A warehouse robot with detection function

Abstract

The present invention discloses a warehouse robot with a detection function, which relates to the technical field of warehouse robots and includes a fixed plate, a support rod mechanism, a clamping rod mechanism 1, a clamping rod mechanism 2, an adjustment component and a clamping mechanism, wherein the fixed plate is fixedly installed on an external mechanical arm, and two support rod mechanisms are rotatably arranged in the fixed plate, and the two ends of the support rod mechanism are rotatably arranged with a clamping rod mechanism 1 and a clamping rod mechanism 2 respectively, and two adjustment components are rotatably arranged between the clamping rod mechanism 1 and the clamping rod mechanism 2 located at the same vertical position, and a clamping mechanism is arranged between the two adjustment components, and the adjustment component includes a connecting rod, a connecting block and a support rod, wherein two spring support rods 1 are symmetrically slidably along the vertical position in the support rod; the present invention can be adjusted according to the size of the object when clamping, that is, effective clamping of objects of various sizes can be achieved, thereby ensuring the stability of object clamping and further improving the clamping stability of the object.

Description

Technical Field

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

[0002] A warehouse robot is an industrial robot used for clamping, transporting and palletizing items in logistics automation scenarios. It can realize automatic transportation and automatic palletizing of logistics, greatly reducing manual workload and greatly improving work efficiency.

[0003] At present, traditional warehouse robots generally use fixed grippers or rigid robotic arm structures, which means that the traditional clamping mechanism can only clamp a certain type of items and cannot be adjusted according to the shape of the items. In addition, the grippers mostly use a single clamping mode, and the clamping stability is relatively poor. After clamping, the items may slip, which makes the use scenarios of warehouse robots highly limited and unable to adapt to the various usage environments in warehousing and logistics scenarios.

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

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a warehouse robot with a detection function, comprising a fixed plate, a support rod mechanism, a clamping rod mechanism 1, a clamping rod mechanism 2, an adjustment component and a clamping mechanism, wherein the fixed plate is fixedly installed on an external robotic arm, and two support rod mechanisms are rotatably arranged in the fixed plate, and a clamping rod mechanism 1 and a clamping rod mechanism 2 are rotatably arranged at both ends of the support rod mechanism, and two adjustment components are rotatably arranged between the clamping rod mechanism 1 and the clamping rod mechanism 2 located at the same vertical position, a clamping mechanism is provided between the two adjustment components, and a sliding telescopic rod is fixedly provided between the two clamping rod mechanisms 1 and the two clamping rod mechanisms 2 located at the same horizontal position.

[0006] Preferably, the adjustment assembly includes a connecting rod, a connecting block and a support rod, wherein two spring support rods 1 are symmetrically slidably arranged in the support rod along the vertical position, a connecting block is fixedly arranged at the output end of the spring support rod 1, a connecting rod is rotatably arranged on the connecting block, and the two connecting rods are respectively rotatably connected to the clamping rod mechanism 1 and the clamping rod mechanism 2 located at the same vertical position.

[0007] Preferably, the support rod mechanism includes a turntable and a hydraulic telescopic rod 1, wherein the turntable is rotatably arranged on the fixed plate, two hydraulic telescopic rods 1 are symmetrically fixedly arranged on the turntable, and the thickness of the turntable is half of the maximum diameter of the hydraulic telescopic rod 1, a slip ring is slidingly arranged on the hydraulic telescopic rod 1, and a driving block is slidingly arranged on the fixed plate driven by the hydraulic telescopic rod 2, and driving rods are symmetrically fixedly arranged on the driving block along the vertical position, and the two driving rods are respectively hinged to the two slip rings.

[0008] Preferably, the clamping rod mechanism 1 includes a rod body 1, a rod body 2 and a clamping block 1, wherein the rod body 1 is rotatably set at the output end of the hydraulic telescopic rod 1, and the rod body 2 is slidably set on the rod body 1. The rod body 1 and the rod body 2 are both hollow structures. Multiple clamping blocks 1 are slidably set in the rod body 1 and the rod body 2. The multiple clamping blocks 1 are connected by a spring 1, and the two clamping blocks 1 located at both ends are fixedly connected to the rod body 1 and the rod body 2 respectively.

[0009] Preferably, the clamping rod mechanism two includes a rod body three, a rod body four and a clamping block mechanism, wherein the rod body three is rotatably set at the output end of the hydraulic telescopic rod one, the rod body four is slidably set on the rod body three, the rod body three and the rod body four are L-shaped, and multiple clamping block mechanisms are slidably set between the rod body three and the rod body four, the multiple clamping block mechanisms are connected by spring two, and the two clamping block mechanisms located at both ends are fixedly connected to the rod body three and the rod body four respectively.

[0010] Preferably, the clamp mechanism includes a fixed rod, a sliding rod, a clamp rod, a connecting piece and a clamp barrel, wherein the clamp barrel is configured in plurality, and the plurality of clamp barrels are rotatably connected through a plurality of connecting pieces to form a flexible clamping piece, the left and right ends of the flexible clamping piece are rotatably provided with clamp rods, a sliding rod is slidably provided on the clamp rod, the sliding rod is slidably connected to the fixed rod through two hydraulic telescopic rods three, the fixed rod is slidably connected to the support rod through a spring support rod two, and a plurality of anti-slip rings are provided on the clamp barrel.

[0011] Preferably, deflection plates are fixedly provided at both ends of the connecting rod; deflection groove one is provided at the rotating connection end of rod body one, rod body two, rod body three and rod body four and the connecting rod, and a limiting groove one is provided on one side of the deflection groove one, and a push rod is provided in the limiting groove one by hydraulically driven sliding; deflection groove two is provided in the connecting block, and a limiting groove two is provided on one side of the deflection groove two, and the two ends of the connecting rod are respectively rotatably provided in the deflection groove one and the deflection groove two, and the two deflection plates rotate along the limiting groove one and the limiting groove two respectively, and the push rod can be pushed against the deflection plate.

[0012] Preferably, the clamping block mechanism includes a clamping block 2, a slider, a receiving block and a pulling block, wherein the clamping block 2 is slidably arranged in the clamping rod mechanism 2, the slider is slidably arranged in the clamping block 2, a plurality of clamping strips penetrating the clamping block 2 are fixedly arranged on the slider, a pulling block is slidably arranged on the bottom of the clamping block 2, the receiving block is rotatably connected to the pulling block and a hydraulic telescopic rod 4 is hinged between the two; a T-shaped pull rod is fixedly arranged on the pulling block, a T-shaped slide groove is obliquely opened in the slider, and the T-shaped pull rod slides along the T-shaped slide groove.

[0013] Compared with the existing technology, the present invention provides a storage robot with a detection function, which has the following beneficial effects:

[0014] The present invention provides a clamping rod mechanism 1 and a clamping rod mechanism 2 with adjustable positions and a clamping mechanism that can flexibly clamp, so that the entire clamping component has two clamping modes, namely, clamping of regular square objects and clamping of irregular objects. At the same time, the clamping can be adjusted according to the size of the object, 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 provision of the clamping block mechanism, the bottom of the object can be received by the receiving block after clamping, and the receiving block can be self-locked through the cooperation of the pull block and the slider, that is, when the object slides down to generate a thrust to push the receiving block to slide downward, the slider will clamp the object more tightly, further improving the clamping stability of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 Schematic diagram of the structure of the clamping rod mechanism 1 and the clamping rod mechanism 2 in the present invention;

[0017] Figure 3 Schematic diagram of the structure of the regulating component in the present invention;

[0018] Figure 4 Schematic diagram of the structure of the clamp mechanism of the present invention;

[0019] Figure 5 Schematic diagram of the structure of the connecting rod in the present invention;

[0020] Figure 6 Schematic diagram of the structure of the clamping block mechanism in 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 2The support rod mechanism 2 includes a turntable 21 and a hydraulic telescopic rod 22, wherein the turntable 21 is rotatably set on the fixed plate 1, and two hydraulic telescopic rods 22 are symmetrically fixed on the turntable 21, and the thickness of the turntable 21 is half of the maximum diameter of the hydraulic telescopic rod 22. A slip ring 23 is slidingly set on the hydraulic telescopic rod 22. A driving block 11 is slidingly set on the fixed plate 1 through the hydraulic telescopic rod 2, and a driving rod 12 is symmetrically fixed on the driving block 11 along the vertical position. The two driving rods 12 are hinged to the two slip rings 23 respectively.

[0025] In particular, setting the thickness of the turntable 21 to half the maximum diameter of the hydraulic telescopic rod 22 allows the hydraulic telescopic rod 22 set on the two turntables 21 to be in the same plane after the two turntables 21 are fitted together, thereby facilitating the adjustment of the movement of the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4.

[0026] In this embodiment, Figure 2 The clamping rod mechanism 3 includes a rod body 1 31, a rod body 2 32 and a clamping block 1 33, wherein the rod body 1 31 is rotatably arranged at the output end of the hydraulic telescopic rod 1 22, and the rod body 2 32 is slidably arranged on the rod body 1 31. Both the rod body 1 31 and the rod body 2 32 are hollow structures, and a plurality of clamping blocks 1 33 are slidably arranged in the rod body 1 31 and the rod body 2 32. The plurality of clamping blocks 1 33 are connected by a spring 1, and the two clamping blocks 1 33 located at both ends are fixedly connected to the rod body 1 31 and the rod body 2 32 respectively;

[0027] The clamping rod mechanism 2 4 includes a rod body 3 41, a rod body 42 and a clamping block mechanism 43, wherein the rod body 3 41 is rotatably set at the output end of the hydraulic telescopic rod 1 22, and the rod body 42 is slidably set on the rod body 3 41, and the rod body 3 41 and the rod body 4 42 are L-shaped. A plurality of clamping block mechanisms 43 are slidably set in the rod body 3 41 and the rod body 4 42, and the plurality of clamping block mechanisms 43 are connected by a spring 2, and the two clamping block mechanisms 43 located at both ends are fixedly connected to the rod body 3 41 and the rod body 4 42 respectively.

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

[0029] In addition, a spring 1 is provided between the plurality of clamping blocks 33, and a spring 2 is provided between the plurality of clamping block mechanisms 43. The function of the spring 1 and the spring 2 is that when the rod body 2 32 slides along the rod body 1 31 and the rod body 42 slides along the rod body 3 41, the length of the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 will change. Through the action of the spring 1 and the spring 2, no matter how the length of the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 changes, the plurality of clamping blocks 1 33 and the clamping block mechanism 43 can be evenly arranged in the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4, thereby ensuring that the clamping force is stable and uniform.

[0030] In this embodiment, Figure 4 The clamp mechanism 6 includes a fixed rod 61, a sliding rod 62, a clamp rod 63, a connecting piece 64 and a clamp cylinder 65, wherein the clamp cylinder 65 is configured in plurality, and the plurality of clamp cylinders 65 are rotatably connected through a plurality of connecting pieces 64 to form a flexible clamping member, and the left and right ends of the flexible clamping member are rotatably provided with a clamp rod 63, and a sliding rod 62 is slidably provided on the clamp rod 63, and the sliding rod 62 is slidably connected to the fixed rod 61 through two hydraulic telescopic rods 3 66, and the fixed rod 61 is slidably connected to the support rod 53 through a spring support rod 2 67, and a plurality of anti-slip rings are provided on the clamp cylinder 65. In addition, there are multiple power drive modes for the clamp rod 63 to slide along the sliding rod 62, such as a hydraulic chamber is provided on the sliding rod 62, and a hydraulic rod is fixedly provided on the clamp rod 63, and the hydraulic rod is driven to slide along the hydraulic chamber by hydraulic pressure, thereby driving the sliding rod 62 to slide along the clamp rod 63.

[0031] In particular, the hydraulic telescopic rod three 66 has two working modes, namely active adjustment and passive adjustment. When the clamping mechanism 6 fits an irregular object so that the length of the flexible clamping member is reduced, the hydraulic telescopic rod three 66 is passively stretched. When the clamping rod mechanism one 3, the clamping rod mechanism two 4 and the clamping mechanism 6 are all fitted with the object, the hydraulic telescopic rod three 66 is actively driven to contract, so that the flexible clamping member has a pulling force, thereby enabling the clamping cylinder 65 to have the force to clamp the object inward, thereby stably clamping the object; similarly, when clamping objects in a regular direction, the length of the flexible clamping member will not change. At this time, the hydraulic telescopic rod three 66 can be fixed to remain fixed, that is, to ensure that multiple clamping cylinders 65 can fit the surface of the object.

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

[0033] The rotational connection ends of the rod body 1 31 , the rod body 2 32 , the rod body 3 41 , and the rod body 4 42 and the connecting rod 51 are all provided with a deflection groove 1 311 , and a limiting groove 1 312 is provided on one side of the deflection groove 1 311 , and a push rod 313 is provided in the limiting groove 1 312 by hydraulic drive and sliding.

[0034] A deflection slot 2 is provided in the connecting block 52, and a limiting slot 2 is provided on one side of the deflection slot 2. The two ends of the connecting rod 51 are respectively rotatably arranged in the deflection slot 1 311 and the deflection slot 2. The two deflection plates 511 are respectively rotated along the limiting slot 1 312 and the limiting slot 2, and the push rod 313 can be pushed on 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 in an inclined state relative to the deflection plate 511. Therefore, when the deflection plate 511 is in a horizontal position, the connecting rod 51 can push the clamping mechanism 6 out so that the clamping surface of the clamping mechanism 6 protrudes from the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4.

[0036] In this embodiment, 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, wherein 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, and 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 hydraulic telescopic rod 436 is hinged between the two;

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

[0038] In particular, when the receiving block 433 receives the bottom of the article, the article will apply a downward force to 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 slide groove 438, causing the slider 432 to slide, and then the clamping strip 435 will press against the surface of the article, and at the same time have the 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, the entire device is moved by controlling the robot arm. At the same time, detection cameras and multiple infrared distance sensors can be embedded in the fixed plate 1, the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 to detect the size of the object, and then adjust the position of the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 so that the two clamping rod mechanisms 1 3 just clamp the upper part of the object, and the two clamping rod mechanisms 2 4 just clamp the lower part of the object, and the clamping rod mechanism 1 3, the clamping rod mechanism 2 4 and the clamping mechanism 6 cooperate with each other to clamp. When it is necessary to clamp objects in a regular direction, the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 serve as the main clamping components, and the clamping mechanism 6 serves as the auxiliary clamping component. At this time, the driving block 11 is driven to slide by the hydraulic telescopic rod 2, so that the objects are clamped. The driving block 11 drives the slip ring 23 to slide along the hydraulic telescopic rod 22, and drives the turntable 21 to rotate, so that the angle between the two support rod mechanisms 2 changes, and the extension and contraction of the hydraulic telescopic rod 22 is used to change the positions of the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4, so that the two clamping rod mechanisms 1 3 and the two clamping rod mechanisms 2 4 are exactly located on the four side lines of the square object. In this process, the two clamping rod mechanisms 1 3 and the two clamping rod mechanisms 2 4 located at the same horizontal position will always be in the same horizontal position under the action of the sliding telescopic rod 7. At the same time, the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 located in the vertical position will also always be maintained in the same vertical position under the action of the adjusting component 5, that is, the clamping rod mechanism 1 3 and the clamping rod mechanism 2 The sliding adjustment of the clamping mechanism 2 4 is in a regular adjustment, that is, it opens or contracts in a rectangular shape, and then drives the rod body 2 32 and the rod body 42 to slide, so that the length of the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 fits the length of the article. At this time, the push rod 313 is driven to slide and press against the deflection plate 511, that is, the connecting rod 51 is fixedly connected to the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 at this time, that is, the connecting rod 51 is in an inclined state at this time, and the clamping surface of the clamping mechanism 6 protrudes from the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4. When clamping, the clamping mechanism 6 will first contact the article, and then retract the push rod 313, and continue to drive the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 to fit the article. During this process, the connecting rod 51 will Deflection occurs, and this deflection is carried out simultaneously in the clamping rod mechanism 1 3, the clamping rod mechanism 2 4 and the connecting block 52. When the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 are in contact with the article, the connecting rod 51 is just deflected to the vertical position, that is, the clamping mechanism 6, the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 clamp the article at the same time. At this time, the clamping rod 63 is driven to slide upward along the sliding rod 62, so that the article slides upward under the action of multiple clamping cylinders 65, and then the receiving block 433 is driven to deflect to a position perpendicular to the clamping block 2 431, that is, the bottom of the article is received to prevent the article from sliding after clamping, so that the clamping rod mechanism 1 3 and the clamping rod mechanism 2 4 can clamp articles of different sizes, and the articles can always remain in a stable state after clamping;

[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 storage robot with detection function, characterized in that: It includes a fixed plate, a support rod mechanism, a clamping rod mechanism 1, a clamping rod mechanism 2, an adjustment component and a clamp mechanism, wherein the fixed plate is fixedly installed on the external robotic arm, two support rod mechanisms are rotatably provided in the fixed plate, and the two ends of the support rod mechanism are rotatably provided with a clamping rod mechanism 1 and a clamping rod mechanism 2, two adjustment components are rotatably provided between the clamping rod mechanism 1 and the clamping rod mechanism 2 located at the same vertical position, a clamp mechanism is provided between the two adjustment components, and a sliding telescopic rod is fixedly provided between the two clamping rod mechanisms 1 and the two clamping rod mechanisms 2 located at the same horizontal position; The adjustment assembly includes a connecting rod, a connecting block and a support rod, wherein two spring support rods 1 are symmetrically slidably arranged in the vertical position in the support rod, a connecting block is fixedly arranged at the output end of the spring support rod 1, a connecting rod is rotatably arranged on the connecting block, and the two connecting rods are respectively rotatably connected to the clamping rod mechanism 1 and the clamping rod mechanism 2 located at the same vertical position; The support rod mechanism includes a turntable and a hydraulic telescopic rod 1, wherein the turntable is rotatably arranged on the fixed plate, and two hydraulic telescopic rods 1 are symmetrically fixed on the turntable, and the thickness of the turntable is half of the maximum diameter of the hydraulic telescopic rod 1. A slip ring is slidingly arranged on the hydraulic telescopic rod 1, and a driving block is slidingly arranged on the fixed plate through the hydraulic telescopic rod 2. The driving block is symmetrically fixed along the vertical position with driving rods, and the two driving rods are respectively hinged to the two slip rings; The clamping rod mechanism 1 includes a rod body 1, a rod body 2 and a clamping block 1, wherein the rod body 1 is rotatably arranged at the output end of the hydraulic telescopic rod 1, and the rod body 2 is slidably arranged on the rod body 1; The clamping rod mechanism 2 includes a rod body 3, a rod body 4 and a clamping block mechanism, wherein the rod body 3 is rotatably arranged at the output end of the hydraulic telescopic rod 1, and the rod body 4 is slidably arranged on the rod body 3; Deflection plates are fixedly provided at both ends of the connecting rod; The rotational connection ends of rod body 1, rod body 2, rod body 3 and rod body 4 and the connecting rod are all provided with a deflection groove 1, and a limit groove 1 is provided on one side of the deflection groove 1, and a push rod is provided in the limit groove 1 through hydraulic drive sliding; A deflection slot 2 is provided in the connecting block, and a limiting slot 2 is provided on one side of the deflection slot 2. The two ends of the connecting rod are respectively rotatably arranged in the deflection slot 1 and the deflection slot 2. The two deflection plates rotate along the limiting slot 1 and the limiting slot 2 respectively, and the push rod can be pushed against the deflection plate.

2. A storage robot with detection function according to claim 1, characterized in that: Both rod body 1 and rod body 2 are hollow structures. Multiple clamping blocks 1 are slidably set in rod body 1 and rod body 2. The multiple clamping blocks 1 are connected by spring 1, and the two clamping blocks 1 located at both ends are fixedly connected to rod body 1 and rod body 2 respectively.

3. A storage robot with detection function according to claim 2, characterized in that: Rod body three and rod body four are L-shaped, and multiple clamping block mechanisms are slidably arranged in rod body three and rod body four. The multiple clamping block mechanisms are connected by spring two, and the two clamping block mechanisms located at both ends are fixedly connected to rod body three and rod body four respectively.

4. The storage robot with detection function according to claim 1, characterized in that: The clamp mechanism includes a fixed rod, a sliding rod, a clamp rod, a connecting piece and a clamping cylinder, wherein there are multiple clamping cylinders, and the multiple clamps are rotatably connected through multiple connecting pieces to form a flexible clamping piece, the left and right ends of the flexible clamping piece are rotatably provided with clamping rods, and a sliding rod is slidably provided on the clamping rod, the sliding rod is slidably connected to the fixed rod through two hydraulic telescopic rods three, the fixed rod is slidably connected to the support rod through a spring support rod two, and multiple anti-slip rings are provided on the clamping cylinder.

5. The storage robot with detection function according to claim 3, characterized in that: The clamping block mechanism includes a clamping block 2, a slider, a receiving block and a pulling block, wherein the clamping block 2 is slidably arranged in the clamping rod mechanism 2, the slider is slidably arranged in the clamping block 2, a plurality of clamping strips penetrating the clamping block 2 are fixedly arranged on the slider, a pulling block is slidably arranged on the bottom of the clamping block 2, the receiving block is rotatably connected to the pulling block and a hydraulic telescopic rod 4 is hinged between the two, a T-shaped pull rod is fixedly arranged on the pulling block, a T-shaped slide groove is obliquely opened in the slider, and the T-shaped pull rod slides along the T-shaped slide groove.

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