Bilateral three-dimensional warehouse for aluminum alloy processing and warehouse-in and warehouse-out method

Abstract

The invention belongs to the technical field of aluminum alloy processing. The invention provides a bilateral stereoscopic warehouse for aluminum alloy machining and a warehouse in-out method, and aims to solve the problems that a traditional tappet neat sleeve warehouse and a traditional fan gel warehouse are low in automation degree, wide in occupied area, prone to being exploded and restricting continuous production, and the bilateral stereoscopic warehouse comprises a double-gantry three-stand-column frame, a left double-face lifting mechanical arm, a right double-face lifting mechanical arm, warehouse bodies (a short material warehouse and a long material warehouse) and an electrical system. During working, an electrical system controls the mechanical arm to complete automatic warehousing (detection, taking and placing) and neat sleeving and delivery of materials, storage automation is achieved, the stock amount is increased, the occupied area is reduced, the automatic machining and assembling requirements of door and window order rolling production are met, and efficient and continuous production is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of aluminum alloy processing technology, and in particular to a double-sided automated warehouse and its loading / unloading method for aluminum alloy processing. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid development of industrial automation, the door and window manufacturing industry has gradually achieved automation in door and window parts processing and assembly line production in door and window assembly. To improve production efficiency and material utilization, door and window manufacturers generally adopt a batch production model, which involves first disassembling, combining, and categorizing all window rod parts from all orders for batch machining. After all the rods for a certain window functional component are processed, assembly is carried out on an assembly line. Finally, after all window components are assembled and gelled, the entire window is assembled. In this production process, there are production cycle time differences between rod processing and component assembly, and between component assembly and final window assembly. Specialized devices are needed to buffer and assemble rods or components to ensure the continuity of the production process. These buffer and assembly devices are called rod assembly warehouses and window sash gel warehouses. With the continuous increase in production capacity in the door and window industry, higher requirements are placed on the storage capacity, automation level, and space utilization of rod assembly warehouses and window sash gel warehouses. Technological upgrades of related storage devices have become an important support for further development of automation in door and window production.

[0004] Traditional upright shelving units consist of individual movable racks. This structure results in low storage space utilization and a large footprint, making it difficult to meet the needs of large-scale automated production. Traditional window sash storage units, which store window sashes individually in rows of racks, also suffer from large footprints and are not conducive to automated operation. When production increases, the storage capacity of traditional units cannot meet the buffering needs, easily leading to overstocking and causing automated production lines to stop, severely impacting production efficiency. Furthermore, traditional storage methods rely on manual handling and picking, which is not only labor-intensive but also prone to material quality damage and time waste. Their automation level is far behind the pace of automation in door and window processing and assembly lines, failing to meet enterprises' core demands for improved production efficiency and product quality. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a double-sided automated storage and retrieval system for aluminum alloy processing, along with its inbound and outbound methods. The system features symmetrically installed, height-adjustable, and retractable robotic arms on both sides. The storage unit is divided into long and short storage compartments. This design solves the problems of low automation and insufficient storage space utilization associated with traditional push-rod and fan-shaped storage systems. It overcomes the drawbacks of traditional storage methods, such as large footprint and the risk of overcrowding leading to production line shutdowns. Furthermore, it addresses the issues of low efficiency and high labor intensity associated with manual handling and sorting. This invention improves the automation level of material storage, significantly increases space utilization and inventory levels, ensures production continuity, reduces labor intensity, minimizes quality loss and time waste caused by manual operation, and enhances overall production efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a double-sided three-dimensional library for aluminum alloy processing.

[0007] A double-sided automated storage and retrieval system for aluminum alloy processing includes: a double-gantry three-column frame, a left robotic arm, a right robotic arm, the storage body, and an electrical system; The double-gate three-column frame includes a central gantry column, two side gantry columns, a top seat, and a foundation base. The central gantry column and the two side gantry columns are vertically set on the foundation base. The two side gantry columns are symmetrically distributed on the left and right sides of the central gantry column. The top seat covers and is fixed to the top of the central gantry column and the two side gantry columns. The left and right robotic arms are symmetrically installed on the left and right sides of the double gantry three-column frame, respectively, and both are slidably engaged with the double gantry three-column frame. Both the left and right robotic arms are equipped with forks on both sides, and both the left and right robotic arms can be raised and lowered along the gantry and can extend and retract on both sides. The storage unit is installed on both sides of the double-gantry three-column frame and is fixedly connected to the foundation base. Inside the storage unit, there are short storage units and long storage units for classifying and storing rods of different lengths. The electrical system is electrically connected to the left and right robotic arms to control the lifting and telescopic movements. The left and right robotic arms are used to transfer the materials to be stored in the warehouse from the feeding roller conveyor to the designated storage location in the warehouse, and to transfer the complete set of materials in the warehouse to the discharging roller conveyor, so as to realize the automated storage and transfer of materials.

[0008] In one implementation of the first aspect of the present invention, a pin hole is reserved on the lower surface of the top seat, and a tapered pin is provided at the upper end of the central column of the gantry and the two side columns of the gantry. The top seat is positioned and connected to the central column of the gantry and the two side columns of the gantry through the tapered pin. Adjustment plates are provided at the connection points between the central column of the gantry and the two side columns of the gantry and the top seat. One end of the adjustment plate is bolted to the top seat, and the other end is bolted to the side of the corresponding column. Both the left and right robotic arms are equipped with robotic arm trays. A gap adjustment structure is provided between the robotic arm tray and the corresponding column. The gap adjustment structure is an adjustment block set between the robotic arm tray and the lifting plate.

[0009] In one optional implementation of the first aspect of the present invention, the bottom of the base is slidably connected to a slide rail on the ground.

[0010] In one implementation of the first aspect of the present invention, the left manipulator includes a left lifting bracket mechanism and a double-sided telescopic manipulator mechanism. The left lifting bracket mechanism is slidably engaged with the double gantry three-column frame, and the double-sided telescopic manipulator mechanism is fixed at the upper end of the left lifting bracket mechanism. The right robotic arm includes a right lifting bracket mechanism and a right double-sided telescopic robotic arm mechanism. The right lifting bracket mechanism is slidably engaged with the double gantry three-column frame, and the right double-sided telescopic robotic arm mechanism is fixed at the upper end of the right lifting bracket mechanism.

[0011] As a further limitation of the first aspect of the present invention, the left lifting bracket mechanism includes a left lifting tray, a lifting manipulator support plate, a guide rail, a rack and pinion, and a lifting servo motor reducer. The guide rail is fixed to the inner side of the central column and the left side column of the gantry. The left lifting pallet is slidably engaged with the guide rail on both sides by sliders. The lifting robot arm support plate is fixed to the upper surface of the left lifting pallet by adjusting blocks. The rack is fixed inside the central column of the gantry, and the lifting servo motor reducer is fixed on the left lifting tray. The gear on its output shaft meshes with the rack. The upper end of the left lifting tray is provided with a top impact block, and the front and rear ends are provided with baffles. The side is provided with a drag chain bracket and a limit switch. The central column of the gantry and the left side column of the gantry are provided with limit blocks that are compatible with the limit switches.

[0012] As a further limitation of the first aspect of the present invention, the double-sided telescopic manipulator mechanism includes a manipulator pick-and-place bracket, a hand insert and a telescopic servo motor reducer. The hand insert includes a manipulator fork and an adsorption manipulator fork. The bottom of the manipulator pick-and-place bracket slides in cooperation with the guide rail on the lifting manipulator support plate via a slider. The robotic fork and the suction robotic fork are symmetrically fixed at the front and rear ends of the robotic arm picking and placing bracket, respectively. The suction robotic fork is fixed with a vacuum suction cup. The telescopic servo motor reducer is fixed to the side of the robotic arm picking and placing bracket through the reducer bracket and the reducer mounting plate. The gear on the output shaft of the telescopic servo motor reducer meshes with the rack on the lifting robotic arm support plate, driving the robotic arm picking and placing bracket to extend and retract. The double-sided telescopic manipulator mechanism also includes a speed-multiplying mechanism, which consists of two roller chains and a speed-multiplying sprocket. The speed-multiplying sprocket is fixed on the drive shaft of the manipulator's material handling bracket, and the two roller chains are respectively set on both sides of the speed-multiplying sprocket and mesh with it. The telescopic servo motor reducer is connected to the speed-multiplying sprocket via a transmission chain, driving the speed-multiplying sprocket to rotate and adjust the telescopic speed of the manipulator fork.

[0013] As a further limitation of the first aspect of the present invention, the double-sided telescopic manipulator mechanism also includes a multi-fork synchronization mechanism, which includes a synchronization shaft, multiple sprockets, and a gap structure; the synchronization shaft extends laterally through the manipulator's loading and unloading bracket, the multiple sprockets are fixed at both ends of the synchronization shaft, the gap structure is driven and connected to the multiple sprockets, and the multiple sprockets cooperate with the roller chain; the telescopic servo motor reducer drives the multiple sprockets to rotate synchronously through the synchronization shaft, thereby realizing the synchronous movement of multiple manipulator forks.

[0014] As a further limitation of the first aspect of the present invention, the double-sided telescopic manipulator mechanism also includes a translation mechanism, which includes a conveyor belt, multiple pulleys and a synchronous transmission mechanism; the multiple pulleys are fixed to the ends of the manipulator's material handling bracket, and the conveyor belt cooperates with the pulleys; the synchronous transmission mechanism is driven and connected to the telescopic servo motor reducer, which drives the pulleys to rotate so as to drive the conveyor belt to translate.

[0015] As a further limitation of the first aspect of the present invention, the warehouse includes a first single fabric warehouse and a second single fabric warehouse, which are respectively set for the left robotic arm and the right robotic arm; The first fabric warehouse has a short material warehouse, and the second fabric warehouse has a long material warehouse. Both the first and second fabric warehouses have multiple layers of warehouse shelves, and the shelf spacing of the short material warehouse is smaller than that of the long material warehouse. The storage rack is fixed on the rack base inside the storage column, and the storage column is vertically fixed to the storage base on the foundation base.

[0016] As a further limitation of the first aspect of the present invention, at least one set of hand forks is added to both the left double-sided telescopic manipulator mechanism and the right double-sided telescopic manipulator mechanism. Each set includes a manipulator hand fork and an adsorption manipulator hand fork. The newly added hand forks are arranged parallel to the original hand forks. The number of sprockets at both ends of the synchronous shaft is adapted to the number of robotic forks. The synchronous shaft is driven and connected to the telescopic servo motor reducer. Through the sprockets, it is connected to all robotic forks to achieve synchronous extension and retraction and loading and unloading of four sets of forks.

[0017] Secondly, the present invention provides a working method for a two-sided three-dimensional library for aluminum alloy processing.

[0018] A method for operating a double-sided stereolithography library for aluminum alloy processing, utilizing the double-sided stereolithography library of the first aspect of the present invention, includes the following processes: Preparation phase: Initialize the equipment status through the electrical system, so that both the left and right robotic arms are reset to the initial lifting positions of the double gantry three-column frame, with the left robotic arm corresponding to the short material bin of the storage body and the right robotic arm corresponding to the long material bin of the storage body; In the sorting and warehousing stage: When the feeding roller conveyor transports short materials, the electrical system controls the left robot arm to rise and fall along the double gantry three-column frame until it is level with the feeding roller conveyor. The left robot arm then uses a double-sided telescopic movement to allow the two forks to carry the short materials. The electrical system then controls the left robot arm to rise and fall along the double gantry three-column frame to the designated storage position in the short material warehouse. The left robot arm then performs a double-sided telescopic movement again to transfer the short materials into the short material warehouse. When the feeding roller conveyor transports long materials, the electrical system controls the right robot arm to rise and fall along the double gantry three-column frame until it is level with the feeding roller conveyor. The right robot arm uses a double-sided telescopic movement to allow the two forks to carry the long materials. The electrical system then controls the right robot arm to rise and fall along the double gantry three-column frame to the designated storage position in the long material warehouse. The right robot arm then performs a double-sided telescopic movement again to transfer the long materials into the long material warehouse. Categorized storage stage: Short materials are stored independently in the short material warehouse, and long materials are stored independently in the long material warehouse; Step 4, Complete Set Outbound Stage: When the electrical system detects that short materials are complete sets in the short material warehouse or long materials are complete sets in the long material warehouse, it controls the corresponding robotic arm to rise and fall along the double gantry three-column frame to the storage position where the complete set of materials is located. The robotic arm uses a double-sided extension and retraction action to make the forks carry the complete set of materials. The electrical system then controls the robotic arm to rise and fall to a position flush with the discharge roller line. The robotic arm performs a double-sided extension and retraction action to transfer the complete set of materials to the discharge roller line, completing the automated storage and transfer of materials.

[0019] Compared with the prior art, the beneficial effects of the present invention are: This invention comprises a double-sided three-dimensional storage unit consisting of a double-gantry three-column frame, left and right robotic arms, a storage body, and an electrical system. The left and right robotic arms are symmetrically installed and can be raised, lowered, and extended. The storage body is divided into long and short storage compartments. This invention solves the problems of low automation and insufficient storage space utilization of traditional push-rod assemblies and fan-shaped gel storage units. It overcomes the shortcomings of traditional storage methods, such as large footprint and easy overload leading to production line shutdowns. At the same time, it solves the problems of low efficiency and high labor intensity of manual handling and picking. It improves the automation level of material storage, significantly increases space utilization and inventory, ensures production continuity, reduces labor intensity, reduces quality loss and time waste caused by manual operation, and improves overall production efficiency.

[0020] The top seat of this invention is positioned and connected to the column via a tapered pin. An adjusting bend plate is provided at the connection between the column and the top seat, and the robotic arm tray is equipped with a gap adjustment structure. This solves the problems of difficulty in ensuring on-site installation accuracy and inconvenience for high-altitude operations in large steel gantry frames. It overcomes the defects of column manufacturing errors and difficulty in controlling guide rail parallelism during installation. Simultaneously, it solves the problem of poor fit caused by dimensional deviations during assembly, improving the installation efficiency and assembly accuracy of the gantry frame, ensuring that the column spacing and guide rail parallelism meet requirements, facilitating on-site installation and adjustment, compensating for errors in the manufacturing and installation processes, and ensuring the overall stability of the equipment operation.

[0021] The left and right robotic arms of this invention are respectively composed of a lifting bracket mechanism and a double-sided telescopic robotic arm mechanism. The lifting bracket mechanism slides with the frame, and the telescopic robotic arm mechanism is fixed on the upper end of the lifting bracket mechanism. This solves the problem of poor coordination between the lifting and telescopic movements of the robotic arm and the difficulty in accurately picking up and placing materials. It overcomes the defect that a single mechanism cannot simultaneously take into account both lifting stability and telescopic flexibility. At the same time, it solves the problem of low efficiency in independently processing materials on the left and right sides, improves the coordination and accuracy of the robotic arm movements, realizes independent operation of the left and right robotic arms without interference, ensures the stability of materials during lifting and telescopic processes, and improves the smoothness of inbound and outbound operations and overall work efficiency.

[0022] The left lifting bracket mechanism of this invention is equipped with guide rails, racks, lifting servo motor reducers, top impact blocks, baffles, limit switches, and other components. It solves the problems of inaccurate positioning and unstable movement during the lifting process of the robotic arm, overcomes the hidden dangers of easy deviation and lack of effective safety protection during the lifting process, and solves the problem of uncoordinated lifting action with other mechanisms. It improves the accuracy and stability of lifting motion. The limit switches and blocks achieve effective control of the lifting stroke, and the top impact blocks and baffles enhance the safety of equipment operation, preventing the material from being damaged by shaking or deviation during the lifting process, and ensuring the coordinated operation of the equipment with other components.

[0023] The double-sided telescopic robotic arm mechanism of this invention is equipped with a robotic arm fork and a suction robotic arm fork. The suction robotic arm fork is equipped with a vacuum suction cup and a speed-doubling mechanism composed of a roller chain and a speed-doubling sprocket. This solves the problems of insufficient stability and easy tilting of special materials during the handling of different types of materials. It overcomes the defects of the inability to adjust the telescopic speed according to needs and low handling efficiency. At the same time, it solves the problem that a single fork is difficult to adapt to multiple materials, improving the stability and adaptability of material handling. The vacuum suction cup effectively prevents special materials from tilting, and the speed-doubling mechanism enables flexible adjustment of the telescopic speed, improving the material handling efficiency. The dual-type forks are suitable for materials of different specifications, expanding the applicability of the equipment.

[0024] This invention solves the problems of asynchronous fork movements and misalignment / jamming during material handling by driving multiple sprockets to rotate synchronously via a synchronous shaft. It overcomes the defects of poor consistency in multi-fork collaborative work, which affects the simultaneous handling of the entire layer of materials. At the same time, it solves the problem of uneven force distribution during transmission, improves the synchronicity and coordination of multi-fork movements, ensures that the entire layer of materials can be handled smoothly and synchronously, avoids material confusion or damage caused by inconsistent fork movements, reduces jamming during transmission, and improves the efficiency and stability of batch material processing.

[0025] The translation mechanism of this invention consists of a conveyor belt, multiple pulleys, and a synchronous transmission mechanism. The synchronous transmission mechanism drives the pulleys to drive the conveyor belt to translate, solving the problems of easy friction damage and unstable translation when materials are transferred on the forks. It overcomes the shortcomings of simply relying on fork extension and retraction to achieve smooth material transfer, and also solves the problem of inconvenient position adjustment during material transfer. This improves the stability and convenience of material transfer. The cooperation between the conveyor belt and the pulleys reduces friction loss on the material surface, ensuring material quality. The synchronous transmission mechanism ensures the stability of the translation speed, facilitates the smooth transition of materials between the forks and the roller conveyor, and improves the continuity of the overall transfer process.

[0026] The storage unit of this invention features first and second single-layer fabric storage units, corresponding to the storage of long and short fabrics respectively. Internally, it has multiple layers of shelving with varying intervals between the long and short fabric shelves. This solves the problems of confusion and unstable support caused by mixed storage of fabrics of different lengths, and overcomes the shortcomings of traditional storage methods such as unclear classification and inefficient space utilization. It also addresses the issues of easy tipping and difficulty in matching fabrics during storage. This improves the space utilization rate and stability of the storage unit. Categorized storage facilitates fabric management and matching inspection, while the varying shelf intervals ensure stable support for fabrics of different lengths, preventing tipping and damage. This facilitates subsequent matching and unloading, and enhances the orderliness of fabric storage.

[0027] This invention adds forks to a left-right double-sided telescopic robotic arm mechanism. The new forks are arranged parallel to the original forks, and the number of synchronous shafts and multi-sprockets is adapted to the number of fork sets. This solves the problems of insufficient number of original forks and low efficiency in handling batches of materials, and overcomes the shortcomings of limited load-bearing capacity of a single fork set, which makes it difficult to meet the needs of large-scale production. It also solves the problem of inconsistent coordination between the new and original forks. This improves the efficiency and load-bearing capacity of material handling. Multiple forks can extend and retract synchronously, enabling the simultaneous handling of larger batches of materials. This meets the needs of batch material processing in door and window production, reduces the number of inbound and outbound operations, increases the overall production process speed, and enhances the equipment's capacity adaptability.

[0028] This invention designs a two-sided automated warehouse operation method comprising four stages: preparation, classification and warehousing, classification and storage, and complete set delivery. Corresponding robotic arms and storage locations are allocated based on the length of the materials, and automated operations are controlled by an electrical system. This solves the problems of chaotic material handling processes, unclear classification, and delayed complete set detection. It overcomes the shortcomings of traditional workflows, such as excessive manual intervention, high error rates, and low efficiency. Simultaneously, it addresses the storage chaos and delayed delivery issues caused by handling mixed materials of varying lengths. This improves the orderliness and automation of material handling. Classification and warehousing ensure clear material management, automated control reduces human error, and the complete set delivery process ensures timely delivery of complete sets to the next process, enhancing production continuity and overall efficiency, and reducing the impact of human factors on production progress.

[0029] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0030] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0031] Figure 1 A schematic diagram of the structure of a double-sided three-dimensional library provided as an exemplary embodiment of the present invention; Figure 2 A gantry diagram provided for an exemplary embodiment of the present invention Figure 1 ; Figure 3 A gantry diagram provided for an exemplary embodiment of the present invention Figure 2 ; Figure 4 A schematic diagram of a left robotic arm provided for an exemplary embodiment of the present invention. Figure 1 ; Figure 5 A schematic diagram of a left robotic arm provided for an exemplary embodiment of the present invention. Figure 2 ; Figure 6 A schematic diagram of a left robotic arm provided for an exemplary embodiment of the present invention. Figure 3 ; Figure 7 A schematic diagram of a left robotic arm provided for an exemplary embodiment of the present invention. Figure 4 ; Figure 8 A schematic diagram of a left robotic arm provided for an exemplary embodiment of the present invention. Figure 5 ; Figure 9 A schematic diagram of a left robotic arm provided for an exemplary embodiment of the present invention. Figure 6 ; Figure 10 A schematic diagram of a library body provided for an exemplary embodiment of the present invention. Figure 1 ; Figure 11 A schematic diagram of a library body provided for an exemplary embodiment of the present invention. Figure 2 ; Figure 12 A schematic diagram of a library body provided for an exemplary embodiment of the present invention. Figure 3 ; Figure 13 A schematic diagram of a library body provided for an exemplary embodiment of the present invention. Figure 4 ; Figure 14 A schematic diagram of two sets of forks provided for an exemplary embodiment of the present invention; The components include: 1. Gantry; 2. Left robotic arm; 3. Right robotic arm; 4. Storage unit; 5. Short storage unit; 6. Long storage unit; 7. Control panel; 8. Electrical system; 9. Feed roller conveyor; 10. Discharge roller conveyor. 11. Gantry center column; 12. Gantry side columns; 13. Top mount; 14. Foundation base; 15. Z-axis cable chain box; 16. Adjustment plate; 17. Inspection safety bolt; 18. Nitrogen buffer assembly; 19. Left lifting bracket mechanism; 20. Double-sided telescopic manipulator mechanism; 21. Left lifting tray; 22. Lifting manipulator support plate; 23. Cable chain bracket; 24. Top impact block; 25. Limit stop block; 26. Guide rail; 27. Rack; 28. Baffle; 29. ​​Limit switch; 30. Adjusting block; 31. First reducer mounting plate; 32. Second reducer mounting plate; 33. Robotic arm material handling bracket; 34. Large cover plate; 35. Robotic arm fork; 36. Stainless steel rectangular pipe clamp; 37. Reducer bracket; 38. Reducer mounting plate; 39. Adsorption robotic arm fork; 40. Vacuum suction cup; 41. First Single Fabric Warehouse; 42. First Material Handling Channel; 43. Second Single Fabric Warehouse; 44. Second Material Handling Channel; 45. External Protective Sheet Metal; 46. First Storage Base; 47. First Warehouse Column; 48. First Base Connecting Beam; 49. Second Base Connecting Beam; 50. Second Warehouse Column; 51. Third Warehouse Column; 52. Fourth Warehouse Column; 53. Fifth Warehouse Column; 54. Sixth Warehouse Column; 55. First Column Connecting Beam; 56. First Diagonal Bracing Beam; 57. Second Column Connecting Beam; 58. Third Column Connecting Beam; 59. Fourth Column Connecting Beam; 60. Second Diagonal Bracing Beam; 61. Plastic Square Tube End Cap; 62. Right Warehouse Shelf Base; 63. Warehouse Shelf; 64. Stainless Steel Rectangular Tube Clamp; 65. Plastic Square Tube End Cap; 66. Left Warehouse Shelf Base; 67. Second Storage Base; 68. First Set of Forks; 69. Second Set of Forks. Detailed Implementation

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0033] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0034] This implementation proposes a double-sided automated storage and retrieval system for aluminum alloy processing. It is primarily used for storing complete sets of order masts after machining in the door and window production process, or for storing gel after glue application to entire windows. This system automates storage, increases inventory capacity, and reduces floor space. Figure 1 As shown, the overall structure is supported by the gantry 1, with the left robotic arm 2 and the right robotic arm 3 as the execution cores, and the storage body 4 as the storage core. Together with the control panel 7, electrical system 8, feeding roller line 9, and discharging roller line 10, it constitutes a complete automated storage system.

[0035] The gantry 1 adopts a double gantry and three-column structure, which provides rigid support for the entire equipment, bears the weight of the left robot arm 2, the right robot arm 3 and the warehouse body 4, and provides a guiding foundation for the lifting and lowering movement of the left robot arm 2 and the right robot arm 3, ensuring the structural stability of each moving part during operation.

[0036] Left robotic arm 2 and right robotic arm 3: symmetrically distributed on the left and right sides of gantry 1, with completely identical structures, both have lifting and double-sided telescopic functions, responsible for receiving materials to be put into storage from the feeding roller line 9 and transferring them to the designated storage position in the storage body 4, or taking out complete sets of materials from the storage body 4 and transferring them to the discharge roller line 10. They are the core execution components for material transfer.

[0037] The storage unit 4 is installed on both sides of the gantry 1 and is fixedly connected to the gantry 1. It contains a short storage unit 5 and a long storage unit 6. The short storage unit 5 is used to store short rod materials (fan materials) or gelled window sashes, and the long storage unit 6 is used to store long rod materials (frame materials). The multi-layer shelf structure realizes the classification and high-density storage of materials.

[0038] The control panel 7 is located on one side of the equipment and is electrically connected to the electrical system 8 via a cable. It serves as a human-machine interface and is equipped with operation buttons, a display screen, and status indicator lights, allowing operators to set equipment parameters (such as storage level and conveying speed), start and stop the equipment, and view the equipment's operating status in real time (such as storage space occupancy and fault information).

[0039] The electrical system 8 is installed on the side support of the gantry 1 and is fixedly connected to the base of the gantry 1. It is the control core of the equipment and integrates controllers, contactors, relays and signal acquisition modules. It is electrically connected to the light strips of the left robot arm 2, the right robot arm 3, the warehouse body 4, the feeding roller line 9 and the discharging roller line 10 through cables to realize the coordinated action control of each component.

[0040] The feeding roller conveyor 9 serves as the material conveying channel for warehousing. One end is connected to the external processing equipment, and the other end is connected to the material inlet of the warehousing body 4. It is fixed to the ground with bolts. Its conveying motor is electrically connected to the electrical system 8. Under the control of the electrical system 8, the material to be stored is conveyed to the picking position of the left robot 2 or the right robot 3 (the feeding roller conveyor 9 is a separate supporting component).

[0041] The discharge roller conveyor 10 serves as a material delivery channel. One end connects to the discharge port of the warehouse 4, and the other end connects to the downstream assembly line. It is also fixed to the ground with bolts. The conveyor motor is electrically connected to the electrical system 8. Under the control of the electrical system 8, the complete set of materials transferred by the left robot 2 or the right robot 3 is transported to the next process (the discharge roller conveyor 10 is a separate supporting component).

[0042] More specifically, such as Figure 2 and Figure 3 As shown, gantry 1 is a double gantry three-column structure, which is the supporting foundation of the entire equipment and ensures the installation accuracy and operational stability of the left robot arm 2, right robot arm 3 and warehouse body 4. It includes: gantry center column 11, gantry side column 12, top seat 13, foundation base 14, Z-axis drag chain box 15, adjusting bending plate 16, maintenance safety bolt 17 and nitrogen buffer assembly 18.

[0043] The central column 11 of the gantry consists of a single column, which is welded from high-strength Q345 steel and has a rectangular hollow cross-section. Its lower end is connected to the base 14 via a positioning key (the positioning key is embedded in the keyway of the base 14, and a groove is reserved at the bottom of the column to match the positioning key), ensuring the positioning accuracy between the column and the base 14. Its upper end is connected to the top seat 13 via a tapered pin and an adjusting bend plate 16, which is used to offset the top deformation that may occur due to the long length of the column and to ensure the verticality of the column.

[0044] There are two side columns 12 of the gantry, with the same structure as the central column 11 of the gantry. They are symmetrically distributed on the left and right sides of the central column 11 of the gantry. The lower end is also connected to the base 14 through a positioning key, and the upper end is connected to the top seat 13 through a tapered pin and an adjusting plate 16. Together with the central column 11 of the gantry, they form a support frame for the double gantry with three columns, providing lifting guidance for the left robot 2 and the right robot 3.

[0045] The top seat 13 is made of steel plate welded into a rectangular frame structure, covering the top of the gantry central column 11 and the gantry side column 12. The lower surface is reserved with pin holes that are compatible with the tapered pins. The tapered pins are used to position the top of the column. At the same time, the top is pulled and adjusted by adjusting the bending plate 16 (one end is bolted to the top seat 13 and the other end is bolted to the side of the column) to compensate for the installation error of the top of the column and ensure the levelness of the top seat 13.

[0046] The base 14 is made of thick steel plate welded together. The bottom is fixed to the ground by expansion bolts. The upper surface is machined with positioning keyways (for connecting the central column 11 and the side column 12 of the gantry) and bolt holes (for connecting the first storage base 46 and the second storage base 67 of the warehouse body 4). It is the bottom bearing foundation of the entire equipment, ensuring that the equipment is installed stably and avoiding displacement during operation.

[0047] The Z-axis cable chain box 15 is made of aluminum alloy profiles with a U-shaped cross section. It is fixed to the side of the central column 11 of the gantry by bolts. The interior houses the cables and air pipes (such as servo motor cables and vacuum suction cup 40 air pipes) required for the lifting and lowering movements of the left robot 2 and right robot 3. The Z-axis cable chain box 15 is equipped with a cable chain, through which the cables and air pipes are threaded and move synchronously with the lifting and lowering of the robot, avoiding cable tangling or wear.

[0048] The adjusting plate 16 is made of steel plate and is L-shaped. Two plates are set at the connection between each column and the top seat 13. One plate connects the lower surface of the top seat 13 to the outside of the column, and the other plate connects the side surface of the top seat 13 to the top of the column. The relative position of the top seat 13 and the column is finely adjusted by adjusting the elongated hole on the adjusting plate 16 (the bolt is inserted into the elongated hole) to compensate for the installation deformation of the column and ensure that the top seat 13 is level.

[0049] There are 6 maintenance safety bolts 17, which are made of round steel and have positioning pins at both ends. The inner sides of the gantry central column 11 and the gantry side column 12 are reserved with insertion holes that are compatible with the safety bolts (set at intervals along the height direction). When the equipment malfunctions and the left robot arm 2 or the right robot arm 3 needs to be repaired, the maintenance safety bolts 17 are inserted into the corresponding insertion holes to support the left lifting bracket mechanism 19 or the right lifting bracket mechanism (which has the same structure as the left lifting bracket mechanism 19) and prevent them from falling accidentally.

[0050] The nitrogen buffer assembly 18 consists of a nitrogen spring, a guide sleeve, and a mounting bracket. The mounting bracket is fixed to the upper surface of the base base 14 by bolts and is located directly below the left robot 2 and the right robot 3. When the robot descends rapidly to the bottom, the nitrogen buffer assembly 18 can provide a buffering force to reduce the impact between the robot and the base base 14 and protect the moving parts.

[0051] The left robotic arm 2 and the right robotic arm 3 have identical structures and are symmetrically installed on the left and right sides of the gantry 1. Both consist of a lifting bracket mechanism and a double-sided telescopic robotic arm mechanism, responsible for picking up, placing, and transferring materials. Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the left robotic arm 2 includes the following sub-components: left lifting bracket mechanism 19 and double-sided telescopic robotic arm mechanism 20; the right robotic arm 3 includes the following sub-components: right lifting bracket mechanism (with the same structure as the left lifting bracket mechanism 19) and right double-sided telescopic robotic arm mechanism (with the same structure as the double-sided telescopic robotic arm mechanism 20). The following describes the sub-components and their connection relationships in detail using the left robotic arm 2 as an example.

[0052] The left lifting bracket mechanism 19 is the lifting base of the left robot arm 2, bearing the weight of the double-sided telescopic robot arm mechanism 20 and the materials. It includes: left lifting tray 21, lifting robot arm support plate 22, drag chain bracket 23, top impact block 24, limit stop block 25, guide rail 26, rack 27, baffle 28, limit switch 29, adjusting block 30, first reducer mounting plate 31, and second reducer mounting plate 32.

[0053] The left lifting tray 21 is made of welded steel plate and has a rectangular frame structure. It is the main body of the left lifting bracket mechanism 19. The two sides are connected to the guide rails 26 on the central column 11 and the side column 12 of the gantry by sliders, and can slide up and down along the guide rails 26. The lifting manipulator plate 22 is made of steel plate and is fixed to the upper surface of the left lifting tray 21 by bolts. The plate is machined with guide rails (for connecting the double-sided telescopic manipulator mechanism 20) and bolt holes (for fixing the drag chain bracket 23), which is the installation base of the double-sided telescopic manipulator mechanism 20.

[0054] The drag chain bracket 23 is welded from angle steel and is fixed to the side of the lifting robot arm support plate 22 by bolts. It is connected to the Z-axis drag chain box 15 and has a drag chain installed inside to accommodate the cables of the double-sided telescopic robot arm mechanism 20. The top bumper 24 is made of rubber and is fixed to the upper surface of the left lifting tray 21 by bolts. When the left lifting tray 21 rises to the limit position, the top bumper 24 contacts the lower surface of the top seat 13 to play a mechanical buffering role.

[0055] The limit stop 25 is made of steel block and is fixed on the inner side of the gantry center column 11 and the gantry side column 12 (one on the top and one on the bottom). It works with the limit switch 29 to limit the maximum lifting stroke of the left lifting tray 21. The guide rail 26 is a linear guide rail and is fixed on the inner side of the gantry center column 11 and the gantry side column 12 by bolts. It works with the sliders on both sides of the left lifting tray 21 to provide precise guidance for the left lifting tray 21 and ensure that the lifting movement is smooth and without deviation.

[0056] The rack 27 is a straight rack, which is fixed to the inner side of the central column 11 of the gantry by bolts and meshes with the gear on the output shaft of the servo motor reducer to form a transmission pair for lifting drive; the baffle 28 is made of steel plate and is fixed at the front and rear ends of the left lifting pallet 21 to prevent the materials from slipping off the side during the transfer process.

[0057] The limit switch 29 is a travel switch, which is fixed to the side of the left lifting tray 21 by a bracket and is compatible with the limit block 25. When the left lifting tray 21 touches the limit block 25, the limit switch 29 triggers a signal to the electrical system 8 to control the servo motor reducer to stop, thereby realizing travel protection.

[0058] The adjustment block 30 is made of stainless steel and is set between the left lifting tray 21 and the lifting robot arm support plate 22 (one at each of the four corners). By grinding the thickness of the adjustment block 30, the levelness of the lifting robot arm support plate 22 is finely adjusted to ensure the installation accuracy of the double-sided telescopic robot arm mechanism 20.

[0059] Both the first reducer mounting plate 31 and the second reducer mounting plate 32 are made of steel plates and are fixed on the left and right sides of the left lifting tray 21, respectively. Bolt holes are machined on the plates for mounting the servo motor reducer. The servo motor reducer adopts an integrated structure of planetary gear reducer and servo motor, and is fixed to the first reducer mounting plate 31 and the second reducer mounting plate 32 by bolts. The output shaft is connected to the gear to provide power for the lifting motion. The motor is connected to the electrical system 8 through a cable to receive speed and direction control signals. The gear is a spur gear and is fixed to the output shaft of the servo motor reducer by a key connection. It meshes with the rack 27 to convert the rotational motion of the servo motor into the linear lifting motion of the left lifting tray 21.

[0060] In this implementation, the double-sided telescopic robotic arm mechanism 20 is installed on the pallet of the left lifting bracket mechanism 19 and is responsible for gripping and transferring materials. It includes: robotic arm material handling bracket 33, large cover plate 34, robotic arm fork 35, stainless steel rectangular tube clamp 36, reducer bracket 37, reducer mounting plate 38, adsorption robotic arm fork 39, and vacuum suction cup 40.

[0061] More specifically, the robotic arm material handling bracket 33 is made of stainless steel rectangular tube welded into a rectangular frame structure. The bottom is connected to the guide rail on the lifting robotic arm support plate 22 by a slider, and can extend and retract along the guide rail in both directions. The large cover plate 34 is made of thin steel plate and is fixed to the upper surface of the robotic arm material handling bracket 33 by bolts. It covers the transmission components inside the bracket, prevents dust and debris from entering and affecting the transmission, and also plays a safety protection role.

[0062] The robotic fork 35 is made of bent steel plate, in an L-shaped structure, with two forks symmetrically fixed at the front and rear ends of the robotic arm pick-and-place bracket 33. It is used to support conventional push rod materials (such as long push rods and frame materials). The fork surface is machined with anti-slip textures to prevent material slippage. The stainless steel rectangular tube clamp 36 is made of stamped stainless steel plate and is used to fix the stainless steel rectangular tube connection parts on the robotic arm pick-and-place bracket 33. Bolts are used to tighten the clamp to the rectangular tube, ensuring the bracket structure is sturdy. The reducer bracket 37 is welded from angle steel and fixed to the side of the robotic arm pick-and-place bracket 33 with bolts, supporting the servo motor reducer. The reducer mounting plate 38 is made of machined steel plate. The servo motor reducer is fixed on the reducer bracket 37. The plate has pre-drilled bolt holes for rigidly connecting the servo motor reducer to the bracket. The suction robot fork 39 has the same structure as the robot fork 35, but a vacuum suction cup 40 is fixed to the top of the fork surface by a bracket. It is used to carry special materials (such as short rods that are easy to tip over, or window sashes after gelation). The vacuum suction enhances the stability of material grasping. The vacuum suction cup 40 is made of nitrile rubber and has a bowl-shaped structure. It is connected to an external vacuum pump through an air pipe (the vacuum pump is electrically connected to the electrical system 8). When the suction robot fork 39 carries a material, the vacuum pump starts to generate negative pressure, and the vacuum suction cup 40 is pressed tightly against the surface of the material to prevent the material from tipping over or falling during transfer.

[0063] The slider is a linear slider, bolted to the bottom of the robotic arm's loading / unloading bracket 33, and engages with the guide rail on the lifting robotic arm support plate 22, providing precise guidance for the extension and retraction of the bracket. The servo motor reducer has the same structure as the servo motor reducer on the left lifting bracket mechanism 19, and is fixed on the reducer mounting plate 38. Its output shaft is connected to a gear, providing power for the extension and retraction of the bracket. The gear is fixed on the output shaft of the servo motor reducer and meshes with a rack to form a telescopic transmission pair. The rack is fixed next to the guide rail of the lifting robotic arm support plate 22 and meshes with the gear, converting the rotational motion of the servo motor into the linear motion of the robotic arm's loading / unloading bracket 33. The movement is linear and telescopic. The roller chain uses an industrial roller chain, which works in conjunction with a speed-multiplying sprocket to form a speed-multiplying mechanism. The telescopic speed of the robotic fork 35 is adjusted through chain drive to adapt to the picking and placing needs of materials of different lengths (e.g., short materials require rapid telescopic movement, while long materials require slow and smooth telescopic movement). The speed-multiplying sprocket uses a double-pitch sprocket, which is fixed on the drive shaft of the robotic picking and placing bracket 33 and meshes with the roller chain. The speed is amplified or reduced by the difference in the number of sprocket teeth, thus adjusting the moving speed of the robotic fork 35. The synchronous shaft is made of round steel and runs horizontally through the robotic picking and placing bracket 33. Both ends are connected to multiple sprockets to transmit power and ensure synchronous transmission on both sides of the bracket.

[0064] Multiple sprockets are fixed at both ends of the synchronous shaft and cooperate with the roller chain. The synchronous shaft drives the sprockets on both sides to rotate synchronously, ensuring that the extension and retraction speeds of the robotic arm picking and unloading bracket 33 are consistent on both sides and preventing the bracket from shifting. The pulleys are rubber-coated pulleys and are fixed at the ends of the robotic arm picking and unloading bracket 33. They cooperate with the conveyor belt to form a translation mechanism. When the material is transferred from the feed roller line 9 to the robotic arm fork 35, the pulleys assist the material to slide smoothly and reduce friction damage between the material and the fork surface.

[0065] The right lifting bracket mechanism of the right robot arm 3 is the lifting base of the right robot arm 3, bearing the weight of the right double-sided telescopic robot arm mechanism and the materials. Its sub-components are completely identical to the corresponding sub-components of the left lifting bracket mechanism 19, only the installation positions are symmetrically distributed on the right side of the gantry 1. Each sub-component includes: right lifting tray (same structure as left lifting tray 21), right lifting robot arm support plate (same structure as lifting robot arm support plate 22), right drag chain bracket (same structure as drag chain bracket 23), right top impact block (same structure as top impact block 24), right limit stop block (same structure as limit stop block 25), right guide rail (same structure as guide rail 26), right rack (same structure as rack 27), right baffle (same structure as baffle 28), right limit switch (same structure as limit switch 29), right adjusting block (same structure as adjusting block 30), right first reducer mounting plate (same structure as first reducer mounting plate 31), and right second reducer mounting plate (same structure as second reducer mounting plate 32).

[0066] The right double-sided telescopic robotic arm mechanism of the right robotic arm 3 is installed on the pallet of the right lifting bracket mechanism. It is responsible for gripping and transferring materials. Its sub-components are completely identical to the corresponding sub-components of the double-sided telescopic robotic arm mechanism 20. The only difference is that the installation positions are symmetrically distributed on the right side of the gantry 1. The sub-components correspond in sequence as follows: right robotic arm picking and placing bracket (same structure as robotic arm picking and placing bracket 33), right large cover plate (same structure as large cover plate 34), right robotic arm fork (same structure as robotic arm fork 35), right stainless steel rectangular tube clamp (same structure as stainless steel rectangular tube clamp 36), right reducer bracket (same structure as reducer bracket 37), right reducer mounting plate (same structure as reducer mounting plate 38), right suction robotic arm fork (same structure as suction robotic arm fork 39), and right vacuum suction cup (same structure as vacuum suction cup 40).

[0067] The storage unit 4 is installed on the left and right sides of the gantry 1 and is fixedly connected to the base 14. It is used for the classified storage of materials, such as... Figure 10 , Figure 11 and Figure 12As shown, the system includes: a first single-layer fabric storage 41, a first material channel 42, a second single-layer fabric storage 43, a second material channel 44, an outer protective sheet metal 45, a first storage base 46, a first material storage column 47, a first base connecting beam 48, a second base connecting beam 49, a second material storage column 50, a third material storage column 51, a fourth material storage column 52, a fifth material storage column 53, a sixth material storage column 54, a first column connecting beam 55, a first diagonal brace beam 56, a second column connecting beam 57, a third column connecting beam 58, a fourth column connecting beam 59, a second diagonal brace beam 60, a plastic square tube end cap 61, a right storage rack seat 62, a storage shelf 63, a stainless steel rectangular tube clamp 64, a plastic square tube end cap 65, a left storage rack seat 66, and a second storage base 67. The storage body 4 also integrates a short material storage 5 and a long material storage 6. The connection relationships of each sub-component are as follows: The first single fabric storage 41 and the second single fabric storage 43 are symmetrically distributed on the left side (corresponding to the left robotic arm 2) and the right side (corresponding to the right robotic arm 3) of the gantry 1. Both are multi-layer shelf structures. The first single fabric storage 41 includes the short material storage 5 and the second single fabric storage 43 includes the long material storage 6, which are used to classify and store materials of different specifications.

[0068] Both the first material channel 42 and the second material channel 44 adopt a roller conveyor structure. The first material channel 42 is located inside the first single-layer fabric storage 41 and is connected to the infeed roller line 9. The second material channel 44 is located inside the second single-layer fabric storage 43 and is connected to the discharge roller line 10. The rollers are connected to the material channel support through bearings and are used for the transition conveying of materials between the infeed roller line 9 and the left robot 2, and the right robot 3 and the discharge roller line 10.

[0069] The outer protective sheet metal 45 is made of thin steel plate bent into shape and fixed to the outside of the first silo column 47 to the sixth silo column 54 by bolts, forming a closed protective space to prevent personnel from accidentally contacting the moving parts inside the silo (such as the robotic fork 35 of the left robotic arm 2), while also preventing dust from entering the silo and contaminating the materials; the first storage base 46 and the second storage base 67 are made of steel plate welded together and serve as the bottom support for the first single-layer fabric silo 41 and the second single-layer fabric silo 43, respectively. They are bolted to the foundation base 14 through the first base connecting beam 48 and the second base connecting beam 49 to ensure a stable connection between the silo and the gantry 1.

[0070] The first warehouse upright 47, the second warehouse upright 50, the third warehouse upright 51, the fourth warehouse upright 52, the fifth warehouse upright 53, and the sixth warehouse upright 54 are made of stainless steel rectangular tubing. The first warehouse upright 47, the second warehouse upright 50, and the third warehouse upright 51 are vertically bolted to the first storage base 46, and the fourth warehouse upright 52, the fifth warehouse upright 53, and the sixth warehouse upright 54 are vertically bolted to the second storage base 67, providing vertical support for the warehouse racks.

[0071] The first column connecting beam 55, the second column connecting beam 57, the third column connecting beam 58, and the fourth column connecting beam 59 are made of stainless steel rectangular tubing and are fixed horizontally between the silo columns (e.g., the first column connecting beam 55 connects the first silo column 47 and the middle of the second silo column 50), forming a transverse frame to enhance the overall rigidity of the silo. The first diagonal bracing beam 56 and the second diagonal bracing beam 60 are made of angle steel and are fixed with inclined bolts between the silo columns and the column connecting beams (e.g., the first diagonal bracing beam 56 connects the first silo column 47 and the first column connecting beam 55), forming a triangular stable structure to prevent lateral deformation of the silo after it is loaded with materials.

[0072] Plastic square tube plugs 61 and 65 are used to seal the ends of the corresponding specifications of the silo columns and column connecting beams, respectively, to prevent debris from entering the square tubes and to improve the appearance of the silo body. The right silo shelf base 62 and the left silo shelf base 66 are made of steel plate stamping and are fixed to the inside of the silo columns with bolts (the right silo shelf base 62 is fixed to the inside of the first silo column 47 to the third silo column 51, and the left silo shelf base 66 is fixed to the inside of the fourth silo column 52 to the sixth silo column 54). Bolt holes are reserved on the base for installing the silo shelf 63. The stainless steel rectangular tube clamp 64 is made of stainless steel plate stamping and is used to fix the corresponding specifications of the stainless steel rectangular tube connection parts on the first single-layer silo 41 and the second single-layer silo 43. The tube clamp is fastened to the rectangular tube with bolts to ensure the silo frame structure is solid.

[0073] The storage rack 63 is made of steel plate and is fixed to the left storage rack base 66 and the right storage rack base 62 with bolts. It is the direct load-bearing component of the materials. According to the specifications of the stored materials, it is divided into two categories: the storage rack 63 for short storage 5 is set at intervals of 120mm (suitable for short stiffener materials and fan materials), ensuring that short materials are supported by at least 2 racks to avoid bending of the materials; the storage rack 63 for long storage 6 is set at intervals of 360mm (suitable for long stiffener materials and frame materials), which takes into account both support stability and material utilization.

[0074] The light corner is made of aluminum alloy profile and is fixed with bolts to the corner of the silo column on one side of the first material channel 42 and the second material channel 44 for installing light strips. The light strips are LED light strips, a total of 50 strips, with 2 strips installed on each silo shelf 63 (fixed on the upper and lower sides of the light corner respectively). They are connected to the electrical system 8 through cables. When materials are placed on a silo shelf 63, the electrical system 8 controls the corresponding light strip to light up. Operators can intuitively judge the occupancy status of the silo by the light strips (light on means occupied, light off means vacant).

[0075] The short material storage 5 is integrated inside the first single-layer fabric storage 41. It consists of storage shelves 63 (spaced 120mm apart), a right storage shelf base 62, and first storage column 47 to third storage column 51. It mainly stores short rod materials (such as sash materials) or gelled window sashes. The materials are transferred from the feeding roller line 9 to the shelves of the short material storage 5 by the left robot 2. When leaving the storage, the materials are transferred to the discharge roller line 10 by the left robot 2. The long material storage 6 is integrated inside the second single-layer fabric storage 43. It consists of storage shelves 63 (spaced 360mm apart), a left storage shelf base 66, and fourth storage column 52 to sixth storage column 54. It mainly stores long rod materials (such as frame materials). The materials are transferred from the feeding roller line 9 to the shelves of the long material storage 6 by the right robot 3. When leaving the storage, the materials are transferred to the discharge roller line 10 by the right robot 3.

[0076] The control panel 7 provides a human-machine interface for operators, including operation buttons, a display screen, an emergency stop switch, and status indicator lights. The control panel body is welded from cold-rolled steel plate with an anti-static coating. It features casters (for easy movement) and fixed feet (for secure mounting during use). Internal space is reserved for the sub-control modules of the electrical system 8. The operation buttons include start, stop, reset, inbound / outbound switching, and manual / automatic switching buttons, which are connected to the controller of the electrical system 8 via wires. Operators send control commands to the electrical system 8 by pressing the buttons. The display screen is a touchscreen embedded in the control panel panel and is connected to the electrical system 8 via a communication cable. It can display equipment operating parameters (such as the lifting height of the robotic arm). The system displays information such as material storage level, conveyor speed, storage space occupancy (simulating the shelf layout of storage unit 4, with lights indicating occupancy), and fault information (e.g., limit switch 29 triggering, vacuum pump failure). The emergency stop switch is a rotary reset type emergency stop button, installed in a conspicuous position on the control panel, and connected in series with the emergency stop circuit of electrical system 8. When an emergency occurs (e.g., material jamming, personnel approaching moving parts), pressing the emergency stop switch can cut off the main power supply to the equipment and forcibly stop all moving parts. The status indicator lights include a power light (green, lit when power is on), a running light (yellow, lit when the equipment is running normally), and a fault light (red, lit when the equipment malfunctions). These lights are connected to the signal output terminal of electrical system 8 via wires to provide intuitive feedback on the current status of the equipment.

[0077] Electrical system 8 is the control core of the equipment, including controllers, contactors, relays, and signal acquisition modules. The control cabinet is made of cold-rolled steel plate and is installed on the side bracket of gantry 1. The cabinet door has heat dissipation holes and observation windows. Various electrical components are installed inside, and there are wire channels inside the cabinet for organizing wires. The controller is a PLC (Programmable Logic Controller), fixed on the mounting plate inside the control cabinet. It is the core of electrical system 8 and is connected to the display screen and operation buttons of the control console 7 via communication lines to receive operator commands. At the same time, it is connected to the servo motor drivers of the left robot 2 and right robot 3, limit switches, the light strips of the hopper 4, the motors of the feed roller 9 and the discharge roller 10 via signal lines to output control signals. The contactors are used to control the power supply of high-power loads (such as the conveyor motor of the feed roller 9 and the servo motor of the left robot 2). The coil is connected to the output terminal of the controller via wires, and the main contacts are connected in series in the power supply circuit of the load. The controller controls the on and off of the contactor coil to realize the load control. The system controls the start and stop of loads; relays are used to control low-power loads (such as the light strips of the storage unit 4 and the status indicator lights of the control panel 7) or transmit signals. The coils are connected to the output of the controller, and the contacts are connected to the load or signal circuit to amplify or isolate the signal; the signal acquisition module is used to acquire signals from various sensors (such as the limit switch 29 of the left lifting bracket mechanism 19, the material detection switch of the feeding roller line 9, and the shelf occupancy detection switch of the storage unit 4), and connects to the controller through a communication line to convert analog or digital signals into signals that the controller can recognize; the power supply module converts the workshop's 380V AC power to 24V DC power to power the controller, sensors, display screens and other low-voltage components, ensuring the safe operation of low-voltage components; the vacuum pump control module includes a frequency converter and control relays, and is electrically connected to the vacuum pumps connected to the vacuum suction cups 40 of the left robotic arm 2 and the right robotic arm 3. The controller adjusts the negative pressure of the vacuum pump through this module to adapt to the adsorption requirements of different materials (such as high negative pressure for heavy materials and low negative pressure for light materials).

[0078] The feeding roller conveyor 9 is used to transport externally processed materials to the picking position of the left robot 2 or the right robot 3. It includes a roller support, conveying rollers, a drive motor, a chain drive mechanism, a material detection switch, and a guide plate. The roller support is made of aluminum alloy profiles and is fixed to the ground with expansion bolts. The support has bearing seat mounting holes for installing the bearings of the conveying rollers. The conveying rollers are made of seamless steel pipes with a rubber coating (to increase friction with the materials). Both ends are connected to the roller support via bearings. Multiple rollers are evenly distributed along the conveying direction to form a conveying plane. The drive motor is a geared motor, which is fixed to the end of the roller support with bolts. The output shaft is connected to the chain drive mechanism to provide power to the conveying rollers. The chain drive mechanism consists of a drive sprocket (fixed to the output shaft of the drive motor), a driven sprocket (fixed to the end of the conveyor roller), and a chain. The chain transmits the power of the drive motor to each conveyor roller, ensuring that all rollers rotate synchronously. The material detection switch uses a photoelectric sensor, which is fixed to the end of the roller support (near the side of the hopper 4) by a bracket and connected to the signal acquisition module of the electrical system 8. When the material is conveyed to the end, the sensor sends a signal to the electrical system 8 to control the drive motor to decelerate and stop. The guide plates are made of bent steel plates and are symmetrically fixed on both sides of the roller support to form a guide channel to prevent the material from deviating from the conveying direction during the conveying process. The spacing of the guide plates can be adjusted by bolts to accommodate materials of different widths.

[0079] The discharge roller conveyor 10 is used to transport the complete set of materials transferred by the left robot 2 or the right robot 3 to the downstream process. Its structure is the same as that of the feed roller conveyor 9 (it is a separate component and is not individually labeled with a sub-component number). It includes roller support, conveyor roller, drive motor, chain drive mechanism, material detection switch, and guide plate. The connection relationship of each sub-component is exactly the same as that of the corresponding component of the feed roller conveyor 9. Only the installation position is different (the roller support of the discharge roller conveyor 10 is connected to the second material channel 44 of the silo 4, and the end away from the silo 4 is connected to the downstream assembly line).

[0080] The working principle of the dual-forklift, double-sided automated storage and retrieval system (AS / RS) is based on the centralized control of the electrical system 8. The gantry 1 provides stable support, while the left and right robotic arms 2 and 3 achieve lifting, extending, and transferring of materials. The storage body 4 (including short storage compartments 5 and long storage compartments 6) enables the classified storage of materials. The infeed roller conveyor 9 and the outfeed roller conveyor 10 facilitate the inbound and outbound transport of materials. The control panel 7 enables human-machine interaction. All components work together to automate the warehousing, storage, and complete outbound processes of materials. The specific principle is as follows: The controller of electrical system 8 is the core, and it implements the following logic through a preset program: Signal acquisition: The signal acquisition module receives in real time the material detection switch signal from the feed roller line 9 (to determine if there is material entering the warehouse), the shelf occupancy detection signal from the warehouse body 4 (to determine if the warehouse space is empty), the limit switch signal from the left robot 2 / right robot 3 (to determine if the robot is in the correct position), and the operation button signal from the control panel 7 (to receive operator commands); Command output: Based on the acquired signals, the controller sends speed and direction commands to the servo motor reducers of the left robot 2 / right robot 3. (Control lifting height and extension distance), send start / stop commands to the vacuum pump control module (control vacuum suction cup 40 adsorption / release), send start / stop and speed commands to the drive motors of the feeding roller line 9 / discharging roller line 10 (control conveying), and send on / off commands to the light strips of the storage body 4 (feedback storage position status); Cooperative control: ensure that the timing of the actions of each component is matched. For example, the left robot 2 only starts picking up materials after the feeding roller line 9 stops; the corresponding light strip only lights up after the left robot 2 places the material on the shelf of the storage body 4; the right robot 3 only starts the outbound action after all the materials on a certain shelf of the storage body 4 are in place.

[0081] The supporting principle of gantry 1: The double gantry three-column structure is connected to the base 14 through the positioning key to ensure accurate column spacing; the top seat 13 is connected to the column through the tapered pin and the adjusting bending plate 16 to compensate for installation deformation and provide stable lifting guidance for the left robot 2 / right robot 3. The motion principle of the left robotic arm 2 / right robotic arm 3: The left lifting bracket mechanism 19 / right lifting bracket mechanism drives the gear and rack to mesh through the servo motor reducer to achieve lifting; the double-sided telescopic robotic arm mechanism 20 / right double-sided telescopic robotic arm mechanism drives the gear and rack to mesh through the servo motor reducer to achieve telescopic movement; the synchronous shaft and multi-sprocket ensure synchronous telescopic movement; the vacuum suction cup 40 adsorbs materials through negative pressure; Storage principle of warehouse 4: Short material warehouses 5 (e.g., shelves spaced 120mm apart) and long material warehouses 6 (e.g., shelves spaced 360mm apart) are used to store materials in categories. The light strips are controlled to turn on and off by the electrical system 8 to provide intuitive feedback on the warehouse location status. The outer protective sheet metal 45 ensures storage safety. Conveying principle: The feed roller 9 and discharge roller 10 are driven by a chain transmission mechanism driven by a drive motor, so that the conveying rollers rotate synchronously and the material slides on the rollers for conveying; the guide plate prevents the material from deviating, and the material detection switch controls the start and stop of the conveying.

[0082] The specific work process is as follows: (I) Warehousing process (taking the entry of short rod material into short material warehouse 5 as an example) Preparation phase: The operator selects "Inbound Mode" and "Short Material Storage 5" through the operation buttons on the control panel 7, sets the target storage level (such as the 3rd level), and clicks the "Start" button; after receiving the instruction, the electrical system 8 controls the drive motor of the feeding roller line 9 to start, the conveying roller begins to rotate, and at the same time controls the left lifting bracket mechanism 19 of the left robot arm 2 to descend to a position flush with the feeding roller line 9 (the position is confirmed by the limit switch 29). Material conveying: The short rod material after external processing is placed at the beginning of the feeding roller line 9 by manual labor or external equipment. The material moves towards the silo 4 under the drive of the conveying roller. When the material reaches the end of the feeding roller line 9, the material detection switch triggers a signal to the electrical system 8. The electrical system 8 controls the drive motor of the feeding roller line 9 to decelerate and stop. The material stops at the docking point between the feeding roller line 9 and the first material channel 42. Material handling by the robotic arm: The electrical system 8 controls the servo motor reducer of the double-sided telescopic robotic arm mechanism 20 of the left robotic arm 2 to start, and the robotic arm picking and placing bracket 33 extends along the guide rail, so that the suction robotic arm fork 39 moves to below the material; at the same time, the electrical system 8 controls the vacuum pump to start (through the vacuum pump control module), and the vacuum suction cup 40 generates negative pressure to adsorb the material; after adsorption is confirmed, the servo motor reducer is finely adjusted, and the suction robotic arm fork 39 gently lifts the material (above the first material channel 425mm), and then the robotic arm picking and placing bracket 33 retracts to directly above the left lifting bracket mechanism 19; Robot lifting: The electrical system 8 controls the servo motor reducer of the left lifting bracket mechanism 19 of the left robot 2 to start, the gear and rack 27 mesh, and drive the left lifting tray 21 to rise; when the left lifting tray 21 rises to the height corresponding to the 3rd layer of the short material warehouse 5, the limit switch 29 triggers a signal, and the left lifting bracket mechanism 19 stops rising. Material receiving: The electrical system 8 controls the servo motor reducer of the double-sided telescopic manipulator mechanism 20 of the left manipulator 2 to start, and the manipulator pick-and-place bracket 33 extends again to transport the material to the top of the material shelf 63 of the third layer of the short material warehouse 5; after confirming the position, the servo motor reducer is finely adjusted, and the suction manipulator fork 39 gently lowers the material onto the shelf. The electrical system 8 controls the vacuum pump to stop, and the vacuum suction cup 40 releases the material; then the manipulator pick-and-place bracket 33 retracts to the initial position; Status feedback: The electrical system 8 controls the light strip corresponding to the 3rd layer of the short material warehouse 5 to light up, and at the same time updates the warehouse position of that layer to "occupied" status on the display screen of the control panel 7, and one short material warehousing process is completed; the left lifting bracket mechanism 19 of the left robot arm 2 descends to the initial position, waiting for the next warehousing instruction.

[0083] (II) Complete Set Outbound Process (Taking the complete set outbound process of long rod material from long material warehouse 6 as an example) Completeness Check: The electrical system 8 monitors the material storage status of each layer of the long material warehouse 6 in real time. When it detects that the quantity of long support rods (frames) on the 5th layer meets the completeness requirements (e.g., all frame materials for a window have been stored), a "Completeness Check for Long Material Warehouse 6, 5th Layer" prompt will pop up on the display screen of the control panel 7, and the status indicator light on the control panel 7 will be lit. After the operator confirms, they can select "Outbound Mode" and "Long Material Warehouse 6, 5th Layer" through the control panel 7 and click the "Start" button. Robotic arm positioning: After receiving the command, the electrical system 8 controls the right lifting bracket mechanism of the right robotic arm 3 to start, driving the right lifting tray to rise or fall along the guide rail of the gantry 1 until the height of the right lifting tray is level with the 5th layer of the long material warehouse 6; at this time, the limit switch of the right lifting bracket mechanism is triggered, and the right lifting bracket mechanism stops moving. Robotic arm material handling: The servo motor reducer of the right double-sided telescopic robotic arm mechanism controlled by the electrical system 8 starts, the right robotic arm material handling bracket extends, and the right robotic arm fork extends into the material storage shelf 63 of the 5th layer of the long material storage 6 until the robotic fork fully carries the material. Special material adsorption (if required): If the material is of a special type, the electrical system 8 controls the vacuum pump corresponding to the right vacuum suction cup of the right robot arm 3 to start, and activate the vacuum adsorption function to ensure that the material will not tilt or fall during the material picking process. Robotic arm retraction and descent: Electrical system 8 controls the servo motor reducer of the right double-sided telescopic robotic arm mechanism to fine-tune, driving the right robotic arm fork to lightly lift the material, causing the material to detach from the material storage shelf 63; then controls the servo motor reducer to rotate in the reverse direction, driving the right robotic arm's pick-and-place bracket to retract, moving the material out of the storage body 4 until the material is completely above the right lifting tray mechanism; Electrical system 8 controls the servo motor reducer of the right lifting tray mechanism to start, driving the right lifting tray to descend along the guide rail until the height of the right lifting tray is slightly higher than the conveying plane of the discharge roller line 10; at this time, the right limit switch triggers a signal, and the right lifting tray mechanism stops descending; Material Outbound and Conveying: Electrical system 8 controls the servo motor reducer of the right double-sided telescopic robotic arm mechanism to start, driving the right robotic arm's pick-and-place bracket to extend and convey the material to the top of the conveying roller of the discharge roller line 10; then, it controls the right robotic arm fork to gently lower the material onto the discharge roller line 10; if the vacuum adsorption function is activated, electrical system 8 controls the vacuum pump to stop running and deactivates the vacuum adsorption function; at the same time, it controls the right robotic arm's pick-and-place bracket to retract to the initial position; electrical system 8 controls the drive motor of the discharge roller line 10 to start, driving the material to be conveyed to the outside of the equipment and enter the next production process, completing one complete outbound process; at the same time, electrical system 8 controls the light strip corresponding to the 5th layer of the long material warehouse 6 to turn off, and the display screen updates the warehouse position of that layer to "idle" status.

[0084] Optionally, in some other implementations, a four-fork double-sided automated storage and retrieval system (AS / RS) is proposed. Compared with a two-fork double-sided AS / RS, one set of forks is added to the double-sided telescopic manipulator mechanisms 20 of the left manipulator 2 and the right manipulator 3 respectively (each set of forks includes one mechanical fork and one suction mechanical fork, finally forming the first set of forks 68 and the second set of forks 69). Figure 13 As shown, the synchronous shaft and multiple sprockets ensure that the newly added forks move synchronously with the existing forks (i.e., the two sets of robotic forks move synchronously). During storage, both sets of forks can simultaneously pick up short push rods from the feed roller line 9 and transfer them synchronously to the same or different layers of the short material storage 5; during storage, both sets of forks can simultaneously pick up bundled materials, suitable for batch storage of mainly short materials or gel storage (gel window panels require balanced load from both sets of forks). The rest of the process is the same as that of the dual-fork double-sided automated warehouse.

[0085] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A double-sided stereoscopic warehouse for aluminum alloy processing, characterized in that, comprising: a double-gantry three-column frame, a left mechanical arm, a right mechanical arm, a warehouse body, and an electrical system; the double-gantry three-column frame comprises a middle column of the gantry, two side columns of the gantry, a top seat, and a base seat, the middle column of the gantry and the two side columns of the gantry are vertically arranged on the base seat, the two side columns of the gantry are symmetrically distributed on the left and right sides of the middle column of the gantry, and the top seat is fixedly covered on the top ends of the middle column of the gantry and the two side columns of the gantry; the left mechanical arm and the right mechanical arm are symmetrically installed on the left and right sides of the double-gantry three-column frame respectively and are in sliding fit with the double-gantry three-column frame, both sides of the left mechanical arm and the right mechanical arm are provided with forks, and the left mechanical arm and the right mechanical arm can be lifted along the gantry and can be extended and retracted on both sides; the warehouse body is installed on both sides of the double-gantry three-column frame and is fixedly connected with the base seat, the inside of the warehouse body is provided with a short material warehouse and a long material warehouse for storing different lengths of rod materials, and the electrical system is electrically connected with the left mechanical arm and the right mechanical arm to control the lifting and extension and retraction actions; the left mechanical arm and the right mechanical arm are respectively used for moving the material products to be stored in the warehouse body from the feeding drum line to the designated storage position of the warehouse body and moving the material products in the warehouse body to the discharging drum line, so as to realize the automatic storage and moving of the material products. 2.The double-sided stereoscopic warehouse for aluminum alloy processing according to claim 1, characterized in that, a pin hole is reserved on the lower surface of the top seat, a tapered pin is arranged on the upper end of the middle column of the gantry and the two side columns of the gantry, and the top seat is positioned and connected with the middle column of the gantry and the two side columns of the gantry through the tapered pin; adjusting bent plates are arranged at the connection positions of the middle column of the gantry and the two side columns of the gantry with the top seat, one end of each adjusting bent plate is bolted to the top seat, and the other end is bolted to the side surface of the corresponding column; the left mechanical arm and the right mechanical arm are provided with mechanical arm trays, and a gap adjusting structure is arranged between the mechanical arm tray and the corresponding column; alternatively, the base seat is slidingly connected with the slide rail on the ground. 3.The double-sided stereoscopic warehouse for aluminum alloy processing according to claim 1, characterized in that, the left mechanical arm comprises a left lifting bracket mechanism and a double-sided extension and retraction mechanical arm mechanism, the left lifting bracket mechanism is in sliding fit with the double-gantry three-column frame, and the double-sided extension and retraction mechanical arm mechanism is fixed on the upper end of the left lifting bracket mechanism; the right mechanical arm comprises a right lifting bracket mechanism and a right double-sided extension and retraction mechanical arm mechanism, the right lifting bracket mechanism is in sliding fit with the double-gantry three-column frame, and the right double-sided extension and retraction mechanical arm mechanism is fixed on the upper end of the right lifting bracket mechanism. 4.The double-sided stereoscopic warehouse for aluminum alloy processing according to claim 3, characterized in that, the left lifting bracket mechanism comprises a left lifting tray, a lifting mechanical arm support plate, a guide rail, a rack, and a lifting servo motor reducer; the guide rail is fixed on the inner side of the middle column of the gantry and the left side column of the gantry, the left lifting tray is in sliding fit with the guide rail through the sliding blocks on both sides of the left lifting tray, and the lifting mechanical arm support plate is fixed on the upper surface of the left lifting tray through the adjusting block. The rack is fixed in the inside of the middle column of the gantry, the output shaft of the lifting servo motor reducer is fixed on the left lifting tray, and the gear on the output shaft is engaged with the rack; the top end face of the left lifting tray is provided with a top stopper, the front and rear ends are provided with baffles, the side face is provided with a drag chain support and a limit switch, the inside of the middle column of the gantry and the left side column of the gantry is provided with a limit stopper matched with the limit switch. 5.The double-sided stereoscopic warehouse for aluminum alloy processing of claim 3, characterized in that, The double-sided telescopic mechanical hand mechanism comprises a mechanical hand material taking and placing support, a hand plug and a telescopic servo motor reducer, the hand plug comprises a mechanical hand fork and a suction mechanical hand fork, and the bottom of the mechanical hand material taking and placing support is slidably connected with the guide rail on the lifting mechanical hand tray through a sliding block; The mechanical hand fork and the suction mechanical hand fork are respectively fixed on the front and rear ends of the mechanical hand material taking and placing support, and a vacuum suction cup is fixed on the suction mechanical hand fork; the telescopic servo motor reducer is fixed on the side face of the mechanical hand material taking and placing support through a reducer support and a reducer mounting plate, the gear on the output shaft of the telescopic servo motor reducer is engaged with the rack on the lifting mechanical hand tray, and the mechanical hand material taking and placing support is driven to telescopically extend and retract; The double-sided telescopic mechanical hand mechanism further comprises a speed multiplier mechanism, the speed multiplier mechanism comprises two roller chains and a speed multiplier sprocket; the speed multiplier sprocket is fixed on the transmission shaft of the mechanical hand material taking and placing support, and the two roller chains are arranged on the two sides of the speed multiplier sprocket and engaged with the speed multiplier sprocket; the telescopic servo motor reducer is drivingly connected with the speed multiplier sprocket through a transmission chain, so that the speed multiplier sprocket is rotated to adjust the telescopic speed of the mechanical hand fork. 6.The double-sided stereoscopic warehouse for aluminum alloy processing of claim 5, characterized in that, The double-sided telescopic mechanical hand mechanism further comprises a multi-fork synchronization mechanism, the multi-fork synchronization mechanism comprises a synchronization shaft, a plurality of sprockets and a gap structure; the synchronization shaft transversely penetrates through the mechanical hand material taking and placing support, the plurality of sprockets are fixed on the two ends of the synchronization shaft, the gap structure is drivingly connected with the plurality of sprockets, and the plurality of sprockets are matched with the roller chains; the telescopic servo motor reducer drives the plurality of sprockets to synchronously rotate through the synchronization shaft, so that the plurality of mechanical hand forks are synchronously operated. 7.The double-sided stereoscopic warehouse for aluminum alloy processing of claim 5, characterized in that, The double-sided telescopic mechanical hand mechanism further comprises a translation mechanism, the translation mechanism comprises a conveying belt, a plurality of belt pulleys and a synchronous transmission mechanism; the plurality of belt pulleys are fixed on the end portions of the mechanical hand material taking and placing support, and the conveying belt is matched with the belt pulleys; the synchronous transmission mechanism is drivingly connected with the telescopic servo motor reducer, so that the belt pulleys are rotated to drive the conveying belt to translate. 8.The double-sided stereoscopic warehouse for aluminum alloy processing of claim 5, characterized in that, The warehouse body comprises a first single-face material warehouse and a second single-face material warehouse, and is respectively arranged corresponding to the left mechanical hand and the right mechanical hand; The first single-face material warehouse is internally provided with a short material warehouse, and the second single-face material warehouse is internally provided with a long material warehouse; the first single-face material warehouse and the second single-face material warehouse are both provided with a plurality of material warehouse layer frames, and the interval of the material warehouse layer frames of the short material warehouse is smaller than that of the long material warehouse; The material warehouse layer frames are fixed on the material rack seats in the inside of the material warehouse columns, and the material warehouse columns are vertically fixed with the storage base on the base base.

9. The double-sided stereoscopic warehouse for aluminum alloy processing according to claim 5, characterized in that, at least one set of forks is additionally arranged on each of the left and right double-sided telescopic manipulator mechanisms, each set including one mechanical fork and one suction manipulator fork, and the additional forks are arranged in parallel with the original forks; the number of multiple sprockets at both ends of the synchronous shaft is adapted to the number of sets of manipulator forks, the synchronous shaft is driven connected with the telescopic servo motor reducer, and is driving connected with all the manipulator forks through the multiple sprockets, so as to realize synchronous telescoping and material loading and unloading of the four sets of forks.

10. A method of warehouse entry and exit, characterized by, The double-sided stereoscopic warehouse for aluminum alloy processing according to any one of claims 1-9, comprising the following processes: Preparation stage: the equipment state is initialized through the electrical system to reset the left and right manipulators to the initial lifting position of the double-gantry three-column frame, wherein the left manipulator corresponds to the short material warehouse of the warehouse body, and the right manipulator corresponds to the long material warehouse of the warehouse body; Classification storage stage: the short materials are independently stored in the short material warehouse, and the long materials are independently stored in the long material warehouse; Step four, out-of-warehouse stage: when the electrical system detects that the short materials in the short material warehouse or the long materials in the long material warehouse are complete, it controls the corresponding manipulator to ascend and descend along the double-gantry three-column frame to the storage position of the complete materials, the manipulator loads the complete materials through the double-sided telescopic action, the electrical system controls the manipulator to ascend and descend to the position parallel to the out-of-warehouse roller line, and the manipulator performs the double-sided telescopic action to load the complete materials to the out-of-warehouse roller line, thereby completing the automatic storage and loading of the materials. ​

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