An intelligent and automated manipulator for warehousing logistics

Abstract

The present invention belongs to the technical field of logistics transfer, and provides an intelligent automatic manipulator for warehousing logistics, which includes a first substrate and multiple groups of second substrates. On both sides of the first substrate, a side plate and a first mounting frame are respectively fixedly installed. A limiting groove is opened 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 substrate. The output end of the telescopic member is fixedly installed with a mounting block. A rotating shaft is rotatably installed on the mounting block. At both ends of the rotating shaft, a first support plate and a gear are respectively fixedly installed. A first limiting rod is fixedly installed on the first support plate. Compared with the prior art, the beneficial effects of the present invention are as follows: It realizes multi-directional clamping of objects, improves the stability of object clamping, and avoids large forces acting on objects in a single direction. It can comprehensively pick up regular and irregular objects, improving the flexibility and practicality of equipment use.

Description

Technical Field

[0001] The present invention belongs to the technical field of logistics transfer, and particularly 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 a key link, and the packaging step is an essential key step in warehousing and transportation.

[0003] In existing warehousing and transportation, an automatic manipulator is mostly used to clamp and carry objects. Most of the existing manipulators clamp objects from two directions, resulting in a large force on the clamping direction, which easily causes damage to the object due to force. Moreover, if the object is not in a regular state, it is difficult to find a good force-bearing position during clamping, which easily causes the object to fall off and be damaged, increasing the limitations of equipment use. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent automatic manipulator for warehousing logistics, aiming to solve the technical problems in the prior art that it cannot be applied to the clamping and handling operations of different objects and is prone to causing large damage to objects due to force.

[0005] The present invention is implemented as follows. An intelligent automatic manipulator for warehousing logistics includes a first substrate and multiple groups of second substrates. Side plates and a first mounting frame are respectively fixedly installed on both sides of the first substrate. A limiting groove is formed 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 substrate. An output end of the telescopic member is fixedly installed with a mounting block. A rotating shaft is rotatably installed on the mounting block. First support plates and gears are respectively fixedly installed at 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 groove. The gear and the first rack are distributed in the same plane, and when the rotating shaft moves, the gear meshes with the first rack. Two groups of connecting plates are fixedly installed on the rotating shaft. Ends of the connecting plates are fixedly connected to the second substrate. The structure on the second substrate is the same as the structure on the first substrate. Adjacent two groups of the second substrates are also connected by connecting plates.

[0006] Further technical solution: The limiting groove includes a horizontal section and two arc sections. 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. The two groups of first racks are spaced in the length direction of the first mounting frame.

[0008] Further technical solution: A fixing plate is fixedly installed on the installation block. The fixing plate is slidably connected to the first substrate and penetrates through the first substrate. A plurality of groups of fixing holes are spaced apart and provided on the fixing plate. A fixing frame is fixedly installed on the first substrate. A moving plate is arranged on the fixing frame. Fixing rods that cooperate with the fixing holes are arranged on the moving plate.

[0009] Further technical solution: A frame-shaped lifting frame is slidably installed on the moving plate. The fixing rods are fixedly installed on the surface of the lifting frame close to the fixing plate. A first electromagnet is fixedly installed on the surface of the moving plate away from the fixing plate. The first electromagnet cooperates with a first permanent magnet fixedly installed on the lifting frame.

[0010] Further technical solution: The moving plate is slidably installed on the fixing frame. A plurality of groups of first elastic members are fixedly installed in the fixing frame. The first elastic members are fixedly connected to the moving plate. A lead screw is rotatably installed on the fixing frame. The lead screw is rotatably connected to the moving plate and both ends of the lead screw penetrate through the fixing frame. Ratchets are fixedly installed at both ends of the lead screw, and the free rotation directions of the two ratchets are opposite. A second rack for restricting the rotation of the lead screw and cooperating with the ratchet is arranged at the end of the fixing frame.

[0011] Further technical solution: Second support plates are fixedly installed at both ends of the fixing frame. Two groups of mounting rods are fixedly installed on the second support plates. The second rack is slidably installed on the mounting rods. A second elastic member is fixedly installed on the second support plates. The second elastic member is fixedly connected to the second rack. When the second elastic member is in its original length state, the second rack moves to the end of the mounting rod and meshes with the ratchet. A second electromagnet is fixedly installed on the second support plates. The second electromagnet cooperates with a second permanent magnet fixedly installed on the second rack.

[0012] Further technical solution: An installation ring arranged coaxially is fixedly installed on the outer ring of the ratchet that rotates freely. A plurality of groups of third permanent magnets are slidably installed on the installation ring. The third permanent magnets are distributed along the radial direction of the installation ring. The third permanent magnets penetrate through the installation ring and limit posts are fixedly installed at both ends thereof. The third permanent magnets cooperate with a third electromagnet fixedly installed on the fixing frame. After the third electromagnet is energized, the outer ring of the ratchet is pushed to rotate through the third permanent magnets. An arc-shaped shielding plate is fixedly installed at the end of the fixing frame.

[0013] Further technical solution: A second mounting frame is fixedly installed at the end of the fixing frame. A rotating plate that cooperates with the third permanent magnet is rotatably installed on the second mounting frame. In the initial state, the rotating plate is in a horizontal state. An elastic cord is fixedly installed at the end of the rotating plate. The end of the elastic cord away from the rotating plate is fixedly connected to the second mounting frame. A camera for photographing the alignment state of the ratchet and the second rack is fixedly installed at the end of the fixing frame.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. The first substrate is moved to the set position by the driving member. Then, according to the shape of the object, the telescopic member drives the mounting block to move, 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 limiting groove. When the gear is engaged with one of the first racks, the rotating shaft rotates under the action of the gear and the first rack. Then, the rotating shaft drives the subsequent multiple second substrates to rotate towards the direction where the object is located. Repeating the above steps can make the multiple second substrates form a circular structure surrounding the object. The object can be clamped by the multiple second substrates, the side plates, and the first mounting frame. At this time, the multiple second substrates, the side plates, and the first mounting frame contact the object from multiple positions, realizing multi-directional clamping of the object, improving the stability of clamping the object, and avoiding the object being subjected to a large force in a single direction, reducing the probability of object damage. At the same time, the flexible rotation of the second substrate, the side plate, and the first mounting frame driven by the rotating shaft enables better adaptation to the shape of the object to adjust the clamping position during clamping, further improving the stability of clamping the object, and being able to comprehensively clamp regular and irregular objects, improving the flexibility and practicality of equipment use.

[0016] 2. After the object is clamped, both ends of the lead screw are restricted and fixed to the second rack through the ratchet wheels. At this time, the lead screw cannot continue to rotate, realizing the fixation of the moving plate, and then realizing the fixation of the positions of the fixed plate and the rotating shaft, ensuring that the rotating shaft can be mechanically fixed after moving to the set position, ensuring that the connections of all components are in a locked state when clamping the object, avoiding the object from falling due to the damage of the telescopic member and the disappearance of the clamping force, and improving the stability and safety of equipment use.

[0017] 3. When the rotating shaft needs to be fixed at the set position, the second electromagnet is not powered off at this time, keeping the second rack not in contact with the ratchet wheel. At the same time, the third electromagnet is powered on. At this time, the mounting ring will rotate and one of the third permanent magnets will push the rotating plate to rotate and pull the elastic cord, so that the outer ring of the ratchet wheel rotates slowly. The alignment state of the ratchet wheel and the second rack is detected by the camera. When the ratchet wheel and the second rack are about to align, the second electromagnet is powered off. At this time, the second rack contacts the ratchet wheel under the action of the second elastic member. When the ratchet wheel and the second rack are aligned, the second rack can be engaged with the ratchet wheel, thus reducing the friction time between the second rack and the ratchet wheel, reducing the wear of the equipment, and the elastic cord can slow down the rotation speed of the outer ring of the ratchet wheel, further improving the alignment efficiency of the ratchet wheel and the second rack, which is beneficial for use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2Schematic diagram of the first substrate in the present invention.

[0020] Figure 3 is Figure 1 an enlarged schematic diagram of area A1 in

[0021] Figure 4 Schematic diagram of the first mounting bracket in the present invention.

[0022] Figure 5 Schematic diagram of the fixing bracket in the present invention.

[0023] Figure 6 Right view of the fixing bracket in the present invention.

[0024] Figure 7 Schematic diagram of the second rack in the present invention.

[0025] Figure 8 is Figure 7 an enlarged schematic diagram of area A2 in

[0026] In the accompanying drawings: 1. First substrate; 2. Telescopic member; 3. Mounting block; 4. Rotating shaft; 5. First support plate; 6. First limiting rod; 7. Slide block; 8. Gear; 9. Side plate; 10. Limiting groove; 11. First mounting bracket; 12. First rack; 13. Connecting plate; 14. Second substrate; 15. Fixing plate; 16. Fixing hole; 17. Fixing bracket; 18. Moving plate; 19. Lifting bracket; 20. Fixing rod; 21. First electromagnet; 22. First permanent magnet; 23. Lead screw; 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 post; 36. Second mounting bracket; 37. Rotating plate; 38. Elastic cord; 39. Camera; 40. Shading plate. Detailed implementation manners

[0027] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to 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 used to limit the present invention.

[0028] The following describes the specific implementation of the present invention in detail with reference to specific embodiments.

[0029] As Figures 1 - 8As shown in the figure, 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 bracket 11 are fixedly installed on both sides of the first substrate 1. A limiting groove 10 is formed on the side plate 9. The limiting groove 10 includes a horizontal section and two arc sections. The arc sections are distributed at both ends of the horizontal section. Two first racks 12 are fixedly installed in the first mounting bracket 11. The first mounting bracket 11 is U-shaped. The two first racks 12 are located on two side walls inside the first mounting bracket 11. The two first racks 12 are spaced apart in the length direction of the first mounting bracket 11. A telescopic member 2 is fixedly installed on the first substrate 1. An output end of the telescopic member 2 is fixedly installed with a mounting block 3. A rotating shaft 4 is rotatably installed on the mounting block 3. First support plates 5 and gears 8 are fixedly installed at both ends of the rotating shaft 4. A first limiting rod 6 is fixedly installed on the first support plate 5. 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 when the rotating shaft 4 moves, it drives the gear 8 to engage with the first rack 12. Two connecting plates 13 are fixedly installed on the rotating shaft 4. Ends of the connecting plates 13 are fixedly connected to the second substrate 14. The structure arrangement on the second substrate 14 is the same as that on the first substrate 1. Adjacent two groups of second substrates 14 are also connected through the connecting plates 13.

[0030] In practical application of this embodiment, the device is installed on the driving member through the first substrate 1. During use, the visual recognition device is used to detect the specific structure and position of the object to be carried. Then, the driving member is used to move the first substrate 1 to the set position. Subsequently, according to the shape of the object, the telescopic member 2 drives the mounting block 3 to move, 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 of the first racks 12, under the action of the gear 8 and the first rack 12, the rotating shaft 4 rotates. Furthermore, the rotating shaft 4 drives a plurality of subsequent second substrates 14 to rotate towards the direction where the object is located until the side plate 9 and the first mounting bracket 11 on the first group of second substrates 14 contact the object. 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 bracket 11 on the second group of second substrates 14 contact the object. Repeating the above steps can make a plurality of second substrates 14 form a circular structure surrounding the object. The object can be clamped through the plurality of second substrates 14, side plates 9, and first mounting brackets 11. At this time, the plurality of second substrates 14, side plates 9, and first mounting brackets 11 contact the object from multiple positions, realizing multi-directional clamping of the object, improving the stability of clamping the object, and avoiding the object from being subjected to a large force in a single direction, reducing the probability of object damage. At the same time, the rotating shaft 4 drives the second substrate 14, side plate 9, and first mounting bracket 11 to rotate flexibly, so that the clamping position can be better adjusted according to the shape of the object during clamping, further improving the stability of clamping the object, being able to clamp regular and irregular objects comprehensively, improving the flexibility and practicality of equipment use. The telescopic member 2 extends or contracts to make the gear 8 engage with different first racks 12, so that the rotating shaft 4 can rotate at different positions, further improving the flexibility during clamping. After the subsequent object is transported to the set position, the telescopic member 2 moves in the reverse direction in sequence to release the object.

[0031] In an example of this embodiment, the telescopic member 2 is an electric telescopic rod. Of course, it can also be other components such as a hydraulic cylinder that can actively change the length, and the electric telescopic rod drives the rotating shaft 4 to move.

[0032] As Figures 1 - 7 shown, a kind of intelligent automatic manipulator for warehousing logistics provided by the present invention is shown. A fixing plate 15 is fixedly installed on the mounting block 3. The fixing plate 15 is slidably connected with the first substrate 1 and the fixing plate 15 penetrates through the first substrate 1. A plurality of groups of fixed holes 16 distributed at intervals are formed 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. A fixing rod 20 that is matched with the fixed holes 16 is arranged on the moving plate 18.

[0033] Specifically, a frame-shaped lifting frame 19 is slidably mounted on the moving plate 18. A fixing rod 20 is fixedly mounted on the surface of the lifting frame 19 close to the fixing plate 15. A first electromagnet 21 is fixedly mounted on the surface of the moving plate 18 away from the fixing plate 15. The first electromagnet 21 is used in cooperation with a first permanent magnet 22 fixedly mounted on the lifting frame 19.

[0034] Specifically, the moving plate 18 is slidably mounted on the fixing frame 17. A plurality of groups of first elastic members 24 are fixedly mounted in the fixing frame 17. The first elastic members 24 are fixedly connected to the moving plate 18. A lead screw 23 is rotatably mounted on the fixing frame 17. The lead screw 23 is rotatably connected to the moving plate 18 and both ends of the lead screw 23 penetrate through the fixing frame 17. Ratchets 25 are fixedly mounted at both ends of the lead screw 23, and the free rotation directions of the two ratchets 25 are opposite. A second rack 30 for restricting the rotation of the lead screw 23 in cooperation with the ratchet 25 is provided at the end of the fixing frame 17.

[0035] Specifically, second support plates 26 are fixedly mounted at both ends of the fixing frame 17. Two groups of mounting rods 27 are fixedly mounted on the second support plates 26. The second rack 30 is slidably mounted on the mounting rods 27. A second elastic member 29 is fixedly mounted on the second support plates 26. The second elastic member 29 is fixedly connected to the second rack 30. When the second elastic member 29 is in its 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 plates 26. The second electromagnet 28 is used in cooperation with a second permanent magnet 31 fixedly mounted on the second rack 30.

[0036] Specifically, a coaxially arranged mounting ring 32 is fixedly mounted on the outer ring of the free rotation 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 through the mounting ring 32 and limit posts 35 are fixedly mounted at both ends thereof. The third permanent magnets 33 are used in cooperation with a third electromagnet 34 fixedly mounted on the fixing frame 17. After the third electromagnet 34 is energized, the outer ring of the ratchet 25 is pushed to rotate through the third permanent magnets 33. An arc-shaped shielding plate 40 is fixedly mounted at the end of the fixing frame 17.

[0037] In actual application of this embodiment, when the telescopic member 2 drives the mounting block 3 to be about 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 set of fixing holes 16 is aligned with the fixing rod 20, at this time 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;

[0038] In the initial state, the second electromagnet 28 is energized and adsorbed to the second permanent magnet 31. Under the action of magnetic force, the second rack 30 moves towards the direction close to the second support plate 26 and disengages from the ratchet wheel 25. At the same time, the second rack 30 compresses the second elastic member 29. At this time, the ratchet wheel 25 is not in contact with the second rack 30. When the moving plate 18 moves, it drives the lead screw 23 to rotate. When the rotating shaft 4 moves to the set position and the moving plate 18 stops moving, the second electromagnet 28 is powered off. Due to the rotation of the lead screw 23, the ratchet wheel 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 abuts against the side surface of the ratchet wheel 25. At the same time, the third electromagnet 34 is energized. Under the action of gravity, the lower third permanent magnet 33 on the mounting ring 32 extends downward out of the mounting ring 32, and the end of the third permanent magnet 33 extends to the position where the third electromagnet 34 is located. At this time, after the third electromagnet 34 is energized, the pole of the end close to the third permanent magnet 33 is the same. Under the action of magnetic force, the third electromagnet 34 can drive the mounting ring 32 to rotate through the third permanent magnet 33, and then the outer ring of the ratchet wheel 25 rotates. Through the shielding plate 40, the third permanent magnet 33 can fall to the end position of the third electromagnet 34. When the ratchet wheel 25 rotates to be aligned with the second rack 30, the second rack 30 will move under the push of the second elastic member 29 and engage with the ratchet wheel 25. At this time, the third electromagnet 34 is powered off;

[0039] Since the free rotation directions of the outer rings of the ratchet wheels 25 at both ends of the lead screw 23 are different, at this time, both ends of the lead screw 23 can be restricted and fixed through the ratchet wheels 25 and the second rack 30. At this time, the lead screw 23 cannot continue to rotate, realizing the fixation of the moving plate 18, and further realizing the fixation of the positions 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 all components are connected in a locked state when clamping an object, avoiding the object dropping due to the damage of the telescopic member 2 and the disappearance of the clamping force, and improving the stability and safety of the equipment during use;

[0040] After the object is transferred to the set position, the second electromagnet 28 is energized again to make the second rack 30 leave the ratchet wheel 25. At this time, the lead screw 23 can be in an active state. At the same time, the first electromagnet 21 is energized. After the first electromagnet 21 is energized, it repels the first permanent magnet 22. Under the action of 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.

[0041] In an example of the present invention, the first elastic member 24 and the second elastic member 29 are respectively a first spring and a second spring. Of course, they can also be other elastic components such as elastic balls. The first spring applies a reset thrust and pull force to the moving plate 18, and the second spring applies a thrust to the second rack 30.

[0042] Such as Figure 7, Figure 8 As shown, an intelligent automated manipulator for warehousing logistics provided by the present invention. A second mounting bracket 36 is fixedly installed at the end of the fixed bracket 17. A rotating plate 37 that cooperates with the third permanent magnet 33 is rotatably installed on the second mounting bracket 36. In the initial state, the rotating plate 37 is in a horizontal state. An elastic cord 38 is fixedly installed at the end of the rotating plate 37. One end of the elastic cord 38 away from the rotating plate 37 is fixedly connected to the second mounting bracket 36. A camera 39 for detecting the alignment state of the shooting ratchet 25 and the second rack 30 is fixedly installed at the end of the fixed bracket 17.

[0043] In actual application of this embodiment, when the rotating shaft 4 moves to a set position and needs to be fixed, at this time, the second electromagnet 28 is not powered off, keeping the second rack 30 not in contact with the ratchet 25. At the same time, the third electromagnet 34 is powered on. 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 cord 38, so that the outer ring of the ratchet 25 rotates slowly. When the mounting ring 32 continues to rotate and the rotating plate 37 rotates to a set angle, the third permanent magnet 33 can be disengaged and the rotating plate 37 returns to its original position. The alignment state of the ratchet 25 and the second rack 30 is detected by the camera 39. When the ratchet 25 and the second rack 30 are about to be aligned, the second electromagnet 28 is powered off. At this time, under the action of the second elastic member 29, the second rack 30 contacts the ratchet 25. When the ratchet 25 and the second rack 30 are aligned, the second rack 30 can be engaged with the ratchet 25, thereby reducing the friction time between the second rack 30 and the ratchet 25, reducing the wear of the equipment, and the elastic cord 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 beneficial for use.

[0044] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0045] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only includes an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments 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 multiple groups of second substrates (14), characterized in that, On both sides of the first substrate (1), a side plate (9) and a first mounting bracket (11) are fixedly installed respectively. A limiting groove (10) is formed on the side plate (9). Two groups of first racks (12) are fixedly installed inside the first mounting bracket (11). A telescopic member (2) is fixedly installed on the first substrate (1). An output end of the telescopic member (2) is fixedly installed with a mounting block (3). A rotating shaft (4) is rotatably installed on the mounting block (3). Two ends of the rotating shaft (4) are respectively fixedly installed with a first support plate (5) and a gear (8). A first limiting rod (6) is fixedly installed on the first support plate (5). 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 when the rotating shaft (4) moves, it drives the gear (8) to mesh with the first rack (12). Two groups of connecting plates (13) are fixedly installed on the rotating shaft (4). Ends of the connecting plates (13) are fixedly connected to a second substrate (14). The structural arrangement on the second substrate (14) is the same as that on the first substrate (1). Adjacent two groups of the second substrates (14) are also connected by the connecting plates (13); 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 penetrates through the first substrate (1). A plurality of fixing holes (16) distributed at intervals are formed on the fixing plate (15). A fixing bracket (17) is fixedly installed on the first substrate (1). A moving plate (18) is arranged on the fixing bracket (17). A fixing rod (20) which is used in cooperation with the fixing holes (16) is arranged on the moving plate (18); The moving plate (18) is slidably installed on the fixing bracket (17). A plurality of first elastic members (24) are fixedly installed inside the fixing bracket (17). The first elastic members (24) are fixedly connected to the moving plate (18). A lead screw (23) is rotatably installed on the fixing bracket (17). The lead screw (23) is rotatably connected to the moving plate (18) and both ends of the lead screw (23) penetrate through the fixing bracket (17). Ratchets (25) are fixedly installed at both ends of the lead screw (23), and free rotation directions of the two ratchets (25) are opposite. A second rack (30) which is used to limit the rotation of the lead screw (23) and is in cooperation with the ratchet (25) is arranged at an end of the fixing bracket (17); Second support plates (26) are fixedly installed at both ends of the fixing bracket (17). Two groups of mounting rods (27) are fixedly installed on the second support plates (26). The second rack (30) is slidably installed on the mounting rods (27). A second elastic member (29) is fixedly installed on the second support plates (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 an 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). The second electromagnet (28) is in cooperation with a second permanent magnet (31) fixedly installed on the second rack (30).

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

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

4. An intelligent automated manipulator for warehousing logistics according to claim 1, characterized in that, A frame-shaped lifting frame (19) is slidably mounted on the moving plate (18), a fixed rod (20) is fixedly mounted on the surface of the lifting frame (19) close to the fixed plate (15), a first electromagnet (21) is fixedly mounted on the surface of the moving plate (18) away from the fixed plate (15), and the first electromagnet (21) is used in cooperation with a first permanent magnet (22) fixedly mounted on the lifting frame (19).

5. An intelligent automated manipulator for warehousing logistics according to claim 1, characterized in that, An installation ring (32) arranged coaxially is fixedly mounted on the outer ring of the ratchet wheel (25) that rotates freely, and multiple groups of third permanent magnets (33) are slidably mounted on the installation ring (32), and the third permanent magnets (33) are distributed along the radial direction of the installation ring (32), the third permanent magnets (33) penetrate through the installation ring (32) and limiting columns (35) are fixedly mounted at both ends thereof, and the third permanent magnets (33) are used in cooperation with a third electromagnet (34) fixedly mounted on the fixed frame (17). After the third electromagnet (34) is powered on, the outer ring of the ratchet wheel (25) is pushed to rotate through the third permanent magnets (33), and an arc-shaped shielding plate (40) is fixedly mounted at the end of the fixed frame (17).

6. The intelligent automated manipulator for warehousing and logistics according to claim 5, characterized in that, A second mounting bracket (36) is fixedly mounted at the end of the fixed frame (17), a rotating plate (37) used in cooperation with the third permanent magnets (33) is rotatably mounted on the second mounting bracket (36), the rotating plate (37) is in a horizontal state in the initial state, an elastic cord (38) is fixedly mounted at the end of the rotating plate (37), one end of the elastic cord (38) away from the rotating plate (37) is fixedly connected to the second mounting bracket (36), and a camera (39) for photographing the alignment state of the ratchet wheel (25) and the second rack (30) is fixedly mounted at the end of the fixed frame (17).

Images