Intelligent automatic manipulator for warehouse logistics

Abstract

The invention belongs to the technical field of logistics transfer, and provides an intelligent automatic manipulator for warehouse logistics, the intelligent automatic manipulator comprises a first base plate and a plurality of groups of second base plates, a side plate and a first mounting frame are fixedly mounted on two sides of the first base plate respectively, a limiting groove is formed in the side plate, and two groups of first racks are fixedly mounted in the first mounting frame; a telescopic piece is fixedly installed on the first base plate, an installation block is fixedly installed at the output end of the telescopic piece, a rotating shaft is rotationally installed on the installation block, a first supporting plate and a gear are fixedly installed at the two ends of the rotating shaft respectively, and a first limiting rod is fixedly installed on the first supporting plate. Compared with the prior art, the multi-direction clamping device has the following beneficial effects that multi-direction clamping of an object is achieved, the object clamping stability is improved, large acting force borne by the object in the single direction is avoided, regular and irregular objects can be comprehensively clamped, and the using flexibility and practicability of the device are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of logistics transportation, and in particular relates to an intelligent automatic manipulator for warehousing logistics. Background Art

[0002] In the current market environment, in various types of industries, the logistics supply chain is regarded as the lifeline by many enterprises; the role of logistics supply chain management in controlling costs, reducing inventory, and dispersing risks has been recognized and valued by more and more entrepreneurs; in the logistics supply chain, warehousing and transportation is one of the key links, and the packaging step is an indispensable key step in warehousing and transportation.

[0003] In existing warehousing and transportation, objects are mostly gripped and moved by automated robots. Existing robots mostly grip objects from two directions, resulting in greater force in the gripping direction, which can easily cause damage to the objects. If the objects are not in a regular state, it is difficult to find a good force position when gripping, which can easily cause the objects to fall off and be damaged, increasing the restrictions on the use of the equipment. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent automated manipulator for warehousing logistics, aiming to solve the technical problems in the prior art that it is not applicable to the clamping and handling operations of different objects and that it is easy to cause objects to be damaged by severe forces.

[0005] The present invention is implemented as follows: an intelligent automated manipulator for warehousing logistics comprises a first base plate and multiple groups of second base plates, side plates and a first mounting frame are fixedly installed on both sides of the first base plate, a limiting slot is provided on the side plate, two groups of first racks are fixedly installed in the first mounting frame, a telescopic member is fixedly installed on the first base plate, a mounting block is fixedly installed on the output end of the telescopic member, a rotating shaft is rotatably installed on the mounting block, a first support plate and a gear are fixedly installed on both ends of the rotating shaft, a first limiting rod is fixedly installed on the first support plate, a slider is fixedly installed on the first limiting rod, the slider slides in the limiting slot, the gear and the first rack are distributed in the same plane and drive the gear to mesh with the first rack when the rotating shaft moves, two groups of connecting plates are fixedly installed on the rotating shaft, the end of the connecting plate is fixedly connected to the second base plate, the structural setting on the second base plate is the same as the structural setting on the first base plate, and two adjacent groups of the second base plates are also connected by a connecting plate.

[0006] Further technical solution: the limiting groove includes a horizontal section and two groups of arc sections, and the arc sections are distributed at both ends of the horizontal section.

[0007] Further technical solution: the first mounting frame is U-shaped, two groups of first racks are located on two side walls inside the first mounting frame, and the two groups of first racks are spaced apart in the length direction of the first mounting frame.

[0008] Further technical solution: A fixing plate is fixedly installed on the mounting block, the fixing plate is slidably connected to the first substrate and passes through the first substrate, a plurality of groups of fixing holes are provided on the fixing plate, a fixing frame is fixedly installed on the first substrate, a movable plate is arranged on the fixing frame, and a fixing rod used in conjunction with the fixing holes is arranged on the movable plate.

[0009] Further technical solution: a frame-shaped lifting frame is slidably installed on the movable plate, a fixed rod is fixedly installed on the surface of the lifting frame close to the fixed plate, and a first electromagnet is fixedly installed on the surface of the movable plate away from the fixed plate. The first electromagnet is used in conjunction with a first permanent magnet fixedly installed on the lifting frame.

[0010] Further technical solution: the movable plate is slidably installed on the fixed frame, and multiple groups of first elastic members are fixedly installed in the fixed frame. The first elastic members are fixedly connected to the movable plate. A screw rod is rotatably installed on the fixed frame, and the screw rod is rotatably connected to the movable plate and both ends of the screw rod pass through the fixed frame. Ratchets are fixedly installed on both ends of the screw rod and the free rotation directions of the two groups of ratchets are opposite. The end of the fixed frame is provided with a second rack that cooperates with the ratchet to limit the rotation of the screw rod.

[0011] Further technical solution: a second support plate is fixedly installed at both ends of the fixed frame, two sets of mounting rods are fixedly installed on the second support plate, the second rack is slidably installed on the mounting rod, a second elastic member is fixedly installed on the second support plate, the second elastic member is fixedly connected to the second rack, when the second elastic member is in the original length state, the second rack moves to the end of the mounting rod and engages with the ratchet, a second electromagnet is fixedly installed on the second support plate, and the second electromagnet is used in conjunction with a second permanent magnet fixedly installed on the second rack.

[0012] Further technical solution: a coaxially arranged mounting ring is fixedly installed on the freely rotating outer ring of the ratchet, and multiple groups of third permanent magnets are slidably installed on the mounting ring. The third permanent magnets are distributed along the radial direction of the mounting ring. The third permanent magnets penetrate the mounting ring and limit columns are fixedly installed at both ends. The third permanent magnet is used in conjunction with a third electromagnet fixedly installed on a fixed frame. When the third electromagnet is energized, the outer ring of the ratchet is pushed to rotate through the third permanent magnet, and an arc-shaped baffle is fixedly installed at the end of the fixed frame.

[0013] Further technical solution: a second mounting frame is fixedly installed on the end of the fixed frame, a rotating plate used in conjunction with the third permanent magnet is rotatably installed on the second mounting frame, the rotating plate is in a horizontal state in the initial state, an elastic line is fixedly installed on the end of the rotating plate, one end of the elastic line away from the rotating plate is fixedly connected to the second mounting frame, and a camera for shooting the alignment state of the ratchet and the second rack is fixedly installed on the end of the fixed frame.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The first substrate is moved to the set position by the driving member, and then the mounting block is driven to move by the telescopic member according to the shape of the object, and the mounting block drives the rotating shaft to move. When the gear is not engaged with the first rack, the slider slides in the limit groove. When the gear is engaged with one of the first racks, the rotating shaft is rotated under the action of the gear and the first rack, and then the rotating shaft drives the subsequent multiple groups of second substrates to rotate in the direction close to the object. Repeating the above steps can make the multiple groups of second substrates form a ring structure distributed around the object. The object can be clamped by multiple groups of second substrates, side plates, and first mounting frames. At this time, multiple groups of second substrates, side plates, and first mounting frames contact the object from multiple positions to achieve multi-directional clamping of the object, improve the stability of the object clamping, and avoid the object from being subjected to a large force in a single direction, reducing the probability of damage to the object. At the same time, the second substrate, side plate, and first mounting frame are driven by the rotating shaft to rotate flexibly, so that the clamping position can be better adapted to the shape of the object during clamping to adjust the clamping position, further improving the stability of the object clamping, and can comprehensively clamp regular and irregular objects, improving the flexibility and practicality of the equipment.

[0015] 2. When the object is clamped, the two ends of the screw rod are restricted and fixed by the ratchet and the second rack. At this time, the screw rod cannot continue to rotate, so the movable plate is fixed, and then the fixed plate and the rotating shaft are fixed. It is ensured that the rotating shaft can be mechanically fixed after moving to the set position, and that the connection of each component is in a locked state when clamping the object, so as to avoid the damage of the telescopic part and the loss of clamping force, which may cause the object to fall, thereby improving the stability and safety of the equipment during use.

[0016] 3. When the rotating shaft moves to the set position and needs to be fixed, the second electromagnet is not de-energized to keep the second rack from contacting the ratchet. At the same time, the third electromagnet is energized. At this time, the mounting ring will rotate and one group of the third permanent magnets will push the rotating plate to rotate and pull the elastic force line apart, thereby causing the outer ring of the ratchet to rotate slowly. The alignment state of the ratchet and the second rack is detected by the camera. When the ratchet and the second rack are about to be aligned, the second electromagnet is de-energized. At this time, the second rack contacts the ratchet under the action of the second elastic member. When the ratchet and the second rack are aligned, the second rack can mesh with the ratchet, thereby reducing the friction time between the second rack and the ratchet, reducing the wear of the equipment, and the elastic force line can slow down the rotation speed of the outer ring of the ratchet, further improving the alignment efficiency of the ratchet and the second rack, which is convenient for use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a schematic structural diagram of the first substrate in the present invention.

[0019] Figure 3 for Figure 1 A magnified schematic diagram of the A1 region in the middle.

[0020] Figure 4 It is a schematic structural diagram of the first mounting frame in the present invention.

[0021] Figure 5 It is a schematic diagram of the structure of the fixing frame in the present invention.

[0022] Figure 6 It is a right side view of the fixing frame in the present invention.

[0023] Figure 7 It is a schematic diagram of the structure of the second rack in the present invention.

[0024] Figure 8 for Figure 7 A magnified schematic diagram of the A2 region in the middle.

[0025] In the accompanying drawings: 1, first base plate; 2, telescopic member; 3, mounting block; 4, rotating shaft; 5, first support plate; 6, first limiting rod; 7, slider; 8, gear; 9, side plate; 10, limiting groove; 11, first mounting frame; 12, first rack; 13, connecting plate; 14, second base plate; 15, fixing plate; 16, fixing hole; 17, fixing frame; 18, moving plate; 19, lifting frame; 20, fixing rod; 21, first electromagnet; 22. First permanent magnet; 23. Screw rod; 24. First elastic member; 25. Ratchet; 26. Second support plate; 27. Mounting rod; 28. Second electromagnet; 29. ​​Second elastic member; 30. Second rack; 31. Second permanent magnet; 32. Mounting ring; 33. Third permanent magnet; 34. Third electromagnet; 35. Limiting column; 36. Second mounting bracket; 37. Rotating plate; 38. Elastic line; 39. Camera; 40. Shielding plate. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0028] like Figure 1-Figure 8As shown, an intelligent automatic manipulator for warehousing logistics provided by the present invention includes a first substrate 1 and multiple groups of second substrates 14. Side plates 9 and a first mounting frame 11 are fixedly installed on both sides of the first substrate 1. A limiting groove 10 is provided on the side plate 9. The limiting groove 10 includes a horizontal section and two groups of arc sections. The arc sections are distributed at both ends of the horizontal section. Two groups of first racks 12 are fixedly installed in the first mounting frame 11. The first mounting frame 11 is U-shaped. The two groups of first racks 12 are located on the two side walls in the first mounting frame 11. The two groups of first racks 12 are spaced apart in the length direction of the first mounting frame 11. A telescopic member 2 is fixedly installed on the first substrate 1. The output end of the telescopic member 2 A mounting block 3 is fixedly installed, and a rotating shaft 4 is rotatably installed on the mounting block 3. A first support plate 5 and a gear 8 are fixedly installed at both ends of the rotating shaft 4, respectively. A first limiting rod 6 is fixedly installed on the first support plate 5, and a slider 7 is fixedly installed on the first limiting rod 6. The slider 7 slides in the limiting groove 10. The gear 8 and the first rack 12 are distributed in the same plane and drive the gear 8 to engage with the first rack 12 when the rotating shaft 4 moves. Two groups of connecting plates 13 are fixedly installed on the rotating shaft 4, and the ends of the connecting plates 13 are fixedly connected to the second base plate 14. The structural arrangement on the second base plate 14 is the same as that on the first base plate 1, and two adjacent groups of second base plates 14 are also connected by the connecting plates 13.

[0029] In actual application of this embodiment, the device is installed on the driving member through the first substrate 1. When in use, the specific structure and position of the object to be transported are detected by the visual recognition device, and then the first substrate 1 is moved to the set position through the driving member. Then, the mounting block 3 is driven to move by the telescopic member 2 according to the shape of the object, and the mounting block 3 drives the rotating shaft 4 to move. When the gear 8 is not engaged with the first rack 12, the slider 7 slides in the limiting groove 10, and the rotating shaft 4 is kept in a non-rotating state through the first limiting rod 6 and the first support plate 5. When the gear 8 is engaged with one group of the first racks 12, the rotating shaft 4 is rotated under the action of the gear 8 and the first rack 12, and then the rotating shaft 4 drives the subsequent multiple groups of second substrates 14 to rotate in the direction close to the object, until the side plate 9 and the first mounting frame 11 on the first group of second substrates 14 contact the object, and then the telescopic member 2 on the second substrate 14 drives the mounting block 3 to move, so that the side plate 9 and the first mounting frame 11 on the second group of second substrates 14 contact the object, and the above steps are repeated. That is, multiple groups of second substrates 14 can form a ring structure distributed around the object, and the object can be clamped by multiple groups of second substrates 14, side plates 9, and first mounting frames 11. At this time, multiple groups of second substrates 14, side plates 9, and first mounting frames 11 contact the object from multiple positions, thereby realizing multi-directional clamping of the object, improving the stability of object clamping, and avoiding the object from being subjected to a large force in a single direction, reducing the probability of object damage, and at the same time, the second substrate 14, side plates 9, and first mounting frames 11 are driven by the rotating shaft 4 to rotate flexibly, so that the clamping position can be better adapted to the shape of the object during clamping to further improve the stability of object clamping, and regular and irregular objects can be clamped comprehensively, thereby improving the flexibility and practicality of the equipment. The telescopic member 2 is extended or contracted to make the gear 8 mesh with different first racks 12, so that the rotating shaft 4 can be rotated at different positions, further improving the flexibility during clamping, and after the subsequent object is transported to the set position, the telescopic member 2 moves in reverse in sequence to release the object.

[0030] In an example of the present embodiment, the telescopic member 2 is an electric telescopic rod, and of course it can also be other components that can actively change the length, such as a hydraulic cylinder, and the electric telescopic rod drives the rotating shaft 4 to move.

[0031] like Figure 1-Figure 7 As shown, an intelligent automated manipulator for warehousing logistics provided by the present invention, a fixing plate 15 is fixedly installed on the mounting block 3, the fixing plate 15 is slidably connected to the first substrate 1 and the fixing plate 15 passes through the first substrate 1, a plurality of groups of spaced fixing holes 16 are provided on the fixing plate 15, a fixing frame 17 is fixedly installed on the first substrate 1, a moving plate 18 is arranged on the fixing frame 17, and a fixing rod 20 used in conjunction with the fixing holes 16 is arranged on the moving plate 18.

[0032] Specifically, a frame-shaped lifting frame 19 is slidably installed on the movable plate 18, a fixing rod 20 is fixedly installed on the surface of the lifting frame 19 close to the fixed plate 15, and a first electromagnet 21 is fixedly installed on the surface of the movable plate 18 away from the fixed plate 15. The first electromagnet 21 is used in conjunction with a first permanent magnet 22 fixedly installed on the lifting frame 19.

[0033] Specifically, the movable plate 18 is slidably mounted on the fixed frame 17, and a plurality of groups of first elastic members 24 are fixedly mounted inside the fixed frame 17. The first elastic members 24 are fixedly connected to the movable plate 18. A screw rod 23 is rotatably mounted on the fixed frame 17. The screw rod 23 is rotatably connected to the movable plate 18, and both ends of the screw rod 23 pass through the fixed frame 17. Ratchets 25 are fixedly mounted on both ends of the screw rod 23, and the free rotation directions of the two groups of ratchets 25 are opposite. A second rack 30 for limiting the rotation of the screw rod 23 and used in conjunction with the ratchet 25 is provided at the end of the fixed frame 17.

[0034] Specifically, a second support plate 26 is fixedly installed at both ends of the fixed frame 17, two groups of mounting rods 27 are fixedly installed on the second support plate 26, a second rack 30 is slidably installed on the mounting rod 27, a second elastic member 29 is fixedly installed on the second support plate 26, the second elastic member 29 is fixedly connected to the second rack 30, when the second elastic member 29 is in the original length state, the second rack 30 moves to the end of the mounting rod 27 and meshes with the ratchet 25, a second electromagnet 28 is fixedly installed on the second support plate 26, and the second electromagnet 28 is used in conjunction with a second permanent magnet 31 fixedly installed on the second rack 30.

[0035] Specifically, a coaxially arranged mounting ring 32 is fixedly installed on the freely rotating outer ring of the ratchet 25, and multiple groups of third permanent magnets 33 are slidably installed on the mounting ring 32. The third permanent magnets 33 are distributed along the radial direction of the mounting ring 32. The third permanent magnets 33 penetrate the mounting ring 32 and limit columns 35 are fixedly installed at both ends. The third permanent magnet 33 is used in conjunction with a third electromagnet 34 fixedly installed on the fixed frame 17. When the third electromagnet 34 is energized, the outer ring of the ratchet 25 is pushed to rotate through the third permanent magnet 33. An arc-shaped baffle plate 40 is fixedly installed at the end of the fixed frame 17.

[0036] In actual application of this embodiment, when the telescopic member 2 drives the mounting block 3 to move to the set position, the first electromagnet 21 is powered off. At this time, under the action of gravity and the magnetic force of the first permanent magnet 22, the lifting frame 19 moves downward until the fixing rod 20 contacts the fixing plate 15. When the mounting block 3 drives the fixing plate 15 to move so that a group of fixing holes 16 are aligned with the fixing rod 20, the fixing rod 20 will enter the fixing hole 16. Then, the fixing plate 15 will drive the moving plate 18 to move through the fixing rod 20 until the rotating shaft 4 moves to the set position. In the initial state, the second electromagnet 28 is energized and adsorbed with the second permanent magnet 31. Under the action of the magnetic force, the second rack 30 moves toward the second support plate 26 and disengages from the ratchet 25. At the same time, the second rack 30 compresses the second elastic member 29. At this time, the ratchet 25 is not in contact with the second rack 30. When the movable plate 18 moves, it drives the screw rod 23 to rotate. When the rotating shaft 4 moves to the set position and the movable plate 18 stops moving, the second electromagnet 28 is powered off. Due to the rotation of the screw rod 23, the ratchet 25 is no longer aligned with the second rack 30. At this time, under the action of the second elastic member 29, the second rack 30 conflicts with the side of the ratchet 25. At the same time, the third electromagnet 34 is energized. Under the action of gravity, the third electromagnet 34 is energized. The third permanent magnet 33 below the mounting ring 32 will extend downwardly out of the mounting ring 32, and the end of the third permanent magnet 33 will extend to the position of the third electromagnet 34. At this time, after the third electromagnet 34 is energized, the magnetic pole is the same as the end of the third permanent magnet 33 that is close to the third electromagnet 33. Under the action of magnetic force, the third electromagnet 34 can drive the mounting ring 32 to rotate through the third permanent magnet 33, thereby rotating the outer ring of the ratchet 25. The third permanent magnet 33 can fall to the end position of the third electromagnet 34 through the baffle plate 40. When the ratchet 25 rotates to align with the second rack 30, the second rack 30 will move under the push of the second elastic member 29 and mesh with the ratchet 25. At this time, the third electromagnet 34 is de-energized. Since the free rotation directions of the outer rings of the ratchet wheels 25 at both ends of the screw rod 23 are different, at this time, the two ends of the screw rod 23 can be restricted and fixed by the ratchet wheels 25 and the second rack 30, and the screw rod 23 cannot continue to rotate, thereby fixing the movable plate 18, and then fixing the position of the fixed plate 15 and the rotating shaft 4, ensuring that the rotating shaft 4 can be mechanically fixed after moving to the set position, ensuring that the connection of each component is in a locked state when clamping an object, avoiding damage to the telescopic member 2 and loss of the clamping force, resulting in the object falling, and improving the stability and safety of the device when in use; After the object is transported to the set position, the second electromagnet 28 is energized again to make the second rack 30 leave the ratchet 25. At this time, the lead screw 23 is in an active state, and the first electromagnet 21 is energized at the same time. After the first electromagnet 21 is energized, it repels each other with the first permanent magnet 22. Under the action of the magnetic force, the lifting frame 19 moves upward and drives the fixing rod 20 to disengage from the fixing hole 16. Then, the moving plate 18 returns to the middle position under the action of the first elastic member 24.

[0037] In one embodiment of the present invention, the first elastic member 24 and the second elastic member 29 are respectively the first spring and the second spring, and of course they can also be other elastic members such as elastic balls. The first spring applies a reset thrust and pull force to the movable plate 18, and the second spring applies a thrust to the second rack 30.

[0038] like Figure 7 , Figure 8As shown, an intelligent automated manipulator for warehousing logistics provided by the present invention, a second mounting frame 36 is fixedly installed at the end of the fixed frame 17, a rotating plate 37 used in conjunction with the third permanent magnet 33 is rotatably installed on the second mounting frame 36, the rotating plate 37 is in a horizontal state in the initial state, an elastic line 38 is fixedly installed at the end of the rotating plate 37, one end of the elastic line 38 away from the rotating plate 37 is fixedly connected to the second mounting frame 36, and a camera 39 for photographing the alignment state of the ratchet 25 and the second rack 30 is fixedly installed at the end of the fixed frame 17.

[0039] In actual application of this embodiment, when the rotating shaft 4 moves to the set position and needs to be fixed, the second electromagnet 28 is powered on to keep the second rack 30 from contacting the ratchet 25, and the third electromagnet 34 is powered on at the same time. At this time, the mounting ring 32 will rotate and one group of the third permanent magnets 33 will push the rotating plate 37 to rotate and pull the elastic wire 38 apart, so that the outer ring of the ratchet 25 rotates slowly. When the mounting ring 32 continues to rotate, the rotating plate 37 rotates to the set angle, and the third permanent magnet 33 can be disengaged and the rotating plate 37 is reset. The ratchet 25 is detected by the camera 39. The second rack 30 is in an aligned state with the second rack 30. When the ratchet 25 is about to be aligned with the second rack 30, the second electromagnet 28 is powered off. At this time, the second rack 30 contacts the ratchet 25 under the action of the second elastic member 29. When the ratchet 25 is aligned with the second rack 30, the second rack 30 can engage with the ratchet 25, thereby reducing the friction time between the second rack 30 and the ratchet 25 and reducing the wear of the equipment. The elastic line 38 can slow down the rotation speed of the outer ring of the ratchet 25, further improving the alignment efficiency of the ratchet 25 and the second rack 30, which is convenient for use.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0041] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An intelligent automated manipulator for warehousing logistics, comprising a first substrate (1) and a plurality of sets of second substrates (14), characterized in that: Side plates (9) and a first mounting frame (11) are fixedly mounted on both sides of the first substrate (1), a limiting groove (10) is provided on the side plate (9), two sets of first racks (12) are fixedly mounted in the first mounting frame (11), a telescopic member (2) is fixedly mounted on the first substrate (1), a mounting block (3) is fixedly mounted on the output end of the telescopic member (2), a rotating shaft (4) is rotatably mounted on the mounting block (3), a first support plate (5) and a gear (8) are fixedly mounted on both ends of the rotating shaft (4), a first limiting rod (6) is fixedly mounted on the first support plate (5), and a first A slider (7) is fixedly mounted on the limiting rod (6), and the slider (7) is located in the limiting groove (10) and slides. The gear (8) and the first rack (12) are located in the same plane and are distributed. When the rotating shaft (4) moves, the gear (8) is driven to mesh with the first rack (12). Two groups of connecting plates (13) are fixedly mounted on the rotating shaft (4), and the ends of the connecting plates (13) are fixedly connected to the second base plate (14). The structural arrangement on the second base plate (14) is the same as that on the first base plate (1), and two adjacent groups of the second base plates (14) are also connected via the connecting plates (13).

2. The intelligent automated manipulator for warehousing logistics according to claim 1, characterized in that: The limiting groove (10) comprises a horizontal section and two groups of arc sections, and the arc sections are distributed at both ends of the horizontal section.

3. The intelligent automated manipulator for warehousing logistics according to claim 1, characterized in that: The first mounting frame (11) is U-shaped, and the two groups of first racks (12) are located on two side walls inside the first mounting frame (11), and the two groups of first racks (12) are spaced apart in the length direction of the first mounting frame (11).

4. The intelligent automated manipulator for warehousing logistics according to claim 1, characterized in that: A fixing plate (15) is fixedly mounted on the mounting block (3), the fixing plate (15) is slidably connected to the first substrate (1) and the fixing plate (15) passes through the first substrate (1), a plurality of groups of fixing holes (16) are provided on the fixing plate (15) and are spaced apart from each other, a fixing frame (17) is fixedly mounted on the first substrate (1), a moving plate (18) is arranged on the fixing frame (17), and a fixing rod (20) is arranged on the moving plate (18) for use with the fixing holes (16).

5. The intelligent automated manipulator for warehousing logistics according to claim 4, characterized in that: A frame-shaped lifting frame (19) is slidably mounted on the movable plate (18); a fixing rod (20) is fixedly mounted on a surface of the lifting frame (19) close to the fixing plate (15); a first electromagnet (21) is fixedly mounted on a surface of the movable plate (18) away from the fixing plate (15); the first electromagnet (21) cooperates with a first permanent magnet (22) fixedly mounted on the lifting frame (19) for use.

6. The intelligent automated manipulator for warehousing logistics according to claim 5, characterized in that: The movable plate (18) is slidably mounted on the fixed frame (17), a plurality of groups of first elastic members (24) are fixedly mounted in the fixed frame (17), the first elastic members (24) are fixedly connected to the movable plate (18), a screw rod (23) is rotatably mounted on the fixed frame (17), the screw rod (23) is rotatably connected to the movable plate (18), both ends of the screw rod (23) penetrate the fixed frame (17), ratchets (25) are fixedly mounted on both ends of the screw rod (23), and the free rotation directions of the two groups of ratchets (25) are opposite, and a second rack (30) is provided at the end of the fixed frame (17) and is used in conjunction with the ratchet (25) to limit the rotation of the screw rod (23).

7. The intelligent automated manipulator for warehousing logistics according to claim 6, characterized in that: A second support plate (26) is fixedly mounted on both ends of the fixed frame (17), two groups of mounting rods (27) are fixedly mounted on the second support plate (26), a second rack (30) is slidably mounted on the mounting rods (27), a second elastic member (29) is fixedly mounted on the second support plate (26), the second elastic member (29) is fixedly connected to the second rack (30), when the second elastic member (29) is in the original length state, the second rack (30) moves to the end of the mounting rod (27) and meshes with the ratchet (25), a second electromagnet (28) is fixedly mounted on the second support plate (26), and the second electromagnet (28) cooperates with a second permanent magnet (31) fixedly mounted on the second rack (30) for use.

8. The intelligent automated manipulator for warehousing logistics according to claim 7, characterized in that: A coaxially arranged mounting ring (32) is fixedly mounted on the freely rotatable outer ring of the ratchet (25); a plurality of groups of third permanent magnets (33) are slidably mounted on the mounting ring (32); the third permanent magnets (33) are distributed along the radial direction of the mounting ring (32); the third permanent magnets (33) penetrate the mounting ring (32) and both ends of the third permanent magnets (33) are fixedly mounted with limiting columns (35); the third permanent magnets (33) are used in conjunction with a third electromagnet (34) fixedly mounted on a fixing frame (17); when the third electromagnet (34) is energized, the third permanent magnet (33) pushes the outer ring of the ratchet (25) to rotate; an arc-shaped shielding plate (40) is fixedly mounted at the end of the fixing frame (17).

9. The intelligent automated manipulator for warehousing logistics according to claim 8, characterized in that: A second mounting frame (36) is fixedly mounted on the end of the fixed frame (17); a rotating plate (37) used in conjunction with the third permanent magnet (33) is rotatably mounted on the second mounting frame (36); the rotating plate (37) is in a horizontal state in an initial state; an elastic line (38) is fixedly mounted on the end of the rotating plate (37); one end of the elastic line (38) away from the rotating plate (37) is fixedly connected to the second mounting frame (36); and a camera (39) for photographing the alignment state of the ratchet wheel (25) and the second rack (30) is fixedly mounted on the end of the fixed frame (17).

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