A copper bar automatic transplanting warehouse

Abstract

The present invention relates to an automatic copper bar transfer warehouse, which is used for warehousing and unloading copper bar workpieces. The transfer warehouse includes a loading and pushing platform, a roller conveyor line, a truss manipulator and a copper bar storage position. The loading and pushing platform is located at the loading end of the truss manipulator, and the bottom frame of the loading and pushing platform is connected and fixed to the ground by expansion bolts. The roller conveyor line is located at the loading end of the truss manipulator, which is used for positioning the copper bar workpiece. The truss manipulator includes a steel structure horizontal axis supported by columns and a grasping mechanism and a moving mechanism located on the horizontal axis, which are used to complete the warehousing and unloading operations of the workpiece. The copper bar storage position is located directly below the truss manipulator, which is used to store the copper bar workpiece. The automatic transfer warehouse can grasp copper bars of different specifications, has excellent compatibility, and can be classified into and unloaded according to products of different specifications.

Description

Technical Field

[0001] The invention relates to the field of intelligent warehouses, and in particular to an automatic transfer warehouse for semi-finished copper busbar plates in the power industry. Background Art

[0002] At present, the warehouse of copper busbar plates in the power industry relies on manual and forklift loading and unloading, quantity statistics, classification, stacking, outbound management, inventory quantity statistics, management of space for specifications to be entered and existing inventory, etc., all rely on manual management, which greatly wastes manpower and time in the transportation of entering and leaving the warehouse, and the management of the order of entry and exit of the warehouse is relatively chaotic. It provides a relatively clear solution, which greatly solves the difficulty of warehouse space management, effectively ensures production efficiency and reduces production costs; the current entry and exit operation space of copper busbar plates needs to give up manual transportation space, which accounts for a large proportion of storage area and space, wastes a lot of space, and is extremely inconvenient to transport. There are also management defects in stacking and placement, which is not conducive to reasonable overall management, and it is difficult to enter and exit the warehouse, and it is difficult to retrieve data, and the efficiency is low, which is not conducive to humanized management. Summary of the invention

[0003] The purpose of the present invention is to provide a device that can grab copper bars of different specifications, has excellent compatibility, and can automatically transfer copper bars to warehouses for classification and storage according to products of different specifications, in order to solve the problems of material storage, temporary storage and delivery in copper bar production.

[0004] The technical solution of the present invention is as follows: a copper bar automatic transfer warehouse, used for warehousing and outbound processing of copper bar workpieces, the transfer warehouse includes a loading and pushing platform, a roller conveyor line, a truss manipulator and a copper bar storage position, the loading and pushing platform is located at the loading end of the truss manipulator, the bottom frame of the loading and pushing platform is connected and fixed to the ground by expansion bolts, the roller conveyor line is located at the loading end of the truss manipulator, and is used for positioning operations on the copper bar workpiece, the truss manipulator includes a steel structure horizontal axis supported by columns and a grasping mechanism and a moving mechanism located on the horizontal axis, which are used to complete the warehousing and outbound operations of the workpiece, and the copper bar storage position is located directly below the truss manipulator, and is used to store the copper bar workpiece.

[0005] As one of the preferred schemes, preferably, the loading and pushing platform also includes a mobile feeding mechanism, the mobile feeding mechanism is a mobile trolley, the bottom of the mobile trolley is provided with rollers, the bottom frame is provided with a trolley guide rail and a trolley propulsion cylinder, the mobile trolley roller is slidably connected to the trolley guide rail, and the trolley propulsion cylinder is drivingly connected to the mobile trolley.

[0006] As one of the preferred schemes, preferably, the loading and pushing platform also includes a workpiece limiting mechanism, the workpiece limiting mechanism includes a fixed guide rod, a fixed rod seat, a movable pushing rod and a pushing bracket, the fixed guide rod is connected to the fixed rod seat by bolts, and the fixed rod seat is fixed to the mobile trolley frame by bolts; a number of fixed guide rods are arranged on the fixed rod seat, and a number of movable pushing rods are arranged on the pushing bracket, the mobile pushing rod is fixed to the pushing bracket by bolt connection, the pushing bracket is connected and fixed to the slider by a thread, the slider is slidably connected to the slide rail, the slide rail is fixed to the mobile trolley frame by bolt connection, there are sliding rods on both sides of the mobile trolley frame, the sliding rods are connected to the mobile trolley frame by bolts, and the pushing cylinder is drivingly connected to the pushing bracket; a number of fixed guide rods and a number of movable pushing rods are arranged along the extension direction of the sliding rod.

[0007] As one of the preferred solutions, preferably, a trolley in-place sensor is provided on the cross bar of the bottom frame, a copper bar presence sensor is provided on the fixed rod seat, and a copper bar in-place sensor is provided on the cross bar of the mobile trolley frame.

[0008] As one of the preferred solutions, preferably, the roller conveyor line includes a roller and a frame, the roller is fixed to the frame by bolts, and a sensor is provided on the frame to sense the presence or absence of a workpiece.

[0009] As one of the preferred schemes, preferably, the columns of the truss manipulator are connected to the ground by chemical bolts, the top of the columns are fixed to the horizontal axis of the steel structure by bolts, two parallel linear guide rails are arranged between the front and rear horizontal axes of the steel structure, the linear guide rails on the upper part of the horizontal axis are fixed to the horizontal axis by bolts, the moving mechanism is arranged between the parallel linear guide rails, and the grasping mechanism is fixed to the vertical axis perpendicular to the linear guide rails by bolts.

[0010] As one of the preferred schemes, preferably, the sponge suction cup at the bottom of the gripper of the grabbing mechanism is fixed to the suction cup connecting plate by bolts, the suction cup connecting plate is connected to the suction cup guide rod by bolts, the suction cup guide rod is fixed to the guide rod adjusting nut by threads, and the suction cup guide rod is slidably connected to the first sleeve; a second sleeve is connected to the top of the first sleeve through a sleeve connecting shaft, and both ends of the sleeve connecting shaft are fixed by bolts through the sleeve connecting plate, a first proximity switch and a second proximity switch are provided on the sleeve connecting shaft, a spring is also provided under the first sleeve, and an in-place detection rod is provided at the end of the spring, and the first sleeve and the second sleeve are both fixed to the lifting shaft by bolts.

[0011] As one of the preferred solutions, preferably, the moving mechanism includes a lifting mechanism and a translation mechanism, the rack of the moving mechanism is fixed to the lifting shaft by bolts, the side of the lifting shaft is connected to the vertical linear guide by bolts, and the vertical linear guide is slidably connected to the slider fixed on the bottom plate of the lifting sports car; the lifting gear on the lifting sports car is meshed with the rack on the lifting shaft to lift the transmission; the bottom plate of the translation sports car is connected to the slider by bolts, and the slider is connected and slidably with the linear guide on the horizontal axis connected by bolts; the translation gear at the bottom of the bottom plate of the translation sports car is meshed with the translation rack on the linear guide on the horizontal axis connected by bolts The translation rack is fixed on the linear guide rail by bolts, the translation gear and the translation transmission shaft are connected by a flat key keyway and fixed by bolts; the translation bearing seat is fixed to the bottom plate of the translation sports car by bolts; the other end of the translation transmission shaft is fixed to the translation coupling by bolts to transmit power; the lifting transmission shaft is inserted into the vertical bearing seat and supported and fixed by screws, and the vertical bearing seat is fixed to the bottom plate of the sports car by bolts; a reduction motor and a lifting servo motor are also arranged between the left and right couplings in the lifting mechanism, and a reduction motor and a translation servo motor are arranged between the left and right translation couplings in the translation mechanism.

[0012] As one of the preferred schemes, preferably, the copper busbar storage position includes a load-bearing member and a guide member, the load-bearing member is a load-bearing I-shaped profile, which is fixed to the ground by bolt connection, and the guide member is a storage position barrier rod, which is clamped and fixed by bolts of a storage position barrier rod fixing seat, and the storage position barrier rods are arranged in multiple rows in parallel on the storage position barrier rod fixing seat, and the storage position barrier rod fixing seat is fixed to the storage position barrier rod aluminum profile by bolt connection, and the storage position barrier rod aluminum profile is fixed to the load-bearing I-shaped profile by bolts.

[0013] As one of the preferred solutions, preferably, the overall height of the copper bar storage position is lower than the maximum height of the sponge suction cup at the bottom of the truss manipulator gripper.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the automatic transplanting warehouse can use the truss manipulator to grab copper bars of different specifications, with excellent compatibility, and can classify products of different specifications for storage and outbound. The system automatically counts the internal data of the warehouse and the actual quantity, and manual data retrieval is faster and more accurate, which is convenient for warehouse material management; the storage and outbound rhythm is significantly improved, the handling time is shortened, and the storage and outbound accuracy is accurate. The compatible product specifications of the present invention are 4000-6000mm in length, 50-125mm in width, 5-12mm in thickness, and 30-80KG in type. The specifications compatible with the copper bar warehouse can be adjusted accordingly with the specifications and types, and the adjustment is convenient and fast, and the space is reasonably optimized; storage and outbound are simple, parameters can be retrieved, storage and outbound are intelligent, and the storage and outbound accuracy is high. The space utilization rate is significantly improved, which greatly reduces unnecessary space waste, and the space occupied by manual shelves in the past is greatly compressed, which improves the utilization rate; after the improvement, only one person is needed to operate the storage and outbound, which greatly improves the operating cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 creative work.

[0016] Figure 1 It is a schematic diagram of the overall structure of the transplanting bank of the present invention;

[0017] Figure 2 It is a schematic diagram of the left side structure of the loading and pushing platform of the transplanting warehouse of the present invention;

[0018] Figure 3 It is a schematic diagram of the right side structure of the loading and pushing platform of the transplanting warehouse of the present invention;

[0019] Figure 4 This is a schematic diagram of the structure of the copper bar storage location of the present invention;

[0020] Figure 5 It is a structural schematic diagram of the truss manipulator of the present invention;

[0021] Figure 6 It is a schematic diagram of the right side structure of the moving mechanism of the present invention;

[0022] Figure 7 It is a schematic diagram of the left side structure of the moving mechanism of the present invention;

[0023] Figure 8 It is a partial enlarged view of the lifting mechanism of the present invention;

[0024] Fig. 9 This is a schematic diagram of the structure of the gripper portion of the gripping mechanism of the present invention;

[0025] Fig.10 It is a structural schematic diagram of the roller conveyor line of the present invention;

[0026] Among them, 1. Loading and pushing platform; 101. Mobile trolley; 102. Roller; 103. Trolley guide rail; 104. Trolley push cylinder; 105. Fixed guide rod; 106. Fixed rod seat; 107. Mobile push rod; 108. Push bracket; 109. Slider; 110. Slide rail; 111. Slide rod; 112. Push cylinder; 113. Cross bar; 114. Trolley in place sensor; 115. Copper busbar presence sensor; 116. Frame cross bar rod; 117, copper bar in place sensor; 2, roller conveyor line; 201, roller; 202, frame; 3, truss manipulator; 301, column; 302, horizontal axis; 303, linear guide rail; 304, vertical axis; 305, sponge suction cup; 306, suction cup connecting plate; 307, suction cup guide rod; 308, guide rod adjustment nut; 309, first shaft sleeve; 310, shaft sleeve connecting shaft; 311, second shaft sleeve; 312, shaft sleeve connecting plate; 31 3. First proximity switch; 314. Second proximity switch; 315. Spring; 316. In-position detection rod; 317. Lifting shaft; 318. Rack; 319. Vertical linear guide; 320. Lifting sports car bottom plate; 321. Sliding block; 322. Lifting gear; 323. Lifting transmission shaft; 324. Bearing seat; 325. Lifting coupling; 326. Lifting reduction motor; 327. Lifting servo motor; 328. Translation sports car bottom plate; 329 , slider; 330, translation gear; 331, translation rack; 332, translation transmission shaft; 333, translation bearing seat; 334, sports car bottom plate; 335, translation coupling; 336, translation reduction motor; 337, translation servo motor; 4, copper bar storage position; 401, load-bearing parts; 402, guide parts; 403, storage position gear lever; 404, storage position gear lever fixing seat; 405, storage position gear lever aluminum profile; 5, bottom frame; 6, steel structure horizontal axis. DETAILED DESCRIPTION

[0027] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0028] like Figure 1 As shown, an automatic copper bar transfer warehouse is used for warehousing and outbound processing of copper bar workpieces. The transfer warehouse includes a loading and pushing platform 1, a roller conveyor line 2, a truss manipulator 3 and a copper bar storage position 4. The loading and pushing platform 1 is located at the loading end of the truss manipulator 3, and the bottom frame 5 of the loading and pushing platform 1 is connected to the ground by expansion bolts and fixed to the ground. The roller conveyor line 2 is located at the loading end of the truss manipulator 3 and is used for positioning the copper bar workpiece. The truss manipulator 3 includes a steel structure horizontal axis 7 supported by a column 6 and a gripping mechanism and a moving mechanism located on the horizontal axis 7, which are used to complete the warehousing and outbound operations of the workpiece. The copper bar storage position 4 is located directly below the truss manipulator 3 and is used for storing the copper bar workpiece.

[0029] like Figure 2 and Figure 3 As shown, the loading and pushing platform 1 also includes a mobile feeding mechanism, which is a mobile trolley 101. A roller 102 is provided at the bottom of the mobile trolley 101, and a trolley guide rail 103 and a trolley propulsion cylinder 104 are provided on the bottom frame 5. The roller 102 of the mobile trolley 101 is slidably connected to the trolley guide rail 103, and the trolley propulsion cylinder 104 is drivingly connected to the mobile trolley 101. The workpiece limiting mechanism includes a fixed guide rod 105, a fixed rod seat 106, a movable push rod 107 and a push bracket 108. The fixed guide rod 105 is connected to the fixed rod seat 106 by bolts, and the fixed rod seat 106 is fixed to the frame of the mobile trolley 102 by bolts; the movable push rod 107 is fixed to the push bracket 108 by bolts, and the push bracket 108 is connected and fixed to the slider 109 by threads, and the slider 109 is slidably connected to the slide rail 110, and the slide rail 110 is fixed to the frame of the mobile trolley 102 by bolts, and there are slide rods 111 on both sides, and the slide rod 111 is connected to the frame of the mobile trolley 102 by bolts, and the push cylinder 112 is drivingly connected to the push bracket 108. A trolley in-place sensor 114 is provided on the crossbar 113 of the bottom frame 5, a copper bar presence sensor 115 is provided on the fixed rod seat 106, and a copper bar in-place sensor 117 is provided on the crossbar 116 of the frame of the mobile trolley 102.

[0030] like Figure 4 As shown, the roller conveyor line 2 includes a roller 201 and a frame 202. The roller 201 is fixed to the frame 202 by bolts. A sensor (not shown in the figure) is arranged on the frame 202 to sense the presence or absence of a workpiece.

[0031] like Figure 5-Figure 9 As shown, the column 301 of the truss manipulator 3 is connected to the ground by chemical bolts, the top of the column 301 is fixed to the horizontal axis 302 of the steel structure by bolts, and two parallel linear guide rails 303 are also arranged between the horizontal axes 302 of the front and rear steel structures. The linear guide rail 303 on the upper part of the horizontal axis 302 is fixed to the horizontal axis 302 by bolts, the moving mechanism is arranged between the parallel linear guide rails 303, and the grasping mechanism is fixed to the vertical axis 304 perpendicular to the linear guide rails 303 by bolts.

[0032] The sponge suction cup 305 at the bottom of the gripper of the grasping mechanism is fixed to the suction cup connecting plate 306 by bolts, the suction cup connecting plate 306 is connected to the suction cup guide rod 307 by bolts, the suction cup guide rod 307 is fixed to the guide rod adjusting nut 308 by threads, and the suction cup guide rod 307 is slidably connected to the first sleeve 309; the second sleeve 311 is connected to the top of the first sleeve 309 through the sleeve connecting shaft 310, and the two ends of the sleeve connecting shaft 310 are fixed by bolts through the sleeve connecting plate 312, and the sleeve connecting shaft 310 is provided with a first proximity switch 313 and a second proximity switch 314, the first proximity switch 313 is used for servo stop, and the second proximity switch 314 is used for servo deceleration, and a spring 315 is also provided below the first sleeve 309, and an in-place detection rod 316 is provided at the end of the spring 315, and the first sleeve 309 and the second sleeve 311 are both fixed to the lifting shaft 317 by bolts.

[0033] The moving mechanism includes a lifting mechanism and a translation mechanism. The rack 318 of the lifting mechanism is fixed on the lifting shaft 317 by bolt connection. The side of the lifting shaft 317 is connected to the vertical linear guide 319 by bolts. The vertical linear guide 319 is slidably connected with a slider 321 fixed on the bottom plate 320 of the lifting sports car; the lifting gear 322 on the lifting sports car is engaged with the rack 318 on the lifting shaft 317 to lift the transmission; the lifting transmission shaft 323 is inserted into the vertical bearing seat 324 and supported and fixed by screws. The vertical bearing seat 324 is fixed to the bottom plate of the sports car by bolts, and the other end of the lifting transmission shaft 323 is bolted to the coupling 325 to transmit power; a lifting reduction motor 326 and a lifting servo motor 327 are also arranged between the left and right couplings 325 in the lifting mechanism.

[0034] In the translation mechanism, the translation sports car base plate 328 is connected to the slider 329 by bolts, and the slider 329 is connected and slidably with the linear guide 303 on the horizontal axis 302 by bolts; the translation gear 330 at the bottom of the translation sports car base plate 328 and the linear guide 303 on the horizontal axis 302 are meshed and transmitted by the translation rack 331 connected by bolts, and the translation rack 331 is fixed to the linear guide 303 by bolts, and the translation gear 330 and the translation transmission shaft 332 are connected by a flat key keyway and fixed by bolts; the translation bearing seat 333 is fixed to the sports car base plate 334 by bolts; the other end of the translation transmission shaft 332 is fixed to the coupling 335 by bolts to transmit power; a translation reduction motor 336 and a translation servo motor 337 are arranged between the left and right couplings 335 in the translation mechanism.

[0035] like Fig.10As shown, the copper bus storage position 4 includes a load-bearing member 401 and a guide member 402. The load-bearing member 401 is a load-bearing I-shaped profile, which is fixed to the ground by bolts. The guide member 402 is a storage position stopper 403. The storage position stopper 403 is fixed by bolt clamping of a storage position stopper fixing seat 404. The storage position stopper 403 is arranged in multiple rows in parallel on the storage position stopper fixing seat 404. The storage position stopper fixing seat 404 is fixed to the storage position stopper aluminum profile 405 by bolts. The storage position stopper aluminum profile 405 is fixed to the load-bearing I-shaped profile by bolts.

[0036] The overall height of the copper bar storage position 4 is lower than the maximum height of the sponge suction cup 305 at the bottom of the truss manipulator 3 gripper, so as to ensure the normal grasping of the workpiece by the truss manipulator to take it out of the warehouse and into the warehouse.

[0037] The present invention adopts the loading part for loading, the forklift puts the copper bar into the loading position, sends a workpiece arrival signal, the hydraulic cylinder at the bottom of the loading part pushes the push rod to initially position the copper bar, and the initial positioning arrival signal sends a signal to the truss manipulator, the truss manipulator sucks the copper bar and places it on the roller line for secondary positioning. After the cylinder on the upper part of the roller line pushes the copper bar plate for secondary positioning, the manipulator sucks the copper bar plate, and the specifications are selected by manual operation for storage, and the copper bars of the same specifications are stored in the corresponding warehouse location; when leaving the warehouse, only the specifications of the copper bar to be left out need to be called up on the operation screen, and the truss manipulator automatically sucks the copper bar plate of the specification and places it on the roller line. After the arrival signal is sent, the roller line moves the copper bar plate to the unloading position. The present invention adopts a sponge suction cup to absorb copper bar plates. The width of copper bar plates is inconsistent. The compatible product specifications are 4000-6000mm in length, 50-125mm in width, 5-12mm in thickness, and 30-80KG in type. The suction cup has a wide compatible range and a large suction force. It can absorb copper bar plates of different specifications. For copper bar plates that need to be shipped out, it is only necessary to call the required specification parameters on the operation panel. The truss manipulator automatically absorbs the copper bar plates to the roller line. The roller line pushes the copper bar plates to the unloading position. The copper bar materials are quickly and accurately called, and the parameters are called. The storage and warehousing are intelligent, and the storage and warehousing accuracy is high. The space utilization rate is significantly improved, and unnecessary space waste is greatly reduced. The space occupied by the previous manual shelves is greatly compressed, and the utilization rate is improved; after the improvement, only one person is needed to operate the storage and warehousing, which greatly improves the operating cost.

[0038] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A copper bar automatic transfer warehouse, used for warehousing and unwarehousing of copper bar workpieces, characterized by: The transplanting warehouse includes a loading and pushing platform, a roller conveyor line, a truss manipulator and a copper bar storage position. The loading and pushing platform is located at the loading end of the truss manipulator, and the bottom frame of the loading and pushing platform is connected and fixed to the ground by expansion bolts. The roller conveyor line is located at the loading end of the truss manipulator and is used to position the copper bar workpiece. The truss manipulator includes a steel structure horizontal axis supported by columns and a grasping mechanism and a moving mechanism located on the horizontal axis, which are used to complete the storage and outbound operations of the workpiece. The copper bar storage position is located directly below the truss manipulator and is used to store the copper bar workpiece; the loading and pushing platform also includes a mobile feeding mechanism, which is a mobile trolley. The bottom of the mobile trolley is provided with rollers, and the bottom frame is provided with trolley guide rails and a trolley propulsion cylinder. The mobile trolley rollers are slidably connected to the trolley guide rails, and the trolley propulsion cylinder is drivingly connected to the mobile trolley; the loading and pushing platform also includes a work The workpiece limiting mechanism comprises a fixed guide rod, a fixed rod seat, a movable push rod and a push bracket, the fixed guide rod is connected to the fixed rod seat by bolts, and the fixed rod seat is fixed to the mobile trolley frame by bolts; a plurality of fixed guide rods are arranged on the fixed rod seat, and a plurality of movable push rods are arranged on the push bracket, the movable push rod is fixed to the push bracket by bolt connection, the push bracket is connected and fixed to the slider by a thread, the slider is slidably connected to the slide rail, the slide rail is fixed to the mobile trolley frame by bolt connection, and there are slide rods on both sides of the mobile trolley frame, the slide rods are connected to the mobile trolley frame by bolts, and the push cylinder is driven and connected to the push bracket; the fixed guide rod and the movable push rod are arranged along the extension direction of the slide rod; a trolley in-place sensor is provided on the cross bar of the bottom frame, a copper bar presence or absence sensor is provided on the fixed rod seat, and a copper bar in-place sensor is provided on the cross bar of the mobile trolley frame.

2. The copper bar automatic transplanting warehouse according to claim 1 is characterized by: The roller conveyor line comprises a roller and a frame. The roller is fixed to the frame by bolts. A sensor is arranged on the frame to sense the presence or absence of a workpiece.

3. The copper bar automatic transplanting warehouse according to claim 1 is characterized by: The columns of the truss manipulator are connected to the ground by chemical bolts, and the top of the columns is fixed to the horizontal axis of the steel structure by bolts. Two parallel linear guide rails are also arranged between the front and rear horizontal axes of the steel structure. The linear guide rails on the upper part of the horizontal axis are fixed to the horizontal axis by bolts. The moving mechanism is arranged between the parallel linear guide rails, and the grasping mechanism is fixed to the vertical axis perpendicular to the linear guide rails by bolts.

4. The copper bar automatic transplanting warehouse according to claim 3 is characterized by: The sponge suction cup at the bottom of the gripper of the grabbing mechanism is fixed to the suction cup connecting plate by bolts, the suction cup connecting plate is connected to the suction cup guide rod by bolts, the suction cup guide rod is fixed to the guide rod adjusting nut by threads, and the suction cup guide rod is slidably connected to the first sleeve; a second sleeve is connected to the top of the first sleeve through a sleeve connecting shaft, and both ends of the sleeve connecting shaft are fixed by bolts through the sleeve connecting plate, a first proximity switch and a second proximity switch are provided on the sleeve connecting shaft, a spring is also provided under the first sleeve, and an in-position detection rod is provided at the end of the spring, and the first sleeve and the second sleeve are both fixed to the lifting shaft by bolts.

5. The automatic copper busbar transplanting warehouse according to claim 1 is characterized by: The moving mechanism includes a lifting mechanism and a translation mechanism. The rack of the lifting mechanism is fixed on the lifting shaft by bolts. The side of the lifting shaft is connected to the vertical linear guide by bolts. The vertical linear guide is slidably connected to a slider fixed on the bottom plate of the lifting sports car. The lifting gear on the lifting sports car meshes with the rack on the lifting shaft to lift the transmission. The lifting transmission shaft is inserted into the vertical bearing seat and supported and fixed by screws. The vertical bearing seat is fixed to the bottom plate of the sports car by bolts. The other end of the lifting transmission shaft is fixed to the coupling bolt to transmit power. A lifting reduction motor and a lifting servo are also arranged between the left and right couplings in the lifting mechanism. The servo motor; the bottom plate of the translation sports car in the translation mechanism is connected to the slider by bolts, and the slider is connected and slid with the linear guide on the horizontal axis by bolts; the translation gear at the bottom of the bottom plate of the translation sports car and the linear guide on the horizontal axis are meshed and transmitted by the translation rack connected by bolts, and the translation rack is fixed on the linear guide by bolts, and the translation gear and the translation transmission shaft are connected by a flat key keyway and fixed by bolts; the translation bearing seat is fixed to the bottom plate of the sports car by bolts; the other end of the translation transmission shaft is fixed to the coupling bolts to transmit power; a translation reduction motor and a translation servo motor are arranged between the left and right couplings in the translation mechanism.

6. The copper bar automatic transplanting warehouse according to claim 1 is characterized by: The copper busbar storage position includes a load-bearing part and a guide part. The load-bearing part is a load-bearing I-shaped profile, which is fixed to the ground by bolt connection. The guide part is a storage position stopper rod, which is clamped and fixed by bolts of a storage position stopper rod fixing seat. The storage position stopper rods are arranged in multiple rows in parallel on the storage position stopper rod fixing seat. The storage position stopper rod fixing seat is fixed to the storage position stopper rod aluminum profile by bolt connection, and the storage position stopper rod aluminum profile is fixed to the load-bearing I-shaped profile by bolts.

7. The automatic copper bar transplanting warehouse according to any one of claims 1 to 6, characterized in that: The overall height of the copper bar storage position is lower than the maximum height of the sponge suction cup at the bottom of the truss manipulator gripper.

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