Feeding and discharging manipulator

Abstract

The utility model discloses a feeding and discharging mechanical arm which comprises an X-axis linear module, a Z-axis linear module and a mechanical claw assembly, the Z-axis linear module is installed at the output end of the X-axis linear module, and the mechanical claw assembly is installed at the output end of the Z-axis linear module. The mechanical claw assembly comprises a connecting plate, a grabbing support, a Z-direction rotating motor, one or more grabbing mechanisms, a rotating rod and a horizontal rotating motor, the connecting plate is fixedly installed at the output end of the X-axis linear module, and the grabbing support is installed on the connecting plate in the mode that the grabbing support can rotate around a vertical axis; the Z-direction rotating motor is used for driving the grabbing support to rotate around a vertical shaft. The rotating rod is mounted on the grabbing bracket in a manner of rotating around a horizontal shaft; the horizontal rotating motor is used for driving the rotating rod to rotate around a horizontal shaft; and the grabbing mechanism is fixedly mounted on the rotating rod. The feeding and discharging manipulator provided by the utility model is high in degree of freedom and good in compatibility.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic mechanical technology field especially relates to a feeding and discharging mechanical hand. BACKGROUND

[0002] With the high -speed development of automatic production, automatic product line station is numerous, and process is complex, and automatic feeding and discharging mechanical hand is generally used to complete the transfer of material between processing stations. The existing feeding and discharging mechanical hand has low degree of freedom, and the application scene is limited, and different product line layouts need to use different feeding and discharging mechanical hands, that is, the existing feeding and discharging mechanical hand has poor compatibility. In addition, the existing feeding and discharging mechanical hand can only complete one time of grabbing in a stroke process, resulting in the need to repeat twice strokes to complete the discharging and re-feeding of the plate, which seriously affects the processing efficiency.

[0003] Therefore, the prior art needs to be improved. INVENTION CONTENTS

[0004] Therefore, the utility model provides a feeding and discharging mechanical hand for solving the problems, such as low degree of freedom and poor compatibility of the feeding and discharging mechanical hand in the prior art.

[0005] In order to achieve one or part or all of the above purposes or other purposes, the utility model provides a feeding and discharging mechanical hand, which comprises an X-axis linear module, a Z-axis linear module and a mechanical claw assembly, the Z-axis linear module is installed at the output end of the X-axis linear module, and the mechanical claw assembly is installed at the output end of the Z-axis linear module. The mechanical claw assembly comprises a connecting plate, a grabbing support, a Z-direction rotating motor, one or more grabbing mechanisms, a rotating rod and a horizontal rotating motor, the connecting plate is fixedly installed at the output end of the X-axis linear module, the body of the Z-direction rotating motor is fixedly installed on the connecting plate, and the grabbing support is installed below the connecting plate and can rotate around a vertical shaft. The output end of the Z-direction rotating motor is in transmission connection with the grabbing support and is used to drive the grabbing support to rotate around the vertical shaft. The rotating rod is installed on the grabbing support and can rotate around a horizontal shaft. The body of the horizontal rotating motor is fixedly installed on the grabbing support. The output end of the horizontal rotating motor is in transmission connection with the rotating rod and is used to drive the rotating rod to rotate around the horizontal shaft. The grabbing mechanism is fixedly installed on the rotating rod and is used to grab materials.

[0006] Preferably, each grabbing mechanism comprises two opposite suction cup assemblies, and the two suction cup assemblies are installed on both sides of the rotating rod and are fixedly connected with the rotating rod.

[0007] Preferably, the suction cup assembly includes a suction cup plate, a vacuum suction cup installed on the suction cup plate, and a positioning piece. Several grooves are provided on the side of the rotating rod, and the back of the suction cup plate is fitted with the bottom of the groove. The suction cup plate is also provided with one or more first positioning holes, and the groove is correspondingly provided with one or more second positioning holes. The positioning piece is inserted into the first positioning hole and the second positioning hole to achieve relative fixation of the suction cup plate and the rotating rod.

[0008] Preferably, the mechanical claw assembly also includes a belt transmission mechanism, which includes a first reducer, a driving wheel, a transmission belt and a driven wheel. The input end of the first reducer is fixedly connected to the output end of the horizontal rotation motor, the driving wheel is fixedly installed on the output end of the first reducer, and the driven wheel is fixedly installed on one end of the rotating rod. The transmission belt is wound around the driving wheel and the driven wheel.

[0009] Preferably, the grabbing bracket includes an inverted T-shaped main bracket and two rotating mounting side plates, the main bracket includes a vertical frame and a horizontal plate installed below the vertical frame, the two rotating mounting side plates are respectively installed at both ends of the horizontal plate, the rotating rod is mounted between the two rotating mounting side plates, one end of the rotating rod extends out of the side of the rotating mounting side plate away from the other rotating mounting side plate, the driving wheel and the driven wheel are respectively connected to the output end of the first reducer and the rotating rod on the side of the rotating mounting side plate, and a belt drive shield is also installed on the side of the rotating mounting side plate to cover the driving wheel, the driven wheel and the transmission belt.

[0010] Preferably, the mechanical claw assembly further includes a second reducer, the input end of the second reducer is connected to the output end of the Z-axis rotary motor, and the output end of the second reducer is fixedly connected to one end of the grabbing bracket.

[0011] Preferably, the X-axis linear module includes an X-axis mounting frame, an X-axis drive motor, an X-axis screw, an X-axis guide rail, a first slider, a first screw slider and an X-axis sliding seat. The X-axis drive motor and the X-axis guide rail are fixedly mounted on the X-axis mounting frame. The X-axis screw is rotatably mounted on the X-axis mounting frame through two first bearing seats. The X-axis screw is transmission-connected to the output end of the X-axis drive motor. The X-axis sliding seat can be slidably mounted on the X-axis guide rail along the X-axis guide rail through the first slider. The X-axis sliding seat is also transmission-connected to the X-axis screw through the first screw slider.

[0012] Preferably, the X-axis mounting frame is in the shape of a box with an open side, the X-axis screw rod and the X-axis guide rail are arranged in the X-axis mounting frame, and the X-axis linear module also includes two telescopic X-axis shield plates, and the two X-axis shield plates are respectively arranged on both sides of the X-axis sliding seat; one end of the X-axis shield plate is connected to the X-axis sliding seat, and the other end is connected to the X-axis mounting frame, so as to cover the internal components of the X-axis mounting frame.

[0013] Preferably, the Z-axis linear module includes a Z-axis mounting frame, a Z-axis drive motor, a Z-axis screw, a Z-axis guide rail, a second slider, a second screw slider and a Z-axis sliding seat. The Z-axis drive motor and the Z-axis guide rail are fixedly mounted on the Z-axis mounting frame. The Z-axis screw is rotatably mounted on the Z-axis mounting frame through two second bearing seats. The Z-axis screw is transmission-connected to the output end of the Z-axis drive motor. The Z-axis sliding seat can be slidably mounted on the Z-axis guide rail along the Z-axis guide rail through the second slider. The Z-axis sliding seat is also transmission-connected to the Z-axis screw through the second screw slider.

[0014] Preferably, the Z-axis mounting frame is in the shape of a box with an open side, the Z-axis screw rod and the Z-axis guide rail are arranged in the Z-axis mounting frame, and the Z-axis linear module also includes two telescopic Z-axis shield plates, and the two Z-axis shield plates are respectively arranged on both sides of the Z-axis sliding seat; one end of the Z-axis shield plate is connected to the Z-axis sliding seat, and the other end is connected to the Z-axis mounting frame, which is used to cover the internal components of the Z-axis mounting frame.

[0015] The implementation of the present invention will have the following beneficial effects:

[0016] 1. The structure is relatively simple, with high degree of freedom and high adaptability to the production line;

[0017] 2. The gripping mechanism can be flipped to achieve the simultaneous loading and unloading of materials into and from the processing equipment in one stroke, greatly improving processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] in:

[0020] Figure 1 This is a schematic diagram of a three-dimensional explosion structure of an embodiment of the present utility model;

[0021] Figure 2 This is a schematic diagram of a three-dimensional exploded structure of a mechanical claw assembly in one embodiment of the present invention;

[0022] Figure 3 This is a schematic diagram of the installation relationship between the grabbing mechanism and the rotating rod in one embodiment of the present utility model;

[0023] Figure 4 This is a schematic diagram of a three-dimensional exploded structure of the X-axis linear module in one embodiment of the present invention after removing the X-axis shield plate and the first motor shield;

[0024] Figure 5 This is a schematic diagram of the three-dimensional exploded structure of the Z-axis linear module in one embodiment of the present invention after removing the Z-axis shield plate and the second motor shield.

[0025] The accompanying drawings are as follows: 1. X-axis linear module; 11. X-axis mounting bracket; 12. X-axis drive motor; 13. X-axis screw; 14. X-axis guide rail; 15. First slider; 16. X-axis sliding seat; 17. First bearing seat; 18. X-axis shield plate; 19. First motor cover; 110. First coupling; 2. Z-axis linear module; 21. Z-axis mounting bracket; 22. Z-axis drive motor; 23. Z-axis screw; 24. Z-axis guide rail; 25. Second slider; 26. Second screw slider; 27. Z-axis sliding seat; 28. Second bearing seat; 29. ​​Z-axis shield plate; 210. Second motor cover; 211. Second coupling; 3. Mechanical claw assembly ;31. Connecting plate;32. Grabbing bracket;321. Main bracket;322. Rotating mounting side plate;323. Bracket cover;3211. Vertical frame;3212. Horizontal plate;33. Z-axis rotating motor;34. Grabbing mechanism;341. Suction cup assembly;3411. Suction cup plate;3412. Vacuum suction cup;3413. First positioning hole;35. Rotating rod;351. Groove;352. Second positioning hole;36. Horizontal rotating motor;37. Belt transmission mechanism;371. First reducer;372. Driving wheel;373. Transmission belt;374. Driven wheel;375. Belt transmission cover;38. Second reducer;100. Material. DETAILED DESCRIPTION

[0026] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application.

[0028] It is to be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It is also to be understood that the term "including" or "comprising" specifies the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but does not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0029] It is to be understood that when one element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements can be present. As used herein the terms "vertical", "horizontal", "left", "right", and the like as terms of reference are merely used for the purpose of illustration and do not limit the present application thereto. In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", and the like indicate the orientation or positional relationship as shown in the drawings. These terms are mainly used for better description of the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to indicating the orientation or positional relationship, the above-mentioned terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present application can be understood according to the specific circumstances.

[0030] In addition, the terms "provided with", "provided with", "connected", "connected" should be broadly understood. For example, it can be fixedly connected, detachably connected, or integrally constructed; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or internal communication between two devices, elements or components. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0031] Reference Figures 1 to 5An embodiment of the present invention provides a loading and unloading robot, comprising an X-axis linear module 1, a Z-axis linear module 2, and a mechanical claw assembly 3. The Z-axis linear module 2 is mounted on the output end of the X-axis linear module 1, and the mechanical claw assembly 3 is mounted on the output end of the Z-axis linear module 2; the mechanical claw assembly 3 comprises a connecting plate 31, a grabbing bracket 32, a Z-axis rotary motor 33, one or more grabbing mechanisms 34, a rotating rod 35, and a horizontal rotary motor 36. The connecting plate 31 is fixedly mounted on the output end of the X-axis linear module 1, and the body of the Z-axis rotary motor 33 is fixedly mounted on the connecting plate 31. The grabbing bracket 32 ​​is mounted below the connecting plate 31 and is rotatable about a vertical axis. The output end of the Z-axis rotary motor 33 is in transmission connection with the grabbing bracket 32, for driving the grabbing bracket 32 ​​to rotate about its vertical axis. The rotating rod 35 is mounted on the grabbing bracket 32 ​​and is rotatable about its horizontal axis. The main body of the horizontal rotary motor 36 is fixedly mounted on the grabbing bracket 32. The output end of the horizontal rotary motor 36 is in transmission connection with the rotating rod 35, for driving the rotating rod 35 to rotate about its horizontal axis. The grabbing mechanism 34 is fixedly mounted on the rotating rod 35 and is used to grab the material 100. The specific number of the grabbing mechanisms 34 can be adjusted according to processing requirements.

[0032] The loading and unloading robot provided by the embodiment of the present invention can realize the omnidirectional freedom of the grasping mechanism 34 except the Y-axis translation through the X-axis linear module 1, the Z-axis linear module 2, the Z-axis rotary motor 33, and the horizontal rotary motor 36. The degree of freedom is extremely high and the adaptability to the production line is extremely high.

[0033] In some optional embodiments, such as Figure 1 and Figure 2 As shown, each gripping mechanism 34 includes two suction cup assemblies 341 facing opposite directions. The two suction cup assemblies 341 are respectively installed on either side of the rotating rod 35 and are fixedly connected to the rotating rod 35. In this way, the gripping mechanism 34 can be turned over by the horizontal rotary motor 36, achieving the simultaneous loading and unloading of materials from the processing equipment in one stroke, greatly improving processing efficiency.

[0034] In some optional embodiments, such as Figure 1 、 Figure 2 and Figure 3As shown, the suction cup assembly 341 includes a suction cup plate 3411, a vacuum suction cup 3412 installed on the suction cup plate 3411, and a positioning member (not shown in the drawings). A plurality of grooves 351 are provided on the side of the rotating rod 35. The length of the groove 351 is equal to the width of the suction cup plate 3411. The back of the suction cup plate 3411 is fitted with the bottom of the groove 351. The suction cup plate 3411 is also provided with one or more first positioning holes 3413. The groove 351 is correspondingly provided with one or more second positioning holes 352. The positioning member is inserted into the first positioning hole 3413 and the second positioning hole 352 to achieve relative fixation of the suction cup plate 3411 and the rotating rod 35.

[0035] In some optional embodiments, such as Figure 1 and Figure 2 As shown, the mechanical claw assembly 3 also includes a belt transmission mechanism 37, and the belt transmission mechanism 37 includes a first reducer 371, a driving wheel 372, a transmission belt 373 and a driven wheel 374. The input end of the first reducer 371 is fixedly connected to the output end of the horizontal rotation motor 36, the driving wheel 372 is fixedly installed on the output end of the first reducer 371, and the driven wheel 374 is fixedly installed on one end of the rotating rod 35. The transmission belt 373 is wound around the driving wheel 372 and the driven wheel 374.

[0036] In some optional embodiments, such as Figure 1 and Figure 2 As shown, the grabbing bracket 32 ​​includes an inverted T-shaped main bracket 321 and two rotatable mounting side plates 322. The main bracket 321 includes a vertical frame 3211 and a horizontal plate 3212 mounted below the vertical frame 3211. The two rotatable mounting side plates 322 are respectively mounted at both ends of the horizontal plate 3212. The rotating rod 35 is mounted between the two rotatable mounting side plates 322. One end of the rotating rod 35 extends out of the side of the rotatable mounting side plate 322 away from the other rotatable mounting side plate 322. The driving wheel 372 and the driven wheel 374 are respectively connected to the output end of the first reducer 371 and the rotating rod 35 on the side of the rotatable mounting side plate 322. A belt drive shield 375 is also installed on the side of the rotatable mounting side plate 322 to cover the driving wheel 372, the driven wheel 374 and the transmission belt 373. In some optional embodiments, such as Figure 1 As shown, the main bracket 321 is further provided with a bracket cover 323 for protecting the horizontal rotation motor 36. The mechanical claw assembly 3 also includes a second reducer 38. The upper end of the vertical bracket 3211 is fixedly connected to the output end of the second reducer 38, and the output end of the Z-axis rotation motor 33 is fixedly connected to the input end of the second reducer 38.

[0037] In some optional embodiments, such as Figure 1 and Figure 2 As shown, the X-axis linear module 1 includes an X-axis mounting frame 11, an X-axis drive motor 12, an X-axis screw 13, an X-axis guide rail 14, a first slider 15, a first screw slider and an X-axis sliding seat 16. The X-axis drive motor 12 and the X-axis guide rail 14 are fixedly mounted on the X-axis mounting frame 11, and the X-axis screw 13 is rotatably mounted on the X-axis mounting frame 11 through two first bearing seats 17. The X-axis screw 13 is transmission-connected to the output end of the X-axis drive motor 12 through a first coupling 110. The X-axis sliding seat 16 can be slidably mounted on the X-axis guide rail 14 along the X-axis guide rail 14 through the first slider 15. The X-axis sliding seat 16 is also transmission-connected to the X-axis screw 13 through the first screw slider.

[0038] In some optional embodiments, such as Figure 1 and Figure 4 As shown, the X-axis mounting frame 11 is box-shaped with an open side. The X-axis screw rod 13 and the X-axis guide rail 14 are disposed within the X-axis mounting frame 11. The X-axis linear module 1 also includes two telescopic X-axis shield plates 18, which are disposed on either side of the X-axis sliding seat 16. One end of the X-axis shield plate 18 is connected to the X-axis sliding seat 16, and the other end is connected to the X-axis mounting frame 11, and is used to cover the components within the X-axis mounting frame 11. The X-axis drive motor 12 is located outside the X-axis mounting frame 11, and a first motor cover 19 is provided on the X-axis mounting frame 11 to protect the X-axis drive motor 12.

[0039] In some optional embodiments, such as Figure 1 and Figure 5 As shown, the Z-axis linear module 2 includes a Z-axis mounting frame 21, a Z-axis drive motor 22, a Z-axis screw 23, a Z-axis guide rail 24, a second slider 25, a second screw slider 26 and a Z-axis sliding seat 27. The Z-axis drive motor 22 and the Z-axis guide rail 24 are fixedly mounted on the Z-axis mounting frame 21, and the Z-axis screw 23 is rotatably mounted on the Z-axis mounting frame 21 through two second bearing seats 28. The Z-axis screw 23 is transmission-connected to the output end of the Z-axis drive motor 22 through a second coupling 211, and the Z-axis sliding seat 27 can be slidably mounted on the Z-axis guide rail 24 along the Z-axis guide rail 24 through the second slider 25. The Z-axis sliding seat 27 is also transmission-connected to the Z-axis screw 23 through the second screw slider 26.

[0040] In some optional embodiments, such as Figure 1 and Figure 5As shown, the Z-axis mounting frame 21 is box-shaped with an open side. The Z-axis screw rod 23 and the Z-axis guide rail 24 are disposed within the Z-axis mounting frame 21. The Z-axis linear module 2 also includes two telescopic Z-axis shield plates 29, which are disposed on either side of the Z-axis sliding seat 27. One end of the Z-axis shield plate 29 is connected to the Z-axis sliding seat 27, and the other end is connected to the Z-axis mounting frame 21, thereby covering the internal components of the Z-axis mounting frame 21. The Z-axis drive motor 22 is located outside the Z-axis mounting frame 21, and a second motor cover 210 is provided on the Z-axis mounting frame 21 to protect the Z-axis drive motor 22.

[0041] The loading and unloading manipulator provided by the embodiment of the present utility model has the following beneficial effects:

[0042] 1. The structure is relatively simple, with high degree of freedom and high adaptability to the production line;

[0043] 2. The gripping mechanism 34 can be flipped to achieve the simultaneous completion of loading and unloading of materials to and from the processing equipment in one stroke, thereby greatly improving processing efficiency.

[0044] The above disclosure is only a preferred embodiment of the present invention, and certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope covered by the present invention.

Claims

1. A loading and unloading robot, characterized in that: It includes an X-axis linear module, a Z-axis linear module and a mechanical claw assembly, the Z-axis linear module is installed at the output end of the X-axis linear module, and the mechanical claw assembly is installed at the output end of the Z-axis linear module; the mechanical claw assembly includes a connecting plate, a grabbing bracket, a Z-axis rotary motor, one or more grabbing mechanisms, a rotating rod, and a horizontal rotary motor, the connecting plate is fixedly installed at the output end of the X-axis linear module, the body of the Z-axis rotary motor is fixedly installed on the connecting plate, and the grabbing bracket can be installed below the connecting plate so as to rotate around a vertical axis; the output end of the Z-axis rotary motor is transmission-connected to the grabbing bracket for driving the grabbing bracket to rotate around a vertical axis; the rotating rod can be installed on the grabbing bracket to rotate around a horizontal axis; the body of the horizontal rotary motor is fixedly installed on the grabbing bracket; the output end of the horizontal rotary motor is transmission-connected to the rotating rod for driving the rotating rod to rotate around a horizontal axis; the grabbing mechanism is fixedly installed on the rotating rod for grabbing materials.

2. The loading and unloading robot according to claim 1, characterized in that: Each of the gripping mechanisms includes two suction cup assemblies facing opposite directions. The two suction cup assemblies are respectively installed on two sides of the rotating rod and are fixedly connected to the rotating rod.

3. The loading and unloading robot according to claim 2, characterized in that: The suction cup assembly includes a suction cup plate, a vacuum suction cup installed on the suction cup plate, and a positioning piece. Several grooves are provided on the side of the rotating rod, and the back of the suction cup plate is in contact with the bottom of the groove. The suction cup plate is also provided with one or more first positioning holes, and the groove is correspondingly provided with one or more second positioning holes. The positioning piece is inserted into the first positioning hole and the second positioning hole to achieve relative fixation of the suction cup plate and the rotating rod.

4. The loading and unloading robot according to claim 1, characterized in that: The mechanical claw assembly also includes a belt transmission mechanism, which includes a driving wheel, a first reducer, a transmission belt and a driven wheel. The input end of the first reducer is fixedly connected to the output end of the horizontal rotation motor, the driving wheel is fixedly installed on the output end of the first reducer, and the driven wheel is fixedly installed on one end of the rotating rod. The transmission belt is wound around the driving wheel and the driven wheel.

5. The loading and unloading robot according to claim 4, characterized in that: The grabbing bracket includes an inverted T-shaped main bracket and two rotating mounting side plates, the main bracket includes a vertical bracket and a horizontal plate installed below the vertical bracket, the two rotating mounting side plates are respectively installed at both ends of the horizontal plate, the rotating rod is mounted between the two rotating mounting side plates, one end of the rotating rod extends out of the side of the rotating mounting side plate away from the other rotating mounting side plate, the driving wheel and the driven wheel are respectively connected to the output end of the first reducer and the rotating rod on the side of the rotating mounting side plate, and a belt drive shield is also installed on the side of the rotating mounting side plate to cover the driving wheel, the driven wheel and the transmission belt.

6. The loading and unloading robot according to claim 1, characterized in that: The mechanical claw assembly also includes a second reducer, the input end of the second reducer is connected to the output end of the Z-axis rotating motor, and the output end of the second reducer is fixedly connected to one end of the grabbing bracket.

7. The loading and unloading robot according to claim 1, characterized in that: The X-axis linear module includes an X-axis mounting frame, an X-axis drive motor, an X-axis screw, an X-axis guide rail, a first slider, a first screw slider and an X-axis sliding seat. The X-axis drive motor and the X-axis guide rail are fixedly mounted on the X-axis mounting frame. The X-axis screw is rotatably mounted on the X-axis mounting frame through two first bearing seats. The X-axis screw is transmission-connected to the output end of the X-axis drive motor. The X-axis sliding seat is slidably mounted on the X-axis guide rail along the first slider. The X-axis sliding seat is also transmission-connected to the X-axis screw through the first screw slider.

8. The loading and unloading robot according to claim 7, characterized in that: The X-axis mounting frame is in the shape of a box with an open side. The X-axis screw rod and the X-axis guide rail are arranged in the X-axis mounting frame. The X-axis linear module also includes two telescopic X-axis shield plates, which are respectively arranged on both sides of the X-axis sliding seat; one end of the X-axis shield plate is connected to the X-axis sliding seat, and the other end is connected to the X-axis mounting frame, so as to cover the internal components of the X-axis mounting frame.

9. The loading and unloading robot according to claim 1, characterized in that: The Z-axis linear module includes a Z-axis mounting frame, a Z-axis drive motor, a Z-axis screw, a Z-axis guide rail, a second slider, a second screw slider and a Z-axis sliding seat. The Z-axis drive motor and the Z-axis guide rail are fixedly mounted on the Z-axis mounting frame. The Z-axis screw is rotatably mounted on the Z-axis mounting frame through two second bearing seats. The Z-axis screw is transmission-connected to the output end of the Z-axis drive motor. The Z-axis sliding seat can be slidably mounted on the Z-axis guide rail along the Z-axis guide rail through the second slider. The Z-axis sliding seat is also transmission-connected to the Z-axis screw through the second screw slider.

10. The loading and unloading robot according to claim 9, characterized in that: The Z-axis mounting frame is in the shape of a box with an open side. The Z-axis screw rod and the Z-axis guide rail are arranged in the Z-axis mounting frame. The Z-axis linear module also includes two telescopic Z-axis shield plates, which are respectively arranged on both sides of the Z-axis sliding seat; one end of the Z-axis shield plate is connected to the Z-axis sliding seat, and the other end is connected to the Z-axis mounting frame, so as to cover the internal components of the Z-axis mounting frame.

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