further, the workbench 32 further include two clamping cylinders 325 for being divided into 322 both ends of fixed plate, It is connect at least two clamping cylinder 325 and can be moved together to clamp the folder of workpiece under the driving of clamping cylinder 325 Gripping member 326, by the opposite clamping workpiece to be processed of the clamping piece 326, it can be achieved that the automatic capturing of workpiece, workpiece is positioned solid It is fixed, so that it is guaranteed that machining accuracy.

The workbench 32 further includes the clamping guide-rail 327 being fixedly arranged in the fixed plate 322, is set to the clamping guide-rail It can carry out on 327 and by the clamping guide-rail 327 grip slide 328 for being oriented to sliding, the clamping piece 326 and the clamping Sliding block 328 connects, and the clamping piece 326 can be oriented to by the cooperation of the grip slide 328 and clamping guide-rail 327 and clamp work Part guarantees workpiece will not be caused to misplace because of shaking when fixed workpiece.

Preferably, the workbench 32 further includes the retention bead in the fixed plate 322 and for positioning workpiece 329, the position of the retention bead 329 is arranged according to the shape size of workpiece, can fix two workpiece by retention bead 329 Position and spacing, it is ensured that two cutters arranged side by side can precisely process two pieces workpiece simultaneously, and the retention bead 329 Top is equipped with guiding surface, is caught in the retention bead 329 convenient for workpiece.

Further, the X-axis movement mechanism 31 includes X-axis motor 311 and connects with the output shaft of the X-axis motor 311 The X-axis feed screw nut's assembly 312 connect, the workbench 32 is connect with the X-axis feed screw nut's assembly 312, and the workbench 32 can drive back-and-forth motion, the X-axis fortune by the X-axis feed screw nut's assembly 312 under the driving of the X-axis motor 311 Motivation structure 31 further includes the X-axis guide rail 314 and X-axis slide block 315 for driving the direction of motion to be correspondingly arranged with it, the workbench 32 with X-axis slide block 315 connects, and the X-axis guide rail 314 and X-axis slide block 315 can play the guiding role to the workbench 32, and enhances machine Structure intensity.

Similarly, as shown in figure 4, the Y-axis movement mechanism 42 and Z axis movement mechanism 43 further include corresponding respectively driving fortune The sliding-rail sliding component (unlabeled, similarly hereinafter) of dynamic direction setting.

As shown in figure 3, the X-axis movement mechanism 31, Y-axis movement mechanism 42 and Z axis movement mechanism 43 further include corresponding to X-axis dust cover 313, Y-axis dust cover 423 and the Z axis dust cover 433 of setting.The X-axis dust cover 313 is foldable design, It is divided into the front and rear sides that two parts are respectively arranged on the workbench 32, the X-axis of two sides is anti-when the workbench 32 is moved forward and backward Dust hood 313 can be separately folded and be unfolded.Similarly, the Y-axis dust cover 423 and Z axis dust cover 433 are divided into two parts correspondence and set It sets, can avoid the slag charge generated when dust and processing enters the normal operation for influencing triaxial connecting system.

As shown in figure 3, the table device 3 further includes set on 31 two sides of X-axis movement mechanism and for compressing institute The hold-down mechanism 33 for stating the workpiece on workbench 32 can reinforce the positioning and fixation of workpiece by the hold-down mechanism 33, avoid Cause workpiece sideslip to misplace because of vibration in processing, further promotes machining accuracy.

As shown in fig. 7, the transport device 2 includes being set up in leading for 3 top of table device by support base 21 To sliding equipment 22, the equipment that the both ends of the guide slide mechanism 22 are used to connection other processes, the transport device 2 is also Including being spaced two manipulators 23 being set on the guide slide mechanism 22, described two manipulators 23 can be slided in the guiding Left and right back and forth movement is done under the driving of motivation structure 22, so as to respectively between the equipment of a upper process and the equipment of subsequent processing It moves back and forth, and then can realize respectively and place workpiece to be processed on the table device 3 and from the table device 3 Folder walks finished work.

Specifically, the guide slide mechanism 22 includes the transport guide rails 221 affixed with the support base 21, with the fortune The connection of transporting rail 221 and can the pallet 222 that slides of the transport guide rails 221 relatively, the manipulator 23 is set on the transport On frame 222.

The guide slide mechanism 22 further includes transport motor 223 and transport electricity on the support base 21 The driving wheel 224 of the output axis connection of machine 223, and be set around on the driving wheel 224 and connect with the pallet 222 Transmission belt 225, the pallet 222 can be by the cooperations of the driving wheel 224 and transmission belt 225 in the transport motor 223 Driving under carry out high-precision back and forth movement, to realize the accurate transport of workpiece.

Preferably, the transport motor 223 and X-axis motor 311, y-axis motor 421 and Z axis motor 431 are servo electricity Machine can promote the mobile accuracy of each mechanism, the accurate position for controlling workpiece or cutter, to improve the processing essence of workpiece Degree.

As shown in figure 8, the manipulator 23 include the first cylinder 231 being connect with the guide slide mechanism 22 and with institute The fixture 232 of the first cylinder 231 connection is stated, the fixture 232 is used to fold up workpiece and can be in the driving of first cylinder 231 Under move up and down.

The fixture 232 includes the second cylinder 2321 and the claw 2322 connecting with second cylinder 2321, the card Pawl 2322 can shrink or be unfolded under the driving of second cylinder 2321, so that workpiece is folded up, in actual use, ability Field technique personnel can be according to the claw 2322 of the different selection suitable shape sizes of workpiece.

The specific working mode of the manipulator 23 are as follows: the left and right under the driving of the guide slide mechanism 22 of manipulator 23 It is moved to the top of workpiece, then drives the fixture 232 to move down close to workpiece by first cylinder 231, then lead to It crosses after second cylinder 2321 drives the claw 2322 to clamp workpiece, first cylinder 231, which is shunk, drives the fixture 232 rise together with workpiece, then drive the manipulator 23 to move left and right to subsequent processing by the guide slide mechanism 22 Position similarly finally workpiece can be placed in the process phase by the cooperation of first cylinder 231 and the second cylinder 2321 On the device answered.

As shown in Figure 8, it is preferable that the manipulator 23 further includes the top plate 233 connecting with the fixture 232, the top Plate 233 is used for the workpiece pre-tightening on the fixture 231 when first cylinder 231 drives the fixture 232 to move downward In on the workbench 32 or other equipment, the shape of the top plate 233 may also function as simultaneously according to the structure setting of workpiece The effect that workpiece is positioned when folding up workpiece, further increases the precision of the manipulator 23.

Further, mutual cooperation and the fortune that the manipulator 23 passes through the first cylinder 231 and cylinder mounting plate 234 Defeated frame 222 connects, and pilot hole is offered on the cylinder mounting plate 234, and the manipulator 23 further includes and the fixture 232 The guide rod 235 in the pilot hole is connected and be arranged in, folder is guaranteed by the motion guide that the guide rod 235 carries out fixture 232 Tool stability with higher when moving up and down will not cause the positioning of workpiece to generate deviation because of shaking.

Preferably, the end of the guide rod 235 is equipped with stop part 2351, and the transport device 3 further includes being set to described lead To on sliding equipment 22 and for limiting the locating part 24 (being shown in FIG. 7) that first cylinder 231 moves downward stroke, lead to The stroke of first cylinder 231 is fixed on predeterminated position by the cooperation for crossing the stop part 2351 and locating part 24, is made described Fixture 232 accurately can clamp or place workpiece on the workbench 32.

As shown in fig. 7, the transport device 2 further includes being set on the guide slide mechanism 22 and being located at the workbench Spring bearing 25 right above 32, the manipulator 23 abut the spring bearing when being moved to above the workbench 32 25, reduce the fixture 232 in the shaking moved up and down, further promotes the stability of the manipulator 23.

Further, it further includes the cooling in the cabinet body (rack 1) that the digital control tapping, which bores milling all-in-one machine 1000, Device (not shown, similarly hereinafter), the cooling device cools down workpieces processing and cutter using emulsion cutting fluid, to processing department Play lubrication, cooling and cleaning in position.

The above is only some embodiments of the utility model, it is noted that for the common skill of the art For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and Retouching also should be regarded as the protection scope of the utility model.

Claims (10)

1. a kind of transport device, for transmitting workpiece in the rack of process equipment to be arranged in, which is characterized in that the transport device Including for setting up guide slide mechanism on the rack, being set on the guide slide mechanism and can be slided by the guiding Mechanism drives the manipulator to slidably reciprocate, and the manipulator is for placing workpiece to be processed on the workbench of the process equipment Or folder walks finished work from the workbench.

2. transport device according to claim 1, which is characterized in that including two manipulators, two machinery Hand interval is set on the guide slide mechanism, and one of manipulator is used to place workpiece to be processed on the workbench, Another manipulator is used for the folder from the workbench and walks finished work.

3. transport device according to claim 1, which is characterized in that the manipulator includes and the guide slide mechanism First cylinder of connection, the fixture connecting with first cylinder, the fixture are used to fold up workpiece and can be in first gas It is moved up and down under the driving of cylinder.

4. transport device according to claim 3, which is characterized in that the fixture includes connecting simultaneously with first cylinder The second cylinder for moving up and down and the claw connecting with second cylinder can be driven by first cylinder, the claw can be It shrinks or is unfolded under the driving of second cylinder.

5. transport device according to claim 3, which is characterized in that the manipulator further includes connecting with the fixture Top plate, the top plate be used for when first cylinder drives the fixture to move downward by the workpiece pre-tightening on the fixture in On the table device.

6. transport device according to claim 3, which is characterized in that the transport device further includes being set to the guiding to slide Spring bearing on motivation structure and right above the table device, the manipulator are being moved to the table device The spring bearing is abutted when top.

7. transport device according to claim 3, which is characterized in that the transport device further includes being set to the guiding to slide On motivation structure and for limiting the locating part that first cylinder moves downward stroke.

8. transport device according to claim 7, which is characterized in that the transport device further includes cylinder mounting plate, institute It states the first cylinder to connect with the cylinder mounting plate with the guide slide mechanism, guiding is offered on the cylinder mounting plate Hole, the manipulator further include the guide rod for connecting and being arranged in the pilot hole with the fixture, and the end of the guide rod is set There is the stop part for abutting the locating part.

9. transport device according to claim 1, which is characterized in that the guide slide mechanism includes for being erected at machine Transport guide rails on frame and the pallet being slidably connected with the transport guide rails, and for driving the pallet relatively described The mobile driving assembly of transport guide rails, the manipulator are set on the pallet.

10. transport device according to claim 9, which is characterized in that the driving component includes and the transport guide rails Connection transport motor and with it is described transport motor output axis connection driving wheel, and be set around on the driving wheel and with The transmission belt of the pallet connection, the pallet can be by the cooperation of the driving wheel and transmission belt in the transport motor Driving under moved back and forth.