CN215881629U

CN215881629U - Double-station manipulator

Info

Publication number: CN215881629U
Application number: CN202121917077.7U
Authority: CN
Inventors: 王庆玉
Original assignee: Jiangmen Jianghai Keshun Plastic Machinery Equipment Co ltd
Current assignee: Jiangmen Jianghai Keshun Plastic Machinery Equipment Co ltd
Priority date: 2021-08-16
Filing date: 2021-08-16
Publication date: 2022-02-22
Anticipated expiration: 2031-08-16

Abstract

The utility model discloses a double-station manipulator which comprises a base, a sliding table, a first mounting seat and a second mounting seat, wherein the sliding table can be slidably mounted on the base along the X-axis direction of the horizontal axis, the first mounting seat can be slidably mounted on the sliding table along the Y-axis direction of the horizontal axis, a clamping jaw can be arranged on the first mounting seat in a lifting mode, the second mounting seat can be slidably mounted on the sliding table along the Y-axis direction of the horizontal axis, and a first sucking disc can be arranged on the second mounting seat in a lifting mode. According to the double-station manipulator disclosed by the utility model, the grabbing efficiency is higher, the grabbing is more convenient, the grabbing range is wider, and the practicability is better.

Description

Double-station manipulator

Technical Field

The utility model relates to a carrying device, in particular to a double-station manipulator.

Background

An injection molding machine is a device for making thermoplastic plastics or thermosetting plastics into plastic finished products of various shapes by using a plastic molding die. After plastic is injection molded, the plastic is generally grabbed and taken out of the injection molding machine by mechanical clamping jaws on a manipulator.

Although the existing mechanical arm can grab the finished plastic product, the following disadvantages exist: first, the existing manipulator only grabs the plastic finished product through the clamping jaw, so that the grabbing efficiency is low, and the grabbing is difficult when the plastic finished product is large in size or horizontally placed. Secondly, the moving path of the clamping jaw of the existing manipulator is single, so that the grabbing range is small, and the practicability is poor.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the double-station manipulator provided by the utility model has the advantages of higher grabbing efficiency, more convenience in grabbing, larger grabbing range and better practicability.

According to the embodiment of the utility model, the double-station manipulator comprises:

a base;

the sliding table is mounted on the base in a manner of sliding along the X-axis direction of a horizontal axis;

the first mounting seat can be mounted on the sliding table in a sliding mode along the horizontal axis direction Y axis direction, and a clamping jaw can be arranged on the first mounting seat in a lifting mode;

the second mounting seat can be installed on the sliding table in a sliding mode along the direction of the horizontal axis Y axis, and a first sucker can be arranged on the second mounting seat in a lifting mode.

The double-station manipulator provided by the embodiment of the utility model at least has the following technical effects:

when needing to snatch the plastics finished product, along horizontal axial X axle direction slip table, and along horizontal axial Y axle direction slip first mount pad, later remove the clamping jaw along vertical direction, the clamping jaw can be close to and snatch the plastics finished product, place when plastics finished product size is great or the level, when leading to the clamping jaw to snatch the difficulty, along horizontal axial Y axle direction slip second mount pad, later remove first sucking disc along vertical direction, first sucking disc can be close to and adsorb the plastics finished product, thereby accomplish the off-the-shelf snatching of plastics. According to the double-station manipulator disclosed by the embodiment of the utility model, the first mounting seat and the second mounting seat can be simultaneously slid, and the clamping jaw and the first suction disc can be simultaneously moved along the vertical direction, namely, the clamping jaw and the first suction disc can synchronously work, so that the grabbing efficiency of the manipulator is higher. And when the clamping jaw snatchs the plastics finished product when comparatively difficult, can snatch through the absorption of first sucking disc, it is more convenient to snatch. In addition, through the slip of slip table, first mount pad and second mount pad and through the lift of clamping jaw and first sucking disc, make clamping jaw and first sucking disc can move towards a plurality of directions to it is bigger to make clamping jaw and first sucking disc snatch the scope, and the practicality is better.

According to some embodiments of the utility model, the second mounting base is provided with a mounting frame in a lifting manner, the first suction cup is mounted at the bottom end of the mounting frame in a rotation adjusting manner around a first horizontal axis, the lower end surface of the first suction cup is a suction surface and can be in a horizontal state or a state of being obliquely arranged relative to a horizontal plane in the rotation adjusting process.

According to some embodiments of the utility model, the mounting frame is provided with a first mounting plate which can be adjusted up and down, the first mounting plate is provided with a plurality of first adjusting rods in a rotating mode, and the other ends of the first adjusting rods are connected with the upper end face of the first suction cup in a rotating mode.

According to some embodiments of the utility model, the mounting bracket is provided with a plurality of sets of first mounting holes in a vertical direction, and the first mounting plates can be bolted with the first mounting holes of different sets.

According to some embodiments of the utility model, a first negative pressure cavity is arranged in the first suction cup, the first negative pressure cavity is connected with a vacuum generator, and the lower end surface of the first suction cup is provided with a plurality of first suction holes communicated with the first negative pressure cavity.

According to some embodiments of the utility model, the edge of the lower end face of the first suction disc is circumferentially provided with a first annular abutting plate, and the bottom end of the first annular abutting plate is used for abutting against the outer surface of the workpiece.

According to some embodiments of the utility model, the first annular doubler plate is made of an elastic rubber.

According to some embodiments of the utility model, the mounting frame is provided with a second suction cup rotatably adjustable around a second horizontal axis, and an end surface of the second suction cup facing away from the mounting frame is a suction surface and can be in a vertical state or a state of being obliquely arranged relative to the vertical surface in the process of rotation adjustment.

According to some embodiments of the utility model, the mounting frame is provided with a second mounting plate which can be adjusted up and down, the second mounting plate is rotatably provided with a plurality of second adjusting rods, and the other ends of the second adjusting rods are rotatably connected with the end surfaces, close to the mounting frame, of the second suckers.

According to some embodiments of the utility model, the mounting bracket is provided with a plurality of sets of second mounting holes in a vertical direction, the second mounting plates being capable of being bolted to different sets of the second mounting holes.

According to some embodiments of the utility model, a second negative pressure cavity is arranged in the second suction cup, the second negative pressure cavity is connected with the vacuum generator, and a plurality of second suction holes communicated with the second negative pressure cavity are arranged on the end surface of the second suction cup departing from the mounting rack.

According to some embodiments of the utility model, an edge of the end surface of the second suction cup facing away from the mounting frame is provided with a second annular abutting plate along a circumferential direction, and an end of the second annular abutting plate facing away from the second suction cup is used for abutting against an outer surface of a workpiece.

According to some embodiments of the utility model, the second annular doubler is made of an elastic rubber.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1;

FIG. 3 is a schematic view of the installation of the first suction cup and the second suction cup;

reference numerals:

a base 100; a slide table 200; a first mounting base 300, a clamping jaw 301; the vacuum suction device comprises a second mounting seat 400, a first suction cup 401, a mounting frame 402, a first mounting plate 403, a first adjusting rod 404, a first negative pressure cavity 405, a first suction hole 406, a first annular attaching plate 407, a first suction cup 408, a second mounting plate 409, a second adjusting rod 410, a second mounting hole 411, a second negative pressure cavity 412, a second suction hole 413 and a second annular attaching plate 414.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more and "plural groups" means two or more groups unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

A double-station robot according to an embodiment of the present invention will be described with reference to fig. 1 to 3.

According to the embodiment of the utility model, as shown in fig. 1 to 3, the double-station manipulator comprises:

a base 100;

a slide table 200 slidably mounted on the base 100 in the X-axis direction along the horizontal axis;

a first mounting base 300 which is slidably mounted on the slide table 200 along the horizontal axis in the Y-axis direction, and a clamping jaw 301 is provided on the first mounting base 300 in a liftable manner;

the second mounting base 400 is mounted on the slide table 200 so as to be slidable in the Y-axis direction along the horizontal axis, and the first suction cup 401 is provided on the second mounting base 400 so as to be movable up and down.

In this embodiment, when the plastic finished product needs to be grabbed, slip table 200 along horizontal axial direction X axle direction, and slip first mount pad 300 along horizontal axial direction Y axle direction, later remove clamping jaw 301 along vertical direction, clamping jaw 301 can be close to and snatch the plastic finished product, place when the big or level of plastic finished product size, when leading to clamping jaw 301 to snatch the difficulty, along horizontal axial direction Y axle direction slip second mount pad 400, later remove first sucking disc 401 along vertical direction, first sucking disc 401 can be close to and adsorb the plastic finished product, thereby accomplish the snatching of plastic finished product. According to the double-station manipulator disclosed by the embodiment of the utility model, the first mounting seat 300 and the second mounting seat 400 can be simultaneously slid, and the clamping jaw 301 and the first suction disc 401 can be simultaneously moved along the vertical direction, namely, the clamping jaw 301 and the first suction disc 401 can synchronously work, so that the grabbing efficiency of the manipulator is higher. And when the clamping jaw 301 snatchs the plastics finished product comparatively difficultly, can snatch through the absorption of first sucking disc 401, snatch more conveniently. In addition, through the slip of slip table 200, first mount pad 300 and second mount pad 400 and through the lift of clamping jaw 301 and first sucking disc 401, make clamping jaw 301 and first sucking disc 401 can move towards a plurality of directions to make clamping jaw 301 and first sucking disc 401 snatch the scope and be bigger, the practicality is better.

It should be noted that the X axis and the Y axis mentioned in this embodiment are two axes in the horizontal direction in a space cartesian orthogonal coordinate system, and the X axis direction and the Y axis direction are perpendicular to each other on the horizontal plane. The base 100 may be provided with a guide rail or a sliding groove along the horizontal axis direction X, and the sliding table 200 is slidably mounted on the guide rail or the sliding groove. The sliding table 200 may be provided with a guide rail or a sliding groove along the horizontal axis direction Y axis, and the first mounting base 300 and the second mounting base 400 may be slidably mounted on the guide rail or the sliding groove. The sliding table 200, the first mounting base 300 and the second mounting base 400 can be driven by various driving mechanisms, for example, the sliding table can be a motor screw mechanism, an oil cylinder, a synchronous belt or other structures, for example, when the motor screw mechanism drives the sliding table 200, the motor screw mechanism can comprise a screw rod and a motor, the screw rod is rotatably installed on the base 100 and extends along the X-axis direction, the motor is installed on the base 100 and is in transmission connection with the screw rod, the screw rod is in threaded connection with the sliding table 200, the motor can control the screw rod to rotate, and the screw rod can drive the sliding table 200 to slide along the X-axis direction along the horizontal axis direction. The first mounting base 300 and the second mounting base 400 may be provided with a guide rail or a sliding groove along a vertical direction, the clamping jaw 301 may be slidably mounted on the guide rail or the sliding groove of the first mounting base 300 through a mounting block, and the first suction cup 401 may be slidably mounted on the guide rail or the sliding groove of the second mounting base 400 through a mounting block. In this case, the holding jaw 301 and the first suction pad 401 may be driven by the aforementioned driving mechanism. Certainly, the clamping jaw 301 and the first sucking disc 401 also can go up and down through first lift cylinder and the direct control of second lift cylinder, and is concrete, first lift cylinder is vertical to be set up on first mount pad 300, clamping jaw 301 sets up in the bottom of first lift cylinder, first lift cylinder can control clamping jaw 301 through self is flexible to go up and down, the second lift cylinder is vertical to be set up on second mount pad 400, first sucking disc 401 sets up in the bottom of second lift cylinder, the second lift cylinder can control first sucking disc 401 through self is flexible to go up and down. The clamping jaw 301 is a common part of a manipulator, can grab workpieces, is wide in variety and sold in the market, and the structure and the working principle of the clamping jaw 301 are not described in detail herein because the structure of the clamping jaw 301 is not improved in the utility model.

In some embodiments of the present invention, as shown in fig. 2 and 3, the second mounting base 400 is provided with a mounting bracket 402 in a liftable manner, the first suction cup 401 is mounted at the bottom end of the mounting bracket 402 in a rotatable manner about a first horizontal axis, and the lower end surface of the first suction cup 401 is a suction surface and can be in a horizontal state or a state of being disposed obliquely with respect to a horizontal plane during the rotatable adjustment. Specifically, the first horizontal axis may be parallel to the lower end surface of the first suction cup 401, and generally, the lower end surface of the first suction cup 401, that is, the suction surface of the first suction cup 401, is in a horizontal state, so as to facilitate the suction of the plastic product whose upper end surface is a horizontal surface. However, the upper end surface of some plastic products is not a horizontal surface, but is slightly inclined with respect to the horizontal surface, and the horizontal adsorption surface cannot be closely attached to the upper end surface of the plastic product, resulting in poor adsorption effect. In this embodiment, can rotate and adjust first sucking disc 401, make the lower terminal surface of first sucking disc 401 set up for the horizontal plane slope, and the direction and the angle of slope are the same with the incline direction and the angle of plastics finished product up end, and the lower terminal surface of first sucking disc 401 can closely laminate the plastics finished product up end to make first sucking disc 401's adsorption effect better.

In some embodiments of the present invention, as shown in fig. 2 and 3, the mounting frame 402 is provided with a first mounting plate 403 which can be adjusted up and down, the first mounting plate 403 is rotatably provided with a plurality of first adjusting rods 404, and the other ends of the first adjusting rods 404 are rotatably connected to the upper end surface of the first suction cup 401. Adjust first mounting panel 403 from top to bottom, first mounting panel 403 can rotate the regulation to first sucking disc 401 through first regulation pole 404, convenient operation, labour saving and time saving, and the other end of first regulation pole 404 rotates the up end of connecting first sucking disc 401, and then can not lead to the fact the influence to the absorption of first sucking disc 401. It should be noted that the number of the first adjustment rods 404 may be one or more. In addition, the first suction cup 401 can also be rotationally adjusted in other manners, for example, an air cylinder can be hinged between the upper end surface of the first suction cup 401 and the mounting frame 402, and the rotation adjustment of the first suction cup 401 can also be controlled by the expansion and contraction of the air cylinder.

In some embodiments of the present invention, as shown in fig. 2 and 3, the mounting bracket 402 is provided with a plurality of sets of first mounting holes in the vertical direction, and the first mounting plate 403 can be bolted with different sets of first mounting holes. Can adjust from top to bottom first mounting panel 403 through the first mounting panel 403 with the first mounting hole bolted connection of different groups, convenient operation, labour saving and time saving. Of course, first mounting panel 403 can also adjust from top to bottom through other modes, for example, first mounting panel 403 can follow vertical direction slidable mounting on mounting bracket 402, can set up the lead screw on mounting bracket 402 vertically and rotate simultaneously, and the lead screw is connected with the motor, lead screw and first mounting panel 403 threaded connection, starter motor, the motor can control the lead screw and rotate, thereby the lead screw can drive first mounting panel 403 and slide adjusting from top to bottom.

In some embodiments of the present invention, as shown in fig. 2 and 3, a first negative pressure chamber 405 is provided in the first suction cup 401, a vacuum generator is connected to the first negative pressure chamber 405, and a plurality of first suction holes 406 communicating with the first negative pressure chamber 405 are provided on a lower end surface of the first suction cup 401. When needing to adsorb the plastics finished product, start vacuum generator, vacuum generator can make and produce the negative pressure in the first negative pressure chamber 405, and when the lower terminal surface laminating plastics finished product of first sucking disc 401, first negative pressure chamber 405 can adsorb the plastics finished product through a plurality of first adsorption holes 406, convenient operation, and adsorption effect is good. It should be noted that there are a plurality of first suction holes 406, one or more first suction holes 406 may be disposed at a position of the first suction cup 401 near the middle, and a plurality of first suction holes 406 may be disposed at a position of the first suction cup 401 near the edge, so that the suction effect is better. The vacuum generator is a common device capable of providing negative pressure, and the structure of the vacuum generator is not improved in this embodiment, so the structure and the operation principle thereof are not described in detail herein.

In some embodiments of the present invention, as shown in fig. 2 and 3, the edge of the lower end surface of the first suction cup 401 is circumferentially provided with a first annular abutting plate 407, and the bottom end of the first annular abutting plate 407 is used for abutting against the outer surface of the workpiece. In the prior art, the first suction cup 401 is generally directly attached to the upper end surface of the plastic product through the lower end surface, and the attachment is not tight when a bump is formed on the upper end surface of the plastic product, so that the first negative pressure cavity 405 is prone to air leakage and poor in adsorption effect. In this embodiment, first sucking disc 401 passes through the finished up end of plastics of bottom laminating of first annular rigging board 407, and the lug on the finished up end of plastics can be located the space that forms between first annular rigging board 407 and the lower terminal surface of first sucking disc 401, and then can reduce the untight condition of laminating to make first sucking disc 401's adsorption effect better.

In some embodiments of the present invention, as shown in fig. 2 and 3, the first annular attaching plate 407 is made of elastic rubber. And then first annular attaching plate 407 can stretch out and draw back and warp with the deformation slightly according to the roughness of the finished plastics up end to first annular attaching plate 407 can laminate the finished plastics up end more closely, thereby makes first sucking disc 401's adsorption efficiency better.

In some embodiments of the present invention, as shown in fig. 2 and 3, the mounting frame 402 is provided with a second suction cup 408 rotatably adjustable about a second horizontal axis, and an end surface of the second suction cup 408 facing away from the mounting frame 402 is a suction surface and can be in a vertical state or a state of being disposed obliquely with respect to the vertical surface during the rotation adjustment. The upper end of a part of plastic finished products is not convenient to be adsorbed, and only the outer side wall is convenient to be adsorbed. In this embodiment, the mounting bracket 402 is further provided with the second sucking disc 408 with rotating the regulation, and is concrete, and the second horizontal axis can deviate from the terminal surface parallel of mounting bracket 402 with the second sucking disc 408, and under general condition, the second sucking disc 408 deviates from the terminal surface of mounting bracket 402, that is to say that the adsorption plane of second sucking disc 408 is in vertical state, and then conveniently adsorbs the plastics finished product that the lateral wall is vertical. But there is some finished lateral wall of plastics not vertical face, but for vertical face slope slightly, and then lead to the adsorption plane of vertical state can not closely laminate the finished lateral wall of plastics to lead to the adsorption efficiency poor. Under this kind of circumstances, can rotate and adjust second sucking disc 408, the terminal surface that makes second sucking disc 408 deviate from mounting bracket 402 sets up for vertical face slope, and the direction and the angle of slope are the same with the incline direction and the angle of plastics finished product lateral wall, can make the adsorption plane of second sucking disc 408 closely laminate plastics finished product lateral wall to make second sucking disc 408's adsorption effect better.

In some embodiments of the present invention, as shown in fig. 2 and 3, the mounting frame 402 is provided with a second mounting plate 409 capable of being adjusted up and down, the second mounting plate 409 is rotatably provided with a plurality of second adjusting rods 410, and the other ends of the second adjusting rods 410 are rotatably connected to the end surfaces of the second suction cups 408 close to the mounting frame 402. Adjust second mounting panel 409 from top to bottom, second mounting panel 409 passes through the second and adjusts pole 410 and can rotate the regulation to second sucking disc 408, convenient operation, labour saving and time saving, and the other end that the pole 410 was adjusted to the second rotates the terminal surface of connecting second sucking disc 408 and being close to mounting bracket 402, and then can not lead to the fact the influence to the absorption of second sucking disc 408. It should be noted that the number of the second adjustment rods 410 may be one or more. In addition, the second suction cup 408 can be adjusted in other manners, for example, an air cylinder can be hinged between the end surface of the second suction cup 408 close to the mounting frame 402 and the mounting frame 402, and the rotation adjustment of the second suction cup 408 can also be controlled by the expansion and contraction of the air cylinder.

In some embodiments of the present invention, as shown in fig. 2 and 3, the mounting bracket 402 is provided with a plurality of sets of second mounting holes 411 in the vertical direction, and the second mounting plates 409 can be bolted with different sets of second mounting holes 411. Through the second mounting panel 409 with the second mounting hole 411 bolted connection of different groups can adjust about the second mounting panel 409, convenient operation, labour saving and time saving. Of course, the second mounting plate 409 can be adjusted up and down in other ways, such as by a motor screw mechanism.

In some embodiments of the present invention, as shown in fig. 2 and 3, a second negative pressure chamber 412 is disposed in the second suction cup 408, the second negative pressure chamber 412 is connected to a vacuum generator, and a plurality of second suction holes 413 communicated with the second negative pressure chamber 412 are disposed on an end surface of the second suction cup 408 facing away from the mounting frame 402. When needing to adsorb the plastics finished product, start vacuum generator, vacuum generator can make and produce the negative pressure in the second negative pressure chamber 412, and when the terminal surface laminating plastics finished product that second sucking disc 408 deviates from mounting bracket 402, second negative pressure chamber 412 can adsorb the plastics finished product through a plurality of second adsorption holes 413, convenient operation, and adsorption effect is good.

In some embodiments of the utility model, as shown in fig. 2 and 3, the edge of the end surface of the second suction cup 408 facing away from the mounting frame 402 is circumferentially provided with a second annular abutment plate 414, and an end of the second annular abutment plate 414 facing away from the second suction cup 408 is configured to abut an outer surface of the workpiece. In this embodiment, the second suction cup 408 is attached to the outer side wall of the plastic product at the end where the second annular attaching plate 414 deviates from the second suction cup 408, and the convex block on the outer side wall of the plastic product can be located in the space formed between the end surfaces of the second annular attaching plate 414 and the second suction cup 408 deviating from the mounting frame 402, so that the attaching condition can be reduced, and the adsorption effect of the second suction cup 408 is better.

In some embodiments of the present invention, as shown in fig. 2 and 3, the second annular attaching plate 414 is made of elastic rubber. And then the second annular attaching plate 414 can stretch out and draw back and deform slightly according to the flatness of the outer side wall of the plastic finished product, so that the second annular attaching plate 414 can attach to the outer side wall of the plastic finished product more closely, and the adsorption effect of the second suction cup 408 is better.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.

Claims

1. A double-station manipulator, comprising:

a base (100);

the sliding table (200) is mounted on the base (100) in a manner of sliding along the X-axis direction of a horizontal axis;

the first mounting seat (300) can be mounted on the sliding table (200) in a sliding mode along the horizontal axis direction Y, and a clamping jaw (301) is arranged on the first mounting seat (300) in a lifting mode;

and the second mounting seat (400) can be slidably mounted on the sliding table (200) along the Y-axis direction of the horizontal axis, and a first sucker (401) can be arranged on the second mounting seat (400) in a lifting manner.

2. The double-station manipulator according to claim 1, wherein the second mounting seat (400) is provided with a mounting frame (402) in a lifting manner, the first suction cup (401) is mounted at the bottom end of the mounting frame (402) in a manner of being capable of rotating and adjusting around a first horizontal axis, and the lower end surface of the first suction cup (401) is a suction surface and can be in a horizontal state or a state of being inclined relative to the horizontal plane in the rotating and adjusting process.

3. The double-station manipulator according to claim 2, characterized in that the mounting frame (402) is provided with a first mounting plate (403) capable of being adjusted up and down, the first mounting plate (403) is provided with a plurality of first adjusting rods (404) in a rotating manner, and the other ends of the first adjusting rods (404) are connected with the upper end face of the first sucker (401) in a rotating manner.

4. The double-station manipulator according to claim 3, characterized in that the mounting frame (402) is provided with a plurality of groups of first mounting holes in the vertical direction, and the first mounting plate (403) can be bolted with different groups of first mounting holes.

5. The double-station mechanical arm according to claim 2, characterized in that a first negative pressure cavity (405) is arranged in the first suction cup (401), a vacuum generator is connected to the first negative pressure cavity (405), and a plurality of first suction holes (406) communicated with the first negative pressure cavity (405) are arranged on the lower end surface of the first suction cup (401).

6. The double-station mechanical arm according to claim 5, characterized in that a first annular abutting plate (407) is circumferentially arranged on the edge of the lower end face of the first suction cup (401), and the bottom end of the first annular abutting plate (407) is used for abutting against the outer surface of a workpiece.

7. The double-station manipulator according to claim 6, characterized in that the first annular attaching plate (407) is made of elastic rubber.

8. The double-station manipulator according to claim 2, characterized in that the mounting frame (402) is provided with a second suction cup (408) rotatably adjustable about a second horizontal axis, and an end face of the second suction cup (408) facing away from the mounting frame (402) is a suction face and can be in a vertical state or a state obliquely arranged relative to the vertical plane during the rotation adjustment.

9. The double-station manipulator according to claim 8, characterized in that the mounting frame (402) is provided with a second mounting plate (409) in an up-and-down adjustable manner, a plurality of second adjusting rods (410) are rotatably arranged on the second mounting plate (409), and the other ends of the second adjusting rods (410) are rotatably connected with the end surfaces, close to the mounting frame (402), of the second suction cups (408).

10. The double-station manipulator according to claim 9, characterized in that the mounting frame (402) is provided with a plurality of sets of second mounting holes (411) in the vertical direction, the second mounting plates (409) being capable of being bolted to different sets of second mounting holes (411).