A multi-head picking system for workpiece typesetting

Abstract

The utility model provides a multi-head picking system for workpiece typesetting, including a frame, a flexible vibration plate arranged on the frame, a transfer mold with a plurality of hole slots, a plurality of transfer robots for transferring and loading workpieces facing upward into the hole slots, and a loading robot for transferring and loading workpieces in the hole slots into the injection slots of an injection molding machine; the transfer mold loaded with workpieces is transported to the loading robot through a conveyor belt structure, so that the loading robot can grab the workpieces into the injection slots of the injection molding machine. The present application electrically connects the visual imaging module to the transfer robot, and the loading robot places the workpieces in the hole slots into the injection slots in a posture aligned with the injection slots of the injection molding machine, which greatly shortens the time required for sorting workpieces, improves the production efficiency of the upper cavity shell and / or the lower cavity shell, and improves the yield rate of the finished products of the upper cavity shell and / or the lower cavity shell.

Description

Technical Field

[0001] The utility model relates to a multi-head picking system for workpiece typesetting. Background Art

[0002] The cavity shell structure of a mobile phone speaker is usually formed by the buckling of an upper cavity shell and a lower cavity shell formed by injection molding. The cavity shell structure produced by the injection molding process has strong pressure resistance.

[0003] The current process flow for producing upper cavity shells and / or lower cavity shells still mostly adopts the method of manual sorting. The specific steps are: manually sorting out the workpieces for producing upper cavity shells and / or lower cavity shells and manually adjusting the workpieces to face up, then aligning the workpieces to the injection molding slot of the injection molding machine and placing them into the injection molding slot for injection molding to form the upper cavity shell and / or lower cavity shell.

[0004] The following problems exist when using the above process flow to produce cavity shell structures: (1) The manual sorting of workpieces is inefficient and has high production costs; (2) There is little difference between the front and back sides of the workpieces, and sorting is performed only by human visual recognition, which results in a high misselection rate, resulting in a low yield rate for the upper cavity shell and / or lower cavity shell produced. Utility Model Content

[0005] The utility model provides a multi-head picking system for workpiece typesetting, which can effectively solve the above problems.

[0006] The utility model is achieved in this way:

[0007] A multi-head picking system for workpiece typesetting, the picking system is arranged beside an injection molding machine, the picking system includes a frame, a flexible vibration plate arranged on the frame, a transfer mold with a plurality of hole slots, a plurality of transfer robots for transferring and loading workpieces facing up into the hole slots, and a loading robot for transferring and loading workpieces in the hole slots into an injection molding slot of the injection molding machine; the picking system also includes a conveyor belt structure arranged on the frame and a visual imaging module arranged corresponding to the transfer robot; the visual imaging module is electrically connected to the transfer robot to control the transfer robot to grab the workpiece facing up, and put the workpiece into the hole slot in a posture aligned with the hole slot, and the transfer mold loaded with workpieces is transported to the loading robot through the conveyor belt structure, so that the loading robot grabs the workpiece into the injection molding slot of the injection molding machine.

[0008] As a further improvement, a feed frame and a storage hopper are arranged in sequence at the rear end of the flexible vibration plate, and the storage hopper and the feed frame are connected by a feed pipe; a vibration motor is installed under the flexible vibration plate to vibrate several stacked workpieces into a single dispersed state.

[0009] As a further improvement, the frame is fixedly mounted with two side slide rails which are arranged at intervals and extend along the z-axis direction of the frame through a number of columns, a transverse slide rail which extends along the x-axis direction of the frame is slidably engaged with the two side slide rails, a mounting seat is slidably engaged with the transverse slide rail in the extension direction, and a number of transfer robots and corresponding visual imaging modules are mounted on a mounting seat, and the transfer robots can slide along the y-axis direction of the frame on the mounting seat.

[0010] As a further improvement, a z-axis nut is fixedly installed on the bottom surface of one end of the horizontal slide rail in the length direction, and a z-axis screw rod that screws with the z-axis nut is rotatably installed on one side of the slide rail. The z-axis screw rod extends along the z-axis direction of the frame, and a z-axis motor for controlling the rotation of the z-axis screw rod is installed on the side slide rail.

[0011] As a further improvement, a guide slide bar parallel to the axis of the z-axis screw rod is fixed on the other side slide rail, and a guide slider is fixed on the bottom surface of the other end of the horizontal slide rail in the length direction. The guide slider is provided with a guide groove that cooperates with the guide slide bar slider.

[0012] As a further improvement, an x-axis nut is fixedly installed on the bottom surface of the mounting seat, an x-axis screw rod extending along the x-axis direction and spirally engaged with the x-axis nut is rotatably installed on the transverse slide rail, and an x-axis motor for controlling the rotation of the x-axis screw rod is installed on the transverse slide rail.

[0013] As a further improvement, a y-axis moving assembly corresponding to the transfer robot is arranged on the mounting seat. The y-axis moving assembly includes a main roller, a slave roller and a y-axis conveyor belt sleeved between the main roller and the slave roller, which are distributed at intervals along the y-axis direction of the frame and rotatably connected to the mounting seat. The base of the transfer robot is fixed on the y-axis conveyor belt, and a y-axis motor for driving the main roller to rotate is installed in the mounting seat.

[0014] As a further improvement, a reinforcement strip extending along the y-axis direction is fixedly provided on the mounting seat corresponding to the transfer robot, and a reinforcement groove that cooperates with the sliding buckle of the reinforcement strip is opened on the base of the transfer robot.

[0015] As a further improvement, the frame is fixed with a base plate and two side plates that are vertically and spaced apart and fixed to the base plate. The side plate is slidably connected to a lifting seat along the y-axis direction of the frame. The lifting seat is slidably connected to a robotic arm fixed to the rear end of the loading robot along the z-axis direction of the frame. The robotic arm extends along the z-axis direction of the frame.

[0016] As a further improvement, a vertical screw rod arranged along the y-axis direction of the frame is rotatably connected to the bottom plate, a vertical nut spirally matched with the vertical screw rod is provided on the lifting seat, and a vertical motor for controlling the rotation of the vertical screw rod is installed on the bottom surface of the frame; a tensioning transmission belt is provided on one side of the robotic arm, the front end of the tensioning transmission belt is fixedly connected to the front end of the side wall of the robotic arm, and the rear end is fixedly connected to the rear end of the side wall of the robotic arm, and a mounting plate is vertically fixedly connected to one side of the top of the lifting seat, and two tensioning wheels arranged at intervals and a transmission wheel located between the two tensioning wheels are rotatably connected to the mounting plate, the middle part of the tensioning transmission belt is wound around the inside of one tensioning wheel, wrapped around the outside of the transmission wheel, and wound out from the inside of the other tensioning wheel, and a horizontal motor for controlling the rotation of the transmission wheel is installed on the mounting plate to drive the loading robot to move along the z-axis direction of the frame.

[0017] The beneficial effects of the utility model are:

[0018] The present application realizes automatic sorting of workpieces and ensures that the workpieces are placed in the hole slots in a posture that is aligned with the hole slots of the transfer mold by electrically connecting the visual imaging module to the transfer robot. The workpieces are then sent to the loading robot by the conveyor belt structure, and the loading robot places the workpieces in the hole slots into the injection molding slots in a posture that is aligned with the injection molding slots of the injection molding machine, thereby greatly shortening the time required for sorting workpieces, improving the production efficiency of the upper cavity shell and / or the lower cavity shell, and improving the yield rate of the finished products of the upper cavity shell and / or the lower cavity shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0020] Figure 2 It is a side plan view of the overall structure of the utility model;

[0021] Figure 3 It is an isometric schematic diagram of the utility model showing the positional relationship between the side slide rail, the transverse slide rail and the mounting seat;

[0022] Figure 4 It is a structural schematic diagram of the utility model that embodies the assembly relationship between the side slide rail and the permanent slide rail;

[0023] Figure 5 It is a structural schematic diagram of the utility model showing the assembly relationship between the mounting seat and the horizontal slide rail;

[0024] Figure 6 It is an exploded schematic diagram of the utility model showing the assembly relationship between the mounting base and the transfer manipulator;

[0025] Figure 7 It is an isometric schematic diagram of the utility model showing the assembly relationship between the loading manipulator, the lifting seat and the side plate;

[0026] Figure 8 This utility model Figure 7 A magnified schematic diagram of center A.

[0027] The accompanying drawings are marked as follows:

[0028] 10. Rack; 101. Column; 11. Side slide rail; 111. Z-axis screw rod; 112. Z-axis motor; 113. Guide slide bar; 12. Horizontal slide rail; 121. Z-axis nut; 122. Guide slider; 1221. Guide groove; 123. X-axis screw rod; 124. X-axis motor; 13. Mounting seat; 131. X-axis nut; 14. Y-axis moving assembly; 141. Main roller; 142. Slave roller; 143. Y-axis conveyor belt; 144. Y-axis motor; 145. Reinforcement strip; 15. Bottom plate; 16. Side plate; 161. Slide groove; 1 7. Lifting seat; 171. Vertical nut; 172. Mounting plate; 1721. Tensioning wheel; 1722. Transmission wheel; 1723. Horizontal motor; 18. Vertical screw rod; 19. Vertical motor; 20. Flexible vibration plate; 21. Vibration motor; 30. Transfer mold; 31. Hole slot; 40. Transfer robot; 41. Base; 50. Loading robot; 51. Grabbing part; 52. Robot arm; 521. Tensioning transmission belt; 60. Conveyor belt structure; 70. Visual imaging module; 80. Feed frame; 90. Storage hopper; 91. Feed pipe. DETAILED DESCRIPTION

[0029] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0030] like Figures 1 to 8 As shown, a multi-head picking system for workpiece typesetting is arranged beside an injection molding machine (not shown in the figure), and the picking system includes a frame 10, a flexible vibration plate 20 arranged on the frame 10, a transfer mold 30 with a plurality of hole slots 31, a plurality of transfer manipulators 40 for transferring the workpiece facing upward into the hole slots 31, and a loading manipulator 50 for transferring the workpiece in the hole slots 31 into the injection molding slot of the injection molding machine; the picking system also includes a flexible vibration plate 20 arranged on the frame 10, a transfer mold 30 with a plurality of hole slots 31, and a plurality of transfer manipulators 40 for transferring the workpiece facing upward into the hole slots 31. A conveyor belt structure 60 on the frame 10 and a visual imaging module 70 corresponding to the transfer robot 40; the visual imaging module 70 is electrically connected to the transfer robot 40 to control the transfer robot 40 to grab the workpiece facing up and align the workpiece to the hole slot 31 and place it into the hole slot 31. The transfer mold 30 loaded with workpieces is transported to the loading robot 50 through the conveyor belt structure 60, so that the loading robot 50 can grab it and put it into the injection slot of the injection molding machine.

[0031] The structures of the various components of the utility model are described below.

[0032] like Figure 2As shown, a feed frame 80 and a storage hopper 90 are sequentially arranged at the rear end of the flexible vibration disk 20. The storage hopper 90 and the feed frame 80 are connected by a feed pipe 91 to transport the workpieces stored in the storage hopper 90 to the feed frame 80 and then introduce them onto the flexible vibration disk 20. A vibration motor 21 is installed under the flexible vibration disk 20 to vibrate the stacked workpieces into a single dispersed state.

[0033] The left and right direction of the rack 10 is defined as the x-axis direction, the up and down direction is defined as the y-axis direction, and the front and back direction is defined as the z-axis direction, and the following detailed description is given:

[0034] like Figure 3 to Figure 6 As shown, the frame 10 is fixedly provided with two side rails 11 arranged at intervals and extending along the z-axis direction of the frame 10 by means of a plurality of columns 101, a transverse rail 12 extending along the x-axis direction of the frame 10 is slidably engaged with the two side rails 11, a mounting seat 13 is slidably engaged with the transverse rail 12 in the extending direction, and a plurality of transfer robots 40 and corresponding visual imaging modules 70 are mounted together on a mounting seat 13, and the transfer robot 40 can slide along the y-axis direction of the frame 10 on the mounting seat 13.

[0035] like Figure 4 and Figure 5 As shown, a z-axis nut 121 is fixedly installed on the bottom surface of one end of the horizontal slide rail 12 in the length direction, and a z-axis screw rod 111 spirally matched with the z-axis nut 121 is rotatably installed on one side slide rail 11, and the z-axis screw rod 111 extends along the z-axis direction of the frame 10, and a z-axis motor 112 for controlling the rotation of the z-axis screw rod 111 is installed on the side slide rail 11; a guide slide bar 113 parallel to the axis of the z-axis screw rod 111 is fixedly installed on the other side slide rail 11, and the cross-section of the guide slide bar 113 is in the shape of an "I", and a guide slider 122 is fixedly installed on the bottom surface of the other end of the horizontal slide rail 12 in the length direction, and a guide groove 1221 is provided on the guide slider 122 for slidingly matching with the guide slider 113. Such a design can improve the stability of the sliding connection of the horizontal slide rail 12 on the two side slide rails 11, so as to realize the smooth movement of the transfer robot 40 in the z-axis direction.

[0036] like Figure 5 As shown, an x-axis nut 131 is fixedly installed on the bottom surface of the mounting seat 13, and an x-axis screw rod 123 extending along the x-axis direction and spirally engaged with the x-axis nut 131 is rotatably installed on the transverse slide rail 12, and an x-axis motor 124 for controlling the rotation of the x-axis screw rod 123 is installed on the transverse slide rail 12, thereby realizing smooth movement of the transfer robot 40 in the x-axis direction.

[0037] like Figure 6 and Figure 7As shown, a y-axis moving component 14 corresponding to the transfer robot 40 is arranged on the mounting seat 13, and the y-axis moving component 14 includes a main roller 141, a slave roller 142 and a y-axis conveyor belt 143 sleeved between the main roller 141 and the slave roller 142, which are spaced apart along the y-axis direction of the frame 10 and rotatably connected to the mounting seat 13. The base 41 of the transfer robot 40 is fixed to the y-axis conveyor belt 143 by bolts (not shown in the figure), and a y-axis motor 144 for driving the main roller 141 to rotate is installed in the mounting seat 13; a reinforcement strip 145 extending along the y-axis direction is fixed on the mounting seat 13 corresponding to the transfer robot 40, and a reinforcement groove 411 that slides with the reinforcement strip 145 is opened on the base 41 of the transfer robot 40.

[0038] When the y-axis motor 144 drives the main roller 141 to rotate, the y-axis conveyor belt 143 can drive the transfer robot 40 to move along the y-axis direction of the frame 10, thereby realizing the smooth movement of the single transfer robot 40 in the y-axis direction. It should be noted here that the principle of the conveyor belt structure 60 conveying the transfer mold 30 is similar to the principle of the transfer robot 40 moving in the y-axis direction, so it is not repeated here.

[0039] By controlling the transfer robot 40 to move in the x-axis, y-axis, and z-axis directions of the frame 10, the transfer robot 40 can flexibly grasp the workpiece facing upward on the flexible vibration plate 20, thereby improving the sorting efficiency of the workpieces.

[0040] The visual imaging module 70 includes a camera, a light source and a visual controller. The visual controller is electrically connected to the camera and the light source (not shown in the figure). The visual controller is also connected to the transfer robot 40 control system CPU through a port communication. When the transfer robot 40 performs a grasping task, the robot control system drives the transfer robot 40 to move to a specific position along a preset path. The camera of the visual imaging system takes a picture of the workpiece on the flexible vibration plate 20, and transmits the photo information and the workpiece position information such as coordinates to the transfer robot 40 control system CPU. The system compares the photo with the stored standard picture, identifies the workpiece facing up and controls the transfer robot 40 to grasp it, and according to the deviation angle between the center point of the workpiece and the frame line, the workpiece is swung and guided to the position aligned with the hole slot 31 on the transfer mold 30 and placed in the hole slot 31.

[0041] like Figure 7 and Figure 8As shown, the loading robot 50 includes a plurality of grasping parts 51 which are arranged corresponding to the hole grooves 31 on the transfer mold 30 and are used to grasp the workpiece in the hole grooves 31. A base plate 15 and two side plates 16 which are vertically and spaced and fixed to the base plate 15 are fixedly mounted on the frame 10. A lifting seat 17 is slidably connected to the side plate 16 along the y-axis direction of the frame 10. A robotic arm 52 fixed to the rear end of the loading robot 50 is slidably connected to the lifting seat 17 along the z-axis direction of the frame 10. The robotic arm 52 extends along the z-axis direction of the frame 10.

[0042] like Figure 7 and Figure 8 As shown, a vertical screw rod 18 arranged along the y-axis direction of the frame 10 is rotatably connected to the base plate 15, a vertical nut 171 spirally matched with the vertical screw rod 18 is provided on the lifting seat 17, and a vertical motor 19 for controlling the rotation of the vertical screw rod 18 is installed on the bottom surface of the frame 10; a slide groove 161 for the lifting seat 17 to be connected with a slide buckle is provided on the side close to the two side plates 16. Such a design can enhance the stability of the lifting seat 17 moving along the y-axis direction, so that the loading robot 50 can slide smoothly along the y-axis direction.

[0043] like Figure 7 and Figure 8 As shown, a tensioning transmission belt 521 is provided on one side of the robot arm 52, and the front end of the tensioning transmission belt 521 is fixedly connected to the front end of the side wall of the robot arm 52, and the rear end is fixedly connected to the rear end of the side wall of the robot arm 52. A mounting plate 172 is vertically fixedly connected to one side of the top of the lifting seat 17, and two tensioning wheels 1721 arranged at intervals and a transmission wheel 1722 located between the two tensioning wheels 1721 are rotatably connected to the mounting plate 172. The middle part of the tensioning transmission belt 521 is wound around the inside of one tensioning wheel 1721, wrapped around the outside of the transmission wheel 1722, and wound out from the inside of the other tensioning wheel 1721. A horizontal motor 1723 is installed on the mounting plate 172 for controlling the rotation of the transmission wheel 1722 to drive the loading robot 50 to move along the z-axis direction of the frame 10.

[0044] By controlling the loading robot 50 to move in the y-axis and z-axis directions of the frame 10 respectively, the loading robot 50 can flexibly transfer the workpiece in the hole groove 31 of the transfer mold 30 into the injection groove of the injection molding machine, so that the workpiece is placed in the injection groove in a posture aligned with the injection groove of the injection molding machine, ready for injection molding, thereby facilitating the production of the upper cavity shell and / or the lower cavity shell, thereby realizing the automation of the cavity shell structure production and greatly improving the production efficiency of the cavity shell structure.

[0045] It should be noted here that the picking system of the present application can also be used in other tooling processing application scenarios that require workpieces to be placed neatly and in batches for subsequent production, such as batch assembly of parts. The different parts required for each assembly can be picked up and sorted out separately through the picking system to facilitate subsequent parts assembly operations and improve the assembly efficiency of the finished product.

[0046] The above embodiments are only used to illustrate the present invention, not to limit the present invention. A person skilled in the art may make various changes or modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions should also fall within the scope of the present invention and be defined by the claims.

Claims

1. A multi-head picking system for workpiece typesetting, characterized by: The picking system is arranged beside the injection molding machine, and comprises a frame (10), a flexible vibration plate (20) arranged on the frame (10), a transfer mold (30) having a plurality of hole slots (31), a plurality of transfer manipulators (40) for transferring workpieces facing upward into the hole slots (31), and a loading manipulator (50) for transferring workpieces in the hole slots (31) into the injection molding slots of the injection molding machine; the picking system also comprises a conveyor belt structure (60) arranged on the frame (10). ) and a visual imaging module (70) corresponding to the transfer robot (40); the visual imaging module (70) is electrically connected to the transfer robot (40) to control the transfer robot (40) to grasp the workpiece facing upward, and to align the workpiece to a posture aligned with the hole slot (31) and place it into the hole slot (31); the transfer mold (30) loaded with workpieces is transported to the loading robot (50) through the conveyor belt structure (60) to be grasped by the loading robot (50) and placed into the injection molding slot of the injection molding machine.

2. A multi-head picking system for workpiece typesetting as claimed in claim 1, characterized in that: A feed frame (80) and a storage hopper (90) are arranged in sequence at the rear end of the flexible vibration plate (20), and the storage hopper (90) and the feed frame (80) are connected via a feed pipe (91); and a vibration motor (21) is installed below the flexible vibration plate (20) for vibrating a plurality of stacked workpieces into a single dispersed state.

3. A multi-head picking system for workpiece typesetting as claimed in claim 1, characterized in that: Two side slide rails (11) arranged at intervals and extending along the z-axis direction of the frame (10) are fixedly mounted on the frame (10) via a plurality of columns (101); a transverse slide rail (12) extending along the x-axis direction of the frame (10) is slidably engaged with the two side slide rails (11); a mounting seat (13) is slidably engaged with the transverse slide rail (12) in the extending direction; a plurality of transfer manipulators (40) and corresponding visual imaging modules (70) are mounted on a mounting seat (13); and the transfer manipulators (40) can slide along the y-axis direction of the frame (10) on the mounting seat (13).

4. A multi-head picking system for workpiece typesetting as claimed in claim 3, characterized in that: A z-axis nut (121) is fixedly mounted on the bottom surface of one end of the transverse slide rail (12) in the longitudinal direction, a z-axis screw rod (111) screw-matched with the z-axis nut (121) is rotatably mounted on one side slide rail (11), the z-axis screw rod (111) extending along the z-axis direction of the frame (10), and a z-axis motor (112) for controlling the rotation of the z-axis screw rod (111) is mounted on the side slide rail (11).

5. A multi-head picking system for workpiece typesetting as claimed in claim 4, characterized in that: A guide slide bar (113) parallel to the axis of the z-axis screw rod (111) is fixedly mounted on the other side slide rail (11); a guide slider (122) is fixedly mounted on the bottom surface of the other end in the length direction of the transverse slide rail (12); and a guide groove (1221) is provided on the guide slider (122) for slidingly engaging with the guide slide bar (113).

6. A multi-head picking system for workpiece typesetting as claimed in claim 3, characterized in that: An x-axis nut (131) is fixedly mounted on the bottom surface of the mounting seat (13); an x-axis lead screw (123) extending along the x-axis direction and screw-matched with the x-axis nut (131) is rotatably mounted on the transverse slide rail (12); and an x-axis motor (124) for controlling the rotation of the x-axis lead screw (123) is mounted on the transverse slide rail (12).

7. A multi-head picking system for workpiece typesetting as claimed in claim 3, characterized in that: A y-axis moving assembly (14) corresponding to the transfer robot (40) is arranged on the mounting seat (13). The y-axis moving assembly (14) comprises a main roller (141) and a slave roller (142) which are spaced apart along the y-axis direction of the frame (10) and rotatably connected to the mounting seat (13). The y-axis conveyor belt (143) is sleeved between the main roller (141) and the slave roller (142). The base (41) of the transfer robot (40) is fixedly mounted on the y-axis conveyor belt (143). A y-axis motor (144) for driving the main roller (141) to rotate is installed in the mounting seat (13).

8. A multi-head picking system for workpiece typesetting as claimed in claim 7, characterized in that: A reinforcement strip (145) extending along the y-axis direction is fixedly arranged on the mounting seat (13) corresponding to the transfer robot (40), and a reinforcement groove (411) which is slideably matched with the reinforcement strip (145) is provided on the base (41) of the transfer robot (40).

9. A multi-head picking system for workpiece typesetting as claimed in claim 1, characterized in that: A bottom plate (15) and two side plates (16) vertically and fixedly connected to the bottom plate (15) at intervals are fixedly mounted on the frame (10); a lifting seat (17) is slidably connected to the side plate (16) along the y-axis direction of the frame (10); a mechanical arm (52) fixedly connected to the rear end of a loading robot (50) is slidably connected to the lifting seat (17) along the z-axis direction of the frame (10); and the mechanical arm (52) extends along the z-axis direction of the frame (10).

10. A multi-head picking system for workpiece typesetting as claimed in claim 9, characterized in that: A vertical screw rod (18) arranged along the y-axis direction of the frame (10) is rotatably connected to the bottom plate (15); a vertical nut (171) screw-matched with the vertical screw rod (18) is provided on the lifting seat (17); a vertical motor (19) for controlling the rotation of the vertical screw rod (18) is installed on the bottom surface of the frame (10); a tensioning transmission belt (521) is provided on one side of the mechanical arm (52); the front end of the tensioning transmission belt (521) is fixedly connected to the front end of the side wall of the mechanical arm (52); the rear end is fixedly connected to the rear end of the side wall of the mechanical arm (52); and the tensioning transmission belt (521) is vertically fixed on one side of the top of the lifting seat (17). A mounting plate (172) is connected, and two tensioning wheels (1721) arranged at intervals and a transmission wheel (1722) located between the two tensioning wheels (1721) are rotatably connected on the mounting plate (172), and the middle part of the tensioning transmission belt (521) is wound into the inner side of one tensioning wheel (1721), wrapped around the outer side of the transmission wheel (1722), and wound out from the inner side of the other tensioning wheel (1721). A horizontal motor (1723) is installed on the mounting plate (172) for controlling the rotation of the transmission wheel (1722) to drive the loading robot (50) to move along the z-axis direction of the frame (10).

Images