A vehicle for automatically taking out plates from a three-dimensional plate warehouse

Abstract

The invention discloses an automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse, wherein a lifting frame is installed on a traveling frame and can be lifted and lowered on the traveling frame, a plate-drawing device is installed on the lifting frame and can be translated on the lifting frame, the traveling frame has an open space for the plate-drawing device to draw the plate to the lifting frame and to take the plate out from the lifting frame, the plate-drawing device has a plurality of sliding blocks which can be lifted and lowered independently, a suction plate which can swing up and down is hingedly installed on the sliding block seat, at least one of the suction plates is provided with a plate number measuring device; the vehicle can be suitable for automatically sorting the plates from the plates on the shelves and delivering the plates when the plates are stacked in layers for storage; the separation effect is good when the plates are drawn, the single-sheet measurement is stable, and the single-sheet plate can be accurately drawn out, and the plates are transferred to the unloading area by the traveling frame after being drawn out, thereby saving time and having high efficiency; and an anti-falling structure is provided between the lifting frame and the traveling frame, so that the lifting frame will not fall accidentally and has good safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of plate storage, outbound sorting, and in particular relates to a plate outbound vehicle which can automatically sort plates from plate boxes on plate storage shelves and outbound the plates. Background Art

[0002] At present, in many industries such as plate processing, commerce, and warehousing, the specifications, models, processing techniques, and varieties of plates are various. The space of warehouse workshops is limited, and hundreds of boxes of plates cannot be laid flat on the ground. The high space of the workshop can only be used, and the inventory of plates can basically only be completed by stacking whole boxes. Before shipment every day, a large number of people are required to climb onto the material pile to lift and drag the plates from high altitude, and a large number of forklifts and cranes are required to sort them out for storage. Frequent lifting is time-consuming, labor-intensive, inefficient, and often damages the finished plates. It also causes customers' vehicles to queue for a long time waiting for loading, and often even causes traffic congestion on local roads outside the factory.

[0003] At present, there are very few individual automated stereoscopic warehouses on the market, which are mainly composed of aisle stackers, high-rise shelves, conveyors, control systems and computer management systems (WMS), etc., which can complete the automatic storage and retrieval of unit goods under the control of the computer system; but in the existing technology, the automated stereoscopic warehouse for plates can only carry in and out the whole box, and then sort out the plates that actually need to be shipped out outside the warehouse, and then transport the remaining plates back to the shelves of the stereoscopic warehouse; if it is necessary to ship out plates of multiple specifications that are not in a whole box, it is necessary to carry in and out of the plate boxes of these specifications once before sorting can be achieved. The transfer of multiple boxes of plates in the middle cannot be cross-transferred, and the operation distance is long, which requires a lot of waiting time; in addition, since the problem of adhesion between plates cannot be effectively solved, especially for non-magnetic plates, the sorting link in the plate industry is still relied on Manual sorting; In addition, in the prior art, each plate box of the plate automated stereoscopic warehouse needs to be equipped with a pallet before it can be transported on the conveyor. The entire stereoscopic warehouse requires at least dozens of pallets, and at most hundreds or thousands of pallets, which is a high additional cost; Furthermore, in the prior art, the plate automated stereoscopic warehouse requires high-rise shelves for support, and the entire shelf requires a large amount of steel to build; the height of the plate box itself + the height of the pallet + the height of each layer of the shelf beam + the reserved removal space = the shelf layer height, which is as high as 3-5 times the height of the plate box itself, and the height space utilization rate is low; each time a specification of plate is shipped out of the warehouse, it is necessary to add the remaining plates in the plate box involved in the warehouse + the plate box involved + the pallet involved. The weight of these additional materials in and out of the warehouse is much greater than the weight of the required plate to be shipped out of the warehouse. The transportation load is directly proportional to the energy consumption, and the operating energy utilization rate is extremely low. The above-mentioned many disadvantages have caused the current plate automated stereoscopic warehouse to have a high overall cost, low space utilization, low warehouse efficiency, and low energy utilization. Manual sorting is also required outside the warehouse, and it cannot be promoted on a large scale. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention aims to provide an automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse, which can be used for warehousing with layered stacking of plates and can automatically sort and ship out plates from the plates on the shelves, and has high efficiency in plate storage and shipping.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] A vehicle for automatically taking out and removing plates from a stereoscopic plate warehouse comprises a travelling frame, a lifting frame and a plate extracting device. The lifting frame is mounted on the travelling frame and can be lifted and lowered on the travelling frame. The plate extracting device is mounted on the lifting frame and can be translated and moved on the lifting frame. The travelling frame has an open space for the plate extracting device to extract and transfer plates to the lifting frame and to remove plates from the lifting frame. The plate extracting device has a plurality of sliding blocks that can be lifted and lowered independently. A suction plate that can swing up and down is hingedly mounted on the sliding block. A device for measuring the number of plates is mounted on at least one of the suction blocks.

[0007] Furthermore, the plate number measuring device includes a push-pull cylinder, a fixed clamp arm, a movable clamp arm and a displacement sensor. The push-pull cylinder is installed and connected to the suction plate. The fixed clamp arm and the movable clamp arm are hingedly connected and extend toward the suction plate respectively. The fixed clamp arm, the movable clamp arm and the displacement sensor can be pushed and pulled synchronously by the push-pull cylinder. The displacement sensor corresponds to the movable clamp arm to detect the swing amplitude of the movable clamp arm.

[0008] Preferably, the cylinder body of the push-pull cylinder is installed and connected to the suction plate, a clamp arm mounting seat is installed and fixed on the piston rod of the push-pull cylinder, the fixed clamp arm is fixedly installed on the clamp arm mounting seat, the tail end of the movable clamp arm extends and corresponds to the displacement sensor, and the displacement sensor is installed and fixed to the clamp arm mounting seat or the fixed clamp arm through a sensor bracket.

[0009] Furthermore, the plate pulling device has a support beam spanning the lifting frame, the slider seat is fixedly connected to the piston rod of the lifting cylinder installed on the support beam, and is pushed and pulled by the lifting cylinder. The lifting frame is installed with a plate pulling device displacement driving device, the plate pulling device displacement driving device includes a plate pulling drive motor, a first pulley assembly and a second pulley assembly, the plate pulling drive motor is connected to the second pulley assembly through the first pulley assembly, the belt of the second pulley assembly is arranged along the length direction of the lifting frame and on both sides of the lifting frame, and the support beam is installed and connected to the belt of the second pulley assembly; a board box support beam is arranged on the lifting frame below the plate pulling device, and a material blocking cylinder is installed on the end of the lifting frame.

[0010] The cam is connected to the bottom beam of the chassis and the bottom beams are connected to the bottom beams at both ends of the chassis, and the cams are connected to the bottom beams at both ends of the chassis and the bottom beams are connected to the bottom beams at both ends of the chassis.

[0011] Preferably, the connection points between the lower ends of the steel wire ropes in the two columns corresponding to the two ends of the side bottom beam and the chain are symmetrical about the center of the chain.

[0012] Furthermore, a hanging plate is provided on the lifting frame corresponding to the column, and the upper end of the steel wire rope in the column passes through the column and is connected to the corresponding hanging plate. An anti-falling structure is also provided between the lifting frame and the column, and the anti-falling structure includes a rack extending longitudinally on the column and a clamping tip formed on the lower end of the hanging plate. The hanging plate is hingedly installed on the side wall of the lifting frame and the upper part of the hanging plate is connected to the side wall of the lifting frame through a spring. When the steel wire rope is disconnected, the hanging plate can be turned over by the pull of the spring so that the clamping tip is clamped into the tooth groove of the rack.

[0013] Furthermore, a frame travel drive motor is installed on the chassis, rollers drivingly connected to the frame travel drive motor are installed on the bottom beams at both ends of the chassis, and the chassis is slidably connected to guide rails arranged at both ends of the chassis through the rollers.

[0014] Furthermore, it also includes an electric control box for controlling the movement of the traveling frame, the lifting frame, the plate extraction device and the plate number measuring device, and an air compressor connected to the suction plate control. The electric control box and the air compressor are installed on the traveling frame.

[0015] The present invention has the following beneficial effects:

[0016] The automatic plate-taking and outbound vehicle for plate stereoscopic warehouse can be used for automatically sorting plates from plate storage boxes and outbound when plate boxes are stacked in layers for storage; the storage of plates does not require stereoscopic warehouse shelves, and no pallets are required under the plate boxes; the plate storage layer height is the plate box height, and plates can be drawn out from the plate boxes through the side openings of the plate boxes through a plate-drawing device, without wasting any space, thus saving the cost of stereoscopic warehouse shelves and pallets; the plate-drawing device has good plate separation effect when drawing, and single-sheet measurement is stable, and a single sheet can be accurately drawn out; the plates drawn from the storage box are directly placed by the plate-drawing device in the outbound plate boxes placed on the lifting frame in advance, and then are transported to the unloading area by the traveling frame, and the plates sorted and drawn out are unloaded directly from the open space of the traveling frame by manual labor, thus saving time and having high efficiency; in addition, an anti-falling structure is also provided between the lifting frame and the traveling frame, so the lifting frame will not fall due to unexpected failure, and has good safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is an overall structural diagram of an automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse of the present invention;

[0018] Figure 2 This is a schematic diagram of a use scenario of an automatic plate-taking and plate-delivery vehicle in a three-dimensional plate warehouse of the present invention;

[0019] Figure 3 This is a structural diagram of a plate extraction device of an automatic plate extraction and unloading vehicle in a plate stereoscopic warehouse of the present invention;

[0020] Figure 4 This is a structural diagram of a lifting frame of an automatic plate-taking and plate-delivery vehicle in a three-dimensional plate warehouse of the present invention;

[0021] Figure 5 This is a structural diagram of a traveling frame of an automatic plate-taking and plate-delivery vehicle in a three-dimensional plate warehouse of the present invention;

[0022] Figure 6 This is a diagram showing the internal structure of a traveling frame of an automatic plate-taking and plate-delivery vehicle in a three-dimensional plate warehouse of the present invention;

[0023] Figure 7 It is a schematic diagram of the arrangement of the steel wire rope in the traveling frame of the automatic plate taking and out-of-warehouse vehicle of the plate stereoscopic warehouse of the present invention;

[0024] Figure 8 It is a schematic diagram of the anti-falling structure of an automatic plate-taking and plate-delivery vehicle in a three-dimensional plate warehouse of the present invention;

[0025] Fig. 9 The present invention discloses a plate surface structure diagram of an automatic plate taking and unloading vehicle for a plate stereoscopic warehouse.

[0026] In the figure: 1, traveling frame; 2, lifting frame; 3, plate extraction device; 4, open space; 5, slider seat; 6, suction plate; 7, plate number measuring device; 11, bottom frame; 12, column; 13, end bottom beam; 14, side bottom beam; 15, first sprocket; 16, second sprocket; 17, chain; 18, pulley; 19, wire rope; 110, lifting frame lifting drive motor; 111, rack; 112, frame travel drive motor; 113, roller; 114, guide rail; 115, electric control box; 11 6. Air compressor; 21. Displacement drive device of the draw plate device; 22. Draw plate drive motor; 23. First pulley assembly; 24. Second pulley assembly; 25. Plate box support beam; 26. Material blocking cylinder; 27. Hanging plate; 28. Roller; 271. Clamping tip; 272. Spring; 31. Support beam; 32. Lifting cylinder; 61. Suction sealing ring; 71. Push-pull cylinder; 72. Fixed clamp arm; 73. Movable clamp arm; 74. Displacement sensor; 75. Clamp arm mounting seat; 76. Sensor bracket. DETAILED DESCRIPTION

[0027] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, so as to more clearly understand the technical ideas claimed for protection of the present invention.

[0028] like Figure 1-7 The present invention is an automatic plate-taking and plate-exiting vehicle for a three-dimensional plate warehouse, comprising a traveling frame 1, a lifting frame 2 and a plate-extracting device 3. The traveling frame 1 comprises a base frame 11 and four columns 12. The four columns 12 are respectively fixed to the bottom beams 13 at both ends of the base frame 11, corresponding to the ends of the bottom beams 14 at both sides arranged along the length direction of the base frame 11 and extending vertically upward. A frame travel drive motor 112 is installed on the base frame 11, and rollers 113 drivingly connected to the frame travel drive motor 112 are installed on the bottom beams 13 at both ends of the base frame 11. The frame 11 is slidably connected to the guide rails 114 arranged at both ends of the base frame 11 through rollers 113. The traveling frame 1 is driven by the traveling driving motor 112 of the frame to move along the guide rails 114 to the side end of the stacked box containing the plates. When the plates are stored, the plates are stacked in layers for storage and inventory. The storage of the plates does not require three-dimensional warehouse shelves, and no pallets are required under the boxes. The height of the plate storage layer is the height of the box. The plates can be pulled out from the box through the side opening of the box through the board extraction device 3. No space is wasted, and the cost of three-dimensional warehouse shelves and pallets can be saved.

[0029] The lifting frame 2 is installed on the traveling frame 1 and can be lifted and lowered on the traveling frame 1. The plate extracting device 3 is installed on the lifting frame 2 and can be translated on the lifting frame 2. The plate extracting device 3 has a support beam 31 spanning the lifting frame 2 and a plurality of slider seats 5 that can be independently lifted and lowered. A suction plate 6 that can swing up and down is hingedly installed on the slider seat 5. The suction plate 6 can be arranged on both sides of the slider seat 5, so that the plate extracting device 3 can absorb the plate when it translates toward both ends on the lifting frame 2. Fig. 9 As shown, the plate surface of the suction plate 6 is embedded with a plurality of suction seals 61, which are used to suck the plate. When the plate is uneven or the separation process causes some suction seals 61 to leak, the remaining suction seals 61 can still effectively suck the plate, ensuring the reliability of sucking the plate. At least one of the suction plates 6 is installed with a plate number measuring device 7, which includes a push-pull cylinder 71, a fixed clamp arm 72, a movable clamp arm 73 and a displacement sensor 74. The displacement sensor 74 It can be purchased directly on the market. The push-pull cylinder 71 is installed and connected to the suction plate 6. The fixed clamp arm 72 and the movable clamp arm 73 are hingedly connected and extend toward the suction plate 6 respectively. The fixed clamp arm 72, the movable clamp arm 73 and the displacement sensor 74 can be pushed and pulled synchronously by the push-pull cylinder 71. The displacement sensor 74 corresponds to the movable clamp arm 73 to detect the swing amplitude of the movable clamp arm 73. The slider seat 5 is fixedly connected to the piston rod of the lifting cylinder 32 installed on the support beam 31 and is pushed and pulled by the lifting cylinder 32. The lifting frame 2 The upper portion is provided with a plate-drawing device displacement driving device 21, which includes a plate-drawing device displacement driving device 21, a plate-drawing device driving motor 22, a first pulley assembly 23, and a second pulley assembly 24. The plate-drawing device driving motor 22 is connected to the second pulley assembly 24 through the first pulley assembly 23. The belt of the second pulley assembly 24 is arranged along the length direction of the lifting frame 2 and is arranged on both sides of the lifting frame 2. The support beam 31 is installed and connected to the belt of the second pulley assembly 24. The plate-drawing device 3 is driven by the plate-drawing device driving motor 22. The belt driving the second pulley assembly 24 drives the lifting frame 2 to move horizontally. A board box support beam 25 is provided on the lifting frame 2 below the board extraction device 3. The outgoing board boxes can be manually placed on the board box support beam 25 of the lifting frame 2. A material blocking cylinder 26 is installed on the end of the lifting frame 2. An open space 4 is formed between the columns 12 on the walking frame 1, which can be used for the board extraction device 3 to extract and transfer the board to the lifting frame 2, and can facilitate manual labor to take out the board from the lifting frame 2 through the open space 4.

[0030] The first sprocket 15, the second sprocket 16 and the chain 17 are respectively installed in the bottom beams 14 on both sides of the bottom frame 11 of the traveling frame 1. The chain 17 is installed and connected to the first sprocket 15 and the second sprocket 16 in a closed ring. A pulley 18 is installed in the column 12. A steel wire rope 19 is wound around the pulley 18. The upper end of the steel wire rope 19 passes through the column 12 and is connected to the lifting frame 2. The lower ends of the steel wire ropes 19 in the columns 12 corresponding to the two ends of the side bottom beams 14 are respectively connected to the side bottom beams 14. On the two parallel chain segments of the chain 17 in the beam 14, the first sprocket 15 or the second sprocket 16 in the bottom beams 14 on both sides are respectively connected to a lifting frame lifting drive motor 110 by transmission connection and synchronously driven by the lifting frame lifting drive motor 110; or the first sprocket 15 or the second sprocket 16 in the bottom beams 14 on both sides are coaxially connected, and are driven by a lifting frame lifting drive motor 110 and the first sprocket 15 or the second sprocket 16 in the bottom beams 14 on one side.

[0031] When the traveling frame 1 moves along the guide rail 114 to the side end of the stacking storage box of the plate to be sorted, the lifting frame 2 is driven by the lifting driving motor 110 of the lifting frame to drive the sprocket wheel in the side bottom beam 14 to rotate and drive the chain 17 to operate. When the chain 17 operates, it drives the wire rope 19 in each column 12 to synchronously rise and fall around the pulley 18, and then the lifting frame 2 is pulled up and down to the side end of the storage box of the corresponding layer height by the wire rope 19, and then the belt of the second pulley assembly 24 is driven by the pumping plate driving motor 22 to drive the pumping plate device 3 to move translationally close to the side end of the storage box of this layer, and the pumping plate device 3 passes through the open space 4 between the columns 12 until the suction plate 6 of the pumping plate device 3 extends into the surface of the plate in the storage box of this layer. When the suction plate 6 sucks the plate, the lifting cylinder 32 is actuated to pull the slider seat 5 upward. Initially, the suction plate 6 will rotate around its hinge axis, so that the outer edge of the sucked plate will bend upward under the rotation of the suction plate 6. The multiple lifting cylinders 32 are different Pulling up and down step by step will drive the edge of the plate to warp and twist back and forth, thereby separating the adhered plate. After the suction plate 6 rotates downward to a certain angle, it cannot continue to rotate. At this time, the lifting cylinder 32 continues to lift the plate to lift it, so that the suction plate 6 only absorbs a single plate. After the suction plate 6 absorbs the plate, the plate number measuring device 7 that rises and falls synchronously with the suction plate 6 starts to work, and the push-pull cylinder 71 pushes the fixed clamping arm 72 and the movable clamping arm 73 to extend to the edge of the absorbed plate, and the edge of the absorbed plate is inserted between the fixed clamping arm 72 and the movable clamping arm 73. The plate will push the movable clamping arm 73 to swing around its hinge axis, and then the displacement sensor 74 detects the swing amplitude of the movable clamping arm 73, and then determines whether the number of sheets of the absorbed plate is a single sheet. If the number of sheets of the absorbed plate is not a single sheet, the lifting cylinder 32 repeats the above action again to separate the absorbed sheet until the displacement sensor 74 detects that the number of sheets of the plate absorbed by the suction plate 6 is a single sheet. After ensuring that the number of sheets sucked by the suction plate 6 is a single sheet, the plate extraction drive motor 22 continues to drive the belt of the second pulley assembly 24 to drive the plate extraction device 3 to reset and move the sucked single sheet from the layer box to the top of the outbound box placed on the lifting frame 2 in advance. The suction plate 6 is inflated to make the sucked single sheet separate from the suction plate 6 and fall into the outbound box, completing the suction action of the single sheet. If other specifications of sheets need to be sorted, continue the above action to move the traveling frame 1 to the side end of the stacking storage box of the corresponding sheets to be sorted, repeat the above sheet suction action, and after the sheet extraction is completed, the traveling frame 1 moves along the guide rail 114 to the unloading area, and the sorted and extracted sheets are manually taken out from the open space 4 between the columns 12 of the traveling frame 1 together with the outbound box from the lifting frame 2 to complete the sheet sorting operation.The plate separation effect is good when the plate extraction device 3 extracts, the single sheet measurement is stable, and a single sheet can be accurately extracted. The plates extracted from the storage box are directly placed by the plate extraction device 3 in the outbound box placed on the lifting frame 2 in advance, and then moved to the unloading area by the traveling frame 1. The sorted and extracted plates are unloaded directly from the open space 4 of the traveling frame 1 by humans, which saves time and is highly efficient.

[0032] The specific installation method and structure of the above-mentioned plate number measuring device 7 are preferably adopted, where the cylinder body of the push-pull cylinder 71 is installed and connected to the suction plate 6, and a clamp arm mounting seat 75 is installed and fixed on the piston rod of the push-pull cylinder 71. The fixed clamp arm 72 is fixedly installed on the clamp arm mounting seat 75, and the tail end of the movable clamp arm 73 extends and corresponds to the displacement sensor 74. The displacement sensor 74 is installed and fixed on the clamp arm mounting seat 75 or the fixed clamp arm 72 through the sensor bracket 76.

[0033] The connection position relationship between the steel wire rope 19 and the chain 17 is preferably such that the connection points between the lower ends of the steel wire rope 19 and the chain 17 in the two columns 12 corresponding to the two ends of the side bottom beam 14 are symmetrical about the center of the chain 17 .

[0034] In addition, the movements of the traveling frame 1, the lifting frame 2, the plate extraction device 3 and the plate number measuring device 7 are controlled by the electric control box 115, the suction plate 6 is connected to the air compressor 116, the air compressor 116 preferably adopts an oil-free silent air compressor, and the electric control box 115 and the air compressor 116 are both installed on the traveling frame 1 to avoid the electric control box 115 and the air compressor 116 being installed separately from the traveling frame 1 to avoid the electric control box 115 and the air compressor 116 being transmitted to the automatic outbound vehicle of the plate stereoscopic warehouse through the drag chain threading, the travel is too long, the energy loss is large, the drag chain and the internal wires and air pipes are easy to break under long-term dragging; and the plate extraction device 3 The electrical wiring connected to the electric control box 115 and the air pipe connected to the air compressor 116 are passed through the drag chain, and the drag chain lies flat on the roller 28 located below it. The roller 28 is installed on the lifting frame 2 along the direction of the drag chain, which solves the problem that the traditional drag chain adopts a vertical setting and requires a large height space. In addition, the vertically set drag chain will sag severely due to gravity, and even cause the upper and lower sections of the drag chain to rub against each other. The drag chain lies flat on the roller 28, which not only solves the problem of gravity sagging of the drag chain, but also avoids the mutual friction between the upper and lower sections of the drag chain, and can also ensure that the drag chain can move smoothly when pulled.

[0035] like Figure 8As shown, the specific connection mode between the lifting frame 2 and the steel wire rope 19 is that a hanging plate 27 is provided on the lifting frame 2 corresponding to the column 12, and the upper end of the steel wire rope 19 in the column 12 passes through the column 12 and is connected to the corresponding hanging plate 27. On the basis of the hanging plate 27, an anti-falling structure is also provided between the lifting frame 2 and the column 12, and the anti-falling structure includes a rack 111 longitudinally extending on the column 12 and a clamping tip 271 formed at the lower end of the hanging plate 27. The hanging plate 27 is hingedly installed on the side wall of the lifting frame 2 and the upper part of the hanging plate 27 is connected to the side wall of the lifting frame 2 through a spring 272. When the steel wire rope 19 is disconnected, the hanging plate 27 can be turned over under the pull of the spring 272 to make the clamping tip 271 clamped in the tooth groove of the rack 111, and the lifting frame 2 will not fall due to the accidental breakage of the steel wire rope 19, and the safety is good.

[0036] For those skilled in the art, various other corresponding changes and modifications can be made according to the technical solutions and concepts described above, and all of these changes and modifications should fall within the protection scope of the claims of the present invention.

Claims

1. A vehicle for automatically taking out plates from a three-dimensional plate warehouse, comprising a traveling frame (1), a lifting frame (2) and a plate extracting device (3), wherein the lifting frame (2) is mounted on the traveling frame (1) and can be lifted and lowered on the traveling frame (1), and the plate extracting device (3) is mounted on the lifting frame (2) and can be translated and moved on the lifting frame (2), characterized in that: The traveling frame (1) has an open space (4) for the plate extracting device (3) to extract and transfer the plate to the lifting frame (2) and for taking the plate out from the lifting frame (2). The plate extracting device (3) has a plurality of sliding blocks (5) that can be independently lifted and lowered. A suction plate (6) that can swing up and down is hingedly mounted on the sliding block seat (5). At least one of the suction plates (6) is provided with a plate number measuring device (7).

2. The automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse as claimed in claim 1, characterized in that: The plate number measuring device (7) comprises a push-pull cylinder (71), a fixed clamp arm (72), a movable clamp arm (73) and a displacement sensor (74); the push-pull cylinder (71) is mounted and connected to the suction plate (6); the fixed clamp arm (72) and the movable clamp arm (73) are hingedly connected and extend toward the suction plate (6) respectively; the fixed clamp arm (72), the movable clamp arm (73) and the displacement sensor (74) can be pushed and pulled synchronously by the push-pull cylinder (71); and the displacement sensor (74) corresponds to the movable clamp arm (73) to detect the swing amplitude of the movable clamp arm (73).

3. The automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse as claimed in claim 2 is characterized by: The cylinder body of the push-pull cylinder (71) is mounted and connected to the suction plate (6); a clamp arm mounting seat (75) is fixedly mounted on the piston rod of the push-pull cylinder (71); the fixed clamp arm (72) is fixedly mounted on the clamp arm mounting seat (75); the tail end of the movable clamp arm (73) extends and corresponds to the displacement sensor (74); the displacement sensor (74) is fixedly mounted on the clamp arm mounting seat (75) or the fixed clamp arm (72) via a sensor bracket (76).

4. The automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse as claimed in claim 1 is characterized in that: The plate-pulling device (3) comprises a support beam (31) spanning the lifting frame (2); the slider seat (5) is fixedly connected to a piston rod of a lifting cylinder (32) mounted on the support beam (31) and is pushed, pulled and lifted by the lifting cylinder (32); a plate-pulling device displacement drive device (21) is mounted on the lifting frame (2); the plate-pulling device displacement drive device (21) comprises a plate-pulling drive motor (22), a first pulley assembly (23) and a second pulley assembly (24); the plate-pulling drive motor (22) is connected to the second pulley assembly (24) through the first pulley assembly (23), the belt of the second pulley assembly (24) is arranged along the length direction of the lifting frame (2) and is arranged on both sides of the lifting frame (2), and the support beam (31) is installed and connected to the belt of the second pulley assembly (24); a plate box support beam (25) is arranged on the lifting frame (2) below the plate drawing device (3), and a material blocking cylinder (26) is installed on the end of the lifting frame (2).

5. The automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse as claimed in claim 1 is characterized in that: The walking frame (1) comprises a base frame (11) and four columns (12). The four columns (12) are respectively fixed on the bottom beams (13) at both ends of the base frame (11) and correspond to the ends of the bottom beams (14) at both sides arranged along the length direction of the base frame (11) and extend vertically upward. A first sprocket (15), a second sprocket (16) and a chain (17) are respectively installed in the two side bottom beams (14). The chain (17) is installed and connected to the first sprocket (15) and the second sprocket (16) in a closed ring shape. A pulley (18) is installed in the column (12). A steel wire rope (19) is wound around the pulley (18). The upper end of the steel wire rope (19) passes through the column (12) and is connected to the lifting frame. (2), the lower ends of the steel wire rope (19) in the upright columns (12) corresponding to the two ends of the side bottom beam (14) are respectively connected to two parallel chain segments of the chain (17) in the side bottom beam (14), and the first sprocket (15) or the second sprocket (16) in the two side bottom beams (14) are respectively connected to a lifting frame lifting drive motor (110) for synchronous driving by the lifting frame lifting drive motor (110); or the first sprocket (15) or the second sprocket (16) in the two side bottom beams (14) are coaxially connected and driven by a lifting frame lifting drive motor (110) and the first sprocket (15) or the second sprocket (16) in one of the side bottom beams (14) for transmission connection.

6. The automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse as claimed in claim 5 is characterized in that: The connection points between the lower ends of the steel wire ropes (19) in the two uprights (12) corresponding to the two ends of the side bottom beam (14) and the chain (17) are symmetrical about the center of the chain (17).

7. The automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse as claimed in claim 5 is characterized by: A hanging plate (27) is provided on the lifting frame (2) corresponding to the column (12), and the upper end of the steel wire rope (19) in the column (12) passes through the column (12) and is connected to the hanging plate (27) corresponding thereto.

8. The automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse as claimed in claim 7 is characterized in that: An anti-falling structure is provided between the lifting frame (2) and the column (12), the anti-falling structure comprising a rack (111) longitudinally extending and arranged on the column (12) and a clamping tip (271) formed and arranged at the lower end of the hanging plate (27); the hanging plate (27) is hingedly mounted on the side wall of the lifting frame (2) and the upper part of the hanging plate (27) is connected to the side wall of the lifting frame (2) via a spring (272); when the wire rope (19) is disconnected, the hanging plate (27) can be turned over under the pull of the spring (272) so that the clamping tip (271) is clamped into the tooth groove of the rack (111).

9. The automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse as claimed in claim 5, characterized in that: A vehicle frame travel drive motor (112) is mounted on the base frame (11), rollers (113) drivingly connected to the vehicle frame travel drive motor (112) are mounted on the two end bottom beams (13) of the base frame (11), and the base frame (11) is slidably connected to guide rails (114) arranged at both ends of the base frame (11) via the rollers (113).

10. The automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse as claimed in claim 1, characterized in that: It also includes an electric control box (115) for controlling the operation of the traveling frame (1), the lifting frame (2), the plate extraction device (3) and the plate number measuring device (7), and an air compressor (116) connected to the suction plate (6) for control. The electric control box (115) and the air compressor (116) are mounted on the traveling frame (1).

11. The automatic plate-taking and plate-delivery vehicle for a three-dimensional plate warehouse as claimed in claim 10, characterized in that: The electrical wiring on the draw plate device (3) connected to the electrical control box (115) and the air pipe connected to the air compressor (116) are passed through the drag chain, and the drag chain lies flat on the roller (28) located below it, and the roller (28) is installed on the lifting frame (2) along the direction of the drag chain.

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