Manipulator and unstacking and feeding device

Abstract

The utility model relates to the technical field of material feeding, and particularly discloses a manipulator and an unstacking and feeding device. The first driving mechanism drives the mounting frame to move in the first direction, and then drives the first tooling and the second tooling to move in the first direction at the same time, so that the first tooling and the second tooling move towards materials; a second driving mechanism is arranged on the mounting frame and drives the second end picking device to independently move in the first direction, so that the first end picking device and the second end picking device can be kept flush and grab two stacks of materials with the same height at the same time, or the heights of the first end picking device and the second end picking device are different; two stacks of materials with different heights are grabbed at the same time, the two stacks of materials are grabbed at the same time, the feeding efficiency is improved, one mechanical arm can be used for grabbing the two stacks of materials at the same time, the production cost is reduced, control over mechanical arm material taking is not complicated, relative movement of the first end picking-up device and the second end picking-up device is in the first direction, and the working efficiency is improved. And the two cylinders cannot collide with each other when taking and placing materials.

Description

Technical Field

[0001] The utility model relates to the technical field of material feeding, in particular to a manipulator and a palletizing and feeding device. Background Art

[0002] In modern industry, modern processing workshops are often equipped with industrial manipulators. Industrial manipulators have been widely used in various automated production lines, partially or completely replacing manual labor, engaging in some monotonous and heavy physical labor, especially in occasions such as high temperature, dust, high pressure, and high radiation pollution, where they are more widely used.

[0003] In the prior art, during the stamping production of sheet materials, a loading table is set at the initial end of the stamping line. Currently, a forklift is usually used to transfer raw materials to the loading table. There may be a situation where there are two stacks of sheet materials with different heights on the same loading table. During the production process, the two stacks of sheet materials need to be placed on the stamping line in sequence. One way is to use a single manipulator to pick up the two stacks of sheet materials separately and place them on the stamping line, resulting in low loading efficiency; the other is to use two independently moving manipulators to cooperate in material picking. Although the loading efficiency is improved, the production cost is high, and the control is complex. There is a risk of collision between the two manipulators with a slight error. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a manipulator and a palletizing and feeding device, which improve the loading efficiency, have a low production cost, and do not complicate the control of the manipulator for material picking.

[0005] To achieve the above object, the utility model adopts the following technical solutions:

[0006] In a first aspect, a manipulator is provided, including:

[0007] A first driving mechanism;

[0008] A mounting bracket, connected to the first driving mechanism, and the first driving mechanism is used to drive the mounting bracket to move along a first direction;

[0009] A first end effector, fixedly connected to one end of the mounting bracket;

[0010] A second driving mechanism, fixedly connected to one end of the mounting bracket;

[0011] A second end effector, connected to the second driving mechanism, the second end effector is spaced from the first end effector, and the second driving mechanism is used to drive the second end effector to move along the first direction.

[0012] As an optional technical solution of the above manipulator, both the first end effector and the second end effector include:

[0013] A connecting part, which is connected to the mounting bracket or the second driving mechanism;

[0014] A picking part, which is connected to the connecting part and is used for picking up materials;

[0015] A detecting part, which is connected to the picking part and is configured to detect the position of the material and whether the material picked up by the picking part is single.

[0016] As an alternative technical solution of the above-mentioned manipulator, the connecting part includes:

[0017] A connecting bracket, which is in a right triangle structure. One right-angled surface of the connecting bracket is connected to the mounting bracket, or is slidably connected to the mounting bracket along a first direction and is connected to the second driving mechanism;

[0018] A connecting rod, one end of which is connected to the other right-angled surface of the connecting bracket. The connecting rod extends along a second direction, and the other end of the connecting rod is connected to the picking part.

[0019] As an alternative technical solution of the above-mentioned manipulator, the connecting rod is slidably connected to the connecting bracket along a third direction.

[0020] As an alternative technical solution of the above-mentioned manipulator, the picking part includes at least two first picking brackets. Each first picking bracket is respectively connected to the connecting part. At least one first picking suction cup is arranged on each first picking bracket. A second picking bracket is arranged between the two first picking brackets on the inner side. The second picking bracket is connected to the first picking bracket, and a second picking suction cup is arranged on the second picking bracket.

[0021] As an alternative technical solution of the above-mentioned manipulator, the detecting part includes a first detecting piece and a second detecting piece. The first detecting piece is connected to the second picking bracket and is configured to detect the position of the material. The second detecting piece is arranged inside the second picking suction cup and is configured to detect whether the material picked up by the picking part is single.

[0022] As an alternative technical solution of the above-mentioned manipulator, the first driving mechanism includes:

[0023] A first mounting seat;

[0024] A first driver, which is mounted on the first mounting seat;

[0025] The first linear drive assembly, one end of the first linear drive assembly is connected to the first driver, and the other end is connected to the mounting bracket. The mounting bracket is slidably connected to the first mounting seat in the first direction. The first driver drives the mounting bracket to move in the first direction through the first linear drive assembly.

[0026] As an alternative technical solution of the above-mentioned manipulator, the first linear drive assembly includes a first drive gear and a first drive rack. The first drive rack is arranged on the mounting bracket in the first direction. The first drive gear is connected to the first driver, and the first drive gear meshes with the first drive rack.

[0027] In a second aspect, a palletizing and loading device is provided, including a third drive mechanism and the manipulator according to any one of the above. The manipulator is connected to the third drive mechanism, and the third drive mechanism is used to drive the manipulator to move in the third direction.

[0028] As an alternative technical solution of the above-mentioned palletizing and loading device, the third drive mechanism includes:

[0029] A second mounting seat;

[0030] A second driver, installed on the manipulator;

[0031] A second linear drive assembly, one end of the second linear drive assembly is connected to the second driver, and the other end is connected to the second mounting seat. The manipulator is slidably connected to the second mounting seat in the third direction. The second driver drives the manipulator to move in the third direction through the second linear drive assembly.

[0032] Advantages of the present utility model:

[0033] For the manipulator provided by the present utility model, the first drive mechanism drives the mounting bracket to move in the first direction, and further drives the first end effector and the second end effector to move in the first direction simultaneously, so that the first end effector and the second end effector move towards the material. A second drive mechanism is provided on the mounting bracket, and the second drive mechanism drives the second end effector to move independently in the first direction. Furthermore, the first end effector and the second end effector can be kept flush and simultaneously grab two stacks of materials with the same height, or the heights of the first end effector and the second end effector can be different, and simultaneously grab two stacks of materials with different heights, realizing the simultaneous grabbing of two stacks of materials, improving the loading efficiency, and can be achieved by using one manipulator, reducing the production cost, without complicating the control of the manipulator for material picking. The relative movement of the first end effector and the second end effector is in the first direction, and the two will not collide when picking and placing materials.

[0034] The unstacking and loading device provided by the present utility model is used to transport materials from the loading platform to the processing device, realizing the simultaneous grasping of two stacks of materials, improving the loading efficiency, and further improving the production efficiency. Moreover, it can be achieved by using one manipulator, reducing the production cost. Description of the Drawings

[0035] Figure 1 is a schematic structural diagram of the manipulator provided by an embodiment of the present utility model;

[0036] Figure 2 is a partial structural schematic diagram of the unstacking and loading device provided by an embodiment of the present utility model;

[0037] Figure 3 is a schematic structural diagram of the first end effector or the second end effector provided by an embodiment of the present utility model;

[0038] Figure 4 is a schematic structural diagram of the overall unstacking and loading device provided by an embodiment of the present utility model.

[0039] In the figure:

[0040] 100, manipulator; 200, third driving mechanism; 201, second mounting seat; 202, second driver; 203, second linear transmission assembly; 2031, second transmission gear; 2032, second transmission rack; 204, second slider; 205, second slide rail;

[0041] 1, first driving mechanism; 2, mounting frame; 3, first end effector; 4, second driving mechanism; 5, second end effector;

[0042] 11, first mounting seat; 12, first driver; 13, first linear transmission assembly; 131, first transmission gear; 132, first transmission rack; 14, first slider; 15, first slide rail;

[0043] 31, connecting part; 311, connecting bracket; 312, connecting rod; 32, picking part; 321, first picking bracket; 322, first picking suction cup; 323, second picking bracket; 324, second picking suction cup; 331, first detecting part. Detailed Embodiment

[0044] The present utility model will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present utility model, rather than limiting the present utility model. In addition, it should be noted that for the convenience of description, only parts related to the present utility model are shown in the drawings, rather than all structures.

[0045] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0046] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "under", and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0047] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meanings.

[0048] As Figure 1 and Figure 2 shown, this embodiment provides a manipulator, and the manipulator 100 includes a first driving mechanism 1, a mounting bracket 2, a first end effector 3, a second driving mechanism 4, and a second end effector 5. The mounting bracket 2 is connected to the first driving mechanism 1, and the first driving mechanism 1 is used to drive the mounting bracket 2 to move along a first direction. The first end effector 3 is fixedly connected to one end of the mounting bracket 2. The second driving mechanism 4 is fixedly connected to one end of the mounting bracket 2, the second end effector 5 is connected to the second driving mechanism 4, the second end effector 5 is arranged at an interval from the first end effector 3, and the second driving mechanism 4 is used to drive the second end effector 5 to move along the first direction.

[0049] The manipulator 100 provided in this embodiment, the first driving mechanism 1 drives the mounting bracket 2 to move in the first direction, and further drives the first end effector 3 and the second end effector 5 to move in the first direction simultaneously, so that the first end effector 3 and the second end effector 5 move towards the material; a second driving mechanism 4 is provided on the mounting bracket 2, and the second driving mechanism 4 drives the second end effector 5 to move independently in the first direction, so that the first end effector 3 and the second end effector 5 can be kept flush and grab two stacks of materials with the same height, or the heights of the first end effector 3 and the second end effector 5 are different, and two stacks of materials with different heights are grabbed simultaneously, realizing the simultaneous grabbing of two stacks of materials, improving the feeding efficiency, and can be realized by using one manipulator 100, reducing the production cost, without complicating the control of the manipulator 100 for material taking. The relative movement of the first end effector 3 and the second end effector 5 is in the first direction, and the two will not collide when picking and placing materials.

[0050] In some embodiments, the first driving mechanism 1 includes a first mounting seat 11, a first driver 12 and a first linear transmission assembly 13. The first driver 12 is mounted on the first mounting seat 11. One end of the first linear transmission assembly 13 is connected to the first driver 12, and the other end is connected to the mounting bracket 2. The mounting bracket 2 is slidably connected to the first mounting seat 11 along the first direction. The first driver 12 drives the mounting bracket 2 to move in the first direction through the first linear transmission assembly 13, and then adjusts the heights of the first end effector 3 and the second end effector 5.

[0051] Further optionally, the first linear transmission assembly 13 includes a first transmission gear 131 and a first transmission rack 132. The first transmission rack 132 is arranged on the mounting bracket 2 along the first direction. The first transmission gear 131 is connected to the first driver 12, and the first transmission gear 131 meshes with the first transmission rack 132. The first driver 12 drives the first transmission gear 131 to rotate, and the first transmission gear 131 drives the first transmission rack 132 to slide in the first direction, and then drives the mounting bracket 2 to slide in the first direction. This transmission structure is simple. In some other embodiments, the first linear transmission assembly 13 can be a synchronous belt structure. The mounting bracket 2 is connected to the synchronous belt, and the first driver 12 is connected to one of the synchronous belt pulleys. The first driver 12 drives the synchronous belt pulley to rotate, and then drives the synchronous belt to drive, so that the mounting bracket 2 slides in the first direction. The first driver 12 is a driving motor.

[0052] A first slider 14 is provided on the first mounting seat 11, and a first slide rail 15 is provided on the mounting bracket 2. The first slide rail 15 extends along the first direction, and the first slider 14 is slidably arranged on the first slide rail 15. The structure is simple and easy to assemble.

[0053] The second driving mechanism 4 can be a cylinder or an electric cylinder, and no specific limitation is made here.

[0054] Refer toFigure 1 , Figure 2 and Figure 3 As shown in Figure 1 , Figure 2 and Figure 3 , in some embodiments, both the first end effector 3 and the second end effector 5 include a connecting portion 31, a picking portion 32 and a detecting portion. The connecting portion 31 of the first end effector 3 is connected to the mounting bracket 2, and the connecting portion 32 of the second end effector 5 is connected to the second driving mechanism 4. The picking portion 32 is connected to the connecting portion 31, and the picking portion 32 is used for picking up materials. The detecting portion is connected to the picking portion 32, and the detecting portion is configured to detect the position of the material and detect whether the material picked up by the picking portion 32 is single. Detecting the position of the material to determine the position where the first end effector 3 or the second end effector 5 picks up the material, so that the first end effector 3 or the second end effector 5 can accurately pick up the material. If the detecting portion detects that the material picked up by the picking portion 32 is not single, the first end effector 3 or the second end effector 5 will release the picked-up material and pick up the material again. If the detecting portion still detects that the material picked up by the picking portion 32 is not single, then the material will be placed in the designated storage area, and the palletizing and loading device will alarm to remind the staff to take away the material in the designated storage area.

[0055] Optionally, the connecting portion 31 includes a connecting bracket 311 and a connecting rod 312. The connecting bracket 311 has a right-angled triangle structure with high structural strength. One right-angled surface of the connecting bracket 311 of the first end effector 3 is connected to the mounting bracket 2, increasing the connecting area between the connecting bracket 311 and the mounting bracket 2, and thus increasing the connecting structural strength of the two. One right-angled surface of the connecting bracket 311 of the second end effector 5 is slidably connected to the mounting bracket 2 along the first direction, and the connecting bracket 311 is connected to the second driving mechanism 4. The second driving mechanism 4 drives the connecting bracket 311 to slide relative to the mounting bracket 2 along the first direction. One end of the connecting rod 312 is connected to the other right-angled surface of the connecting bracket 311. The connecting rod 312 extends along the second direction, and the other end of the connecting rod 312 is connected to the picking portion 32.

[0056] In some implementable ways, the connecting rod 312 is fixedly connected to the connecting bracket 311, and the distance between the picking portion 32 of the first end effector 3 and the picking portion 32 of the second end effector 5 is non-adjustable. In some other implementable ways, the connecting rod 312 is slidably connected to the connecting bracket 311 along the third direction, and the distance between the picking portion 32 of the first end effector 3 and the picking portion 32 of the second end effector 5 is adjustable to adapt to two stacks of materials with different distances. The connecting rod 312 can be connected to the connecting bracket 311 through a slider and rail structure, and a locking structure is provided to lock the slider on the rail to fix the position of the connecting rod 312 on the connecting bracket 311.

[0057] In some embodiments, the picking part 32 includes at least two first picking brackets 321. Each first picking bracket 321 is respectively connected to the connecting part 31. Specifically, the first picking bracket 321 is connected to the connecting rod 312. At least one first picking suction cup 322 is arranged on each first picking bracket 321. A second picking bracket 323 is arranged between the two first picking brackets 321 on the inner side. The second picking bracket 323 is connected to the first picking bracket 321, and a second picking suction cup 324 is arranged on the second picking bracket 323. The number of the first picking brackets 321 is set according to the size of the material, and the number of the first picking suction cups 322 arranged on each first picking bracket 321 is set according to the size of the material. The second picking suction cup 324 usually adsorbs the middle part of the material, and the adsorption force of the second picking suction cup 324 is greater than that of the first picking suction cup 322. The first picking suction cups 322 arranged on both sides of the second picking suction cup 324 play an auxiliary role in adsorbing the material. The material is usually a plate-shaped material, or can be other types of materials. The positions and numbers of the first picking suction cup 322 and the second picking suction cup 324 are set according to the type of the material. The connection structures of the first picking suction cup 322 with the first picking bracket 321 and the second picking suction cup 324 with the second picking bracket 323 are both prior arts and will not be specifically introduced herein.

[0058] In other alternative embodiments, the first picking suction cup 322 and / or the second picking suction cup 324 can be replaced with structures such as clamping jaws to be applicable to other different types of materials.

[0059] In some embodiments, the detection part includes a first detection member 331 and a second detection member. The first detection member 331 is connected to the second picking bracket 323 and is configured to detect the position of the material. When the first detection member 331 detects the signal of the material, it indicates that the first end effector 3 or the second end effector 5 has descended to a position where the material can be picked up. The second detection member is arranged inside the second picking suction cup 324 and is configured to detect whether the material picked up by the picking part 32 is single. The first detection member 331 can be a photoelectric sensor, and the second detection member can be a double-sheet detector. The types of the first detection member 331 and the second detection member can be selected according to the type of the material and will not be specifically introduced herein.

[0060] When using the manipulator 100 provided by the present application, the specific operation steps are as follows:

[0061] 1. Make the first end effector 3 and the second end effector 5 at positions with different heights. The second end effector 5 is arranged higher than the first end effector 3, and the height difference between the first end effector 3 and the second end effector 5 is greater than the height difference between two stacks of materials;

[0062] II. Place the first end effector 3 and the second end effector 5 above two stacks of materials. The first driving mechanism 1 drives the mounting bracket 2 to descend in the first direction. If the detection part of the first end effector 3 first detects the position of the material, the first driving mechanism 1 stops driving the mounting bracket 2 to descend in the first direction, and the second driving mechanism 4 drives the second end effector 5 to descend in the first direction until the detection part of the second end effector 5 detects the position of the material;

[0063] III. If the detection part of the second end effector 5 also detects the material while the detection part of the first end effector 3 detects the material, do not adjust the position of the second end effector 5 in the first direction;

[0064] IV. After adjusting the positions of the first end effector 3 and the second end effector 5, each time the first driving mechanism 1 drives the first end effector 3 and the second end effector 5 to rise or fall as a whole, so as to realize the simultaneous picking of materials by the first end effector 3 and the second end effector 5. When the materials in the lower stack are taken out, the materials in the higher stack will continue to be taken until no materials alarm is issued after both stacks of materials are taken out.

[0065] As Figure 2 and Figure 4 shown, the present application also provides a palletizing and feeding device, which includes a third driving mechanism 200 and the above-mentioned manipulator 100. The manipulator 100 is connected to the third driving mechanism 200, and the third driving mechanism 200 is used to drive the manipulator 100 to move in the third direction. Along the third direction, a plurality of feeding platforms are usually arranged. The feeding platforms are used to store materials. The third driving mechanism 200 can drive the manipulator 100 to move in the third direction to pick up materials on different feeding platforms, so as to improve production efficiency. The third driving mechanism 200 is placed at the feeding end of the material processing equipment. After the manipulator 100 picks up the materials, it can be driven by the third driving mechanism 200 to move to the feeding end of the processing equipment, so as to realize the purpose of transplanting materials.

[0066] Optionally, the third driving mechanism 200 includes a second mounting seat 201, a second driver 202 and a second linear transmission component 203. The second driver 202 is installed on the manipulator 100. Specifically, the second driver 202 is installed on the first mounting seat 11 of the manipulator 100. One end of the second linear transmission component 203 is connected to the second driver 202, and the other end is connected to the second mounting seat 201. The manipulator 100 is slidably connected to the second mounting seat 201 along the third direction. The second driver 202 drives the manipulator 100 to move in the third direction through the second linear transmission component 203 to adjust the position of the manipulator 100 in the third direction.

[0067] Further optionally, the second linear drive assembly 203 includes a second drive gear 2031 and a second drive rack 2032. The second drive rack 2032 is disposed on the second mounting seat 201 along the third direction. The second drive gear 2031 is connected to the second driver 202, and the second drive gear 2031 meshes with the second drive rack 2032. The second driver 202 drives the second drive gear 2031 to rotate, and the second drive gear 2031 moves along the second drive rack 2032, thereby driving the manipulator 100 to move along the third direction. This transmission structure is simple. In some other embodiments, the second linear drive assembly 203 may be a synchronous belt structure. The manipulator 100 is connected to the synchronous belt, and the second driver 202 is connected to one of the synchronous belt pulleys. The second driver 202 drives the synchronous belt pulley to rotate, thereby driving the synchronous belt to drive, so that the manipulator 100 slides along the third direction. The second driver 202 is a drive motor.

[0068] A second slide rail 205 is provided on the second mounting seat 201, and a second slider 204 is provided on the manipulator 100. Specifically, the second slider 204 is disposed on the first mounting seat 11 of the manipulator 100. The second slide rail 205 extends along the first direction, and the second slider 204 is slidably disposed on the second slide rail 205. The structure is simple and easy to assemble.

[0069] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the embodiments of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A robot, characterized in that: include: A first driving mechanism (1); A mounting frame (2) connected to the first driving mechanism (1), wherein the first driving mechanism (1) is used to drive the mounting frame (2) to move along a first direction; A first end picker (3), the first end picker (3) being fixedly connected to one end of the mounting frame (2); A second driving mechanism (4) is fixedly connected to one end of the mounting frame (2); The second end picker (5) is connected to the second driving mechanism (4); the second end picker (5) is spaced apart from the first end picker (3); and the second driving mechanism (4) is used to drive the second end picker (5) to move along the first direction.

2. The robot according to claim 1, characterized in that: The first end effector (3) and the second end effector (5) both comprise: A connecting portion (31), the connecting portion (31) being connected to the mounting frame (2) or the second driving mechanism (4); A picking portion (32) connected to the connecting portion (31), the picking portion (32) being used to pick up materials; A detection unit is connected to the picking unit (32), and is configured to detect the position of the material and to detect whether the material picked up by the picking unit (32) is single.

3. The robot according to claim 2, characterized in that: The connecting portion (31) comprises: A connecting bracket (311) is in a right-angled triangle structure, a right-angled surface of the connecting bracket (311) is connected to the mounting bracket (2), or is slidably connected to the mounting bracket (2) along a first direction and is connected to the second driving mechanism (4); A connecting rod (312), one end of the connecting rod (312) is connected to another right-angled surface of the connecting bracket (311), the connecting rod (312) extends along the second direction, and the other end of the connecting rod (312) is connected to the picking portion (32).

4. The robot according to claim 3, characterized in that: The connecting rod (312) is slidably connected to the connecting bracket (311) along a third direction.

5. The robot according to claim 2, characterized in that: The pick-up portion (32) comprises at least two first pick-up brackets (321), each of the first pick-up brackets (321) is connected to the connecting portion (31), each of the first pick-up brackets (321) is provided with at least one first pick-up suction cup (322), a second pick-up bracket (323) is provided between the two first pick-up brackets (321) disposed inside, the second pick-up bracket (323) is connected to the first pick-up bracket (321), and a second pick-up suction cup (324) is provided on the second pick-up bracket (323).

6. The robot according to claim 5, characterized in that: The detection part comprises a first detection member (331) and a second detection member, the first detection member (331) is connected to the second picking bracket (323), the first detection member (331) is configured to detect the position of the material, the second detection member is arranged on the inner side of the second picking suction cup (324), and the second detection member is configured to detect whether the material picked up by the picking part (32) is single.

7. The robot according to claim 1, characterized in that: The first driving mechanism (1) comprises: A first mounting seat (11); A first driver (12) mounted on the first mounting seat (11); A first linear transmission component (13), one end of the first linear transmission component (13) is connected to the first driver (12), and the other end is connected to the mounting frame (2), the mounting frame (2) and the first mounting seat (11) are slidably connected along a first direction, and the first driver (12) drives the mounting frame (2) to move along the first direction through the first linear transmission component (13).

8. The robot according to claim 7, characterized in that: The first linear transmission assembly (13) comprises a first transmission gear (131) and a first transmission rack (132); the first transmission rack (132) is arranged on the mounting frame (2) along a first direction; the first transmission gear (131) is connected to the first driver (12); and the first transmission gear (131) is meshed with the first transmission rack (132).

9. A depalletizing and loading device, characterized in that: The invention comprises a third driving mechanism (200) and a manipulator (100) according to any one of claims 1 to 8, wherein the manipulator (100) is connected to the third driving mechanism (200), and the third driving mechanism (200) is used to drive the manipulator (100) to move along a third direction.

10. The depalletizing and loading device according to claim 9, characterized in that: The third driving mechanism (200) comprises: A second mounting seat (201); A second driver (202) installed on the robot (100); A second linear transmission component (203), one end of the second linear transmission component (203) is connected to the second driver (202), and the other end is connected to the second mounting seat (201), the manipulator (100) is slidably connected to the second mounting seat (201) along a third direction, and the second driver (202) drives the manipulator (100) to move along the third direction through the second linear transmission component (203).

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