Storage robot with detection function

Abstract

The invention discloses a storage robot with a detection function, and relates to the technical field of storage robots, the storage robot comprises a fixed disc, two supporting rod mechanisms, a first clamping rod mechanism, a second clamping rod mechanism, an adjusting assembly and a clamp mechanism, the fixed disc is fixedly installed on an external mechanical arm, and the two supporting rod mechanisms are rotationally arranged in the fixed disc; a first rod clamping mechanism and a second rod clamping mechanism are rotationally arranged at the two ends of the rod supporting mechanism correspondingly, two adjusting assemblies are rotationally arranged between the first rod clamping mechanism and the second rod clamping mechanism which are located at the same vertical position, a clamp mechanism is arranged between the two adjusting assemblies, and each adjusting assembly comprises a connecting rod, a connecting block and a supporting rod; two first spring supporting rods are symmetrically arranged in the supporting rod in a sliding mode in the vertical direction. The clamping device can be adjusted according to the size of an object during clamping, that is, various objects with different sizes can be effectively clamped, so that the object clamping stability is ensured, and the object clamping stability is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of warehousing robots, and specifically to a warehousing robot with a detection function. Background Art

[0002] A warehousing robot is an industrial robot applicable to logistics automation scenarios for gripping, transporting, and palletizing items. It can achieve automatic material handling and automatic palletizing in logistics, greatly reducing the manual workload and significantly improving work efficiency.

[0003] Currently, traditional warehousing robots generally adopt fixed grippers or rigid robotic arm structures. This makes the traditional gripping mechanism only capable of gripping a certain type of item and unable to adjust according to the shape of the item. Moreover, the grippers mostly adopt a single gripping mode, with relatively poor gripping stability. The item may slip after being gripped, resulting in a relatively high limitation in the usage scenarios of the warehousing robot and being unable to adapt to various usage environments in the warehousing logistics scenario.

[0004] Therefore, it is necessary to provide a warehousing robot with a detection function to solve the problems raised in the above background art. Summary of the Invention

[0005] To achieve the above object, the present invention provides the following technical solution: A warehousing robot with a detection function includes a fixed disk, a support rod mechanism, a clamping rod mechanism I, a clamping rod mechanism II, an adjustment component, and a fixture mechanism. Among them, the fixed disk is fixedly installed on an external robotic arm. Two support rod mechanisms are rotatably arranged in the fixed disk. The two ends of the support rod mechanism are respectively rotatably provided with a clamping rod mechanism I and a clamping rod mechanism II. Two adjustment components are rotatably arranged between the clamping rod mechanism I and the clamping rod mechanism II at the same vertical position. A fixture mechanism is arranged between the two adjustment components. And sliding telescopic rods are fixedly arranged between the two clamping rod mechanisms I and between the two clamping rod mechanisms II at the same horizontal position.

[0006] Preferably, the adjustment component includes a connecting rod, a connecting block, and a support rod. Among them, two spring support rods I are symmetrically and slidably arranged along the vertical position in the support rod. The output end of the spring support rod I is fixedly provided with a connecting block. A connecting rod is rotatably arranged on the connecting block. And the two connecting rods are respectively rotatably connected to the clamping rod mechanism I and the clamping rod mechanism II at the same vertical position.

[0007] Preferably, the support rod mechanism includes a turntable and a first hydraulic telescopic rod. Among them, the turntable is rotatably arranged on the fixed disk, and two first hydraulic telescopic rods are symmetrically and fixedly arranged on the turntable. The thickness of the turntable is half of the maximum diameter of the first hydraulic telescopic rod. A sliding ring is slidably arranged on the first hydraulic telescopic rod. A driving block is slidably arranged on the fixed disk by driving of a second hydraulic telescopic rod. Driving rods are symmetrically and fixedly arranged on the driving block along the vertical position. The two driving rods are respectively hinged to the two sliding rings.

[0008] Preferably, the first clamping rod mechanism includes a first rod body, a second rod body and a first clamping block. Among them, the first rod body is rotatably arranged at the output end of the first hydraulic telescopic rod. The second rod body is slidably arranged on the first rod body. Both the first rod body and the second rod body are of hollow structure. A plurality of first clamping blocks are slidably arranged in the first rod body and the second rod body. The plurality of first clamping blocks are connected by a first spring. And the two first clamping blocks at both ends are respectively fixedly connected to the first rod body and the second rod body.

[0009] Preferably, the second clamping rod mechanism includes a third rod body, a fourth rod body and a clamping block mechanism. Among them, the third rod body is rotatably arranged at the output end of the first hydraulic telescopic rod. The fourth rod body is slidably arranged on the third rod body. The third rod body and the fourth rod body are in an L shape. A plurality of clamping block mechanisms are slidably arranged in the third rod body and the fourth rod body. The plurality of clamping block mechanisms are connected by a second spring. And the two clamping block mechanisms at both ends are respectively fixedly connected to the third rod body and the fourth rod body.

[0010] Preferably, the clamping mechanism includes a fixed rod, a sliding rod, a clamping rod, a connecting piece and a clamping cylinder. Among them, a plurality of clamping cylinders are provided. And the plurality of clamping cylinders are rotationally connected by a plurality of connecting pieces to form a flexible clamping member. The left and right ends of the flexible clamping member are rotatably provided with clamping rods. A sliding rod is slidably arranged on the clamping rod. The sliding rod is slidably connected to the fixed rod by two third hydraulic telescopic rods. The fixed rod is slidably connected to the support rod by a second spring support rod. And a plurality of anti-slip rings are arranged on the clamping cylinder.

[0011] Preferably, deflection plates are fixedly arranged at both ends of the connecting rod; Deflection grooves one are respectively opened at the rotational connection ends of the first rod body, the second rod body, the third rod body and the fourth rod body with the connecting rod. A first limiting groove is opened at one side of the deflection groove one. A top rod is slidably arranged in the first limiting groove by hydraulic driving; A deflection groove two is opened in the connection block. And a second limiting groove is opened at one side of the deflection groove two. The two ends of the connecting rod are respectively rotatably arranged in the deflection groove one and the deflection groove two. The two deflection plates respectively rotate along the first limiting groove and the second limiting groove. And the top rod can abut against the deflection plate.

[0012] Preferably, the clamping block mechanism includes a second clamping block, a slider, a receiving block, and a pulling block. Among them, the second clamping block is slidably arranged in the second clamping rod mechanism, the slider is slidably arranged in the second clamping block, a plurality of clamping bars penetrating the second clamping block are fixedly arranged on the slider, the pulling block is slidably arranged at the bottom of the second clamping block, the receiving block is rotatably connected to the pulling block and a fourth hydraulic telescopic rod is hinged between the two; a T-shaped pull rod is fixedly arranged on the pulling block, a T-shaped chute is obliquely arranged in the slider, and the T-shaped pull rod slides along the T-shaped chute.

[0013] Compared with the prior art, the present invention provides a warehousing robot with a detection function, having the following beneficial effects:

[0014] By setting the adjustable clamping rod mechanism I, clamping rod mechanism II, and the clamping fixture mechanism capable of flexible clamping, the whole clamping component has two clamping modes, namely, clamping of regular square items and clamping of irregular items. At the same time, it can be adjusted according to the size of the item during clamping, that is, effectively clamp a variety of items of different sizes, so as to ensure the stability of item clamping, and further ensure that the item can remain stable during handling and palletizing, adapt to a variety of usage scenarios in the warehousing environment. At the same time, through the setting of the clamping block mechanism, the bottom of the item can be received by the receiving block after clamping, and the receiving block can achieve self-locking through the cooperation of the pulling block and the slider, that is, when the item slides down to generate a thrust to push the receiving block to slide down, the slider will clamp the item more tightly, further improving the clamping stability of the item. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the overall structural schematic diagram of the present invention;

[0016] Figure 2 is the structural schematic diagram of the clamping rod mechanism I and the clamping rod mechanism II of the present invention;

[0017] Figure 3 is the structural schematic diagram of the adjustment component of the present invention;

[0018] Figure 4 is the structural schematic diagram of the clamping fixture mechanism of the present invention;

[0019] Figure 5 is the structural schematic diagram of the connecting rod of the present invention;

[0020] Figure 6 is the structural schematic diagram of the clamping block mechanism of the present invention;

[0021] In the figure: 1, fixed plate; 11, driving block; 12, driving rod; 2, support rod mechanism; 21, turntable; 22, hydraulic telescopic rod 1; 23, slip ring; 3, clamping rod mechanism 1; 31, rod body 1; 311, deflection groove 1; 312, limit groove 1; 313, push rod; 32, rod body 2; 33, clamping block 1; 4, clamping rod mechanism 2; 41, rod body 3; 42, rod body 4; 43, clamping block mechanism; 431, clamping block 2; 432, slider; 4 33. Receiving block; 434. Pull block; 435. Clamping strip; 436. Hydraulic telescopic rod four; 437. T-type pull rod; 438. T-type slide; 5. Adjusting assembly; 51. Connecting rod; 511. Deflection plate; 52. Connecting block; 53. Support rod; 6. Clamp mechanism; 61. Fixed rod; 62. Sliding rod; 63. Clamp rod; 64. Connecting piece; 65. Clamping barrel; 66. Hydraulic telescopic rod three; 67. Spring support rod two; 7. Sliding telescopic rod. DETAILED DESCRIPTION

[0022] See also Figures 1 to 6 In an embodiment of the present invention, a storage robot with a detection function includes a fixed plate 1, a support rod mechanism 2, a clamping rod mechanism 1 3, a clamping rod mechanism 2 4, an adjustment component 5 and a clamping mechanism 6, wherein the fixed plate 1 is fixedly installed on an external robotic arm, and two support rod mechanisms 2 are rotatably provided in the fixed plate 1, and the two ends of the support rod mechanism 2 are rotatably provided with a clamping rod mechanism 1 3 and a clamping rod mechanism 2 4, two adjustment components 5 are rotatably provided between the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 located at the same vertical position, a clamping mechanism 6 is provided between the two adjustment components 5, and a sliding telescopic rod 7 is fixedly provided between the two clamping rod mechanisms 1 3 and the two clamping rod mechanisms 2 4 located at the same horizontal position.

[0023] In this embodiment, Figure 3 The adjustment component 5 includes a connecting rod 51, a connecting block 52 and a support rod 53, wherein two spring support rods 1 are symmetrically slidably arranged along the vertical position in the support rod 53, a connecting block 52 is fixedly provided on the output end of the spring support rod 1, a connecting rod 51 is rotatably provided on the connecting block 52, and the two connecting rods 51 are respectively rotatably connected to the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 located at the same vertical position.

[0024] In this embodiment, Figure 2, the support rod mechanism 2 includes a turntable 21 and a first hydraulic telescopic rod 22. Among them, the turntable 21 is rotatably arranged on the fixed disk 1, and two first hydraulic telescopic rods 22 are symmetrically and fixedly arranged on the turntable 21. Moreover, the thickness of the turntable 21 is half of the maximum diameter of the first hydraulic telescopic rod 22. A sliding ring 23 is slidably arranged on the first hydraulic telescopic rod 22. A driving block 11 is slidably arranged on the fixed disk 1 by driving of a second hydraulic telescopic rod. Driving rods 12 are symmetrically and fixedly arranged on the driving block 11 along the vertical position. The two driving rods 12 are respectively hinged to the two sliding rings 23.

[0025] Specifically, setting the thickness of the turntable 21 to be half of the maximum diameter of the first hydraulic telescopic rod 22 enables the first hydraulic telescopic rods 22 arranged on the two turntables 21 to be in the same plane after the two turntables 21 are attached together, thereby facilitating the adjustment of the movement of the first clamping rod mechanism 3 and the second clamping rod mechanism 4.

[0026] In this embodiment, as Figure 2 , the first clamping rod mechanism 3 includes a first rod body 31, a second rod body 32, and a first clamping block 33. Among them, the first rod body 31 is rotatably arranged at the output end of the first hydraulic telescopic rod 22. The second rod body 32 is slidably arranged on the first rod body 31. Both the first rod body 31 and the second rod body 32 are of hollow structure. A plurality of first clamping blocks 33 are slidably arranged in the first rod body 31 and the second rod body 32. The plurality of first clamping blocks 33 are connected by a first spring. And the two first clamping blocks 33 at both ends are respectively fixedly connected to the first rod body 31 and the second rod body 32;

[0027] The second clamping rod mechanism 4 includes a third rod body 41, a fourth rod body 42, and a clamping block mechanism 43. Among them, the third rod body 41 is rotatably arranged at the output end of the first hydraulic telescopic rod 22. The fourth rod body 42 is slidably arranged on the third rod body 41. The third rod body 41 and the fourth rod body 42 are in an L shape. A plurality of clamping block mechanisms 43 are slidably arranged in the third rod body 41 and the fourth rod body 42. The plurality of clamping block mechanisms 43 are connected by a second spring. And the two clamping block mechanisms 43 at both ends are respectively fixedly connected to the third rod body 41 and the fourth rod body 42.

[0028] Specifically, the power for the second rod body 32 to slide along the first rod body 31 and the fourth rod body 42 to slide along the third rod body 41 comes from an external driving mechanism, such as a hydraulic driving mechanism, a worm and worm gear, and a rack and pinion mechanism;

[0029] In addition, a first spring is disposed between the plurality of clamping blocks 33, and a second spring is disposed between the plurality of clamping block mechanisms 43. The function thereof is that when the second rod 32 slides along the first rod 31 and the fourth rod 42 slides along the third rod 41, the lengths of the first clamping rod mechanism 3 and the second clamping rod mechanism 4 will change. Through the action of the first spring and the second spring, no matter how the lengths of the first clamping rod mechanism 3 and the second clamping rod mechanism 4 change, the plurality of clamping blocks 33 and the clamping block mechanisms 43 can be evenly arranged in the first clamping rod mechanism 3 and the second clamping rod mechanism 4, thereby ensuring that the clamping force is stable and uniform.

[0030] In this embodiment, as Figure 4 , the fixture mechanism 6 includes a fixed rod 61, a sliding rod 62, a fixture rod 63, a connecting member 64, and a clamping cylinder 65. Among them, a plurality of the clamping cylinders 65 are provided, and the plurality of clamping cylinders 65 are rotationally connected through a plurality of connecting members 64 to form a flexible clamping member. The left and right ends of the flexible clamping member are rotatably provided with fixture rods 63. A sliding rod 62 is slidably provided on the fixture rod 63. The sliding rod 62 is slidably connected to the fixed rod 61 through two third hydraulic expansion rods 66. The fixed rod 61 is slidably connected to the support rod 53 through a second spring support rod 67. A plurality of anti-slip rings are provided on the clamping cylinder 65. In addition, there are various power driving methods for the fixture rod 63 to slide along the sliding rod 62. For example, a hydraulic cavity is provided on the sliding rod 62, and a hydraulic rod is fixedly provided on the fixture rod 63. The hydraulic rod is driven to slide along the hydraulic cavity by hydraulic pressure, thereby driving the sliding rod 62 to slide along the fixture rod 63.

[0031] Specifically, the third hydraulic expansion rod 66 has two working modes, namely, an active adjustment mode and a passive adjustment mode. When the fixture mechanism 6 fits an irregular object and the length of the flexible clamping member is reduced, at this time, the third hydraulic expansion rod 66 is passively stretched. After the first clamping rod mechanism 3, the second clamping rod mechanism 4, and the fixture mechanism 6 all fit the object, the third hydraulic expansion rod 66 is actively driven to contract, so that the flexible clamping member has a pulling force, thereby enabling the clamping cylinder 65 to have a force to clamp the object inward, and thus clamping the object stably. Similarly, when clamping a regularly oriented object, the length of the flexible clamping member will not change. At this time, the third hydraulic expansion rod 66 is fixed to be fixed, that is, to ensure that the plurality of clamping cylinders 65 can fit the surface of the object.

[0032] In this embodiment, as Figure 3 and Figure 5 , deflection plates 511 are fixedly provided at both ends of the connecting rod 51;

[0033] Both the first rod body 31, the second rod body 32, the third rod body 41, and the fourth rod body 42 and the rotation connection ends with the connecting rod 51 are provided with a first deflection groove 311. A first limiting groove 312 is provided on one side of the first deflection groove 311. A ejector rod 313 is slidably arranged in the first limiting groove 312 through hydraulic drive;

[0034] A second deflection groove is provided in the connecting block 52, and a second limiting groove is provided on one side of the second deflection groove. Two ends of the connecting rod 51 are respectively rotatably arranged in the first deflection groove 311 and the second deflection groove. The two deflection plates 511 respectively rotate along the first limiting groove 312 and the second limiting groove, and the ejector rod 313 can abut against the deflection plate 511.

[0035] It should be noted that the two deflection plates 511 at both ends of the connecting rod 51 are arranged in parallel, and the connecting rod 51 is inclined relative to the deflection plate 511. Therefore, when the deflection plate 511 is in the horizontal position, the connecting rod 51 can push out the clamping mechanism 6, so that the clamping surface of the clamping mechanism 6 protrudes from the first clamping rod mechanism 3 and the second clamping rod mechanism 4.

[0036] In this embodiment, as Figure 6 , the clamping block mechanism 43 includes a second clamping block 431, a slider 432, a receiving block 433, and a pulling block 434. Among them, the second clamping block 431 is slidably arranged in the second clamping rod mechanism 4, the slider 432 is slidably arranged in the second clamping block 431, a plurality of clamping strips 435 penetrating the second clamping block 431 are fixedly arranged on the slider 432, a pulling block 434 is slidably arranged at the bottom of the second clamping block 431, the receiving block 433 is rotatably connected with the pulling block 434, and a fourth hydraulic expansion rod 436 is hinged between the two;

[0037] A T-shaped pull rod 437 is fixedly arranged on the pulling block 434, and a T-shaped sliding groove 438 is obliquely arranged in the slider 432. The T-shaped pull rod 437 slides along the T-shaped sliding groove 438.

[0038] Particularly, when the receiving block 433 receives the bottom of the article, at this time, the article will exert a downward force on the receiving block 433, that is, the pulling block 434 will have a downward pulling force. At this time, the T-shaped pull rod 437 will slide along the T-shaped sliding groove 438, so that the slider 432 slides, and then the clamping strip 435 abuts against the surface of the article, and at the same time has a force to clamp the article, thereby realizing the self-locking function of the clamping block mechanism 43, that is, when the article slides down, it will drive the slider 432 to clamp the article more tightly, further improving the stability of the article.

[0039] During implementation, it moves as a whole through the robotic arm control device. At the same time, detection cameras and multiple infrared ranging sensors can be embedded in the fixed disk 1, the first clamping rod mechanism 3, and the second clamping rod mechanism 4 to detect the size of the item, and then adjust the positions of the first clamping rod mechanism 3 and the second clamping rod mechanism 4 so that the two first clamping rod mechanisms 3 exactly clamp the upper part of the item, and the two second clamping rod mechanisms 4 exactly clamp the lower part of the item. Moreover, the first clamping rod mechanism 3, the second clamping rod mechanism 4, and the fixture mechanism 6 cooperate with each other for clamping. When clamping a regular-direction item, at this time, the first clamping rod mechanism 3 and the second clamping rod mechanism 4 serve as the main clamping components, and the fixture mechanism 6 serves as the auxiliary clamping component. At this time, the hydraulic telescopic rod two drives the driving block 11 to slide, so that the driving block 11 drives the sliding ring 23 to slide along the hydraulic telescopic rod one 22, and at the same time drives the turntable 21 to rotate, so that the angle between the two support rod mechanisms 2 changes. At the same time, the telescopic movement of the hydraulic telescopic rod one 22 changes the positions of the first clamping rod mechanism 3 and the second clamping rod mechanism 4, so that the two first clamping rod mechanisms 3 and the two second clamping rod mechanisms 4 are exactly located on the four side lines of the square item. During this process, the two first clamping rod mechanisms 3 and the two second clamping rod mechanisms 4 at the same horizontal position will always be at the same horizontal position under the action of the sliding telescopic rod 7. At the same time, the first clamping rod mechanism 3 and the second clamping rod mechanism 4 at the vertical position will also always remain at the same vertical position under the action of the adjusting component 5, that is, the sliding adjustment of the first clamping rod mechanism 3 and the second clamping rod mechanism 4 is a regular adjustment, that is, it expands or contracts in a rectangle. Then drive the second rod 32 and the fourth rod 42 to slide so that the lengths of the first clamping rod mechanism 3 and the second clamping rod mechanism 4 fit the length of the item. At this time, drive the ejector rod 313 to slide and press against the deflecting plate 511, that is, the connecting rod 51 is fixedly connected to the first clamping rod mechanism 3 and the second clamping rod mechanism 4 at this time. That is, the connecting rod 51 is in an inclined state at this time. The clamping surface of the fixture mechanism 6 protrudes from the first clamping rod mechanism 3 and the second clamping rod mechanism 4. When clamping, the fixture mechanism 6 will first contact the item, and then retract the ejector rod 313, and continue to drive the first clamping rod mechanism 3 and the second clamping rod mechanism 4 to fit the item. During this process, the connecting rod 51 will deflect, and this deflection occurs simultaneously in the first clamping rod mechanism 3, the second clamping rod mechanism 4, and the connecting block 52. When the first clamping rod mechanism 3 and the second clamping rod mechanism 4 fit the item, this connecting rod 51 exactly deflects to the vertical position, that is, the fixture mechanism 6, the first clamping rod mechanism 3, and the second clamping rod mechanism 4 clamp the item at the same time. At this time, drive the fixture rod 63 to slide upward along the sliding rod 62, so that the item slides upward under the action of multiple clamping cylinders 65. Then drive the receiving block 433 to deflect to a position perpendicular to the second clamping block 431, that is, to receive the bottom of the item to prevent the item from slipping after being clamped, so that the first clamping rod mechanism 3 and the second clamping rod mechanism 4 can clamp items of different sizes, and the item can always remain stable after being clamped;

[0040] When clamping irregular objects, the push rod 313 is always on the deflection plate 511, that is, the clamping surface of the clamping mechanism 6 is always protruding from the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4. At this time, the clamping mechanism 6 serves as the main clamping component. When the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 are driven to fit the object, the clamping mechanism 6 will first contact the object. At this time, as the clamping force is applied, the multiple clamps 65 will deflect, that is, the multiple clamps 65 will adjust according to the surface shape of the object and fit on the surface of the object. In this process, the length of the flexible clamp composed of the multiple clamps 65 will decrease, thereby causing the sliding rod 62 to move away from the fixed rod 61. When the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 contact the object, the clamping mechanism 6 is driven. The hydraulic telescopic rod three 66 contracts, that is, a pulling force is applied to the slide bar 62, so that the deflected clamp 65 has a clamping force toward the object, thereby stably clamping the object, and then the clamp rod 63 is driven to slide along the slide bar 62, so that the clamp 65 drives the object to slide up, and then the receiving block 433 is driven to deflect to a position perpendicular to the clamp block two 431, so that the receiving block 433 receives the object, thereby achieving clamping of irregular objects, and similarly, the receiving block 433 does not allow the object to slip during transportation, and further by switching between the two clamping modes, effective and stable clamping of objects of various sizes and shapes can be achieved, thereby ensuring that the objects remain stable regardless of whether they are being transported or stacked.

[0041] To sum up, when the present invention is implemented, by setting a clamping rod mechanism 1 3 with adjustable position, a clamping rod mechanism 2 4 and a clamping mechanism 6 that can flexibly clamp, the entire clamping component has two clamping modes, namely, clamping of regular square objects and clamping of irregular objects. At the same time, it can be adjusted according to the size of the object during clamping, that is, effective clamping of objects of various sizes can be achieved, thereby ensuring the stability of object clamping, and further ensuring that the objects can remain stable when being transported and stacked, and adapting to various usage scenarios in the storage environment. At the same time, through the setting of the clamping block mechanism 43, the bottom of the object can be received by the receiving block 433 after clamping, and the receiving block 433 can be self-locked through the cooperation of the pull block 434 and the slider 432, that is, when the object slides down to generate a thrust to push the receiving block 433 to slide downward, the slider 432 will clamp the object more tightly, further improving the clamping stability of the object.

[0042] The above is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A warehousing robot with a detection function, characterized in that, It includes a fixed disk (1), a support rod mechanism (2), a clamping rod mechanism I (3), a clamping rod mechanism II (4), an adjustment component (5), and a fixture mechanism (6). Among them, the fixed disk (1) is fixedly installed on an external robotic arm. Two support rod mechanisms (2) are rotatably arranged in the fixed disk (1). A clamping rod mechanism I (3) and a clamping rod mechanism II (4) are respectively rotatably arranged at both ends of the support rod mechanism (2). Two adjustment components (5) are rotatably arranged between the clamping rod mechanism I (3) and the clamping rod mechanism II (4) at the same vertical position. A fixture mechanism (6) is arranged between the two adjustment components (5). And sliding telescopic rods (7) are fixedly arranged between the two clamping rod mechanisms I (3) and between the two clamping rod mechanisms II (4) at the same horizontal position.

2. The warehousing robot with a detection function according to claim 1, characterized in that, The adjustment component (5) includes a connecting rod (51), a connecting block (52), and a support rod (53). Among them, two spring support rods I are symmetrically and slidably arranged in the vertical position of the support rod (53). The output end of the spring support rod I is fixedly provided with a connecting block (52). A connecting rod (51) is rotatably arranged on the connecting block (52). And the two connecting rods (51) are respectively rotatably connected to the clamping rod mechanism I (3) and the clamping rod mechanism II (4) at the same vertical position.

3. The warehousing robot with a detection function according to claim 2, wherein, The support rod mechanism (2) includes a turntable (21) and a hydraulic telescopic rod I (22). Among them, the turntable (21) is rotatably arranged on the fixed disk (1). Two hydraulic telescopic rods I (22) are symmetrically and fixedly arranged on the turntable (21). And the thickness of the turntable (21) is half of the maximum diameter of the hydraulic telescopic rod I (22). A sliding ring (23) is slidably arranged on the hydraulic telescopic rod I (22). A driving block (11) is slidably arranged on the fixed disk (1) driven by a hydraulic telescopic rod II. Driving rods (12) are symmetrically and fixedly arranged on the driving block (11) in the vertical position. The two driving rods (12) are respectively hinged to the two sliding rings (23).

4. The warehousing robot with a detection function according to claim 3, characterized in that, The clamping rod mechanism I (3) includes a rod body I (31), a rod body II (32), and a clamping block I (33). Among them, the rod body I (31) is rotatably arranged at the output end of the hydraulic telescopic rod I (22). The rod body II (32) is slidably arranged on the rod body I (31). Both the rod body I (31) and the rod body II (32) are hollow structures. A plurality of clamping blocks I (33) are slidably arranged in the rod body I (31) and the rod body II (32). The plurality of clamping blocks I (33) are connected by a spring I. And the two clamping blocks I (33) at both ends are respectively fixedly connected to the rod body I (31) and the rod body II (32).

5. A warehousing robot with a detection function according to claim 4, characterized in that, The clamping rod mechanism II (4) includes a rod body III (41), a rod body IV (42) and a clamping block mechanism (43). Among them, the rod body III (41) is rotatably arranged at the output end of the hydraulic telescopic rod I (22), the rod body IV (42) is slidably arranged on the rod body III (41), the rod body III (41) and the rod body IV (42) are in an L shape, and a plurality of clamping block mechanisms (43) are slidably arranged between the rod body III (41) and the rod body IV (42). A plurality of the clamping block mechanisms (43) are connected by a second spring, and the two clamping block mechanisms (43) at both ends are respectively fixedly connected to the rod body III (41) and the rod body IV (42).

6. The warehousing robot with a detection function according to claim 2, wherein, The fixture mechanism (6) includes a fixed rod (61), a sliding rod (62), a fixture rod (63), a connecting piece (64) and a clamping cylinder (65). Among them, a plurality of the clamping cylinders (65) are provided, and the plurality of clamping cylinders (65) are rotatably connected by a plurality of connecting pieces (64) to form a flexible clamping member. The left and right ends of the flexible clamping member are rotatably provided with fixture rods (63), the sliding rod (62) is slidably arranged on the fixture rod (63), the sliding rod (62) is slidably connected to the fixed rod (61) through two hydraulic telescopic rods III (66), the fixed rod (61) is slidably connected to the support rod (53) through a second spring support rod (67), and a plurality of anti-slip rings are arranged on the clamping cylinder (65).

7. A warehousing robot with a detection function according to claim 5, characterized in that, Deflection plates (511) are fixedly arranged at both ends of the connecting rod (51); Deflection grooves I (311) are provided at the rotational connection ends of the rod body I (31), the rod body II (32), the rod body III (41) and the rod body IV (42) with the connecting rod (51). A limiting groove I (312) is provided on one side of the deflection groove I (311), and a push rod (313) is slidably arranged in the limiting groove I (312) by hydraulic drive; A deflection groove II is provided in the connecting block (52), and a limiting groove II is provided on one side of the deflection groove II. The two ends of the connecting rod (51) are respectively rotatably arranged in the deflection groove I (311) and the deflection groove II. The two deflection plates (511) respectively rotate along the limiting groove I (312) and the limiting groove II, and the push rod (313) can abut against the deflection plate (511).

8. A warehousing robot with a detection function according to claim 5, characterized in that, The clamping block mechanism (43) includes a second clamping block (431), a sliding block (432), a receiving block (433), and a pulling block (434). Among them, the second clamping block (431) is slidably arranged in the second clamping rod mechanism (4), the sliding block (432) is slidably arranged in the second clamping block (431), a plurality of clamping bars (435) penetrating the second clamping block (431) are fixedly arranged on the sliding block (432), a pulling block (434) is slidably arranged at the bottom of the second clamping block (431), the receiving block (433) is rotatably connected to the pulling block (434), and a fourth hydraulic expansion rod (436) is hinged between the two. A T-shaped pull rod (437) is fixedly arranged on the pulling block (434), a T-shaped sliding groove (438) is obliquely formed in the sliding block (432), and the T-shaped pull rod (437) slides along the T-shaped sliding groove (438).

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