An intelligent control conveying robot for unmanned warehouse yard

Abstract

The present invention provides an intelligent control conveying robot for an unmanned warehouse yard, belonging to the field of warehouse transportation technology. It includes a zero-gravity trigger device, a top plate and a vehicle body, wherein the zero-gravity trigger device is located inside the vehicle body, and the top of the zero-gravity trigger device is connected to the top plate, and the zero-gravity trigger device includes a bottom plate, and a clamping plate seat is fixedly installed in the middle of the top surface of the bottom plate, and the clamping plate seat is provided with four groups, and the four groups of clamping plate seats are arranged in a horizontal linear array, and a force calibration component is provided between two adjacent groups of the clamping plate seats. The present invention places the packaged paper towels into a material box, and changes the stacking height of the zero-gravity trigger device through the force calibration component to adapt it to the overall height of the paper towels on the shelf, so as to avoid the collapse of the paper towels on the shelf in the process of placing the paper towels on the material box, so as to solve the problem that the existing warehouse robot is not convenient for stacking heavy paper towels.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing and transportation, and in particular to an intelligently controlled conveying robot for an unmanned warehouse yard. Background Art

[0002] The warehouse robot can transport the packaged paper towels from the end of the production line to the shelves in the warehouse, realizing unmanned operation and intelligent stacking.

[0003] When stacking paper towels intelligently, paper towels of different specifications need to be placed on different shelves. Due to the soft texture of paper towels, when a large number of paper towels are stacked together, the paper towels at the bottom will be deformed due to the action of gravity. The higher the stacking height and the heavier the paper towels, the greater the deformation. At this time, when stacking the paper towels on the shelves by the storage robot, it is necessary to strictly control the stacking height of the storage robot to prevent the paper towels on the shelves from being pushed down. At the same time, as the number of stacking times increases, the deformation of the height of the paper towels on the shelves will also change each time. Therefore, before stacking, it is necessary to fine-tune the height of the storage robot to adapt to the change in the height of the paper towels on the shelves. At the same time, when the storage robot is conveying paper towels, since the height of the storage robot needs to be adjusted in real time, a height adjustment structure will be provided inside the storage robot. When the weight of the conveyed paper towels is too large, the adjustment structure inside the storage robot will undergo a small displacement due to the heavy weight, thereby affecting the stacking of the paper towels on the shelves.

[0004] Therefore, the present application provides an intelligent controlled conveying robot for an unmanned warehouse yard to meet the needs. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an intelligently controlled conveying robot for an unmanned warehouse yard. The robot places the packaged paper towels in a material box and changes the stacking height of a zero-gravity trigger device through a force calibration component to adapt the robot to the overall height of the paper towels on the shelf, thereby avoiding the collapse of the paper towels on the shelf during the process of placing the paper towels on the material box, thereby solving the problem that existing warehouse robots are inconvenient for stacking heavy paper towels.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A storage unmanned yard intelligent control conveying robot comprises a zero gravity trigger device, a top plate and a vehicle body, wherein the zero gravity trigger device is located inside the vehicle body, and the top of the zero gravity trigger device is connected to the top plate, and the zero gravity trigger device comprises a bottom plate, and a clamping plate seat is fixedly installed in the middle of the top surface of the bottom plate, and the clamping plate seat is provided with four groups, and the four groups of clamping plate seats are arranged in a horizontal linear array, and a force correction component is provided between two adjacent groups of the clamping plate seats, and the two adjacent groups of the force correction components are arranged crosswise and symmetrically with respect to the midline;

[0008] The force calibration component includes a swivel seat, limit blocks are provided on both sides of the swivel seat, the swivel seat and two groups of limit blocks are rotatably connected, the two groups of limit blocks are respectively fixedly connected to the two groups of clamp seat side walls, a driving rod is provided in the middle of the swivel seat, and the driving rod slides through the swivel seat, a positioning block is fixedly installed at the bottom of the driving rod, and the positioning block and the driving rod are vertically arranged, a spring is sleeved on the outer wall of the bottom of the driving rod, the bottom of the spring is fixedly connected to the top surface of the positioning block, and the top of the spring is fixedly connected to the bottom surface of the swivel seat.

[0009] Optionally, a movable seat is provided on the top of the three groups of driving rods, and the movable seats on both sides are symmetrically arranged, a top head is fixedly installed on the inner end wall of the movable seat, the driving rod is used in conjunction with the top head, and the driving rod is rotatably connected to the movable seat, and the outer walls of the movable seats at both ends and the two side walls of the movable seat in the middle are provided with sliding grooves, and there are multiple groups of sliding grooves, which correspond one to one, and the outer walls of the movable seats at both ends and the two side walls of the movable seat in the middle are rotatably connected with gears.

[0010] Optionally, the inner walls at the tops of the four groups of clamping plates are all rotatably connected with connecting plates, two groups of connecting plates are provided on the same side and are arranged in parallel, the tops of the two groups of connecting plates on the same side are provided with the same sliding seat, four groups of sliding seats are provided, the two groups of sliding seats at the outer ends are symmetrically arranged, and the two groups of sliding seats in the middle are symmetrically arranged, and the tops of the two groups of connecting plates on the same side are rotatably connected to the inner walls of the sliding seats on that side.

[0011] Optionally, an inner groove is opened on the inner wall in the middle of the sliding seat, a rack is fixedly installed on the inner wall of the inner groove, the gear is located in the corresponding inner groove and meshes with the corresponding rack, the movable seat is slidably connected to the sliding seat through the meshing of the gear and the rack, and the four groups of sliding bars are fixedly installed on the inner walls of the sliding seats, and the sliding bars are provided in multiple groups and are slidably connected to the corresponding sliding grooves.

[0012] Optionally, a screw transmission mechanism is fixedly installed on the bottom of the four groups of sliding seats, and the output end of the screw transmission mechanism is connected to the corresponding movable seat.

[0013] Optionally, support seats are fixedly installed at the four corners of the top of the bottom plate, and four groups of the support seats are engaged with the corresponding four groups of connecting plates.

[0014] Optionally, movable rods are fixedly installed on both sides of the bottom of the top plate, top sleeves are fixedly installed on the tops of the four groups of sliding seats, the two groups of movable rods respectively slide through the two groups of top sleeves located on this side, sliding rails are fixedly installed at the four corners in the middle of the top surface of the bottom plate, four groups of slide plates are fixedly installed on the bottom of the top plate, and the four groups of slide plates are slidably connected to the four groups of slide rails respectively.

[0015] Optionally, slideways are fixedly installed on both sides of the top of the top plate, and the same material box is slidably connected to the two groups of slideways. A screw is rotatably connected to the middle of the top surface of the top plate, and the bottom of the material box is meshed with the screw. A motor 1 is fixedly installed on the top of the top plate, and the output end of the motor 1 is fixedly connected to the end wall of the screw.

[0016] Optionally, a push plate is slidably connected to the inner wall of the material containing box, a cylinder is fixedly installed on the outer wall of the material containing box, and an output end of the cylinder is fixedly connected to an end wall of the push plate.

[0017] Optionally, the inner wall of the car body is slidably connected to a lifting platform, the bottom of the base plate is fixedly connected to the center of the top surface of the lifting platform, the top of the car body is rotatably connected to a coupling, both sides of the top of the car body are provided with hanging wheel groups, and the hanging wheels on the two sets of hanging wheel groups are fixedly connected to the end wall of the coupling, the hanging wheels on the two sets of the hanging wheel groups are wrapped with slings, and the two sets of the slings are respectively fixedly connected to the top of both ends of the lifting platform, a second motor is fixedly installed on the outer wall of the top of the car body, and the output end of the second motor is fixedly connected to the end wall of the coupling, and a plurality of sets of universal wheels are fixedly installed on the bottom of the car body.

[0018] Compared with the prior art, the present invention has at least the following beneficial effects:

[0019] In the above scheme, by placing the packaged tissues into the material holding box, the spring deformation will generate a rebound force, and the transmission of the screw transmission mechanism will be stopped. When the three sets of force-correcting components and the connecting plate are deformed, the total synthetic torque will not change. Therefore, the force generated by the spring in the force-correcting component and the load generated by the tissues on the material holding box are always equal. Therefore, no matter how much weight of tissues is placed on the material holding box, the height of the material holding box will not change after the transmission of the screw transmission mechanism is stopped. Since the tissues themselves are elastic, when there are too many tissues on the shelves in the warehouse, the tissues on the bottom layer will be deformed due to the squeezing of the weight of the tissues on the upper layer, and the deformation amount can be calculated. At this time, the overall height of the top plate is changed by adjusting the screw transmission mechanism to adapt to the overall height of the tissues on the shelf, so as to avoid the collapse of the tissues on the shelf during the process of arranging the tissues on the material holding box. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable those skilled in the relevant art to make and use the invention.

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of an intelligent control conveying robot for unmanned warehouse yard;

[0022] Figure 2 It is a schematic diagram of the installation of various structures inside the vehicle body;

[0023] Figure 3 This is the installation structure diagram of the zero gravity trigger device and the material box;

[0024] Figure 4 This is the installation structure diagram of the zero gravity trigger device and the top plate;

[0025] Figure 5 This is a split diagram of the installation of the zero-gravity trigger device and the top plate;

[0026] Figure 6 This is a disassembled diagram of the zero-gravity trigger device;

[0027] Figure 7 This is the installation structure diagram of the calibration component;

[0028] Figure 8 This is a partial breakdown diagram of the power supply components;

[0029] Fig. 9 It is the installation structure diagram of each component on the sliding seat and the movable seat;

[0030] Fig.10 It is a schematic diagram of the structure of the zero-gravity trigger device at the lowest point;

[0031] Fig.11 This is the assembly drawing of the gear and rack;

[0032] Fig.12 This is the installation structure diagram of the calibration component and the base plate;

[0033] Fig.13 This is a split diagram of the power school component;

[0034] Fig.14 This is the working plan view of the zero gravity trigger device at the bottom;

[0035] Fig.15 A working plan view of the zero gravity trigger device at the top.

[0036] [reference numerals]

[0037] Zero-gravity trigger device 100, bottom plate 101, clamping plate seat 102, supporting seat 103, slide rail 104, force calibration component 110, swivel seat 111, limit block 112, driving rod 113, positioning block 114, spring 115, movable seat 116, top head 117, slide groove 118, gear 119, sliding seat 120, inner groove 121, rack 122, slide bar 123, connecting plate 124, screw transmission mechanism 130, top sleeve 140, top plate 200, movable rod 210, slideway 211, screw 212, motor 1 213, slide plate 220, material box 230, push plate 231, cylinder 240, vehicle body 300, lifting platform 310, connecting shaft 320, hanging wheel group 321, sling 322, motor 2 323, universal wheel 330.

[0038] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0039] The following is a detailed description of an unmanned warehouse intelligent control conveying robot provided by the present invention in conjunction with the accompanying drawings and specific embodiments. At the same time, it is explained here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments, and those skilled in the art may also adopt other alternative methods to implement some known technologies; and the accompanying drawings are only for a more specific description of the embodiments, and are not intended to specifically limit the present invention.

[0040] like Figure 1 and Figure 6 As shown, an embodiment of the present invention provides an intelligent controlled conveying robot for an unmanned storage yard, comprising a zero-gravity trigger device 100, a top plate 200 and a vehicle body 300, wherein the zero-gravity trigger device 100 is located inside the vehicle body 300, and the top of the zero-gravity trigger device 100 is connected to the top plate 200, and the zero-gravity trigger device 100 comprises a bottom plate 101, a clamping plate seat 102 is fixedly mounted in the middle of the top surface of the bottom plate 101, and the clamping plate seat 102 is provided with four groups, and the four groups of clamping plate seats 102 are arranged in a horizontal linear array, and a force correction component 110 is provided between two adjacent groups of clamping plate seats 102, and the two adjacent groups of force correction components 110 are arranged crosswise and symmetrically with respect to the midline, and in the present application, the force correction components 110 are provided with three groups and are arranged crosswise with each other, and the force correction components 110 in the middle can generate force balance with the force correction components 110 at both ends;

[0041] The force calibration component 110 includes a swivel seat 111, and limit blocks 112 are provided on both sides of the swivel seat 111. The swivel seat 111 is rotatably connected to the two groups of limit blocks 112. The two groups of limit blocks 112 are respectively fixedly connected to the side walls of the two groups of clamping plate seats 102. A driving rod 113 is provided in the middle of the swivel seat 111, and the driving rod 113 slides through the swivel seat 111. A positioning block 114 is fixedly installed at the bottom of the driving rod 113, and the positioning block 114 and the driving rod 113 are vertically arranged. A spring 115 is sleeved on the outer wall of the bottom of the driving rod 113. The bottom of the spring 115 is fixedly connected to the top surface of the positioning block 114, and the top of the spring 115 is fixedly connected to the bottom surface of the swivel seat 111. In the present application, the spring 115 is initially in a stretched state, and the movable seat 1 is driven by the driving screw transmission mechanism 130. When the top plate 200 moves upward, the top head 117 can drive the driving rod 113 to deflect upward. At this time, the distance between the positioning block 114 at the bottom of the driving rod 113 and the rotating seat 111 becomes smaller, and the deformation of the spring 115 is reduced. On the contrary, through the self-locking cooperation of the gear 119 and the rack 122, when the top plate 200 moves, the descending spring 115 stores energy and the ascending spring 115 releases energy. When the driving screw transmission mechanism 130 completes the self-locking, the gravity of the paper towel and the total torque thrust generated by the zero-gravity trigger device 100 are the same. At this time, the top plate 200 tends to move downward. If the elastic force of the spring 115 will increase sharply when the top plate 200 is pressed down, the thrust generated will be greater than the gravity of the paper towel, so that the spring 115 will reset, and thus the top plate 200 will not move.

[0042] As an implementation method in this embodiment, Fig. 9 and Fig.13 As shown, the tops of the three groups of driving rods 113 are all provided with movable seats 116, and the movable seats 116 on both sides are symmetrically arranged, and the inner end walls of the movable seats 116 are fixedly installed with heads 117, the driving rods 113 are used in conjunction with the heads 117, and the driving rods 113 are rotatably connected with the movable seats 116, and the outer walls of the movable seats 116 at both ends and the two side walls of the movable seat 116 in the middle are provided with sliding grooves 118, and there are multiple groups of sliding grooves 118, and they correspond one to one, and the outer walls of the movable seats 116 at both ends and the two side walls of the movable seat 116 in the middle are rotatably connected with gears 119.

[0043] As an implementation method in this embodiment, Figures 7 to 12As shown in the figure, the inner walls of the tops of the four groups of clamping plate seats 102 are all rotatably connected with connecting plates 124. There are two groups of connecting plates 124 on the same side, and they are arranged in parallel. The tops of the two groups of connecting plates 124 on the same side are provided with the same sliding seat 120. There are four groups of sliding seats 120. The two groups of sliding seats 120 at the outer ends are symmetrically arranged, and the two groups of sliding seats 120 in the middle are symmetrically arranged. The tops of the two groups of connecting plates 124 on the same side are rotatably connected with the inner wall of the sliding seat 120 on this side. In this application, a parallelogram can be formed between the two groups of connecting plates 124, the sliding seat 120 and the clamping plate seat 102. At the same time, the four formed parallelograms correspond to each other in pairs, and the total torque synthesized by them is zero in the horizontal direction.

[0044] An inner installation groove 121 is opened on the inner wall of the middle part of the sliding seat 120. A rack 122 is fixedly installed on the inner wall of the inner installation groove 121. The gear 119 is located in the corresponding inner installation groove 121 and meshes with the corresponding rack 122. When the movable seat 116 moves, the gear 119 on the side wall of the movable seat 116 can mesh with the rack 122, so as to accurately control the movement distance of the movable seat 116. At the same time, the meshing of the gear 119 and the rack 122 can lock the movement of the force calibration component 110. The movable seat 116 is slidably connected with the sliding seat 120 through the meshing of the gear 119 and the rack 122. A plurality of slide bars 123 are fixedly installed on the inner walls of the four groups of sliding seats 120. The slide bars 123 are slidably connected with the corresponding sliding grooves 118. The cooperation between the slide bars 123 and the sliding grooves 118 enables the sliding seat 120 to limit the movement of the movable seat 116.

[0045] Screw drive mechanisms 130 are fixedly installed at the bottoms of the four groups of sliding seats 120, and the output ends of the screw drive mechanisms 130 are connected with the corresponding movable seats 116. The screw drive mechanism 130 is composed of a motor, a screw and a threaded seat. At the same time, the screw can mesh with the threaded seat, and the output end of the screw is fixedly connected with the bottom of the movable seat 116. In this application, by driving the motor, it can drive the screw to mesh with the threaded seat, so that the screw can drive the movable seat 116 to move up or down.

[0046] In this embodiment, as Figure 6 and Fig.10 shown, support seats 103 are fixedly installed at the four corners of the top of the bottom plate 101. The four groups of support seats 103 are engaged with the corresponding four groups of connecting plates 124. The support seats 103 can support the connecting plates 124 and at the same time limit the lower position of the connecting plates 124.

[0047] In this embodiment, as Figure 4 and Figure 5As shown, movable rods 210 are fixedly installed on both sides of the bottom of the top plate 200, and top sleeves 140 are fixedly installed on the tops of the four groups of sliding seats 120. The two groups of movable rods 210 slide through the two groups of top sleeves 140 on the side respectively, and the top sleeves 140 can limit the movable rods 210. When the top plate 200 moves upward, the two groups of top sleeves 140 can slide on the movable rods 210. Slide rails 104 are fixedly installed at the four corners in the middle of the top surface of the bottom plate 101, and four groups of slide plates 220 are fixedly installed on the bottom of the top plate 200. The four groups of slide plates 220 are slidably connected to the four groups of slide rails 104 respectively, and the slide rails 104 can limit the movement of the slide plates 220.

[0048] As an implementation method in this embodiment, Figure 3 As shown, slideways 211 are fixedly installed on both sides of the top of the top plate 200, and the same material box 230 is slidably connected to the two sets of slideways 211. A screw 212 is rotatably connected to the middle of the top surface of the top plate 200, and the bottom of the material box 230 is meshed with the screw 212. A motor 213 is fixedly installed on the top of the top plate 200, and the output end of the motor 213 is fixedly connected to the end wall of the screw 212. In the present application, by driving the motor 213, its output shaft can drive the screw 212 to rotate, thereby meshing with the material box 230, so that the material box 230 slides on the two sets of slideways 211.

[0049] The inner wall of the material box 230 is slidably connected to a push plate 231, the outer wall of the material box 230 is fixedly installed with a cylinder 240, and the output end of the cylinder 240 is fixedly connected to the end wall of the push plate 231. In the present application, by driving the cylinder 240, its output shaft can drive the push plate 231 to move, thereby pushing the paper towels in the material box 230 onto the shelf.

[0050] In this embodiment, if Figure 1 and Figure 2As shown, the inner wall of the vehicle body 300 is slidably connected to a lifting platform 310, the bottom of the bottom plate 101 is fixedly connected to the center of the top surface of the lifting platform 310, the lifting platform 310 supports the zero-gravity trigger device 100 as a whole, the top of the vehicle body 300 is rotatably connected to a connecting shaft 320, both sides of the top of the vehicle body 300 are provided with hanging wheel groups 321, and the hanging wheels on the two hanging wheel groups 321 are fixedly connected to the end wall of the connecting shaft 320, the hanging wheels on the two hanging wheel groups 321 are wrapped with slings 322, and the two slings 322 are respectively fixedly connected to the top of the two ends of the lifting platform 310, and the outer wall of the top of the vehicle body 300 A motor 2 323 is fixedly installed, and the output end of the motor 2 323 is fixedly connected to the end wall of the connecting shaft 320. A plurality of sets of universal wheels 330 are fixedly installed at the bottom of the vehicle body 300. In the present application, the vehicle body 300 equipped with the universal wheels 330 can place paper towels of different specifications on different shelves. At the same time, according to the existing height of the paper towels on the shelf, the motor 2 323 is driven to drive the sling 322 on the hanging wheel group 321 to move, so that the height of the lifting platform 310 can be adjusted, so as to facilitate the placement of the paper towels in the zero-gravity trigger device 100 on the designated shelf.

[0051] The working principle provided by the present invention is that the packaged tissue paper is placed in the material box 230, the spring 115 is deformed to generate a rebound force, and the transmission to the screw transmission mechanism 130 is stopped. When the three groups of force adjustment components 110 and the connecting plate 124 are deformed, the total torque synthesized will not change. Therefore, the force generated by the spring in the force adjustment component 110 and the load generated by the tissue paper on the material box 230 are always equal. Therefore, no matter how much weight of tissue paper is placed on the material box 230, after the transmission to the screw transmission mechanism 130 is stopped, the height of the material box 230 will not change. Since the tissue paper itself has elasticity, when there are too many tissue paper piled up on the shelves in the warehouse, the tissue paper on the bottom layer will be deformed due to the squeezing of the weight of the tissue paper on the upper layer, and the deformation amount can be calculated. At this time, the overall height of the top plate 200 is changed by adjusting the screw transmission mechanism 130 to adapt to the overall height of the tissue paper on the shelf, so as to avoid the collapse of the tissue paper on the shelf during the process of arranging the tissue paper on the material box 230.

[0052] The present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention. In order to make the public have a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, but those skilled in the art can fully understand the present invention without the description of these details. In addition, in order to avoid unnecessary confusion about the essence of the present invention, well-known methods, processes, procedures, components and circuits are not described in detail.

[0053] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An unmanned warehouse yard intelligent control conveying robot, comprising a zero-gravity trigger device (100), a top plate (200) and a vehicle body (300), wherein the zero-gravity trigger device (100) is located inside the vehicle body (300), and the top of the zero-gravity trigger device (100) is connected to the top plate (200), characterized in that: The zero-gravity trigger device (100) comprises a bottom plate (101), a clamping plate seat (102) is fixedly mounted in the middle of the top surface of the bottom plate (101), the clamping plate seats (102) are provided in four groups, and the four groups of clamping plate seats (102) are arranged in a horizontal linear array, and a force calibration component (110) is provided between two adjacent groups of the clamping plate seats (102), and the two adjacent groups of the force calibration components (110) are arranged in a cross-arrangement and are symmetrically arranged about the intersection point; The force calibration component (110) comprises a rotating seat (111), both sides of the rotating seat (111) are provided with limit blocks (112), the rotating seat (111) and the two groups of limit blocks (112) are rotatably connected, the two groups of limit blocks (112) are respectively fixedly connected to the side walls of the two groups of clamping seats (102), a driving rod (113) is provided in the middle of the rotating seat (111), and the driving rod (113) slides through the rotating seat (111), a positioning block (114) is fixedly installed at the bottom of the driving rod (113), and the positioning block (114) and the driving rod (113) are vertically arranged, and a spring (115) is sleeved on the outer wall of the bottom of the driving rod (113), the bottom of the spring (115) is fixedly connected to the top surface of the positioning block (114), and the top of the spring (115) is fixedly connected to the bottom surface of the rotating seat (111); The tops of the three groups of driving rods (113) are all provided with movable seats (116), and the movable seats (116) on both sides are symmetrically arranged, and the inner end walls of the movable seats (116) are fixedly installed with a head (117), and the driving rod (113) and the head (117) are used in conjunction with each other, and the driving rod (113) and the movable seats (116) are rotatably connected, and the outer walls of the movable seats (116) at both ends and the two side walls of the movable seat (116) at the middle are all provided with sliding grooves (118), and the sliding grooves (118) are provided in multiple groups and correspond to each other, and the outer walls of the movable seats (116) at both ends and the two side walls of the movable seat (116) at the middle are all rotatably connected with gears (119); The inner walls of the tops of the four groups of the clamping plates (102) are all rotatably connected to connecting plates (124). Two groups of the connecting plates (124) located on the same side are provided and are arranged in parallel. The tops of the two groups of the connecting plates (124) located on the same side are provided with the same sliding seat (120). There are four groups of sliding seats (120). The two groups of sliding seats (120) located at the outer ends are symmetrically arranged, and the two groups of sliding seats (120) located in the middle are symmetrically arranged. The tops of the two groups of the connecting plates (124) located on the same side are rotatably connected to the inner walls of the sliding seats (120) on that side.

2. According to claim 1, the intelligent control conveying robot for unmanned storage yard is characterized in that: An inner groove (121) is provided on the inner wall of the middle part of the sliding seat (120), and a rack (122) is fixedly installed on the inner wall of the inner groove (121). The gear (119) is located in the corresponding inner groove (121) and meshes with the corresponding rack (122). The movable seat (116) is slidably connected to the sliding seat (120) through the meshing of the gear (119) and the rack (122). Slide bars (123) are fixedly installed on the inner walls of the four groups of sliding seats (120). The slide bars (123) are provided in multiple groups and are slidably connected to the corresponding slide grooves (118).

3. The intelligent control conveying robot for unmanned storage yard according to claim 1 is characterized in that: A screw transmission mechanism (130) is fixedly mounted on the bottom of each of the four groups of sliding seats (120), and the output end of the screw transmission mechanism (130) is connected to the corresponding movable seat (116).

4. The intelligent control conveying robot for unmanned warehouse yard according to claim 1 is characterized in that: Support seats (103) are fixedly mounted at the four corners of the top of the bottom plate (101), and four groups of support seats (103) are engaged with four corresponding groups of connecting plates (124).

5. The intelligent control conveying robot for unmanned storage yard according to claim 1 is characterized in that: Both sides of the bottom of the top plate (200) are fixedly mounted with movable rods (210), the tops of the four groups of sliding seats (120) are fixedly mounted with top sleeves (140), the two groups of movable rods (210) respectively slide through the two groups of top sleeves (140) located on the side, the four corners of the middle of the top surface of the bottom plate (101) are fixedly mounted with slide rails (104), the bottom of the top plate (200) is fixedly mounted with four groups of slide plates (220), and the four groups of slide plates (220) are respectively slidably connected to the four groups of slide rails (104).

6. The intelligent control conveying robot for unmanned storage yard according to claim 1 is characterized in that: Slideways (211) are fixedly installed on both sides of the top of the top plate (200), and the same material holding box (230) is slidably connected to the two sets of the slideways (211). A screw rod (212) is rotatably connected to the middle of the top surface of the top plate (200), and the bottom of the material holding box (230) is meshed with the screw rod (212). A motor 1 (213) is fixedly installed on the top of the top plate (200), and the output end of the motor 1 (213) is fixedly connected to the end wall of the screw rod (212).

7. The intelligent control conveying robot for unmanned storage yard according to claim 6 is characterized in that: The inner wall of the material holding box (230) is slidably connected to a push plate (231), the outer wall of the material holding box (230) is fixedly mounted with a cylinder (240), and the output end of the cylinder (240) is fixedly connected to the end wall of the push plate (231).

8. The intelligent control conveying robot for unmanned warehouse yard according to claim 1 is characterized in that: The inner wall of the vehicle body (300) is slidably connected to a lifting platform (310), the bottom of the bottom plate (101) is fixedly connected to the center of the top surface of the lifting platform (310), the top of the vehicle body (300) is rotatably connected to a connecting shaft (320), both sides of the top of the vehicle body (300) are provided with hanging wheel groups (321), and the hanging wheels on the two hanging wheel groups (321) are fixedly connected to the end wall of the connecting shaft (320), the hanging wheels on the two hanging wheel groups (321) are wound with slings (322), and the two groups of slings (322) are respectively fixedly connected to the top of both ends of the lifting platform (310), a second motor (323) is fixedly installed on the outer wall of the top of the vehicle body (300), and the output end of the second motor (323) is fixedly connected to the end wall of the connecting shaft (320), and a plurality of groups of universal wheels (330) are fixedly installed on the bottom of the vehicle body (300).

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