Material grabbing manipulator for stereoscopic warehouse

Abstract

The invention relates to the technical field of stereoscopic warehouse stacking, in particular to a stereoscopic warehouse material grabbing manipulator which comprises a storage box and a bottom plate, a supporting bottom frame is arranged at the bottom end of the bottom plate, a material supporting plate is movably connected to the surface of the bottom plate, and a back frame is fixedly connected to the back of the storage box. Driving covers are fixedly connected to the four sides of the side face of the back frame, the outer surfaces of the driving covers are sleeved with driving ring bases, and hydraulic push rods are arranged on the two sides of the back face of the back frame. Through the arrangement of the storage box, the driving ring base, the movable side cover, the sliding strip frame, the inflation strip frame, the vertical air bag and the transverse air bag, the mechanical arm equipment can conduct more adaptive and stable material grabbing work in the stereoscopic warehouse, in the actual use process, a worker firstly moves the storage box to be in butt joint with the material taking position of the stereoscopic warehouse, and then the storage box is moved to be in butt joint with the storage box; and then a driving motor is started firstly to drive a transmission chain in a transmission groove in the inner wall of a driving ring seat to rotate and adjust integrally through a driving chain wheel at one end.

Description

Technical Field

[0001] The invention relates to the technical field of material stacking in a stereoscopic warehouse, and in particular to a material grabbing manipulator for a stereoscopic warehouse. Background Art

[0002] The basic starting point of the early conception of high-bay warehouses is to improve space utilization and fully save limited and precious land. The view of improving space utilization has a broader and deeper meaning. Saving land has been linked to more aspects such as energy conservation and environmental protection. Some even treat space utilization as an important indicator for assessing the rationality and advancement of the system. The space utilization of high-bay warehouses is closely related to their planning. Generally speaking, the space utilization of automated high-bay warehouses is two to five times that of ordinary flat warehouses, which is quite considerable. Automated high-bay warehouses are a new concept in logistics warehousing. The use of high-bay warehouse equipment can realize high-level rationalization of warehouses, automated storage and retrieval, and simple operation. Automated high-bay warehouses are a form with a higher technical level at present. The main body of automated high-bay warehouses It is composed of shelves, aisle stacking cranes, storage workbenches and automatic transport and operation control systems. The shelves are buildings or structures with steel structures or reinforced concrete structures. The shelves are standard-sized cargo spaces. The aisle stacking cranes travel through the aisles between the shelves to complete the storage and retrieval of goods. Computer and barcode technology are used in management. The automated high-rise warehouse is a complex automation system composed of high-rise shelves, rail-mounted aisle stackers, in-and-out pallet conveyor systems, size detection barcode reading systems, communication systems, automatic control systems, computer monitoring systems, computer management systems and other auxiliary equipment such as wire and cable tray distribution cabinets, pallets, adjustment platforms, steel structure platforms, etc. The material grabbing manipulator equipment in the high-rise warehouse is the basis for ensuring efficient loading and unloading of goods.

[0003] For example, the patent document with the announcement number CN 116161368 B discloses a material grabbing manipulator for a stereoscopic warehouse, including a bottom plate, a lifting mechanism and a grabbing mechanism; the lifting mechanism includes a guide column arranged at the end of the bottom plate, the middle part of the guide column is slidably connected with a lifting frame, and the middle part of the bottom plate is provided with a lifting component for adjusting the height of the lifting frame; the grabbing mechanism includes a crossbeam that is lifted and lowered synchronously with the lifting frame, columns are arranged on both sides of the crossbeam, a back plate is arranged between the two columns, a sliding seat is arranged on the side of the column close to the crossbeam, the sliding seat is slidably connected with a support plate, a telescopic component for driving the support plate to move is arranged on the crossbeam, and the end of the column away from the crossbeam is slidably connected with a lifting plate, and sliders are slidably connected on both sides of the lifting plate. The present invention is suitable for a material grabbing manipulator for a stereoscopic warehouse, which completes the lifting and releasing of materials by arranging two clamping plates that can approach each other and move upward, and cooperate with a support plate that can move left and right.

[0004] However, when the structure is performing actual material grabbing operations in the stereoscopic warehouse, its manipulator equipment can only carry out grabbing operations of warehouse goods in a quantitative state due to its own structural limitations. Most of the materials in the stereoscopic warehouse are stored in irregular boxes, and the number and volume of the boxes cannot be guaranteed. At this time, the equipment cannot perform a more adaptive docking and grabbing operation with the grabbed goods storage box, and the problem of goods falling off is very likely to occur. The stacked goods are also prone to the risk of collapse, and it is impossible to ensure that the stereoscopic warehouse materials are more stably grabbed and protected. At the same time, the equipment cannot provide more stable auxiliary operations for loading and unloading materials on the shelves for the grabbed stereoscopic warehouse materials, and cannot meet daily use needs. Therefore, it is urgent to design a stereoscopic warehouse material grabbing manipulator to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a material grabbing robot for a three-dimensional warehouse to solve the problem that the existing structure proposed in the above background technology is that when performing actual material grabbing operations in the three-dimensional warehouse, the robot equipment can only perform grabbing operations on warehouse goods in a quantitative state due to the limitation of its own structure. Most of the materials in the three-dimensional warehouse are stored in irregular boxes, and the number and volume of the boxes cannot be guaranteed. At this time, the equipment cannot perform a more adaptive docking and grabbing operation with the storage boxes of the grabbed goods, and the problem of goods falling off is very likely to occur. The stacked goods are also prone to the risk of collapse, and it is impossible to ensure that the three-dimensional warehouse materials are more smoothly grabbed and protected. At the same time, the equipment cannot provide more stable auxiliary operations for loading and unloading materials on the shelves for the grabbed three-dimensional warehouse materials, and cannot meet the daily use needs.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a material grabbing manipulator for a stereoscopic warehouse, comprising a storage box, the bottom end of the storage box is fixedly connected to a bottom plate, the bottom end of the bottom plate is provided with a supporting bottom frame, the surface of the bottom plate is movably connected to a material support plate, the back of the storage box is fixedly connected to a back frame, the four sides of the side of the back frame are fixedly connected to a driving cover, the outer surface of the driving cover is sleeved with a driving ring seat, hydraulic push rods are provided on both sides of the back of the back frame, the four sides of the side of the storage box are fixedly connected to movable side covers, and movable grooves are opened inside the movable side covers;

[0007] A sliding bar frame, a sliding bar frame is arranged at one end inside the movable groove of the movable side cover, an inflatable bar frame is fixedly connected to the bottom of the sliding bar frame, a vertical airbag is arranged at the bottom center of the inflatable bar frame, transverse airbags are arranged on both sides of the bottom of the inflatable bar frame, the bottom end of the vertical airbag is fixedly connected to a center top connecting seat, the bottom end of the transverse airbag is fixedly connected to a side top connecting seat, a stretch rubber sleeve is arranged between the center top connecting seat and the side top connecting seats on both sides, and the four groups of the center top connecting seat and the side top connecting seats are connected to each other at the inner center of the storage box.

[0008] Preferably, a fitting rubber pad is provided on the surface of the central top seat, and fitting balls are evenly provided on the surface of the stretching rubber sleeve.

[0009] Preferably, a first damping strip is provided on both sides of the inflation bar frame, one end of the inflation bar frame is fixedly connected to an inflation machine base, an air control pump is provided inside the inflation machine base, a cable discharge pipe is fixedly connected to the bottom end of the inflation machine base, and an exhaust machine base is provided at the bottom of the cable discharge pipe.

[0010] Preferably, a screw sleeve is provided at the inner center of the sliding bar frame, and second damping strips are provided at the top and both sides of the sliding bar frame.

[0011] Preferably, an adjusting screw is provided inside the movable groove, a third damping strip is provided on the top and both sides of the inner wall of the movable groove, a driving seat is provided at one end of the movable side cover, and a transmission sprocket is provided on the side of the driving seat.

[0012] Preferably, a driving sprocket is provided on the inner bottom wall of the driving ring seat, a driving motor is provided at one end of the driving sprocket, a transmission groove is opened on the inner wall of the driving ring seat, and a transmission chain is provided inside the transmission groove.

[0013] Preferably, a protective baffle is fixedly connected to the back side of the supporting plate, a conveyor belt is provided inside the supporting plate, and a shovel strip is fixedly connected to the front end of the supporting plate.

[0014] Preferably, a lifting push rod is arranged inside the supporting base frame, a lifting seat is fixedly connected to the top end of the lifting push rod, and a positioning slot is provided at the top end of the supporting base frame.

[0015] Preferably, two ends of the bottom of the supporting chassis are fixedly connected with a moving seat, and a moving crawler is arranged inside the moving seat.

[0016] Preferably, the inner wall of the storage box is provided with rotation grooves at the top and bottom of the four sides, rotation shafts are provided at both ends of the rotation grooves, and rotation rollers are provided between the rotation shafts.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The material grabbing manipulator for the three-dimensional warehouse can make the manipulator equipment perform more adaptive and stable material grabbing work in the three-dimensional warehouse through the storage box, drive ring seat, movable side cover, sliding bar rack, inflatable bar rack, vertical air bag, transverse air bag, center top seat, side top seat, stretching rubber sleeve, fitting rubber pad, fitting rolling ball, inflator seat, air control pump, cable duct, exhaust seat, screw sleeve, adjusting screw, drive seat, transmission sprocket, drive sprocket, drive motor, transmission groove and transmission chain. In the actual use process, the worker The operator first moves the storage box to dock at the material-retrieving position of the stereoscopic warehouse, and then starts the drive motor to drive the drive chain inside the drive groove on the inner wall of the drive ring seat through the drive sprocket at one end to rotate and adjust the entirety. Then the drive chain drives the drive sprockets at the top of the storage box and the drive seat at one end of the movable side covers on both sides to synchronously drive the three sets of movable side cover internal adjustment screw rods to achieve synchronous rotation and adjustment operations, so that the internal sliding bars of the three sets of movable side covers cooperate with the internal screw rod sleeves to move outward synchronously along the adjustment screw rods. The three sets of inflatable bars connected to the sliding bars are extended out of the storage box through a telescopic operation to dock with the shelves of the stereoscopic warehouse. After the docking is completed, the air control pump inside the inflator seat at one end of all the inflatable bars can be started, and then the vertical airbags and the horizontal airbags can be inflated synchronously. The vertical airbag inflation can drive the central top seat at one end to perform vertical top pressing operation on the material. In addition to driving the side top seat at one end to perform vertical top pressing, the horizontal airbag inflation can also perform horizontal movement docking adjustment and adaptive docking adjustment with the two sides of the material. The stretch rubber sleeve between the center top seat and the side top seat is adaptively telescopically adjusted, the center top seat is fitted with the center of the material through the fitting rubber pad on the surface, and the side top seat is adaptively rolled and adjusted through the fitting rolling ball on the surface, thereby achieving a more adaptive docking and tightening operation with the material on the shelf, always ensuring the firmness of the material when grabbing, and subsequently quickly deflated through the wire pipe at the bottom of the inflator seat and the exhaust seat, to quickly shrink and reset the vertical airbag and the horizontal airbag, reflecting the practicality of the equipment design.

[0019] The material grabbing manipulator for the three-dimensional warehouse further improves the overall use effect of the equipment through the storage box, bottom plate, supporting bottom frame, pallet plate, back frame, driving cover, hydraulic push rod, movable side cover, movable groove, first damping strip, second damping strip, third damping strip, protective baffle, conveyor belt, shovel strip, lifting push rod, lifting seat, positioning card slot, moving seat, moving crawler, rotating groove, rotating shaft and rotating roller. In daily use, the staff can start the hydraulic push rods on both sides of the back of the back frame to drive the pallet plate and the protective baffle to extend out from the inside of the storage box as a whole, and then the shovel strip at the front end of the pallet plate scoops up the bottom of the material on the shelf of the three-dimensional warehouse, start the conveyor belt on the surface of the pallet plate to transport it inward, and transport the material on the shelf to the pallet plate. At this time, with the fitting ball on the surface of the side top seat, the material can be transported quickly. Then the hydraulic push rod is started again to send the pallet plate and the material as a whole into the interior of the storage box for protection operation, and the sliding bar rack The inflatable bar frame as a whole is also adaptively retracted into the movable groove of the top of the storage box and the movable side covers on both sides. The second damping bars on both sides and the top of the sliding bar frame and the first damping bars on both sides of the inflatable bar frame can perform adaptive damping fitting operations in the movable groove through the third damping bars, thereby effectively avoiding abnormal vibration of the equipment and affecting the stacked materials on the surface of the support plate to avoid the collapse of the materials. Subsequently, the moving seats and moving crawlers on both sides of the bottom of the support frame can be used to carry out rapid material conveying operations, and the conveyor belt can also be used to carry out rapid material unloading operations, so as to realize efficient and stable material unloading and loading auxiliary operations. The lifting push rod inside the support frame can be started daily to drive the lifting seat at the top to perform limit lifting operations at the positioning slot at the top of the support frame. At the same time, the rotating shaft and rotating roller inside the central rotating groove on the top of the inner wall of the storage box and on both sides can perform rolling limit protection operations on the lateral airbags on both sides of the vertical airbags, ensuring the overall firmness and stability of the equipment in grabbing materials, reflecting the comprehensiveness of the equipment design. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional schematic diagram of the structure of the present invention;

[0021] Figure 2 It is an overall schematic diagram of the inflatable bar frame structure of the present invention;

[0022] Figure 3 It is an overall schematic diagram of the side top connection seat structure of the present invention;

[0023] Figure 4 It is an overall schematic diagram of the movable side cover structure of the present invention;

[0024] Figure 5 It is an overall schematic diagram of the sliding bar frame structure of the present invention;

[0025] Figure 6 It is an overall schematic diagram of the driving ring seat structure of the present invention;

[0026] Figure 7 It is an overall schematic diagram of the support plate structure of the present invention;

[0027] Figure 8 It is an overall schematic diagram of the supporting chassis structure of the present invention;

[0028] Fig. 9 For the present invention Figure 1 A magnified schematic diagram of the structure at center A;

[0029] Fig.10 For the present invention Figure 1 A magnified schematic diagram of the structure at B in the figure.

[0030] In the figure: 1. Storage box; 2. Bottom plate; 3. Support bottom frame; 4. Support plate; 5. Back frame; 6. Drive cover; 7. Drive ring seat; 8. Hydraulic push rod; 9. Movable side cover; 10. Movable groove; 11. Sliding bar frame; 12. Inflatable bar frame; 13. Vertical airbag; 14. Horizontal airbag; 15. Center top seat; 16. Side top seat; 17. Stretch rubber sleeve; 18. Laminating rubber pad; 19. Laminating rolling ball; 20. First damping strip; 21. Inflator seat; 22. Air control pump; 23. Cable duct ; 24. Exhaust machine base; 25. Screw sleeve; 26. Second damping strip; 27. Adjusting screw; 28. Third damping strip; 29. ​​Driving seat; 30. Transmission sprocket; 31. Driving sprocket; 32. Driving motor; 33. Transmission groove; 34. Transmission chain; 35. Protective baffle; 36. Conveyor belt; 37. Shovel strip; 38. Lifting push rod; 39. Lifting seat; 40. Positioning slot; 41. Moving seat; 42. Moving crawler; 43. Rotating groove; 44. Rotating shaft; 45. Rotating roller. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figure 1-Figure 10 , an embodiment provided by the present invention:

[0033] A material grabbing manipulator for a stereoscopic warehouse comprises a storage box 1, wherein the bottom end of the storage box 1 is fixedly connected to a bottom plate 2, a supporting bottom frame 3 is arranged at the bottom end of the bottom plate 2, a material support plate 4 is movably connected to the surface of the bottom plate 2, a back frame 5 is fixedly connected to the back of the storage box 1, a driving cover 6 is fixedly connected to the four sides of the side of the back frame 5, a driving ring seat 7 is sleeved on the outer surface of the driving cover 6, hydraulic push rods 8 are arranged on both sides of the back of the back frame 5, a movable side cover 9 is fixedly connected to the four sides of the side of the storage box 1, a movable groove 10 is opened inside the movable side cover 9, an adjusting screw rod 27 is arranged inside the movable groove 10, and an adjusting screw rod 27 is arranged inside the movable groove 10. A third damping strip 28 is provided on the top and both sides of the wall, a driving seat 29 is provided at one end of the movable side cover 9, a transmission sprocket 30 is provided on the side of the driving seat 29, a driving sprocket 31 is provided on the inner bottom wall of the driving ring seat 7, a driving motor 32 is provided at one end of the driving sprocket 31, a transmission groove 33 is provided on the inner wall of the driving ring seat 7, a transmission chain 34 is provided inside the transmission groove 33, a protective baffle 35 is fixedly connected to the back of the supporting plate 4, a conveyor belt 36 is provided inside the supporting plate 4, a shovel strip 37 is fixedly connected to the front end of the supporting plate 4, a lifting push rod 38 is provided inside the supporting frame 3, and a lifting push rod 38 is provided inside the lifting frame 3. The top of the lowering push rod 38 is fixedly connected with a lifting seat 39, the top of the supporting frame 3 is provided with a positioning slot 40, the bottom ends of the supporting frame 3 are fixedly connected with a moving seat 41, and a moving crawler 42 is arranged inside the moving seat 41. The inner wall of the storage box 1 is provided with a rotating groove 43 on all four sides, and a rotating shaft 44 is arranged at both ends of the rotating groove 43. A rotating roller 45 is arranged between the rotating shafts 44. The air control pump 22 inside the inflator seat 21 at one end of all the inflatable strips 12 is started, and then the vertical airbag 13 and the lateral airbag 14 are synchronously inflated. The vertical airbag 13 can be inflated with The center top seat 15 at one end is moved to perform a vertical top pressing operation on the material. The inflation of the lateral airbag 14 not only drives the side top seat 16 at one end to perform vertical top pressing, but also can perform horizontal movement docking adjustment, and perform adaptive docking adjustment with the two sides of the material. At this time, the stretch rubber sleeve 17 between the center top seat 15 and the side top seat 16 performs an adaptive telescopic adjustment operation, the center top seat 15 is fitted with the center of the material through the fitting rubber pad 18 on the surface, and the side top seat 16 performs an adaptive rolling adjustment operation through the fitting rolling ball 19 on the surface, thereby achieving a more adaptive docking and tightening operation with the material on the shelf.

[0034] A sliding bar frame 11 is provided at one end of the movable groove 10 of the movable side cover 9, and an inflatable bar frame 12 is fixedly connected to the bottom of the sliding bar frame 11, and a vertical air bag 13 is provided at the bottom center of the inflatable bar frame 12, and transverse air bags 14 are provided on both sides of the bottom of the inflatable bar frame 12, and a central top connection seat 15 is fixedly connected to the bottom end of the vertical air bag 13, and a side top connection seat 16 is fixedly connected to the bottom end of the transverse air bag 14, and a stretching rubber sleeve 17 is provided between the central top connection seat 15 and the side top connection seats 16 on both sides, and four groups of central top connection seats 15 and side top connection seats 16 are connected to each other at the inner center of the storage box 1, and a fitting rubber pad 18 is provided on the surface of the central top connection seat 15, and fitting rolling balls 19 are evenly provided on the surface of the stretching rubber sleeve 17, and first damping strips 20 are provided on both sides of the inflatable bar frame 12, and an inflator seat 21 is fixedly connected to one end of the inflatable bar frame 12, and the inner The bottom of the air filling machine base 21 is provided with an air control pump 22, and the bottom end of the air filling machine base 21 is fixedly connected with a cable discharge pipe 23. The bottom of the cable discharge pipe 23 is provided with an exhaust machine base 24. The inner center of the sliding bar frame 11 is provided with a screw sleeve 25, and the top and both sides of the sliding bar frame 11 are provided with a second damping bar 26. The hydraulic push rod 8 is started again to send the support plate 4 together with the material as a whole into the interior of the storage box 1 for protection operation. The sliding bar frame 11 and the air filling machine base 12 are also adaptively retracted into the movable groove 10 of the movable side cover 9 on the top and both sides of the storage box 1. The second damping bars 26 on both sides and the top of the sliding bar frame 11 and the first damping bars 20 on both sides of the air filling machine base 12 can be adaptively damped and fitted in the movable groove 10 through the third damping bar 28, thereby effectively avoiding abnormal vibration of the equipment, affecting the stacked materials on the surface of the support plate 4, and avoiding the collapse of the materials.

[0035] Working principle: When in use, the user first moves the storage box 1 to dock it at the material-retrieving position of the stereoscopic warehouse, and then starts the driving motor 32 to drive the driving chain 34 inside the driving groove 33 of the inner wall of the driving ring seat 7 through the driving sprocket 31 at one end to rotate and adjust the entirety, and then the driving chain 34 drives the driving sprocket 30 at the top of the storage box 1 and the driving seat 29 at one end of the movable side covers 9 on both sides synchronously, so as to realize the synchronous rotation and adjustment operation of the adjusting screw rods 27 inside the three groups of movable side covers 9, so that the sliding bar frames 11 inside the three groups of movable side covers 9 cooperate with the internal screw rod sliding sleeves 25 to perform synchronous outward telescopic operations along the adjusting screw rods 27, and extend the three groups of inflatable bar frames 12 connected to the sliding bar frames 11. The storage box 1 is docked with the shelves of the stereoscopic warehouse. After the docking is completed, the air control pump 22 inside the inflator seat 21 at one end of all the inflatable racks 12 can be started, and then the vertical airbags 13 and the horizontal airbags 14 are synchronously inflated. The inflation of the vertical airbag 13 can drive the central top seat 15 at one end to perform a vertical top pressing operation on the material. In addition to driving the side top seat 16 at one end to press vertically, the inflation of the horizontal airbag 14 can also move and dock laterally, and perform adaptive docking adjustment with the two sides of the material. At this time, the stretch rubber sleeve 17 between the central top seat 15 and the side top seat 16 performs an adaptive telescopic adjustment operation, and the central top seat 15 is fitted with the center of the material through the surface fitting rubber pad 18, and the side top seat 16 is fitted with the surface fitting rubber pad 18. The fitting ball 19 on the surface can be adaptively rolled and adjusted, so as to achieve a more adaptive docking and tightening operation with the materials on the shelf, and always ensure the firmness of the materials when grabbing. Later, the discharge pipe 23 and the exhaust base 24 at the bottom of the inflator base 21 can be quickly deflated to quickly shrink and reset the vertical airbag 13 and the horizontal airbag 14. In daily use, the staff can start the hydraulic push rods 8 on both sides of the back of the back frame 5 to drive the supporting plate 4 and the protective baffle 35 to extend from the inside of the storage box 1 as a whole, and then the shovel strip 37 at the front end of the supporting plate 4 shovels the bottom of the materials on the shelf of the three-dimensional warehouse, and starts the conveyor belt 36 on the surface of the supporting plate 4 to transport it inward, so as to move the materials on the shelf. The material is transported to the support plate 4. At this time, the fitting ball 19 on the surface of the side top seat 16 can ensure the rapid conveying operation of the material. Then the hydraulic push rod 8 is started again to send the support plate 4 and the material as a whole into the storage box 1 for protection operation. The sliding bar frame 11 and the inflatable bar frame 12 are also adaptively retracted into the movable groove 10 of the top and the movable side covers 9 on both sides of the storage box 1. The second damping bars 26 on both sides and the top of the sliding bar frame 11 and the first damping bars 20 on both sides of the inflatable bar frame 12 can be adaptively damped and fitted in the movable groove 10 through the third damping bar 28, thereby effectively avoiding abnormal vibration of the equipment, affecting the stacked materials on the surface of the support plate 4, and avoiding the collapse of the materials.Subsequently, the moving seat 41 and the moving crawler 42 on both sides of the bottom of the supporting frame 3 can be used to quickly transport the materials. Subsequently, the conveyor belt 36 can also be used to quickly unload the materials, so as to realize efficient and stable auxiliary loading and unloading of the materials. The lifting push rod 38 inside the supporting frame 3 can be started daily to drive the lifting seat 39 at the top to perform the limited lifting operation at the positioning slot 40 at the top of the supporting frame 3. At the same time, the rotating shaft 44 and the rotating roller 45 inside the central rotating groove 43 at the top of the inner wall of the storage box 1 and on both sides can perform the rolling limited protection operation of the horizontal airbags 14 on both sides of the vertical airbag 13 to ensure the firmness and stability of the overall equipment in grabbing the materials. The above is the whole working principle of the present invention.

[0036] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A material grabbing robot for a three-dimensional warehouse, comprising a storage box (1), characterized in that: The bottom end of the storage box (1) is fixedly connected to a bottom plate (2), a supporting bottom frame (3) is provided at the bottom end of the bottom plate (2), a supporting plate (4) is movably connected to the surface of the bottom plate (2), a back frame (5) is fixedly connected to the back of the storage box (1), a driving cover (6) is fixedly connected to the four sides of the side of the back frame (5), a driving ring seat (7) is sleeved on the outer surface of the driving cover (6), hydraulic push rods (8) are provided on both sides of the back of the back frame (5), and movable side covers (9) are fixedly connected to the four sides of the side of the storage box (1), and movable grooves (10) are provided inside the movable side covers (9); A sliding bar frame (11), a sliding bar frame (11) is arranged at one end inside the movable groove (10) of the movable side cover (9), the bottom of the sliding bar frame (11) is fixedly connected to an inflatable bar frame (12), a vertical air bag (13) is arranged at the bottom center of the inflatable bar frame (12), and transverse air bags (14) are arranged on both sides of the bottom of the inflatable bar frame (12), the bottom end of the vertical air bag (13) is fixedly connected to a central top connection seat (15), and the bottom end of the transverse air bag (14) is fixedly connected to a side top connection seat (16), and stretch rubber sleeves (17) are arranged between the central top connection seat (15) and the side top connection seats (16) on both sides, and four groups of the central top connection seat (15) and the side top connection seats (16) are connected to each other at the inner center of the storage box (1).

2. A material grabbing manipulator for a three-dimensional warehouse according to claim 1, characterized in that: The surface of the central top seat (15) is provided with a fitting rubber pad (18), and the surface of the stretching rubber sleeve (17) is evenly provided with fitting rolling balls (19).

3. The material grabbing manipulator for a three-dimensional warehouse according to claim 1 is characterized by: First damping strips (20) are arranged on both sides of the inflatable bar frame (12); one end of the inflatable bar frame (12) is fixedly connected to an inflator base (21); an air control pump (22) is arranged inside the inflator base (21); a cable discharge tube (23) is fixedly connected to the bottom end of the inflator base (21); an exhaust base (24) is arranged at the bottom of the cable discharge tube (23).

4. The material grabbing manipulator for a three-dimensional warehouse according to claim 1 is characterized by: A screw rod sleeve (25) is arranged at the inner center of the sliding bar frame (11), and second damping strips (26) are arranged at the top and both sides of the sliding bar frame (11).

5. The material grabbing manipulator for a three-dimensional warehouse according to claim 1 is characterized by: An adjusting screw rod (27) is arranged inside the movable groove (10), a third damping strip (28) is arranged on the top and both sides of the inner wall of the movable groove (10), a driving seat (29) is arranged at one end of the movable side cover (9), and a transmission sprocket (30) is arranged on the side of the driving seat (29).

6. The material grabbing manipulator for a three-dimensional warehouse according to claim 1 is characterized by: A driving sprocket (31) is arranged on the inner bottom wall of the driving ring seat (7), a driving motor (32) is arranged at one end of the driving sprocket (31), a transmission groove (33) is opened on the inner wall of the driving ring seat (7), and a transmission chain (34) is arranged inside the transmission groove (33).

7. The material grabbing manipulator for a three-dimensional warehouse according to claim 1 is characterized by: A protective baffle (35) is fixedly connected to the back of the support plate (4), a conveyor belt (36) is arranged inside the support plate (4), and a shovel strip (37) is fixedly connected to the front end of the support plate (4).

8. The material grabbing manipulator for a three-dimensional warehouse according to claim 1 is characterized by: A lifting push rod (38) is arranged inside the supporting base frame (3), the top end of the lifting push rod (38) is fixedly connected to a lifting seat (39), and a positioning slot (40) is provided at the top end of the supporting base frame (3).

9. The material grabbing manipulator for a three-dimensional warehouse according to claim 1, characterized in that: Both ends of the bottom of the supporting chassis (3) are fixedly connected to a moving seat (41), and a moving crawler (42) is arranged inside the moving seat (41).

10. The material grabbing manipulator for a three-dimensional warehouse according to claim 1, characterized in that: The inner wall of the storage box (1) is provided with rotation grooves (43) on the upper and lower sides, and rotation shafts (44) are arranged at both ends of the rotation grooves (43), and rotation rollers (45) are arranged between the rotation shafts (44).

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