CN216425993U

CN216425993U - Gantry manipulator for screen frame transfer

Info

Publication number: CN216425993U
Application number: CN202121659392.4U
Authority: CN
Inventors: 李学文
Original assignee: Dongguan Sanruntian Intelligent Technology Co ltd
Current assignee: Dongguan Sanruntian Intelligent Technology Co ltd
Priority date: 2021-07-20
Filing date: 2021-07-20
Publication date: 2022-05-03
Anticipated expiration: 2031-07-20

Abstract

The utility model discloses a gantry manipulator for screen frame transfer, which comprises a gantry, an XZ-axis transfer module, a Y-axis transfer module and a screen frame feeding and discharging mechanism. The output end of the XZ-axis transfer module is connected with the Y-axis transfer module in an assembling way; the screen frame feeding and discharging mechanism comprises a mechanism frame, and a first vacuum suction head and a second vacuum suction head which face opposite to each other on the mechanism frame, wherein a Y-axis transfer module is respectively arranged beside the left side and the right side of the mechanism frame in the X-axis direction and comprises a Y-axis motor, a winding rotating member, a first rotating wheel and a second rotating wheel which are arranged in a tandem and spaced manner, a winding returning member is wound on the first rotating wheel and the second rotating wheel and rotates around the first rotating wheel and the second rotating wheel, the first rotating wheels on the left side and the right side are fixed together through a synchronizing shaft, and the left side and the right side of the mechanism frame are respectively fixedly connected with the winding rotating member in the same side; so as to ensure the smooth and reliable transfer of the screen frame under the condition of reducing the waste of the air source.

Description

Gantry manipulator for screen frame transfer

Technical Field

The utility model relates to the field of paper mold (such as but not limited to disposable tableware and disposable bags) forming, in particular to a gantry manipulator for transferring a screen frame.

Background

With the continuous development of economy and the continuous progress of science and technology, the paper mould made of ecological plant fiber paper pulp is one of a plurality of material consumer products, and provides abundant material consumer products for the life of people.

As is well known, paper molds can be divided into tableware (such as, but not limited to, disposable snack boxes), drinking utensils (such as, but not limited to, disposable cups), and kits (such as, but not limited to, disposable packaging containers), whether tableware, drinking utensils, or kits, without departing from the steps of wet-blank forming, drying the wet blank to form a dry-blank, trimming the dry blank to form a product, and handling the transfer of the wet and dry blanks.

The wet blank profiling jig matched with the wet blank in shape and the dry blank profiling jig matched with the dry blank in shape are arranged at the tail end of the transfer manipulator to carry out vacuum adsorption on the wet blank and carry out vacuum adsorption on the dry blank, so that the wet blank is taken away from the wet blank forming machine and is placed into the dry blank forming machine, and meanwhile, the dry blank at the dry blank forming machine is taken away and is transferred to a subsequent position (such as a stacking material receiving table or a trimming machine). Because the transfer of wet base needs the vacuum adsorption to wet base with the help of wet base profile modeling tool to and the transfer of dry base needs the vacuum adsorption to dry base with the help of dry base profile modeling tool, no matter be wet base or dry base, all can have the gap more or less, can cause the air supply waste of wet base profile modeling tool and dry base profile modeling tool department like this.

Therefore, there is a need to provide a gantry robot for frame transfer that can ensure smooth and reliable transfer of the frame while reducing the waste of air sources.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a gantry manipulator for screen frame transfer, which can ensure smooth and reliable transfer of a screen frame under the condition of reducing waste of an air source.

In order to achieve the purpose, the technical scheme of the utility model is as follows: the gantry manipulator for transferring the screen frame comprises a gantry, an XZ-axis transfer module, a Y-axis transfer module and a screen frame feeding and discharging mechanism assembled at the output end of the Y-axis transfer module. The XZ-axis transfer module is assembled on the portal frame, the output end of the XZ-axis transfer module is assembled and connected with the Y-axis transfer module, and the XZ-axis transfer module drives the Y-axis transfer module and the screen frame loading and unloading mechanism to move on the portal frame in an XZ axis manner; the screen frame feeding and discharging mechanism comprises a mechanism frame, and a first vacuum suction head and a second vacuum suction head which face opposite to each other on the mechanism frame and are respectively used for vacuum adsorption of a screen frame; y axle moves and carries the module to arrange respectively along X axle direction on the left and right sides that the mechanism frame is relative is other, Y axle moves carries the module to contain Y axle motor, be used for forming the output around establishing the rotating member and being the tandem along Y axle direction and separate and align first runner and the second runner of arranging, around establishing the passback piece around locating first runner and second runner duplex winding first runner and second runner are rotary motion, Y axle motor orders about establish the rotating member and do rotary motion, the left and right sides the first runner is together fixed through a synchronizing shaft, the mechanism frame the left and right sides respectively with in the same one side establish rotating member fixed connection around.

Preferably, the synchronous shaft and the Y-axis motor are each located in front of the mechanism frame, and the first vacuum head and the second vacuum head are each plural and arranged along an outer periphery of the mechanism frame.

Preferably, the Y-axis transfer module further includes a tension wheel, an output shaft of the Y-axis motor is fixedly sleeved with a driving wheel located below or above the first rotation wheel, the winding rotation member is further wound around the driving wheel, and the tension wheel is pressed against the outside of the winding rotation member from the rear so that the winding rotation member is clamped between the tension wheel and the first rotation wheel.

Preferably, the first rotating wheel, the second rotating wheel, the driving wheel and the tension wheel are belt wheels, and the winding rotating member is a belt; or the first rotating wheel, the second rotating wheel, the driving wheel and the tension wheel are chain wheels respectively, and the winding rotating member is a chain.

Preferably, the XZ-axis transfer module comprises an X-axis transfer module and a Z-axis transfer module, the X-axis transfer module is assembled on the gantry, the Z-axis transfer module is assembled on the output end of the X-axis transfer module, and the Y-axis transfer module is assembled on the output end of the Z-axis transfer module.

Preferably, the X-axis transfer module comprises an X-axis motor and an X-axis slide seat for forming an output end, wherein the X-axis motor drives the X-axis slide seat to slide through belt transmission, chain transmission, screw rod and nut transmission or gear transmission.

Preferably, the X-axis motor is fixed to the X-axis sliding base, an X-axis gear is fixedly sleeved on an output shaft of the X-axis motor, and an X-axis linear rack is fixed to the gantry and is in meshing transmission with the X-axis gear.

Preferably, the Z-axis transfer module comprises a Z-axis motor and a Z-axis lifting frame for forming an output end, the Z-axis lifting frame is slidably arranged on the X-axis sliding seat along the Z-axis direction, and the Z-axis motor drives the Z-axis lifting frame to slide through belt transmission, chain transmission, screw rod and nut transmission or gear transmission.

Preferably, the Z-axis motor is fixed to the X-axis sliding seat, the Z-axis motor and the X-axis motor are arranged on the X-axis sliding seat in opposite directions, an output shaft of the Z-axis motor is fixedly sleeved with a Z-axis gear, a Z-axis linear rack is fixed to the Z-axis lifting frame and is in meshing transmission with the Z-axis gear, the lower end of the Z-axis lifting frame is provided with a frame structure, the Y-axis motor, the first rotating wheel and the second rotating wheel are respectively assembled at the frame structure, and the mechanism frame is located in the frame structure and is in sliding connection with the frame structure.

Preferably, the gantry manipulator for transferring the screen frame further comprises a picking and placing transfer mechanism for picking the dry blanks in the screen frame with the dry blanks sucked by the first vacuum suction head, the picking and placing transfer mechanism is assembled on the gantry, and the screen frame feeding and discharging mechanism is driven by the XZ axis transfer module to slide to a position right below the picking and placing transfer mechanism.

Compared with the prior art, the Y-axis transfer module is respectively arranged beside the left side and the right side of the mechanism frame along the X-axis direction, the Y-axis transfer module comprises a Y-axis motor, a winding rotating member for forming an output end, and a first rotating wheel and a second rotating wheel which are arranged in an aligned manner and are spaced in tandem along the Y-axis direction, the winding rotating member is wound on the first rotating wheel and the second rotating wheel and rotates around the first rotating wheel and the second rotating wheel, the Y-axis motor drives the winding rotating member to rotate, the first rotating wheels on the left side and the right side are fixed together through a synchronizing shaft, and the left side and the right side of the mechanism frame are respectively fixedly connected with the winding rotating member on the same side; the arrangement enables the mechanism frame to be driven by the Y-axis transfer modules beside the left side and the right side of the mechanism frame to stretch and slide along the Y-axis direction, and ensures the coordination of synchronous stretching of the left side and the right side of the mechanism frame under the action of the synchronous shaft, thereby improving the smoothness of the sliding of the mechanism frame; the screen frame loading and unloading mechanism is combined with a screen frame loading and unloading mechanism, and comprises a mechanism frame and a first vacuum suction head and a second vacuum suction head which face opposite directions and are respectively used for vacuum adsorption of the screen frame on the mechanism frame, so that the screen frame loading and unloading mechanism completes the action of screen frame loading and unloading at the same station (such as a wet blank forming machine or a dry blank forming machine), and the loading and unloading speed and efficiency are improved. Therefore, the gantry manipulator for transferring the screen frame carries out feeding and discharging transfer on the screen frame in a screen frame sucking mode, and a profiling jig is not needed for carrying out vacuum adsorption on wet blanks or dry blanks, so that waste of an air source is reduced, and smooth and reliable transfer of the screen frame is ensured under the condition of reducing the waste of the air source.

Drawings

Fig. 1 is a schematic perspective view of a gantry robot for transferring a screen frame according to the present invention when a screen frame is removed.

Fig. 2 is a schematic perspective view of the gantry robot for frame transfer shown in fig. 1 at another angle.

Fig. 3 is a schematic perspective view of an XZ axis transfer module in the gantry robot for transferring a screen frame according to the present invention.

Fig. 4 is a schematic perspective view of the three-dimensional structure of the partial frame structure of the Y-axis transfer module, the net frame loading and unloading mechanism and the Z-axis crane of the gantry robot for transferring the net frame of the present invention.

Fig. 5 is a schematic view of the state of fig. 4 after the frame has been removed.

Detailed Description

Embodiments of the present invention will now be described with reference to the drawings, wherein like element numerals represent like elements.

Referring to fig. 1 to 5, the gantry robot 100 for transferring a screen frame of the present invention includes a gantry 10, an XZ-axis transfer module 20, a Y-axis transfer module 30, and a screen frame loading/unloading mechanism 40 mounted at an output end (see reference numeral 32) of the Y-axis transfer module 30. The XZ axis transfer module 20 is assembled on the gantry 10, the gantry 10 provides a support function and an assembly place for the XZ axis transfer module 20, and an output end (see the reference numeral 222) of the XZ axis transfer module 20 is assembled and connected with the Y axis transfer module 30, so that the XZ axis transfer module 20 drives the Y axis transfer module 30 and the frame loading and unloading mechanism 40 to move on the gantry 10 along with the XZ axis, so as to meet the movement requirement of switching the frame loading and unloading mechanism 40 back and forth between different devices (such as, but not limited to, a dry blank forming machine and a wet blank forming machine); the frame loading/unloading mechanism 40 includes a mechanism frame 41 and a first vacuum head 42 and a second vacuum head 43 facing opposite to each other on the mechanism frame 41 and used for vacuum-sucking the frame 200, and it is preferable that the first vacuum head 42 is plural and arranged along an outer frame 411 of the mechanism frame 41, and the second vacuum head 43 is plural and arranged along the outer frame 411 of the mechanism frame 41, so that the first vacuum head 42 and the second vacuum head 43 are respectively arranged at respective positions of the outer frame 411, and the first vacuum head 42 and the second vacuum head 43 are respectively arranged in a "oral" shape on the outer frame 411. The Y-axis transfer module 30 is respectively arranged beside the left side and the right side opposite to the mechanism frame 41 along the X-axis direction, the Y-axis transfer module 31 comprises a Y-axis motor 31, a winding rotating member 32 for forming the output end of the Y-axis transfer module 31, and a first rotating wheel 33 and a second rotating wheel 34 which are arranged in alignment and spaced in tandem along the Y-axis direction; the winding return piece 32 is wound on the first rotating wheel 33 and the second rotating wheel 34 and rotates around the first rotating wheel 33 and the second rotating wheel 34; the Y-axis motor 31 drives the winding rotating member 32 to rotate, and provides power for the rotation of the winding rotating member 32; the first rotating wheels 33 on the left side and the right side are fixed together through a synchronizing shaft 35, so that the first rotating wheels 33 on the left side and the right side can synchronously rotate by means of the synchronizing shaft 35, and the defect that the rotating motion of the winding return member 32 on the left side and the right side is slow and fast is overcome; the left and right sides of the mechanism frame 41 are fixedly connected with the winding rotary member 32 on the same side, so that the winding rotary members 32 on the left and right sides drive the mechanism frame 41 on the same side to move. More specifically, the following:

as shown in fig. 1, 4 and 5, the synchronizing shaft 35 and the Y-axis motor 31 are respectively located in front of the mechanism frame 41, so that the synchronizing shaft 35 and the Y-axis motor 31 are designed to avoid causing obstacles to the frame loading and unloading mechanism 40 which slides in a telescopic manner along the Y-axis due to being located behind, thereby enabling the frame 200 of the frame loading and unloading mechanism 40 to be more simply transferred, and meanwhile, the synchronizing shaft 35 and the Y-axis motor 31 are arranged in front of each other to play a role of balancing the extending frame loading and unloading mechanism 40, so as to ensure the stability and reliability of the frame loading and unloading mechanism 40. Specifically, in fig. 1, 4 and 5, the Y-axis transfer module 30 further includes a tension wheel 36, an output shaft of the Y-axis motor 31 is fixedly sleeved with a driving wheel 37 located below the first rotating wheel 33, such that the Y-axis motor 31 is staggered with the synchronizing shaft 35 in the vertical direction, the winding rotating member 32 is further wound around the driving wheel 37, the tension wheel 36 is pressed against the outside of the winding rotating member 32 from the rear, so that the winding rotating member 32 is clamped between the tension wheel 36 and the first rotating wheel 33, and the reliability of the rotation of the winding rotating member 32 is effectively increased. For example, in fig. 1, 4 and 5, the first roller 33, the second roller 34, the driving wheel 37 and the tension wheel 36 are belt wheels, and the winding rotating member 32 is a belt; of course, the first rotating wheel 33, the second rotating wheel 34, the driving wheel 37 and the tension wheel 36 can also be chain wheels according to actual needs, and correspondingly, the rotating member 32 is wound as a chain, so the description is not limited to the above. It is understood that the driving wheel 37 can be located above the first wheel 33 correspondingly according to actual needs, so that the Y-axis motor 31 is located above the synchronizing shaft 35, and therefore the above description is not limited thereto.

As shown in fig. 1 to 3, the XZ-axis transfer module 20 includes an X-axis transfer module 21 and a Z-axis transfer module 22. The X-axis transfer module 21 is assembled on the portal frame 10, and the portal frame 10 provides a supporting function and an assembling place for the X-axis transfer module 21; the Z-axis transfer module 22 is mounted on the output side of the X-axis transfer module 21 (see reference numeral 212), and the Y-axis transfer module 30 is mounted on the output side of the Z-axis transfer module 22 (see reference numeral 222). Specifically, in fig. 3, the X-axis transferring module 21 includes an X-axis motor 211 and an X-axis slide 212 for forming an output end of the X-axis transferring module 21, wherein the X-axis motor 211 drives the X-axis slide 212 through gear transmission, so as to improve the accuracy and reliability of the sliding movement of the X-axis slide 212 along the X-axis direction. More specifically, in fig. 3, the X-axis motor 211 is fixed to the X-axis slide 212, the output shaft of the X-axis motor 211 is fixedly sleeved with an X-axis gear 213, and an X-axis linear rack 214 is fixed to the gantry 10 and is in meshing transmission with the X-axis gear 213, so that the X-axis motor 211 follows the X-axis slide 212 to travel on the gantry 10, thereby simplifying the structure of the X-axis transfer module 21. It can be understood that, according to practical requirements, the X-axis motor 211 can drive the X-axis sliding base 212 to slide through a belt transmission, a chain transmission or a lead screw nut transmission, and therefore the description is not limited thereto. The belt transmission common structure is composed of two belt wheels and a belt sleeved on the belt wheels, the chain transmission common structure is composed of two chain wheels and a chain sleeved on the chain wheels, and the screw rod and screw nut transmission common structure is composed of a screw rod and a screw nut slidably arranged on the screw rod.

As shown in fig. 3, the Z-axis transfer module 22 includes a Z-axis motor 221 and a Z-axis crane 222 for forming an output end of the Z-axis transfer module 22. The Z-axis lifting frame 222 is arranged on the X-axis sliding base 212 in a sliding manner along the Z-axis direction, so that the Z-axis lifting frame 222 is lifted on the X-axis sliding base 212; the Z-axis motor 221 drives the Z-axis crane 222 to slide through gear transmission, so as to improve the precision reliability of the Z-axis crane 222 in sliding along the Z-axis direction. Specifically, in fig. 3, the Z-axis motor 221 is fixed to the X-axis slide 212, and the Z-axis motor 221 is further disposed opposite to the X-axis motor 211 on the X-axis slide 212, for example, the Z-axis motor 221 is located behind the X-axis slide 212, and the X-axis motor 211 is located in front of the X-axis slide 212, so that the Z-axis motor 221 and the X-axis motor 211 act as a balance weight at the X-axis slide 212; a Z-axis gear 223 is fixedly sleeved on an output shaft of the Z-axis motor 221, and a Z-axis linear rack 224 is fixed on the Z-axis lifting frame 222 and is in meshing transmission with the Z-axis gear 223, so that the structure of the Z-axis transfer module 22 is simplified; the lower end of the Z-axis crane 222 has a frame structure 222a, the Y-axis motor 221, the first runner 33 and the second runner 34 are respectively assembled in the frame structure 222a, and the mechanism frame 41 is located in the frame structure 222a and slidably connected with the frame structure 222a, so as to increase the strength of the sliding connection between the mechanism frame 41 and the frame structure 222a and the bearing capacity of the frame structure 222a to the mechanism frame 41. It can be understood that, according to the actual requirement, the Z-axis motor 221 can drive the Z-axis crane 222 to slide through a belt transmission, a chain transmission or a screw nut transmission, and therefore the description is not limited thereto. The belt transmission common structure is composed of two belt wheels and a belt sleeved on the belt wheels, the chain transmission common structure is composed of two chain wheels and a chain sleeved on the chain wheels, and the screw rod and screw nut transmission common structure is composed of a screw rod and a screw nut slidably arranged on the screw rod.

As shown in fig. 1 and fig. 2, the gantry robot 100 for frame transfer of a screen frame further includes a pick-and-place transfer mechanism 43 for taking away the dry blanks in the screen frame 200 with the dry blanks sucked by the first vacuum suction head 42, the pick-and-place transfer mechanism 43 is assembled to the gantry 10, and the frame loading and unloading mechanism 40 is driven by the XZ-axis transfer module 20 to slide to a position right below the pick-and-place transfer mechanism 43, so as to facilitate the pick-and-place operation of the dry blanks by the pick-and-place transfer mechanism 43. It is understood that the pick-and-place transferring mechanism 43 can be eliminated according to actual needs, and therefore the above description is not limited.

The operation principle of the gantry robot 100 for transferring a screen frame according to the present invention will be described with reference to the accompanying drawings: driven by the XZ-axis transfer module 20, the Y-axis transfer module 30 and the screen frame loading and unloading mechanism 40 are together moved to the position aligned with the wet blank forming machine; then, the Y-axis motor 31 drives the winding rotary member 32 to make rotary motion under the coordination of the first rotary wheel 33 and the second rotary wheel 34, so that the winding rotary member 32 making rotary motion drives the screen frame loading and unloading mechanism 40 to extend into the wet blank forming machine after the mold is opened, and under the coordination of the XZ-axis transfer module 20, the empty screen frame 200 sucked by the first vacuum suction head 42 in the screen frame loading and unloading mechanism 40 is placed into the wet blank forming machine after the mold is opened, and the screen frame 200 with wet blanks in the wet blank forming machine after the mold is opened is sucked away by the second vacuum suction head 43; then, the Y-axis transfer module 30 drives the screen frame loading and unloading mechanism 40 to move away from the wet blank forming machine after the mold opening, and then the Y-axis transfer module 30 and the screen frame loading and unloading mechanism 40 are driven by the XZ-axis transfer module 20 to move to the position aligned with the dry blank forming machine together; then, the Y-axis transfer module 30 drives the screen frame loading and unloading mechanism 40 to extend into the dry blank forming machine after the mold opening, and under the coordination of the XZ-axis transfer module 20, the screen frame 200 with the wet blank, which is absorbed by the second vacuum suction head 43 in the screen frame loading and unloading mechanism 40, is placed into the dry blank forming machine after the mold opening, and the screen frame 200 with the dry blank in the dry blank forming machine after the mold opening is absorbed by the first vacuum suction head 42; finally, the Y-axis transfer module 30 drives the frame loading and unloading mechanism 40 to move away from the opened dry blank forming machine, and the XZ-axis transfer module 20 drives the Y-axis transfer module 30 and the frame loading and unloading mechanism 40 to slide to the lower dry blank position, thereby completing one cycle of transfer of the frame 200.

Compared with the prior art, the Y-axis transfer module 30 is respectively arranged beside the left side and the right side of the mechanism frame 41 along the X-axis direction, the Y-axis transfer module 30 comprises a Y-axis motor 31, a winding rotating member 32 for forming an output end, and a first rotating wheel 33 and a second rotating wheel 34 which are arranged in alignment and spaced in tandem along the Y-axis direction, the winding rotating member 32 is wound around the first rotating wheel 33 and the second rotating wheel 34 and rotates around the first rotating wheel 33 and the second rotating wheel 34, the Y-axis motor 31 drives the winding rotating member 32 to rotate, the first rotating wheels 33 on the left side and the right side are fixed together through a synchronizing shaft 35, and the left side and the right side of the mechanism frame 41 are respectively fixedly connected with the winding rotating member 32 on the same side; the arrangement is that the mechanism frame 41 is driven by the Y-axis transfer modules 30 beside the left side and the right side of the mechanism frame to extend and retract along the Y-axis direction, and the left side and the right side of the mechanism frame 41 are ensured to be synchronously extended and retracted under the action of the synchronizing shaft 32, so that the sliding smoothness of the mechanism frame 41 is improved; the re-bonded frame loading and unloading mechanism 40 comprises a mechanism frame 41 and a first vacuum suction head 42 and a second vacuum suction head 43 which face opposite to each other on the mechanism frame 41 and are respectively used for vacuum adsorption of the frame 200, so that the frame loading and unloading mechanism 40 completes loading and unloading operations of the frame 200 at the same station (such as a wet blank forming machine or a dry blank forming machine), and loading and unloading speed and efficiency are improved. Therefore, the gantry manipulator 100 for transferring the screen frame performs feeding and discharging transfer of the screen frame in a manner of sucking the screen frame 200, and a profiling jig is not required to perform vacuum adsorption on wet blanks or dry blanks, so that waste of an air source is reduced, and smooth and reliable transfer of the screen frame is ensured under the condition of reducing the waste of the air source.

It should be noted that, in fig. 1 and fig. 2, the positive direction of the X axis is the left-to-right direction of the gantry 10, the positive direction of the Y axis is the front-to-back direction of the gantry 10, and the positive direction of the Z axis is the bottom-to-top direction of the gantry 10. It should be noted that, since the filter forming unit 210 in the net frame 200 is used for depositing the ecological plant fiber and finally forming the wet blank from the deposited ecological plant fiber in the filter forming unit 210, and the net frame 200 is sucked by the first vacuum nozzle 22 and the second vacuum nozzle 23, the sucked position of the net frame 200 is preferably a flat and airtight structure.

The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, therefore, the present invention is not limited by the appended claims.

Claims

1. A gantry manipulator for screen frame transfer comprises a gantry, an XZ-axis transfer module, a Y-axis transfer module and a screen frame feeding and discharging mechanism assembled at the output end of the Y-axis transfer module, wherein the XZ-axis transfer module is assembled on the gantry, the output end of the XZ-axis transfer module is assembled and connected with the Y-axis transfer module, the XZ-axis transfer module drives the Y-axis transfer module and the screen frame feeding and discharging mechanism to move on the gantry in an XZ-axis mode, and the gantry manipulator is characterized in that the screen frame feeding and discharging mechanism comprises a mechanism frame, a first vacuum suction head and a second vacuum suction head, wherein the first vacuum suction head and the second vacuum suction head face to each other and are opposite to each other and used for vacuum adsorption of a screen frame, the Y-axis transfer module is respectively arranged on the left side and the right side opposite to the mechanism frame in the X-axis direction, the Y-axis transfer module comprises a Y-axis motor, a winding rotating piece for forming the output end, and a first rotating piece which is separated in the front side and back side to the Y-axis direction and arranged in an aligned manner The mechanism comprises wheels and a second rotating wheel, wherein a back-passing piece is arranged around the first rotating wheel and the second rotating wheel and rotates around the first rotating wheel and the second rotating wheel, a Y-axis motor drives the back-passing piece to rotate around the back-passing piece, the first rotating wheel on the left side and the first rotating wheel on the right side are fixed together through a synchronizing shaft, and the left side and the right side of the mechanism frame are respectively fixedly connected with the rotating piece around the same side.

2. A gantry robot for frame transfer according to claim 1, wherein the synchronization shaft and the Y-axis motor are each located in front of the mechanism frame, and the first vacuum head and the second vacuum head are each plural and arranged along an outer periphery of the mechanism frame.

3. The gantry manipulator for transferring a frame of a screen as claimed in claim 2, wherein the Y-axis transferring module further comprises a tension wheel, the output shaft of the Y-axis motor is fixedly sleeved with a driving wheel located below or above the first rotating wheel, the winding rotating member is further wound around the driving wheel, and the tension wheel is pressed against the outside of the winding rotating member from the rear so as to clamp the winding rotating member between the tension wheel and the first rotating wheel.

4. The gantry robot for transferring a screen frame according to claim 3, wherein the first rotating wheel, the second rotating wheel, the driving wheel and the tension wheel are belt wheels, and the winding rotating member is a belt; or the first rotating wheel, the second rotating wheel, the driving wheel and the tension wheel are chain wheels respectively, and the winding rotating member is a chain.

5. The gantry robot of claim 1, wherein the XZ-axis transfer module comprises an X-axis transfer module and a Z-axis transfer module, the X-axis transfer module is mounted to the gantry, the Z-axis transfer module is mounted to an output end of the X-axis transfer module, and the Y-axis transfer module is mounted to an output end of the Z-axis transfer module.

6. The gantry robot for transferring frames according to claim 5, wherein the X-axis transfer module comprises an X-axis motor and an X-axis slide seat for forming an output end, and the X-axis motor drives the X-axis slide seat to slide through belt transmission, chain transmission, screw nut transmission or gear transmission.

7. A gantry robot for screen frame transfer as claimed in claim 6, wherein the X-axis motor is fixed to the X-axis slide carriage, an X-axis gear is fixedly sleeved on an output shaft of the X-axis motor, and an X-axis linear rack is fixed to the gantry and is in meshing transmission with the X-axis gear.

8. The gantry manipulator for transferring the screen frame according to claim 6, wherein the Z-axis transfer module comprises a Z-axis motor and a Z-axis crane for forming an output end, the Z-axis crane is slidably disposed on the X-axis slide carriage along the Z-axis direction, and the Z-axis motor drives the Z-axis crane to slide through belt transmission, chain transmission, screw nut transmission or gear transmission.

9. The gantry manipulator for screen frame transfer of claim 8, wherein the Z-axis motor is fixed to the X-axis slide carriage, the Z-axis motor and the X-axis motor are oppositely arranged on the X-axis slide carriage, a Z-axis gear is fixedly sleeved on an output shaft of the Z-axis motor, a Z-axis linear rack is fixed to the Z-axis crane and is in meshing transmission with the Z-axis gear, the lower end of the Z-axis crane has a frame structure, the Y-axis motor, the first rotating wheel and the second rotating wheel are respectively assembled at the frame structure, and the mechanism frame is located in the frame structure and is in sliding connection with the frame structure.

10. The gantry robot for transferring a frame according to claim 1, further comprising a pick-and-place transferring mechanism for picking up the dry blanks in the frame with the dry blanks sucked by the first vacuum suction head, wherein the pick-and-place transferring mechanism is assembled on the gantry, and the frame loading and unloading mechanism is driven by the XZ-axis transfer module to slide to a position right below the pick-and-place transferring mechanism.