Automatic loading and unloading coordinate manipulator

Abstract

The automatic loading and unloading coordinate manipulator comprises three transmission parts which are combined together in a coordinate system shape, an X-axis transmission part is horizontally arranged, and a first gear and rack assembly capable of driving a Y-axis transmission part to slide in the length direction of the X-axis transmission part is arranged in the X-axis transmission part; the Y-axis transmission part is vertically arranged, and a linear driving assembly capable of driving the Z-axis transmission part to reciprocate in the length direction of the Y-axis transmission part is arranged in the Y-axis transmission part; the Z-axis transmission part is horizontally arranged and perpendicular to the X-axis transmission part, a second gear and rack assembly is arranged in the Z-axis transmission part, and a rotary clamping jaw installed at one end of the Z-axis transmission part is driven by the second gear and rack assembly to move in a reciprocating mode. According to the aluminum bottle grabbing and releasing device, the rotating clamping jaw can move freely in the three-dimensional space, the large working range can be adapted, the overall structure is stable and reliable, and the repeated positioning precision is high.

Description

Technical Field

[0001] This application relates to the technical field of material automatic processing equipment, and particularly relates to a coordinate manipulator suitable for automatically loading and unloading sterile aluminum bottles. Background Art

[0002] Modern sterile production lines usually adopt automatic loading systems, which mainly and precisely place aluminum bottles into appropriate positions according to production requirements. These systems generally include conveyor belts, robotic arms or robot arms for taking bottles out of storage positions or previous processes and precisely placing them at loading positions.

[0003] Existing manipulators for automatically loading and unloading aluminum bottles are mostly articulated manipulators or gantry right-angle coordinate manipulators. However, it is found in practical applications that: the load-bearing capacity of articulated manipulators is not strong, their working range is limited by the length of the robotic arm, and their manufacturing difficulty is relatively high, with high usage costs; the center of gravity of gantry right-angle coordinate manipulators is relatively high, and there is obvious shaking during rapid movement start and stop. Moreover, when the designed length of the gantry is increased, the problem of sagging in the middle of the gantry cannot be avoided, and the repetitive accuracy of the manipulator will inevitably be affected.

[0004] Therefore, at the present stage, there are still many defects in the manipulators used for automatically loading and unloading aluminum bottles, and it is urgent to propose a new technical solution to solve the problems existing in the prior art. Content of the Utility Model

[0005] This application provides an automatic loading and unloading coordinate manipulator to solve the problem that the working range of existing manipulators for automatically loading and unloading aluminum bottles is relatively small.

[0006] To achieve the above objective, this application provides the following technical solutions:

[0007] This application provides an automatic loading and unloading coordinate manipulator, including an X-axis transmission part, a Y-axis transmission part, a Z-axis transmission part, and a rotary gripper installed at one end of the Z-axis transmission part; the X-axis transmission part includes a horizontally arranged first installation frame, and a first gear-rack assembly is arranged inside the first installation frame. The first gear-rack assembly includes a first rack for driving the Y-axis transmission part to reciprocate along the length direction of the first installation frame; the Y-axis transmission part includes a vertically arranged second installation frame, and a linear drive assembly is vertically arranged inside the second installation frame. The linear drive assembly includes a ball screw, and the linear drive assembly is used to drive the Z-axis transmission part to reciprocate along the length direction of the second installation frame; the Z-axis transmission part includes a horizontally arranged third installation frame, and a second gear-rack assembly is arranged inside the third installation frame. The second gear-rack assembly includes a second rack for driving the rotary gripper to reciprocate along the length direction of the third installation frame; a rotary cylinder for driving the rotary gripper to rotate and a gripper cylinder for driving the rotary gripper to complete the grasping and releasing actions are also arranged inside the third installation frame.

[0008] In the above technical solution, further, the first gear-rack assembly includes a first gear that meshes with the first rack, and the gear shaft of the first gear is connected to the first servo motor.

[0009] Further, the first mounting frame is strip-shaped, a linear guide rail is provided on the upper surface of the first mounting frame, a sliding block is adaptively arranged on the linear guide rail, a first cross slide is mounted on the sliding block, the first cross slide is connected to the first gear, and one end of the Y-axis transmission part is fixedly connected to the first cross slide.

[0010] Further, curtain guards are respectively arranged at both ends of the linear guide rail.

[0011] Further, the second mounting frame is strip-shaped, a linear guide rail is provided on one side surface of the second mounting frame, the linear guide rail is arranged vertically, a slider is adaptively mounted on the linear guide rail, a second cross slide is mounted on the slider, and the Z-axis transmission part is mounted on the second cross slide.

[0012] Further, the linear drive assembly includes a second servo motor for driving the ball screw to rotate, a nut is arranged on the ball screw, the nut is connected to the second cross slide, and when the ball screw is driven to rotate, the nut drives the second cross slide to slide along the linear guide rail.

[0013] Further, curtain guards are respectively arranged at both ends of the linear guide rail.

[0014] Further, the third mounting frame is strip-shaped, and the length direction of the third mounting frame is perpendicular to the length direction of the first mounting frame.

[0015] Further, the second gear-rack assembly includes a second gear that meshes with the second rack, and the gear shaft of the second gear is connected to the third servo motor.

[0016] Further, the rotary cylinder is connected to the second rack through a fixed block, and the output end of the rotary cylinder extends out of the third mounting frame and is connected to the rotary gripper.

[0017] Further, the rotary gripper includes a left half-gripper and a right half-gripper arranged oppositely, the left half-gripper and the right half-gripper are connected by a parallel-opening and closing type air gripper, the parallel-opening and closing type air gripper is connected to the gripper cylinder, and the parallel-opening and closing type air gripper makes the left half-gripper and the right half-gripper approach or move away from each other under the drive of the gripper cylinder.

[0018] Further, a plurality of through holes are provided on the left half-gripper, and a roller is installed in each through hole; a plurality of through holes are provided on the right half-gripper, and a roller is installed in each through hole; when the rotary gripper clamps the target aluminum bottle, the rolling surface of the roller abuts against the side wall of the target aluminum bottle.

[0019] Compared with the prior art, the present application has at least the following beneficial effects:

[0020] 1. An automatic loading and unloading coordinate manipulator provided by the present application has three transmission parts perpendicular to each other. The three transmission parts form a coordinate system shape. The X-axis transmission part is horizontally arranged, and a first gear-rack assembly is arranged therein, and the Y-axis transmission part is driven to slide along the length direction of the X-axis transmission part through the first gear-rack assembly; the Y-axis transmission part is vertically arranged, and a linear drive assembly is arranged therein, and the Z-axis transmission part is driven to reciprocate along the length direction of the vertically arranged Y-axis transmission part through the linear drive assembly; the Z-axis transmission part is horizontally arranged and perpendicular to the X-axis transmission part. A second gear-rack assembly is arranged in the Z-axis transmission part, and the rotating gripper installed at one end of the Z-axis transmission part is driven to reciprocate through the second gear-rack assembly. The rotating gripper can not only rotate driven by a rotating cylinder, but also complete the grasping and releasing actions of the target aluminum bottle under the action of a gripper cylinder. Therefore, the coordinate manipulator provided by the present application realizes the arbitrary movement of the rotating gripper in three-dimensional space through three transmission parts installed and combined in a coordinate system shape. It can adapt to a relatively large working space and meet the working requirements.

[0021] 2. The X-axis transmission part of the automatic loading and unloading coordinate manipulator provided by the present application is arranged in a floor-mounted manner. The first mounting frame of the X-axis transmission part is horizontally placed on the ground or a working platform. Legs or a base can be arranged at the bottom of the first mounting frame. When needed, it can be fixed to the ground or the working platform through bolts or the like. This floor-mounted frame structure design improves the rigidity of the manipulator, enables the load capacity of the manipulator to be improved, and the structure is more stable and reliable.

[0022] 3. In the automatic loading and unloading coordinate manipulator provided by the present application, the X-axis transmission part drives the Y-axis transmission part to slide through the first gear-rack assembly, and the Z-axis transmission part drives the rotating gripper to slide through the second gear-rack assembly. The use of a gear-rack transmission mechanism makes the moving stroke unlimited. By adjusting the length of the rack, it can adapt to various sliding lengths, and the gear-rack transmission mechanism has a high repeat positioning accuracy and can ensure the accurate and reliable moving position; in addition, in the processing and installation practice, it is found that the manufacturing and installation process and control logic of the gear-rack transmission mechanism are relatively simple, making the structure easier to implement, with low manufacturing cost and high structural reliability.

[0023] 4. The linear drive assembly arranged in the Y-axis transmission part of the present application includes a ball screw, a nut, a linear guide rail, a slider, a second sliding plate, etc. The use of a ball screw transmission mechanism makes the moving stroke unlimited. By adjusting the length of the ball screw, it can adapt to various sliding lengths, and the ball screw transmission mechanism has a high repeat positioning accuracy and can ensure the accurate and reliable moving position. Moreover, the ball screw transmission mechanism has a low manufacturing and installation cost, low difficulty and high structural reliability, and the coordinate manipulator is easy to process and manufacture. Brief Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings. It should be understood that the specific shapes and structures shown in the drawings generally should not be regarded as limiting conditions when implementing the present application; for example, those skilled in the art are capable of making routine adjustments or further optimizations to the addition / removal / attribution division of certain units (components), specific shapes, positional relationships, connection methods, dimensional proportional relationships, etc. based on the technical concept disclosed in the present application and the exemplary drawings.

[0025] Figure 1 It is a schematic diagram of the overall structure of the automatic loading and unloading coordinate manipulator provided in an embodiment of the present application;

[0026] Figure 2 It is a front view structure schematic diagram of the automatic loading and unloading coordinate manipulator provided in an embodiment of the present application;

[0027] Figure 3 It is a top view structure schematic diagram of the automatic loading and unloading coordinate manipulator provided in an embodiment of the present application;

[0028] Figure 4 It is a side view structure schematic diagram of the automatic loading and unloading coordinate manipulator provided in an embodiment of the present application;

[0029] Figure 5 It is a schematic diagram of the internal structure after removing a part of the outer shell of the automatic loading and unloading coordinate manipulator provided in an embodiment of the present application;

[0030] Figure 6 It is Figure 5 A partial enlarged structure schematic diagram at position A in

[0031] Explanation of Reference Numerals in the Drawings:

[0032] 1. X-axis drive part; 11. First mounting frame; 12. First rack; 13. First linear guide; 14. First sliding plate;

[0033] 2. Y-axis drive part; 21. Second mounting frame; 22. Ball screw; 23. Second linear guide; 24. Slide block; 25. Second sliding plate;

[0034] 3. Z-axis drive part; 31. Third mounting frame; 32. Second rack; 33. Second gear; 34. Rotary cylinder;

[0035] 4. Rotary gripper; 41. Left half gripper; 42. Right half gripper; 43. Parallel opening and closing type pneumatic gripper; 44. Roller;

[0036] 5. Curtain shield;

[0037] 6. Telescopic shield;

[0038] 7. Cable carrier;

[0039] 8. Aluminum bottle. Detailed implementation mode

[0040] The following further details the present application through specific embodiments in conjunction with the accompanying drawings.

[0041] In the description of the present application: Unless otherwise specified, the meaning of "a plurality" is two or more. Terms such as "first", "second", etc. in the present application are intended to distinguish the objects being referred to, and do not have special significance in terms of technical connotations (for example, it should not be understood as emphasizing the importance or order, etc.). Expressions such as "including", "comprising", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).

[0042] Terms such as "upper", "lower", "left", "right", "middle", etc. cited in the present application are usually for facilitating intuitive understanding with reference to the accompanying drawings, rather than an absolute limitation of the positional relationship in the actual product. Without departing from the technical concept disclosed in the present application, changes in these relative positional relationships should also be regarded as within the scope of the expression of the present application.

[0043] This embodiment provides an automatic loading and unloading coordinate manipulator, which can realize the automatic loading and unloading of target objects to be grasped such as aluminum bottles. The structural principle of the automatic loading and unloading coordinate manipulator will be described in detail below in conjunction with the accompanying drawings.

[0044] See Figure 1 , the automatic loading and unloading coordinate manipulator provided in this embodiment mainly includes three mutually perpendicular transmission parts, and the three transmission parts are assembled and installed in a coordinate system shape. The following will respectively denote the three transmission parts as: X-axis transmission part 1, Y-axis transmission part 2, and Z-axis transmission part 3. Among them, a rotary gripper 4 is installed at one end of the Z-axis transmission part 3. By the mutual movement of the three transmission parts, the rotary gripper 4 can be moved arbitrarily in three-dimensional space. After moving to the target position, the rotary gripper 4 can be controlled to grasp the target aluminum bottle 8. After grasping, the grasped target aluminum bottle 8 can be placed at the target position through the mutual cooperation of the three transmission parts, thus realizing automatic loading and unloading.

[0045] Continue to see Figure 1, the X-axis transmission part 1 is horizontally arranged on the ground in a floor-standing manner, the Y-axis transmission part 2 is arranged on the upper surface of the X-axis transmission part 1, and the Y-axis transmission part 2 is vertically arranged. The Z-axis transmission part 3 is horizontally arranged on a vertical surface of the Y-axis transmission part 2. Therefore, the combination mode of the three transmission parts is similar to the construction mode of the three-dimensional coordinate system. Through the mutual cooperation of the three transmission parts, the rotary gripper 4 arranged at one end of the Z-axis transmission part 3 can move freely in the three-dimensional space. Therefore, the present application can adapt to a larger working range, and due to the floor-standing frame setting of the X-axis transmission part 1, the stability of the manipulator is improved. Compared with the traditional articulated manipulator, it can not only adapt to a larger working range but also has a stronger load-bearing capacity.

[0046] In one embodiment, the X-axis transmission part 1 includes a horizontally arranged first mounting frame 11. A plurality of legs are arranged at the bottom of the first mounting frame 11, and each leg is also provided with a reinforcing diagonal brace. A fixing seat is arranged at the bottom of each leg, and a plurality of anchor bolts are arranged on the fixing seat. During installation, the X-axis transmission part 1 can be firmly fixed on the ground or the working platform through the anchor bolts, providing a reliable base support for the manipulator.

[0047] In one embodiment, referring to Figure 5 , a first gear-rack assembly is arranged in the first mounting frame 11 of the X-axis transmission part 1. The first gear-rack assembly includes a first rack 12 that drives the Y-axis transmission part 2 to reciprocate along the length direction of the first mounting frame 11, a first gear that is adaptively meshed with the first rack 12, and a first servo motor. The first servo motor drives the first gear to rotate forward or backward, thereby driving the first sliding plate 14 to reciprocate along the length direction of the first rack 12.

[0048] In one embodiment, the first mounting frame 11 is a long-strip-shaped shell structure. A first linear guide rail 13 is arranged on the upper surface of the first mounting frame 11. The length direction of the first linear guide rail 13 is consistent with the length direction of the first mounting frame 11. A sliding block is installed on the first linear guide rail 13, and a first sliding plate 14 is installed on the sliding block. One end of the Y-axis transmission part 2 is fixedly connected to the first sliding plate 14, and the first sliding plate 14 is connected to the first gear. Therefore, when the first servo motor drives the first gear to rotate forward or backward, thereby driving the first sliding plate 14 to reciprocate along the length direction of the first rack 12, the Y-axis transmission part 2 reciprocates along the first linear guide rail 13 together with the first sliding plate 14. In actual installation and application, a travel switch can be selectively arranged in the first mounting frame 11 according to the use requirements, and the position or travel of the first sliding plate 14 can be limited through the travel switch to achieve automatic stop or automatic round-trip when in place.

[0049] In one embodiment, curtain guards 5 are respectively arranged at both ends of the first linear guide rail 13, as Figure 1 .

[0050] In one embodiment, the Y-axis transmission part 2 includes a vertically arranged long-strip-shaped second mounting frame 21. A linear drive assembly is vertically arranged within the second mounting frame 21, and the linear drive assembly can drive the Z-axis transmission part 3 to reciprocate along the length direction of the second mounting frame 21. Refer to Figure 5 , 6 , the linear drive assembly includes a ball screw 22 and a second servo motor for driving the ball screw 22 to rotate. A nut is arranged on the ball screw 22, and the nut is connected to a second sliding plate 25. The second sliding plate 25 is arranged on one side of the second mounting frame 21. Specifically, a second linear guide rail 23 is arranged on one side surface of the second mounting frame 21. The second linear guide rail 23 is vertically arranged, and a slider 24 is adaptively installed on the second linear guide rail 23. The second sliding plate 25 is installed on the slider 24, and the Z-axis transmission part 3 is installed on the second sliding plate 25. When the ball screw 22 is driven to rotate, the nut drives the second sliding plate 25 to slide along the second linear guide rail 23, and the Z-axis transmission part 3 slides along the length direction of the second linear guide rail 23 together with the second sliding plate 25, that is, the lifting of the Z-axis transmission part 3 is realized. In actual installation and application, according to the use requirements, a travel switch can be selectively arranged within the second mounting frame 21, and the position or travel of the second sliding plate 25 can be restricted through the travel switch to achieve automatic stop or automatic reciprocation in place.

[0051] In one embodiment, curtain guards 5 are respectively arranged at both ends of the second linear guide rail 23, as Figure 1 .

[0052] In one embodiment, the Z-axis transmission part 3 includes a horizontally arranged long-strip-shaped third mounting frame 31. A second gear-rack assembly is arranged within the third mounting frame 31, and the second gear-rack assembly can drive the rotary gripper 4 to reciprocate along the length direction of the third mounting frame 31. Refer to Figure 5 , 6 , specifically, the second gear-rack assembly includes a second rack 32, a second gear 33 adapted to mesh with the second rack 32, and a third servo motor. The gear shaft of the second gear 33 is connected to the third servo motor. The rotary gripper 4 installed at one end of the third mounting frame 31 is connected to the second rack 32. Specifically, one end of the rotary gripper 4 is connected to a rotary cylinder 34. In the present application, the rotary cylinder 34 can realize the flipping of the aluminum bottle 8. The rotary cylinder 34 is connected to the second rack 32 through a fixing block. Therefore, when the second rack 32 is driven to move, it drives the rotary gripper 4 to slide along the length direction of the third mounting frame 31. In actual installation and application, according to the use requirements, a travel switch can be selectively arranged within the third mounting frame 31, and the position or travel of the fixing block can be restricted through the travel switch to achieve automatic stop or automatic reciprocation in place of the rotary gripper 4.

[0053] In one embodiment, refer to Figure 3, the rotating gripper 4 includes a left half-gripper 41 and a right half-gripper 42 which are oppositely arranged. The left half-gripper 41 and the right half-gripper 42 are connected by a parallel-opening and closing type air gripper 43. The parallel-opening and closing type air gripper 43 is connected to the gripper cylinder. Driven by the gripper cylinder, the parallel-opening and closing type air gripper 43 makes the left half-gripper 41 and the right half-gripper 42 approach or move away from each other. Therefore, in this application, the rotating gripper 4 is driven by the gripper cylinder to complete the grasping and releasing actions.

[0054] In one embodiment, the structures of the left half-gripper 41 and the right half-gripper 42 that form the rotating gripper 4 are opposite. The two are oppositely arranged and enclose a grasping space for grasping the aluminum bottle 8. Arc segment structures with the same radian as the body of the aluminum bottle 8 are respectively arranged on the left half-gripper 41 and the right half-gripper 42.

[0055] In one embodiment, refer to Figure 6 , a plurality of through holes are formed in the left half-gripper 41, and a roller 44 is installed in each through hole; a plurality of through holes are formed in the right half-gripper 42, and a roller 44 is installed in each through hole; when the rotating gripper 4 clamps the target aluminum bottle 8, the rolling surface of the roller 44 abuts against the side wall of the target aluminum bottle 8. In specific production applications, the roller 44 can be made of rubber material. When the left half-gripper 41 and the right half-gripper 42 cooperate to grasp, the rubber roller 44 not only has a large friction force to provide an anti-slip effect, but also can generate elastic deformation under the grasping pressure to ensure reliable grasping of the aluminum bottle 8 and prevent accidental dropping.

[0056] In one embodiment, telescopic protective covers 6 are respectively arranged at both ends of the third mounting frame 31 along the length direction. In this application, rolling shutter protective covers 5 are respectively arranged at both ends of the X-axis transmission part 1 along the length direction, rolling shutter protective covers 5 are respectively arranged at both ends of the Y-axis transmission part 2 along the length direction, and telescopic protective covers 6 are respectively arranged at both ends of the Z-axis transmission part 3 along the length direction, as Figure 1 , the setting of these protective covers ensures the tightness of the internal components of the coordinate manipulator.

[0057] In one embodiment, cable carriers 7 are arranged in all three transmission parts, as Figure 5 , the cable carrier 7 can protect the cables and the like in each transmission part, and can also prevent the cables from being entangled during the movement, resulting in malfunctions of the manipulator.

[0058] In summary, the present application provides an automatic loading and unloading coordinate manipulator, which includes three transmission parts combined in a coordinate system shape. The X-axis transmission part 1 is horizontally arranged, and a first gear-rack assembly is arranged therein, and the Y-axis transmission part 2 is driven to slide along the length direction of the X-axis transmission part 1 through the first gear-rack assembly; the Y-axis transmission part 2 is vertically arranged, and a linear drive assembly is arranged therein, and the Z-axis transmission part 3 is driven to reciprocate along the length direction of the vertically arranged Y-axis transmission part 2 through the linear drive assembly; the Z-axis transmission part 3 is horizontally arranged and perpendicular to the X-axis transmission part 1, and a second gear-rack assembly is arranged in the Z-axis transmission part 3, and the rotary gripper 4 installed at one end of the Z-axis transmission part 3 is driven to reciprocate through the second gear-rack assembly. The rotary gripper 4 can not only rotate driven by the rotary cylinder 34, but also complete the grasping and releasing actions of the target aluminum bottle 8 under the action of the gripper cylinder. Therefore, the coordinate manipulator provided by the present application realizes the arbitrary movement of the rotary gripper 4 in three-dimensional space through three transmission parts installed and combined in a coordinate system shape, and it can adapt to a relatively large working space and meet the working requirements.

[0059] The automatic loading and unloading coordinate manipulator provided by the present application adopts a floor-standing frame structure, making the overall structure stable and reliable, with stronger design rigidity and greater load capacity. Moreover, the gear-rack transmission mechanism and ball screw transmission mechanism used for driving can make the moving stroke unlimited, with high repeat positioning accuracy, and the manufacturing, installation process and control logic of these two transmission structures are relatively simple, making the structure easier to implement, with low manufacturing cost and high structural reliability.

[0060] The technical features of the above embodiments can be combined arbitrarily (as long as there is no contradiction in the combination of these technical features). For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described; these embodiments not explicitly written out should also be considered as within the scope described in this specification.

[0061] In the above text, the present application has been described in a relatively specific and detailed manner through general descriptions and specific embodiments. It should be understood that based on the technical concept of the present application, several conventional adjustments or further innovations can be made to these specific embodiments; but as long as they do not deviate from the technical concept of the present application, the technical solutions obtained by these conventional adjustments or further innovations also fall within the protection scope of the claims of the present application.

Claims

1. An automatic loading and unloading coordinate manipulator, characterized in that, It includes an X-axis transmission part, a Y-axis transmission part, a Z-axis transmission part, and a rotary gripper installed at one end of the Z-axis transmission part; The X-axis transmission part includes a horizontally arranged first mounting frame, and a first gear-rack assembly is arranged inside the first mounting frame. The first gear-rack assembly includes a first rack that drives the Y-axis transmission part to reciprocate along the length direction of the first mounting frame; The Y-axis transmission part includes a vertically arranged second mounting frame, and a linear drive assembly is vertically arranged inside the second mounting frame. The linear drive assembly includes a ball screw, and the linear drive assembly is used to drive the Z-axis transmission part to reciprocate along the length direction of the second mounting frame; The Z-axis transmission part includes a horizontally arranged third mounting frame, and a second gear-rack assembly is arranged inside the third mounting frame. The second gear-rack assembly includes a second rack that drives the rotary gripper to reciprocate along the length direction of the third mounting frame; A rotary cylinder for driving the rotary gripper to rotate and a jaw cylinder for driving the rotary gripper to complete the grasping and releasing actions are also arranged inside the third mounting frame.

2. The automatic loading and unloading coordinate manipulator according to claim 1, wherein, The first gear-rack assembly includes a first gear that is adaptively meshed with the first rack, and the gear shaft of the first gear is connected to a first servo motor; The first mounting frame is strip-shaped, a linear guide rail is arranged on the upper surface of the first mounting frame, a sliding block is adaptively arranged on the linear guide rail, a first slide plate is installed on the sliding block, the first slide plate is connected to the first gear, and one end of the Y-axis transmission part is fixedly connected to the first slide plate.

3. The automatic loading and unloading coordinate manipulator according to claim 2, wherein, Curtain shields are respectively arranged at both ends of the linear guide rail.

4. The automatic loading and unloading coordinate manipulator according to claim 1, wherein, The second mounting frame is strip-shaped, a linear guide rail is arranged on one side surface of the second mounting frame, the linear guide rail is vertically arranged, a slider is adaptively installed on the linear guide rail, a second slide plate is installed on the slider, and the Z-axis transmission part is installed on the second slide plate; The linear drive assembly includes a second servo motor for driving the ball screw to rotate. A nut is arranged on the ball screw, and the nut is connected to the second slide plate. When the ball screw is driven to rotate, the nut drives the second slide plate to slide along the linear guide rail.

5. The automatic loading and unloading coordinate manipulator according to claim 4, wherein, Curtain shields are respectively arranged at both ends of the linear guide rail.

6. The automatic loading and unloading coordinate manipulator according to claim 1, wherein The third mounting frame is strip-shaped, and the length direction of the third mounting frame is perpendicular to the length direction of the first mounting frame; The second gear-rack assembly includes a second gear that is adaptively meshed with the second rack, and the gear shaft of the second gear is connected to a third servo motor.

7. The automatic loading and unloading coordinate manipulator according to claim 6, wherein, The rotary cylinder is connected to the second rack through a fixing block, and the output end of the rotary cylinder extends out of the third mounting frame and is connected to the rotary gripper.

8. The automatic loading and unloading coordinate manipulator according to claim 7, wherein, The rotary gripper includes a left half-jaw and a right half-jaw arranged oppositely. The left half-jaw and the right half-jaw are connected by a parallel-opening and closing type air gripper. The parallel-opening and closing type air gripper is connected to the jaw cylinder. The parallel-opening and closing type air gripper makes the left half-jaw and the right half-jaw approach or move away from each other under the drive of the jaw cylinder.

9. The automatic loading and unloading coordinate manipulator according to claim 8, wherein, A plurality of through holes are formed in the left half-jaw, and a roller is installed in each through hole; A plurality of through holes are formed in the right half claw, and a roller is installed in each through hole; When the rotary claw clamps the target aluminum bottle, the rolling surface of the roller abuts against the side wall of the target aluminum bottle.

10. The automatic loading and unloading coordinate manipulator according to claim 6, characterized in that, Telescopic protective covers are respectively arranged at both ends of the third mounting frame along the length direction.

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