Machine table feeding and discharging transfer manipulator

Abstract

The utility model provides a machine table feeding and discharging transferring mechanical arm, relates to the technical field of mechanical arms, and aims to solve the technical problems that in the prior art, noise is large when a driving assembly drives a mechanical arm to move left and right or front and back, and machining and installation are inconvenient due to the fact that a lifting motor in a lifting device ascends and descends along with a lifting frame. A machine table feeding and discharging transfer manipulator comprises a fixing frame, a lifting frame, a lifting motor, a gear, a rack, a rotary table and a driving assembly, the lifting frame is slidably connected with the fixing frame, the lifting motor is connected with the gear, the rack is connected with the lifting frame, the gear is meshed with the rack, and the rotary table is connected to the lifting frame and connected with the driving assembly. The driving assembly comprises a driving motor, a first belt wheel, a second belt wheel, a belt, a first connecting plate and a sliding seat, the first connecting plate is connected with the rotary table, the driving motor is connected with the first belt wheel, the second belt wheel is rotationally connected with the first connecting plate, the belt is wound around the first belt wheel and the second belt wheel, and the sliding seat is connected with the belt and slidably connected with the first connecting plate.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator for loading and unloading materials on a machine platform. Background Art

[0002] Automated assembly lines can effectively improve product production efficiency and reduce labor costs. Automated assembly lines often include multiple stations, and manipulators are often used for transfer between multiple stations. Taking the assembly line for stainless steel thermos cup body processing as an example, the assembly line contains three adjacent stations, and every two adjacent stations are set vertically. The three stations are generally T-shaped, in which the first and third stations are set in the left and right directions, while the second station is set in the front and back directions. During the production process, the manipulator needs to transfer the product from the previous station to the next station, that is, from the first station to the second station and from the second station to the third station, that is, two transfers are performed in sequence, which is inefficient. When the manipulator is transferring, it is also necessary to move along the respective stations. The manipulator on the first station needs to be driven by the drive assembly to move along the left and right direction, and the manipulator on the second station needs to be driven by the drive assembly to move along the front and back direction. At present, the drive assembly uses a cylinder, but each extension and retraction of the cylinder is accompanied by a large noise. In addition, during the transportation process, the lifting device needs to drive the manipulator to rise and fall. The lifting device currently used includes a fixed frame, a lifting frame, a lifting motor, a gear and a rack. The fixed frame is arranged inside the lifting frame, and a rack is arranged on the fixed frame. The lifting motor is connected to the gear and connected to the lifting frame. When the lifting motor is started, the lifting motor, the gear and the lifting frame rise or fall at the same time. The problem with this lifting device is that the lifting frame is larger in size than the fixed frame, and the lifting of the large lifting frame is supported by the small fixed frame. The structure is relatively unstable, the strength is poor, and the installation is not very convenient. Moreover, the lifting motor is large in size. It rises and falls with the lifting frame, and a larger lifting space needs to be reserved, which also causes inconvenience in processing and installation. Utility Model Content

[0003] In view of the shortcomings of the prior art, the purpose of the utility model is to provide a machine loading and unloading material transfer robot to solve the technical problems in the prior art that the driving component drives the robot to move left and right or forward and backward, and the lifting motor in the lifting device rises and falls with the lifting frame, causing inconvenience in processing and installation.

[0004] To solve the above technical problems, the utility model provides a machine loading and unloading material transfer robot, including a fixed frame, a lifting frame, a lifting motor, a gear, a rack, a turntable and a driving assembly. The lifting frame is slidably connected to the fixed frame and the sliding direction of the lifting frame is a vertical direction. The lifting motor is fixedly connected to the fixed frame, the lifting motor output shaft is connected to the gear and drives the gear to rotate, the rotation axis of the gear is horizontally arranged, the rack is connected to the lifting frame and the rack is vertically arranged, the gear is meshed with the rack, the lifting frame is connected to the turntable, the turntable is connected to the driving assembly and drives the driving assembly to rotate, and the rotation axis of the turntable is vertically arranged. The driving assembly includes a driving motor, a first pulley, a second pulley, a belt, a first connecting plate and a sliding seat. The first connecting plate is horizontally arranged and connected to the turntable, the driving motor is connected to the first connecting plate, the driving motor output shaft is connected to the first pulley, the second pulley is rotatably connected to the first connecting plate, the first pulley and the second pulley are distributed along the length direction of the first connecting plate, the belt is wound around the first pulley and the second pulley, the sliding seat is connected to the belt and is slidably connected to the first connecting plate along the length direction of the first connecting plate.

[0005] After adopting the above structure, the utility model has the following advantages for a machine loading and unloading material transfer robot: after the lifting motor is started, the gear drives the rack to move vertically, driving the lifting frame to move vertically, thereby driving the turntable and the driving assembly on the lifting frame to move vertically. During the lifting process, the lifting motor and the fixed frame remain in a fixed state, so there is no need to reserve a larger lifting space for the lifting motor, and it is only necessary to ensure the normal lifting of the lifting frame, which makes processing and installation more convenient; the driving motor drives the first pulley to rotate, thereby moving the belt, and the belt drives the slide to move along the first connecting plate, and the slide can drive the robot to move. Compared with the cylinder, the noise of this driving assembly during operation is greatly reduced.

[0006] As an improvement, an installation cavity is provided in the fixed frame, and the installation cavity forms an opening at the top of the fixed frame. The lifting frame is slidably connected in the installation cavity, and the turntable is connected to the top of the lifting frame. With this structure, the lifting frame is arranged in the fixed frame, and the volume of the lifting frame is smaller than that of the fixed frame. The lifting of the small lifting frame is supported by the large fixed frame, so that the structure is more stable, the strength is higher, and the processing and installation are more convenient.

[0007] As an improvement, a second guide rail arranged in the vertical direction is connected to the side wall of the lifting frame, a second slider is connected to the inner wall of the fixed frame, and the second slider is slidably connected to the second guide rail; adopting this structure, the sliding connection between the lifting frame and the fixed frame is more stable and the sliding is smoother.

[0008] As an improvement, a second guide rail is connected to each of the two side walls of the lifting frame, and a second slider is connected to each of the two inner walls of the fixed frame. The second slider corresponds to the second guide rail one by one and is slidably connected thereto. This structure improves the stability of the sliding connection between the lifting frame and the fixed frame.

[0009] As an improvement, the cross-sections of the fixed frame and the lifting frame are both rectangular, the rack is connected to one of the side walls of the lifting frame, the other three side walls of the lifting frame are connected to a second guide rail, and the three inner walls of the fixed frame are connected to a second slider corresponding to the second guide rail; adopting this structure, the stability of the sliding connection between the lifting frame and the fixed frame is further improved, and the overall layout is reasonable and the structure is compact.

[0010] As an improvement, a through hole is provided on the side wall of the fixing frame, a second adjustment plate is connected to the outer wall of the fixing frame and the second adjustment plate covers the through hole, the lifting motor is connected to the second adjustment plate and the output shaft of the lifting motor extends into the installation cavity through the through hole, the gear and the lifting motor are respectively located on the inner and outer sides of the second adjustment plate, and a plurality of horizontally arranged long holes are provided on the second adjustment plate, and the fixing bolts pass through the long holes and are threadedly connected to the fixing frame; by adopting this structure, the position of the lifting motor can be adjusted by horizontally adjusting the position of the second adjustment plate, so that the gear and the rack can be stably engaged.

[0011] As an improvement, there are two groups of drive components, and the two first connecting plates in the two groups of drive components are arranged vertically; with this structure, the two groups of drive components correspond to the first station and the second station respectively, and the turntable drives the two groups of drive components to rotate simultaneously, so that the drive component on the first station moves to the second station, and the drive component on the second station moves to the third station, and one action realizes two transfers at the same time, thereby improving the transfer efficiency.

[0012] As an improvement, the drive assembly also includes a first guide rail and a first slider. The first guide rail is arranged along the length direction of the first connecting plate and is connected to the first connecting plate. The first slider is slidably connected to the first guide rail, and the slide is connected to the first slider. This structure makes the slide on the first connecting plate slide more stably and smoothly.

[0013] As an improvement, the driving assembly also includes a connecting block and a fixed plate, the connecting block is fixedly connected to the slide, the fixed plate is fixedly connected to the connecting block, and the belt is fixed between the connecting block and the fixed plate; with this structure, the belt is clamped by the connecting block and the fixed plate, so that the slide and the belt move synchronously, the structure is simple, the connection is stable, and slipping is prevented.

[0014] As an improvement, the driving component also includes a connecting column and a first adjusting plate, the first adjusting plate is provided with a through groove arranged along the length direction of the first connecting plate, the first connecting plate is provided with an installation groove arranged along the length direction of the first connecting plate, the bolt assembly fixes the first connecting plate and the first adjusting plate through the through groove and the installation groove, the connecting column is connected to the first adjusting plate, and the second pulley is rotatably connected to the connecting column; with this structure, the position of the second pulley can be adjusted along the length direction of the first connecting plate, so that the belt is kept in a tensioned state, preventing the belt from slipping between the first pulley and the second pulley. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0016] Figure 2 It is a schematic diagram of the exploded structure of the utility model.

[0017] Figure 3 It is a structural schematic diagram of the lifting frame part of the utility model.

[0018] Figure 4 It is a structural schematic diagram of the fixing frame part of the utility model.

[0019] Figure 5 It is a structural schematic diagram of the drive component part of the utility model.

[0020] Figure 6 It is a structural schematic diagram of the utility model when applied to an automated assembly line.

[0021] Figure 7 It is a structural schematic diagram of the second pulley part of the utility model.

[0022] 1. The lifting frame includes the following: 1. a fixing frame; 2. a lifting frame; 3. a lifting motor; 4. a gear; 5. a rack; 6. a turntable; 7. a driving assembly; 71. a driving motor; 72. a first pulley; 73. a second pulley; 74. a belt; 75. a first connecting plate; 76. a sliding seat; 77. a first guide rail; 78. a first sliding block; 79. a connecting block; 710. a fixing plate; 711. a connecting column; 712. a first adjusting plate; 713. a second connecting plate; 714. a reinforcing block; 8. a mounting cavity; 9. an opening; 10. a second guide rail; 11. a second sliding block; 12. a through hole; 13. a second adjusting plate; 14. a long hole; 15. a through groove; 16. a mounting groove; 17. a bottom plate; 18. a connecting seat; 19. a connecting rod; 20. a clamping assembly. DETAILED DESCRIPTION

[0023] The following is a detailed description of a loading and unloading material transfer robot for a machine platform according to the utility model in conjunction with the accompanying drawings.

[0024] like Figures 1 to 7 As shown, a machine loading and unloading material transfer robot includes a fixed frame 1, a lifting frame 2, a lifting motor 3, a gear 4, a rack 5, a turntable 6 and a driving assembly 7. The lifting frame 2 is slidably connected to the fixed frame 1 and the sliding direction of the lifting frame 2 is a vertical direction. Specifically, an installation cavity 8 is provided in the fixed frame 1, and the installation cavity 8 forms an opening 9 at the top of the fixed frame 1. The lifting frame 2 is slidably connected in the installation cavity 8, and the top of the lifting frame 2 is exposed above the installation cavity 8, and the cross-sections of the fixed frame 1 and the lifting frame 2 are both rectangular.

[0025] like Figure 1 and Figure 2 As shown, the lifting motor 3 is fixedly connected to the fixed frame 1, and the main part of the lifting motor 3 is located outside the fixed frame 1. The output shaft of the lifting motor 3 is connected to the gear 4 and drives the gear 4 to rotate. The gear 4 is located in the installation cavity 8, and the rotation axis of the gear 4 is horizontally arranged. The rack 5 is connected to the lifting frame 2 and the rack 5 is vertically arranged. The gear 4 is meshed with the rack 5, and the gear 4 and the rack 5 are both helical teeth. A turntable 6 is connected to the lifting frame 2, and the turntable 6 is connected to the driving component 7 and drives the driving component 7 to rotate. The rotation axis of the turntable 6 is vertically arranged. Specifically, the turntable 6 is connected to the top of the lifting frame 2.

[0026] like Figure 1 and Figure 2 As shown, a second guide rail 10 arranged in the vertical direction is connected to the side wall of the lifting frame 2, and a second slider 11 is connected to the inner wall of the fixing frame 1, and the second slider 11 is slidably connected to the second guide rail 10; further, a second guide rail 10 is connected to each of the two side walls of the lifting frame 2, and a second slider 11 is connected to each of the two inner walls of the fixing frame 1, and the second slider 11 corresponds to the second guide rail 10 one by one and is slidably connected, wherein the two second guide rails 10 can be arranged on adjacent side walls or on opposite side walls, and the second slider 11 is similar; in this embodiment, as Figure 3 and Figure 4 As shown, the rack 5 is connected to one of the side walls of the lifting frame 2, and the other three side walls of the lifting frame 2 are each connected to a second guide rail 10, and the three inner walls of the fixed frame 1 are each connected to a second slider 11 corresponding to the second guide rail 10, wherein the two second guide rails 10 arranged opposite to each other are also arranged symmetrically, and the second slider 11 is the same; in some other embodiments, the positions of the second guide rail 10 and the second slider 11 can be interchanged, that is, the second slider 11 is arranged on the outer wall of the lifting frame 2, and the second guide rail 10 is arranged on the inner wall of the fixed frame 1.

[0027] like Figure 1 and Figure 2 As shown, a through hole 12 is provided on the side wall of the fixing frame 1, a second adjusting plate 13 is connected to the outer side wall of the fixing frame 1 and the second adjusting plate 13 covers the through hole 12, the lifting motor 3 is connected to the second adjusting plate 13 and the output shaft of the lifting motor 3 extends into the installation cavity 8 through the through hole 12, the gear 4 and the lifting motor 3 are respectively located on the inner and outer sides of the second adjusting plate 13, a plurality of horizontally arranged long holes 14 are provided on the second adjusting plate 13, the fixing bolts pass through the long holes 14 and are threadedly connected to the fixing frame 1, and the through hole 12 and the second adjusting plate 13 are arranged on the side wall close to the rack 5.

[0028] like Figure 1 and Figure 5As shown, the driving assembly 7 includes a driving motor 71, a first pulley 72, a second pulley 73, a belt 74, a first connecting plate 75 and a sliding seat 76. The first connecting plate 75 is horizontally arranged and connected to the turntable 6. In this embodiment, the driving assembly 7 is divided into two groups and both are connected to the turntable 6. The two groups of driving assemblies 7 are horizontally arranged and perpendicular to each other. Specifically, the two first connecting plates 75 in the two groups of driving assemblies 7 are vertically arranged, and the two groups of driving assemblies 7 correspond to the first station and the second station respectively; the driving motor 71 is connected to the first connecting plate 75. It should be noted that the "connection" described in this embodiment includes direct connection and indirect connection. Taking the driving motor 71 as an example, the driving motor 71 can be directly connected to the first connecting plate 75, or it can be indirectly connected to the first connecting plate 75 through some other structures. Specifically, in this embodiment, the turntable 6 is connected to the connecting seat 18, and the two driving motors 71 are connected to the connecting seat 18. In addition, The platform 6 is connected to a base plate 17, and the driving assembly 7 also includes a second connecting plate 713 and a plurality of reinforcing blocks 714. The first connecting plate 75 is connected to the base plate 17 through the second connecting plate 713, and the plurality of reinforcing blocks 714 are connected between the first connecting plate 75 and the second connecting plate 713; in general, the base plate 17 is directly connected to the top of the turntable 6, and the two second connecting plates 713 are respectively connected to two adjacent side walls of the base plate 17, and the side walls of the base plate 17 are connected to the second connecting plate 713 in a plug-in form, the first connecting plate 75 is connected to the second connecting plate 713, and the reinforcing blocks 714 are circumferentially distributed around the connection between the first connecting plate 75 and the second connecting plate 713, and the connecting seat 18 is connected to the top of the base plate 17, and the driving motor 71 is arranged with the output shaft facing downward, that is, the driving motor 71 in this embodiment is indirectly connected to the first connecting plate 75 through the connecting seat 18, the base plate 17, and the second connecting plate 713.

[0029] like Figure 5As shown, the output shaft of the driving motor 71 is connected to the first pulley 72, and the second pulley 73 is rotatably connected to the first connecting plate 75. The first pulley 72 and the second pulley 73 are distributed along the length direction of the first connecting plate 75, and the belt 74 is wound around the first pulley 72 and the second pulley 73. That is to say, the first pulley 72 and the second pulley 73 are located at both ends of the belt 74. In this embodiment, the first pulley 72 and the second pulley 73 are both synchronous pulleys, and the belt 74 is a synchronous belt; wherein the driving assembly 7 also includes a connecting column 711 and a first adjusting plate 712, and the connecting column 711 is connected to the first The connecting plate 75 and the second pulley 73 are rotatably connected to the connecting column 711. The first adjusting plate 712 is provided with a through groove 15 arranged along the length direction of the first connecting plate 75. The first connecting plate 75 is provided with a mounting groove 16 arranged along the length direction of the first connecting plate 75. The bolt assembly fixes the first connecting plate 75 and the first adjusting plate 712 through the through groove 15 and the mounting groove 16. The first connecting plate 75 in this embodiment is composed of a profile, so it has a mounting groove 16. The connection method of the bolt assembly in the through groove 15 and the mounting groove 16 is the existing technology and will not be repeated here.

[0030] like Figure 5 As shown, the slide 76 is connected to the belt 74 and is slidably connected to the first connecting plate 75 along the length direction of the first connecting plate 75. Specifically, the drive assembly 7 also includes a connecting block 79 and a fixed plate 710. The connecting block 79 is fixedly connected to the slide 76, and the fixed plate 710 is fixedly connected to the connecting block 79. The belt 74 is fixed between the connecting block 79 and the fixed plate 710. In addition, each group of drive assemblies 7 also includes a first guide rail 77 and a first slider 78. The first guide rail 77 is arranged along the length direction of the first connecting plate 75 and is connected to the first connecting plate 75. The first slider 78 is slidably connected to the first guide rail 77, and the slide 76 is connected to the first slider 78.

[0031] like Figure 5 and Figure 6 As shown, two first connecting plates 75 are vertically arranged, and the rotation axis of the turntable 6 is vertically arranged. One of the first connecting plates 75 corresponds to the first workstation, which is arranged along the conveying direction parallel to the conveyor belt on the first workstation, and the other first connecting plate 75 corresponds to the second workstation, which is not shown in the figure; the slide 76 is connected to the clamping assembly 20 through the connecting rod 19, and the connecting rod 19 is arranged along the length direction of the first connecting plate 75. The clamping assembly 20 is a manipulator, and the connecting rod 19 is located below the first connecting plate 75.

[0032] The two groups of driving components 7 in the utility model correspond to the first station and the second station respectively. The driving motor 71 drives the first pulley 72 to rotate, so that the belt 74 moves, and the belt 74 drives the slide 76 to move along the first connecting plate 75. The slide 76 can drive the manipulator, that is, the clamping component 20 to move in the left and right direction at the first station and in the front and back direction at the second station. Compared with the cylinder, the noise of this driving component 7 during operation is greatly reduced; in addition, the turntable 6 drives the two groups of driving components 7 to rotate at the same time, and rotates 90°, so that the driving component 7 on the first station moves to the second station, and the driving component 7 on the second station moves to the third station. One action realizes two transfers at the same time, thereby improving the transfer efficiency. For the lifting part, after the lifting motor 3 is started, the gear 4 drives the rack 5 to move vertically, which drives the lifting frame 2 to move vertically, and can drive the turntable 6 and the driving assembly 7 on the lifting frame 2 to move vertically. During the lifting process, the lifting motor 3 and the fixed frame 1 remain in a fixed state, so there is no need to reserve a larger lifting space for the lifting motor 3, and it is only necessary to ensure that the lifting frame 2 can be lifted normally, which makes the processing and installation more convenient; the lifting frame 2 is arranged in the fixed frame 1, and the volume of the lifting frame 2 is smaller than that of the fixed frame 1. The lifting of the small lifting frame 2 is supported by the large fixed frame 1, which makes the structure more stable and stronger, and the processing and installation are also more convenient.

[0033] The implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned one implementation mode, and all other embodiments obtained by those skilled in the art without making any creative work belong to the scope of protection of the present invention.

Claims

1. A loading and unloading transfer robot, characterized in that: The invention comprises a fixed frame (1), a lifting frame (2), a lifting motor (3), a gear (4), a rack (5), a turntable (6) and a driving assembly (7); the lifting frame (2) is slidably connected to the fixed frame (1) and the sliding direction of the lifting frame (2) is vertical; the lifting motor (3) is fixedly connected to the fixed frame (1); the output shaft of the lifting motor (3) is connected to the gear (4) and drives the gear (4) to rotate; the rotation axis of the gear (4) is horizontally arranged; the rack (5) is connected to the lifting frame (2) and the rack (5) is vertically arranged; the gear (4) is meshed with the rack (5); the lifting frame (2) is connected to the turntable (6); the turntable (6) is connected to the driving assembly (7) and drives the driving assembly (7) to rotate; the rotation axis of the turntable (6) is vertically arranged; the driving assembly (7) is driven by the driving assembly (7) to rotate. The driving assembly (7) comprises a driving motor (71), a first pulley (72), a second pulley (73), a belt (74), a first connecting plate (75) and a sliding seat (76); the first connecting plate (75) is horizontally arranged and connected to the turntable (6); the driving motor (71) is connected to the first connecting plate (75); the output shaft of the driving motor (71) is connected to the first pulley (72); the second pulley (73) is rotatably connected to the first connecting plate (75); the first pulley (72) and the second pulley (73) are distributed along the length direction of the first connecting plate (75); the belt (74) is wound around the first pulley (72) and the second pulley (73); the sliding seat (76) is connected to the belt (74) and is slidably connected to the first connecting plate (75) along the length direction of the first connecting plate (75).

2. The loading and unloading transfer robot according to claim 1 is characterized in that: The fixing frame (1) is provided with a mounting cavity (8), the mounting cavity (8) forms an opening (9) at the top end of the fixing frame (1), the lifting frame (2) is slidably connected in the mounting cavity (8), and the turntable (6) is connected to the top end of the lifting frame (2).

3. The loading and unloading transfer robot according to claim 2 is characterized in that: A second guide rail (10) arranged in a vertical direction is connected to the side wall of the lifting frame (2), a second slider (11) is connected to the inner wall of the fixing frame (1), and the second slider (11) is slidably connected to the second guide rail (10).

4. The loading and unloading transfer robot according to claim 3 is characterized in that: The two side walls of the lifting frame (2) are each connected to a second guide rail (10), and the two inner walls of the fixed frame (1) are each connected to a second sliding block (11), and the second sliding blocks (11) correspond to the second guide rails (10) one by one and are slidably connected.

5. The loading and unloading transfer robot according to claim 4 is characterized in that: The cross-sections of the fixed frame (1) and the lifting frame (2) are both rectangular, the rack (5) is connected to one of the side walls of the lifting frame (2), the other three side walls of the lifting frame (2) are each connected to a second guide rail (10), and the three inner walls of the fixed frame (1) are each connected to a second slider (11) corresponding to the second guide rail (10).

6. The loading and unloading transfer robot according to claim 2 is characterized in that: A through hole (12) is provided on the side wall of the fixing frame (1), a second adjustment plate (13) is connected to the outer side wall of the fixing frame (1) and the second adjustment plate (13) covers the through hole (12), the lifting motor (3) is connected to the second adjustment plate (13) and the output shaft of the lifting motor (3) extends into the installation cavity (8) through the through hole (12), the gear (4) and the lifting motor (3) are respectively located on the inner and outer sides of the second adjustment plate (13), a plurality of horizontally arranged long holes (14) are provided on the second adjustment plate (13), and fixing bolts pass through the long holes (14) and are threadedly connected to the fixing frame (1).

7. The loading and unloading transfer robot according to claim 1 is characterized in that: The driving components (7) are divided into two groups, and the two first connecting plates (75) in the two groups of driving components (7) are arranged vertically.

8. The loading and unloading transfer robot according to claim 1 is characterized in that: The driving assembly (7) further comprises a first guide rail (77) and a first slider (78); the first guide rail (77) is arranged along the length direction of the first connecting plate (75) and is connected to the first connecting plate (75); the first slider (78) is slidably connected to the first guide rail (77); and the slide seat (76) is connected to the first slider (78).

9. The loading and unloading transfer robot according to claim 1 is characterized in that: The driving assembly (7) further comprises a connecting block (79) and a fixing plate (710), wherein the connecting block (79) is fixedly connected to the sliding seat (76), the fixing plate (710) is fixedly connected to the connecting block (79), and the belt (74) is fixed between the connecting block (79) and the fixing plate (710).

10. The loading and unloading transfer robot according to claim 1, characterized in that: The driving assembly (7) further comprises a connecting column (711) and a first adjusting plate (712); the first adjusting plate (712) is provided with a through slot (15) arranged along the length direction of the first connecting plate (75); the first connecting plate (75) is provided with a mounting slot (16) arranged along the length direction of the first connecting plate (75); a bolt assembly is used to fix the first connecting plate (75) and the first adjusting plate (712) via the through slot (15) and the mounting slot (16); the connecting column (711) is connected to the first adjusting plate (712); and the second pulley (73) is rotatably connected to the connecting column (711).

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