Gripper moving device and plate storage warehouse

Abstract

The utility model provides a gripper moving device and a plate storage warehouse. The gripper moving device comprises a moving frame, a bottom beam, a rail, a horizontal moving device and a moving guide wheel set. The mechanical gripper is fixed in the moving frame and is used for gripping plates; the bottom beam is fixed to the bottom of the movable frame and movably connected with the track. The horizontal moving device is fixed to the bottom beam, further makes contact with the track and is used for providing power for the moving frame and the bottom beam to move in the length direction of the track; the movable guide wheel set is rotationally connected to the movable frame. According to the plate conveying device, the plates are prevented from being scratched, the plate conveying time is shortened, and the plate conveying efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a gripper moving device and a plate material storage warehouse. Background Art

[0002] With the development of society, the market is facing the development needs of consumers for personalization and customization. Especially in the panel furniture industry, customers' customization needs are getting higher and higher, so it is necessary to grab panels of different sizes and models.

[0003] However, the inventors have found that most companies currently use manual handling to grab and transport the plates, which not only easily causes scratches on the plates, but also takes a long time to transport the plates and has low transportation efficiency. Utility Model Content

[0004] The present application provides a gripper moving device and a plate material storage depot, which are used to solve the problems that the current gripping and transportation of plates not only easily cause scratches on the plates, but also take a long time to transport the plates and have low transportation efficiency.

[0005] In a first aspect, the present application provides a gripper moving device, comprising: a moving frame, a bottom beam, a track, a horizontal moving device and a moving guide wheel group;

[0006] A mechanical gripper is fixed in the mobile frame, and the mechanical gripper is used to grab the plate;

[0007] The bottom beam is fixed to the bottom of the movable frame, and the bottom beam is movably connected to the track;

[0008] The horizontal moving device is fixed on the bottom beam, and the horizontal moving device is also in contact with the track. The horizontal moving device is used to provide power for the moving frame and the bottom beam to move along the length direction of the track;

[0009] The movable guide wheel group is rotatably connected to the movable frame.

[0010] In the above solution, the mobile frame includes: a mobile column and a mobile beam;

[0011] The two movable columns are parallel to each other, and the top ends of the two movable columns are respectively connected to the two ends of the movable crossbeam;

[0012] The movable guide wheel group is rotatably connected to the movable crossbeam;

[0013] The movable guide wheel group comprises at least one wheel group pair, one of the wheel group pairs comprises two movable guide rollers which are arranged opposite to each other, and a guide gap is provided between the two movable guide rollers which are arranged opposite to each other.

[0014] In the above scheme, the horizontal moving device includes: a moving motor, a moving reducer and a moving driving wheel;

[0015] The mobile motor is connected to the input shaft of the mobile reducer;

[0016] The mobile reducer is fixed on one end of the bottom beam;

[0017] The two output shafts of the mobile reducer are respectively connected to one of the mobile driving wheels;

[0018] The two moving driving wheels are in contact with the side surfaces of the track at two opposite sides respectively.

[0019] In the above scheme, the horizontal moving device further comprises: an auxiliary bracket and a moving auxiliary wheel;

[0020] The auxiliary bracket is fixed to an end of the bottom beam away from the mobile reducer;

[0021] Both sides of the auxiliary bracket are rotatably connected to one of the movable auxiliary wheels respectively;

[0022] The two moving auxiliary wheels are in contact with the side surfaces of the track at two opposite sides respectively.

[0023] In the above solution, the mechanical gripper is located below the moving beam;

[0024] The gripper moving device also includes a vertical moving device including: a vertical power mechanism, a vertical guide mechanism and a vertical support mechanism;

[0025] The vertical power mechanism is fixed on the moving column, the vertical power mechanism is connected to the mechanical gripper, and the vertical power mechanism is used to control the mechanical gripper to move upward and downward;

[0026] The vertical guide mechanism is fixed on a side of the mechanical gripper facing the movable column, at least one of the guide mechanisms is arranged in sequence along the vertical direction on the mechanical gripper, and the vertical guide mechanism is in contact with the two opposite side surfaces of the movable column;

[0027] The vertical support mechanism is fixed on a side of the mechanical gripper facing the moving column, and the vertical support mechanism is in contact with a side surface of the moving column facing the mechanical gripper.

[0028] In the above solution, the vertical guide mechanism comprises: two vertical guide structures; the two vertical guide structures are arranged opposite to each other;

[0029] The two vertical guide structures are in contact with the two opposite side surfaces of the movable column respectively;

[0030] The vertical guide structure comprises: a vertical guide box and a vertical guide roller;

[0031] The side surface of the vertical guide box facing the movable column is open, and the vertical guide box is fixed on the mechanical gripper;

[0032] The vertical guide roller is located inside the vertical guide box, and both ends of the vertical guide roller are rotatably connected to the vertical guide box.

[0033] The vertical guide roller also passes through the opening and contacts the moving column.

[0034] In the above solution, the vertical support mechanism includes: two vertical support frames and a vertical support roller;

[0035] The two vertical support frames are fixed on the mechanical gripper, the vertical support roller is located between the two vertical support frames, and the two ends of the vertical support roller are rotatably connected to the two vertical support frames respectively;

[0036] The vertical support roller is in contact with the moving column.

[0037] In the above scheme, a stall sensor is also included;

[0038] The stall sensor is connected to the mechanical gripper, and the stall sensor is also connected to the vertical power mechanism. The stall sensor is used to detect the moving speed of the mechanical gripper.

[0039] The above scheme also includes a ladder and a guard cage;

[0040] The ladder is fixed on a side of the movable column away from the mechanical gripper;

[0041] The guard cage is fixed on a side of the moving column away from the mechanical gripper, and the guard cage surrounds the ladder.

[0042] In a second aspect, the present application provides a plate material storage warehouse, comprising: a frame, a mechanical gripper and the gripper moving device mentioned above;

[0043] The frame is used to store the panels;

[0044] The mechanical gripper is connected to the gripper moving device, the mechanical gripper is used to grab the plate in the frame, and the gripper moving device is used to move the mechanical gripper;

[0045] The track is parallel to the length direction of the frame;

[0046] The guide beam of the frame is inserted into the movable guide wheel set, and the guide beam is parallel to the track.

[0047] The present application provides a gripper moving device and a plate storage warehouse, which automatically grabs the plates based on a mechanical gripper and realizes automatic transportation of the plates by using a moving frame, a bottom beam, a track, a horizontal moving device and a moving guide wheel group, which not only avoids scratches on the plates, but also reduces the plate transportation time and improves the plate transportation efficiency.

[0048] The moving direction of the mobile frame is guided by the mobile guide wheel group, ensuring the stability of the mechanical gripper and plate transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0050] Figure 1 A schematic diagram of the structure of a gripper moving device and a mechanical gripper provided in this application;

[0051] Figure 2 A schematic structural diagram of a vertical moving device and a mechanical gripper in a gripper moving device provided in the present application;

[0052] Figure 3 A schematic structural diagram of a gripper moving device, a mechanical gripper and a plate material storage bin provided in this application.

[0053] Reference numerals:

[0054] 1: Mobile rack;

[0055] 2: Bottom beam;

[0056] 3: track;

[0057] 4: Horizontal moving device;

[0058] 5: Mobile guide wheel set;

[0059] 6: Mechanical gripper;

[0060] 7: Vertical moving device;

[0061] 8: Stall sensor;

[0062] 9: Framework;

[0063] 11: Move the column;

[0064] 12: Move the beam;

[0065] 121: guide plate;

[0066] 41: mobile motor;

[0067] 42: mobile reducer;

[0068] 43: moving driving wheel;

[0069] 44: auxiliary support;

[0070] 45: Mobile training wheels;

[0071] 51: Wheelset pair;

[0072] 52: moving guide roller;

[0073] 71: vertical power mechanism;

[0074] 72: vertical guide mechanism;

[0075] 73: vertical support mechanism;

[0076] 711: vertical motor;

[0077] 712: vertical reducer;

[0078] 721: vertical guide structure;

[0079] 722: vertical guide box;

[0080] 723: vertical guide roller;

[0081] 731: vertical support frame;

[0082] 732: vertical support roller;

[0083] 81: Ladder;

[0084] 82: cage;

[0085] 91: guide beam;

[0086] 92: Column;

[0087] 93: beam.

[0088] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0089] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0090] The following specific embodiments are used to describe in detail the technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the current problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0091] See also Figure 1-Figure 3 , the embodiment of the present application provides a gripper moving device, comprising: a moving frame 1, a bottom beam 2, a track 3, a horizontal moving device 4 and a moving guide wheel group 5;

[0092] A mechanical gripper 6 is fixed in the mobile frame 1, and the mechanical gripper 6 is used to grab the plate;

[0093] The bottom beam 2 is fixed to the bottom of the mobile frame 1, and the bottom beam 2 is movably connected to the track 3;

[0094] The horizontal moving device 4 is fixed on the bottom beam 2, and the horizontal moving device 4 is also in contact with the track 3. The horizontal moving device 4 is used to provide power for the moving frame 1 and the bottom beam 2 to move along the length direction of the track 3;

[0095] The movable guide wheel set 5 is rotatably connected to the movable frame 1 .

[0096] In this example, the technical effect of fixing the mechanical gripper 6 is achieved by fixing the mechanical gripper 6 inside the mobile frame 1; the stability of the mobile frame 1 is ensured by fixing the bottom beam 2 at the bottom of the mobile frame 1; and the bottom beam 2 is movably connected to the track 3 so that the bottom beam 2 can drive the mobile frame 1 and the mechanical gripper 6 to move on the track 3.

[0097] By fixing the horizontal moving device 4 on the bottom beam 2 and making the horizontal moving device 4 contact the track 3, the horizontal moving device 4 can provide power for the moving frame 1 and the mechanical gripper 6 to move on the track 3, thereby enabling the mechanical gripper 6 to be transported along the track 3 to achieve the beneficial effect of moving the plate on the mechanical gripper 6.

[0098] The movable guide wheel set 5 is used to be inserted into the crossbeam 93 parallel to the track 3, so that the movable guide wheel set 5 can guide the moving direction of the movable frame 1, ensuring the stability of the mechanical gripper 6 and the plate transportation.

[0099] Therefore, the present application realizes automatic transportation of the plates based on automatic grabbing of the plates by a mechanical gripper, and by using a movable frame 1, a bottom beam 2, a track 3, a horizontal moving device 4 and a movable guide wheel group 5, which not only avoids scratches on the plates, but also reduces the plate transportation time and improves the plate transportation efficiency.

[0100] In a preferred embodiment, the mobile frame 1 comprises: a mobile column 11 and a mobile beam 12;

[0101] The two movable columns 11 are parallel to each other, and the top ends of the two movable columns 11 are respectively connected to the two ends of the movable crossbeam 12;

[0102] The movable guide wheel set 5 is rotatably connected to the movable crossbeam 12;

[0103] The movable guide wheel set 5 includes at least one wheel set pair 51 , and one of the wheel set pairs 51 has two movable guide rollers 52 arranged opposite to each other, and a guide gap is provided between the two movable guide rollers 52 arranged opposite to each other.

[0104] In this example, the stability and firmness of the mobile frame 1 are ensured by using a moving crossbeam 12 and a moving column 11; by arranging the moving guide wheel group 5 on the moving crossbeam 12, the moving guide wheel group 5 corresponds to the horizontal moving device 4, and together guides the mobile frame 1 and the mechanical gripper 6 therein, thereby ensuring the stability of the movement of the mobile frame 1 and the mechanical gripper 6.

[0105] The guiding of the mobile frame 1 and the mechanical gripper 6 is achieved by inserting a crossbeam 93 parallel to the track 3 into the guide gap and making the movable guide roller 52 contact the crossbeam 93; the stability of the guiding of the mobile frame 1 and the mechanical gripper 6 is ensured by setting at least one wheel set pair 51.

[0106] The movable cross beam 12 has a guide plate 121 , and the movable guide roller 52 is rotatably connected to the guide plate 121 .

[0107] In a preferred embodiment, the horizontal moving device 4 includes: a moving motor 41, a moving reducer 42 and a moving driving wheel 43;

[0108] The moving motor 41 is connected to the input shaft of the moving reducer 42;

[0109] The mobile reducer 42 is fixed on one end of the bottom beam 2;

[0110] The two output shafts of the mobile reducer 42 are respectively connected to one of the mobile driving wheels 43;

[0111] The two moving driving wheels 43 are in contact with the side surfaces of the track 3 at two opposite sides respectively.

[0112] In this example, by connecting the mobile motor 41 to the mobile reducer 42, the mobile reducer 42 reduces the rotation speed of the mobile motor 41 and increases the torque output by the mobile motor 41 to ensure that the mobile driving wheel 43 can obtain sufficient torque to drive the mobile frame 1 and the mechanical gripper 6 to move on the track 3.

[0113] By arranging the two movable driving wheels 43 to contact the side surfaces of the track 3 , the bottom beam 2 is brought into contact with the top of the track 3 , thereby ensuring the stability of the contact between the bottom beam 2 and the track 3 .

[0114] In a preferred embodiment, the horizontal moving device 4 further includes: an auxiliary bracket 44 and a moving auxiliary wheel 45;

[0115] The auxiliary bracket 44 is fixed to an end of the bottom beam 2 away from the mobile reducer 42;

[0116] Both sides of the auxiliary bracket 44 are rotatably connected to one of the movable auxiliary wheels 45;

[0117] The two movable auxiliary wheels 45 are in contact with the side surfaces of the track 3 at two opposite sides respectively.

[0118] In this example, the mobile auxiliary wheels 45 are arranged on both sides of the auxiliary bracket 44 and respectively contact the side surfaces of the track 3 to guide the moving direction of the mobile frame 1 and the mechanical gripper 6, and avoid the problem of large moving friction caused by direct contact between the bottom beam 2 and the track 3.

[0119] In a preferred embodiment, the mechanical gripper 6 is located below the moving beam 12;

[0120] The gripper moving device also includes a vertical moving device 7 including: a vertical power mechanism 71, a vertical guide mechanism 72 and a vertical support mechanism 73;

[0121] The vertical power mechanism 71 is fixed on the moving column 11, and the vertical power mechanism 71 is connected to the mechanical gripper 6. The vertical power mechanism 71 is used to control the mechanical gripper 6 to move upward and downward;

[0122] The vertical guide mechanism 72 is fixed on the side of the mechanical gripper 6 facing the moving column 11, at least one of the guide mechanisms is arranged in sequence along the vertical direction on the mechanical gripper 6, and the vertical guide mechanism 72 is in contact with the two opposite side surfaces of the moving column 11;

[0123] The vertical support mechanism 73 is fixed on a side of the mechanical gripper 6 facing the moving column 11 , and the vertical support mechanism 73 is in contact with a side surface of the moving column 11 facing the mechanical gripper 6 .

[0124] In this example, a vertical power mechanism 71 is provided and connected to the mechanical gripper 6 to drive the mechanical gripper 6 to move upward and downward. In this embodiment, the vertical motor 711 and the vertical reducer 712 of the vertical power mechanism 71 are fixed on the side of the moving column 11 away from the mechanical gripper 6. The output end of the vertical reducer 712 is connected to a gear (not shown in the figure). The mechanical gripper 6 has a rack (not shown in the figure) on the side facing the vertical power mechanism 71. The vertical reducer 712 drives the rack and the mechanical gripper 6 to move upward or downward by rotating the gear.

[0125] By providing the vertical guide mechanism 72 , it is ensured that the mechanical gripper 6 moves upward or downward, thereby preventing the movable gripper from being separated from the movable frame 1 .

[0126] The vertical support mechanism 73 is provided to avoid direct contact between the mechanical gripper 6 and the moving column 11 , which would increase the friction during the movement of the mechanical gripper 6 .

[0127] In a preferred embodiment, the vertical guide mechanism 72 comprises: two vertical guide structures 721; the two vertical guide structures 721 are arranged opposite to each other;

[0128] The two vertical guide structures 721 are in contact with the two opposite side surfaces of the movable column 11 respectively;

[0129] The vertical guide structure 721 includes: a vertical guide box 722 and a vertical guide roller 723;

[0130] The side surface of the vertical guide box 722 facing the movable column 11 is open, and the vertical guide box 722 is fixed on the mechanical gripper 6;

[0131] The vertical guide roller 723 is located inside the vertical guide box 722 , and both ends of the vertical guide roller 723 are rotatably connected to the vertical guide box 722 ; the vertical guide roller 723 also passes through the opening to contact the moving column 11 .

[0132] In this example, two oppositely arranged vertical guide structures 721 are respectively in contact with the side surfaces of the movable column 11 to prevent the mechanical gripper 6 from being separated from the movable frame 1;

[0133] By providing a vertical guide box 722 and installing the vertical guide wheel therein, it is possible to prevent foreign objects from colliding with the vertical guide wheel and causing damage to the vertical guide wheel.

[0134] By providing the vertical guide wheels, the friction between the vertical guide mechanism 72 and the movable column 11 is reduced to the maximum extent.

[0135] In a preferred embodiment, the vertical support mechanism 73 includes: two vertical support frames 731 and a vertical support roller 732;

[0136] The two vertical support frames 731 are fixed on the mechanical gripper 6;

[0137] The vertical support roller 732 is located between the two vertical support frames 731, and both ends of the vertical support roller 732 are rotatably connected to the two vertical support frames 731 respectively;

[0138] The vertical support roller 732 is in contact with the moving column 11 .

[0139] In this example, by providing the vertical support frame 731 and the vertical support roller 732 , the friction between the vertical support mechanism 73 and the movable column 11 is reduced to the greatest extent while ensuring the supporting force of the vertical support mechanism 73 .

[0140] In a preferred embodiment, a stall sensor 8 is also included;

[0141] The stall sensor 8 is connected to the mechanical gripper 6 , and the stall sensor 8 is also connected to the vertical power mechanism 71 . The stall sensor 8 is used to detect the moving speed of the mechanical gripper 6 .

[0142] In this example, by providing a stall sensor 8 , when it is identified that the moving speed of the mechanical gripper 6 is too high, the vertical motor 711 of the vertical power mechanism 71 is stopped to ensure the equipment safety of the mechanical gripper 6 .

[0143] Wherein, a photoelectric sensor, an ultrasonic sensor or an accelerometer is used as the stall sensor 8.

[0144] Photoelectric sensors use the photoelectric effect to detect the movement of an object. For example, a photoelectric encoder can measure the speed of rotational motion, while a photogate can detect the speed of an object passing by.

[0145] Ultrasonic sensors use ultrasonic pulses to measure the distance between an object and the sensor, thereby calculating its speed.

[0146] An accelerometer can measure the acceleration of an object, and the velocity can be obtained by integrating the acceleration.

[0147] In a preferred embodiment, it also includes a ladder 81 and a cage 82;

[0148] The ladder 81 is fixed on a side of the movable column 11 away from the mechanical gripper 6;

[0149] The guard cage 82 is fixed to a side of the movable column 11 away from the mechanical gripper 6 , and the guard cage 82 surrounds the ladder 81 .

[0150] In this example, a ladder 81 is provided to facilitate workers to repair and inspect the mobile frame 1, the mobile guide wheel set 5 and the vertical moving device 7. A protective cage 82 is provided to prevent workers from falling from the ladder 81.

[0151] See also Figure 3 , the present application also provides a plate material storage warehouse, including: a frame 9, a mechanical gripper 6 and a gripper moving device;

[0152] The frame 9 is used to store the plates;

[0153] The mechanical gripper 6 is connected to the gripper moving device, the mechanical gripper 6 is used to grab the plate in the frame 9, and the gripper moving device is used to move the mechanical gripper 6;

[0154] The track 3 is parallel to the length direction of the frame 9;

[0155] The guide beam 91 of the frame 9 is inserted into the movable guide wheel set 5 , and the guide beam 91 is parallel to the track 3 .

[0156] In this example, the frame 9 is a frame structure constructed by interlacing a plurality of columns 92 and a plurality of beams 93 . The frame structure has at least one storage space, and each storage space is used to store at least one plate.

[0157] The guide beam 91 of the frame 9 is inserted into the guide gap in the movable guide wheel group 5, so that the movable guide roller rolls on the guide beam 91, thereby achieving the guiding and stabilizing effect on the movable frame 1 and the mechanical gripper 6.

[0158] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0159] Those skilled in the art will readily come to other embodiments of the present application after considering the specification and practicing the utility model disclosed herein. The present application embodiment is intended to cover any variation, use or adaptation of the present application embodiment, which follows the general principles of the present application embodiment and includes common knowledge or customary technical means in the art that are not disclosed in the present application embodiment. The specification and embodiments are to be regarded as exemplary only, and the true scope and spirit of the present application embodiment are indicated by the following claims.

[0160] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

Claims

1. A gripper moving device, characterized in that: include: Mobile frame, bottom beam, track, horizontal moving device and mobile guide wheel set; A mechanical gripper is fixed in the mobile frame, and the mechanical gripper is used to grab the plate; The bottom beam is fixed to the bottom of the movable frame, and the bottom beam is movably connected to the track; The horizontal moving device is fixed on the bottom beam, and the horizontal moving device is also in contact with the track. The horizontal moving device is used to provide power for the moving frame and the bottom beam to move along the length direction of the track; The movable guide wheel group is rotatably connected to the movable frame.

2. The gripper moving device according to claim 1, characterized in that: The mobile frame comprises: a mobile column and a mobile beam; The two movable columns are parallel to each other, and the top ends of the two movable columns are respectively connected to the two ends of the movable crossbeam; The movable guide wheel group is rotatably connected to the movable crossbeam; The movable guide wheel group comprises at least one wheel group pair, one of the wheel group pairs comprises two movable guide rollers which are arranged opposite to each other, and a guide gap is provided between the two movable guide rollers which are arranged opposite to each other.

3. The gripper moving device according to claim 1, characterized in that: The horizontal moving device comprises: a moving motor, a moving reducer and a moving driving wheel; The mobile motor is connected to the input shaft of the mobile reducer; The mobile reducer is fixed on one end of the bottom beam; The two output shafts of the mobile reducer are respectively connected to one of the mobile driving wheels; The two moving driving wheels are in contact with the side surfaces of the track at two opposite sides respectively.

4. The gripper moving device according to claim 3, characterized in that: The horizontal moving device also includes: an auxiliary bracket and a moving auxiliary wheel; The auxiliary bracket is fixed to an end of the bottom beam away from the mobile reducer; Both sides of the auxiliary bracket are rotatably connected to one of the movable auxiliary wheels respectively; The two moving auxiliary wheels are in contact with the side surfaces of the track at two opposite sides respectively.

5. The gripper moving device according to claim 2, characterized in that: The mechanical gripper is located below the moving beam; The gripper moving device also includes a vertical moving device including: a vertical power mechanism, a vertical guide mechanism and a vertical support mechanism; The vertical power mechanism is fixed on the moving column, the vertical power mechanism is connected to the mechanical gripper, and the vertical power mechanism is used to control the mechanical gripper to move upward and downward; The vertical guide mechanism is fixed on a side of the mechanical gripper facing the movable column, at least one of the guide mechanisms is arranged in sequence along the vertical direction on the mechanical gripper, and the vertical guide mechanism is in contact with the two opposite side surfaces of the movable column; The vertical support mechanism is fixed on a side of the mechanical gripper facing the moving column, and the vertical support mechanism is in contact with a side surface of the moving column facing the mechanical gripper.

6. The gripper moving device according to claim 5, characterized in that: The vertical guide mechanism comprises: two vertical guide structures; the two vertical guide structures are arranged opposite to each other; The two vertical guide structures are in contact with the two opposite side surfaces of the movable column respectively; The vertical guide structure comprises: a vertical guide box and a vertical guide roller; The side surface of the vertical guide box facing the movable column is open, and the vertical guide box is fixed on the mechanical gripper; The vertical guide roller is located inside the vertical guide box, and both ends of the vertical guide roller are rotatably connected to the vertical guide box. The vertical guide roller also passes through the opening and contacts the moving column.

7. The gripper moving device according to claim 5, characterized in that: The vertical support mechanism comprises: two vertical support frames and a vertical support roller; The two vertical support frames are fixed on the mechanical gripper, the vertical support roller is located between the two vertical support frames, and the two ends of the vertical support roller are rotatably connected to the two vertical support frames respectively; The vertical support roller is in contact with the moving column.

8. The gripper moving device according to claim 5, characterized in that: Also included is a stall sensor; The stall sensor is connected to the mechanical gripper, and the stall sensor is also connected to the vertical power mechanism. The stall sensor is used to detect the moving speed of the mechanical gripper.

9. The gripper moving device according to claim 2, characterized in that: Also includes ladders and cages; The ladder is fixed on a side of the movable column away from the mechanical gripper; The guard cage is fixed on a side of the moving column away from the mechanical gripper, and the guard cage surrounds the ladder.

10. A sheet material storage warehouse, characterized in that: include: A frame, a mechanical gripper and a gripper moving device as described in any one of claims 1 to 9; The frame is used to store the panels; The mechanical gripper is connected to the gripper moving device, the mechanical gripper is used to grab the plate in the frame, and the gripper moving device is used to move the mechanical gripper; The track is parallel to the length direction of the frame; The guide beam of the frame is inserted into the movable guide wheel set, and the guide beam is parallel to the track.

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