A stereoscopic warehouse storage and retrieval picking robot for an automated production line

Abstract

The application provides a three-dimensional warehouse storage and picking robot for an automatic production line, and belongs to the technical field of intelligent warehouse logistics robots, and comprises a walking support, a lifting module is arranged on the inner side of the walking support, a longitudinal movement module is arranged on the lifting module, an energy storage device is arranged on one side of the walking support, an operation panel is arranged on the outer side of the energy storage device, and a material box picking module is arranged on the longitudinal movement module. The application solves the problem that the existing three-dimensional warehouse storage and picking robot for an automatic production line mostly adopts rigid clamping, and when the clamping effect is strong, the material box is easily damaged, and when the clamping effect is weak, the material box is easily caused to fall off, and the safe storage and picking of the material box cannot be ensured.

Description

Technical Field

[0001] This invention belongs to the field of intelligent warehousing and logistics robot technology, specifically relating to a three-dimensional warehouse storage and picking robot for automated production lines. Background Technology

[0002] With the rapid development of e-commerce and intelligent manufacturing, automated storage and retrieval systems (AS / RS) have been widely used in the logistics and warehousing field. As one of the core pieces of equipment in automated warehousing systems, AS / RS picking robots undertake key operational tasks such as storing, retrieving, handling, and picking materials.

[0003] Most existing automated storage and retrieval picking robots used in automated production lines employ rigid gripping. When the gripping force is too strong, it can easily damage the bins; when the gripping force is too weak, it can easily cause the bins to fall off, thus failing to guarantee the safe storage and retrieval of the bins. Summary of the Invention

[0004] This invention provides a three-dimensional warehouse storage and picking robot for automated production lines. Its purpose is to solve the problem that most existing three-dimensional warehouse storage and picking robots used in automated production lines adopt rigid gripping. When the gripping force is too strong, it is easy to damage the material box. When the gripping force is too weak, it is easy to cause the material box to fall off, thus failing to ensure the safe storage and retrieval of the material box.

[0005] This invention provides a three-dimensional warehouse storage and picking robot for automated production lines, comprising a walking frame, a lifting module installed on the inner side of the walking frame, a longitudinal movement module installed on the lifting module, an energy storage device installed on one side of the walking frame, an operation panel installed on the outer side of the energy storage device, and a material box picking module installed on the longitudinal movement module.

[0006] The hopper pickup module includes an assembly base fixedly connected to the slider on the longitudinal moving module. The lower end of the assembly base is fixedly connected to the frame. A pair of mirror-shaped vertically extending ends are installed on the frame. A support platform is vertically movable on the frame. The pickup unit is installed inside the support platform. A folded silicone cylinder is installed between the pickup unit and the support platform. A pump body is installed above the folded silicone cylinder. The pump body injects air into the folded silicone cylinder, causing the folded silicone cylinder to expand and compress the pickup unit to approach and fasten the hopper.

[0007] A movable column is installed on the frame. The movable column is connected to the support platform. The folding silicone tube is connected to the movable column via a switch unit. The movable column is inflated and shortened to pull the support platform to move upward.

[0008] The lower end of the picking unit is connected to the L-shaped block via a three-rotor deformable component. The top of the L-shaped block is equipped with a second movable column. The second movable column is connected to the folded silicone tube via a switching unit. The second movable column is inflated and extended to pull the L-shaped block to rotate and perform load-bearing on the lower end of the material box.

[0009] The picking unit includes a fastening block, which is movably connected to a support platform via several guide posts. A pressure block is installed between the fastening block and the support platform. The pressure block is movably connected to the guide posts. A deformation component one is installed between the pressure block and the fastening block. A folded silicone tube is connected to the pressure block. A deformation component two is installed in the folded silicone tube between the support platform and the pressure block.

[0010] The switch unit includes an outer tube and an inner column. One side of the outer tube is a small opening, and the other side of the outer tube is a large opening. The inner column is connected to a fastening block and can move through the small opening. A silicone platform 2 is installed on the other side of the inner column. The silicone platform 2 is movably connected to the large opening. The radius of the small opening is larger than the radius of the inner column. The small opening is connected to movable column 1 and movable column 2 through silicone channels.

[0011] The L-shaped block is installed at the lower end of the fastening block. The movable end of the movable column two is fixedly connected to the pressure table. One side of the pressure table is in contact with the wall of the fastening block. The pressure table can force the L-shaped block to rotate to a shape parallel to the fastening block.

[0012] When the pump works, air is injected into the folded silicone cylinder, causing it to expand. Guided by the guide column, the folded silicone cylinder presses against the pressure block and fastening block, causing the pair of fastening blocks to move closer to the material box.

[0013] After the fastening block touches the hopper and stops, the pump body then injects air into the folded silicone cylinder, causing the folded silicone cylinder to press against the pressure block and continue to move. This causes the pressure block to press against the deforming part and gradually reduce the distance between it and the fastening block. Under the deformation force of the deforming part, the fastening block fastens the hopper.

[0014] Because the inner column and the fastening block are fixed together, and the outer tube and the pressure block are fixed together, as the pressure block approaches the fastening block, the outer tube moves on the inner column until the silicone platform 2 moves away from the large opening. The air in the folded silicone tube flows through the large opening to the small opening, and then flows through the silicone channel to the movable column 1 and movable column 2.

[0015] The first movable column is inflated and shortened, causing the traction bearing platform to move upward, allowing the fastening block to lift the fastened material box. The second movable column is inflated and extended, causing the pressure platform to move downward, causing the pressure platform to press the L-shaped block to rotate and support the lower end of the material box, thus achieving self-fastening and support of the material box.

[0016] Furthermore, a second sensing element is installed inside the folded silicone tube.

[0017] Furthermore, an electric switch is installed on the outer tube, which connects to the small port.

[0018] Furthermore, the inner column and the fastening block are threaded together.

[0019] Furthermore, the movable column one includes a tube and a column. A silicone platform one is movably and sealed in the tube. The column extends movably from the lower end of the tube to the inside and connects to the silicone platform one. A deformable component four is installed between the silicone platform one and the tube. A through hole is reserved on the side of the lower end of the tube. The movable column two has the same structure as the movable column one, but the directions in which the movable column two and the movable column one are connected to the air are opposite.

[0020] Furthermore, a sensing element is installed on the wall of the frame to detect the vertical orientation of the support platform.

[0021] Furthermore, sensing element three is installed on the bearing surface of the L-shaped block.

[0022] The beneficial effects of this invention are as follows:

[0023] This invention uses a folded silicone tube to expand and compress the gripping unit, which then presses and secures the material box. The folded silicone tube then presses the pressure block close to the fastening block, activating the switch unit and allowing air to flow into movable column one and movable column two. Movable column one moves the support platform upward to lift the material box, while movable column two presses the fastening block to rotate and support the lower end of the material box, achieving the purpose of self-pickup and stable support of the material box, thereby ensuring the safe storage and retrieval of the material box.

[0024] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description and the drawings. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0026] Figure 1 This is a schematic diagram of the main structure of an embodiment of the present invention;

[0027] Figure 2 This is a three-dimensional structural diagram of the material bin pickup module according to an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the connection structure between the pickup unit and the support platform in an embodiment of the present invention. Figure 1 ;

[0029] Figure 4 This is a schematic diagram of the connection structure between the pickup unit and the support platform in an embodiment of the present invention. Figure 2 ;

[0030] Figure 5 This is a schematic diagram of the connection structure between the switch unit and the folded silicone tube according to an embodiment of the present invention;

[0031] Figure 6 This is an embodiment of the present invention. Figure 5 A magnified structural diagram at point M;

[0032] Figure 7 This is a schematic diagram of the closed structure of the switch unit according to an embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the opening structure of the switch unit according to an embodiment of the present invention;

[0034] Figure 9 This is a schematic diagram of the movable column structure according to an embodiment of the present invention;

[0035] Figure 10 This is a schematic diagram of the structural form of the material box pickup module before the material box is secured, according to an embodiment of the present invention.

[0036] Figure 11 This is a schematic diagram of the shape and structure of the material box picking module for securing the material box in an embodiment of the present invention. Figure 1 ;

[0037] Figure 12 This is a schematic diagram of the shape and structure of the material box picking module for securing the material box in an embodiment of the present invention. Figure 2 ;

[0038] Reference numerals: 1. Walking support; 2. Lifting module; 3. Longitudinal moving module; 4. Material box picking module; 5. Energy storage device; 6. Assembly base; 61. Frame; 62. Sensing element one; 7. Movable column one; 71. Pipe; 72. Column; 73. Silicone platform one; 8. Pump body; 9. Movable column two; 91. Pressing platform; 10. Bearing platform; 101. Connection end; 11. Folding silicone cylinder; 111. Sensing element two; 12. Pressing block; 13. Fastening block; 131. Guide column; 132. L-shaped block; 133. Sensing element three; 14. Switch unit; 141. Outer pipe; 142. Inner column; 143. Silicone platform two; 144. Electric switch; 145. Small opening; 146. Large opening. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The same reference numerals in the drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0040] Reference Figure 1This invention proposes a three-dimensional warehouse picking robot for automated production lines, comprising a walking frame 1, a lifting module 2 mounted on the inner side of the walking frame 1, the lifting module 2 being used to pull the material box picking module 4 vertically upward, a longitudinal movement module 3 mounted on the lifting module 2, the longitudinal movement module 3 being used to pull the material box picking module 4 vertically, the material box picking module 4 being mounted on the longitudinal movement module 3, an energy storage device 5 mounted on one side of the walking frame 1, the energy storage device 5 being used to supply power to the operation of the device, and an operation panel mounted on the outer side of the energy storage device 5, the operation panel being used to control the operation of the device.

[0041] When picking up a hopper, the traveling support 1 moves to the hopper position, the longitudinal movement module 3 moves the hopper pickup module 4 above the hopper, and the lifting module 2 moves the hopper below the hopper pickup module 4, placing the hopper inside the hopper pickup module 4. The hopper pickup module 4 then tightens the hopper. After tightening, the lifting module 2 lifts the hopper up, and the longitudinal movement module 3 moves the hopper back to the inside of the traveling support 1. The traveling support 1 moves to the corresponding automated storage and retrieval unit, the lifting module 2 lifts the hopper to the required position, the longitudinal movement module 3 moves the hopper into the automated storage and retrieval unit, and the hopper pickup module 4 releases the hopper, thus achieving smooth transfer and loading / unloading of the hopper, ensuring safe storage and retrieval of the hopper.

[0042] It should be noted that the walking support 1, lifting module 2, longitudinal movement module 3, energy storage device 5, and operation panel are all existing technologies and will not be described in detail here.

[0043] Reference Figure 2 The bin picking module 4 includes an assembly base 6 fixedly connected to the slider on the longitudinal moving module 3. The lower end of the assembly base 6 is fixedly connected to the frame 61. A pair of mirror-image vertical extension ends are installed on the frame 61. A pair of support platforms 10 are mirror-image installed on the surfaces of the pair of vertical extension ends of the frame 61. The support platforms 10 have reserved insertion interfaces on both sides. The insertion interfaces are vertically and movably connected to the vertical extension ends of the frame 61. A pair of movable columns 7 are mirror-image installed on the upper ends of the pair of vertical extension ends on the frame 61. The movable ends of the movable columns 7 are fixedly connected to the upper ends of the support platforms 10 with their movable ends facing downwards.

[0044] Reference Figures 3-6Inside the support platform 10, a pickup unit is installed. The pickup unit includes a fastening block 13. Two pairs of guide posts 131 are fixedly connected to the corner of the upper end of the fastening block 13. The guide posts 131 and the support platform 10 are movably connected. A pressure block 12 is installed between the fastening block 13 and the support platform 10. The pressure block 12 and the guide posts 131 are movably connected. A deformation element 1 is installed between the pressure block 12 and the fastening block 13 and outside the guide posts 131. The two sides of the folded silicone tube 11 are tightly fixed to the support platform 10 and the pressure block 12, so that the inner side of the folded silicone tube 11 forms a closed space. A deformation element 2 is installed in the folded silicone tube 11. The two sides of the deformation element 2 are connected to the support platform 10 and the pressure block 12, and the deformation element 2 gives the pressure block 12 a force to approach the support platform 10.

[0045] L-shaped block 132 is screwed to the lower end of fastening block 13 via a deformable member. In its natural state, L-shaped block 132 is in a downward-facing position under the assistance of deformation force. Movable column 2 9 is mounted on the side wall of fastening block 13. The movable part of movable column 2 9 is fixedly connected to pressure table 91 with its downward-facing part facing down. Pressure table 91 presses L-shaped block 132.

[0046] The pump body 8 is mounted on the lower end of the mounting base 6. The support platform 10 is mounted on the access end 101 of the folded silicone tube 11 connector. The pump body 8 is connected to the access end 101 via the silicone channel.

[0047] Reference Figures 5-7 The side wall of the pressure block 12 is equipped with a switch unit 14 that connects to the folded silicone tube 11. The switch unit 14 is connected to the movable column 7 and the movable column 9.

[0048] The switching unit 14 includes an outer tube 141 and an inner column 142. The outer tube 141 is fixed to the pressure block 12. The opening of the outer tube 141 extends into the folded silicone tube 11. One side of the outer tube 141 is a small opening 145, and the other side of the outer tube 141 is a large opening 146. The inner column 142 is connected to the fastening block 13. The inner column 142 can move through the small opening 145. A silicone platform 2 143 is installed on the other side of the inner column 142. The silicone platform 2 143 and the large opening 146 are movably connected. The radius of the small opening 145 is larger than the radius of the inner column 142. The small opening 145 is connected to the movable column 1 7 and the movable column 2 9 through the silicone channel.

[0049] Reference Figures 9-12 During operation, the frame 61 touches the flat support mounting base 6, and the material box is located between a pair of fastening blocks 13. The pump body 8 works to inject air into the folded silicone cylinder 11, causing the folded silicone cylinder 11 to expand. Under the guidance of the guide column 131, the folded silicone cylinder 11 presses against the pressure block 12 and the fastening block 13, causing the pair of fastening blocks 13 to move closer to the material box.

[0050] After the fastening block 13 touches the material box and stops, the pump body 8 then injects air into the folded silicone cylinder 11, causing the folded silicone cylinder 11 to press against the pressure block 12 and then move. The pressure block 12 then presses against the deforming part to gradually reduce the distance between it and the fastening block 13. Under the deformation force of the deforming part, the fastening block 13 fastens the material box.

[0051] Because the inner column 142 and the fastening block 13 are fixedly connected, and the outer tube 141 and the pressure block 12 are fixedly connected, as the pressure block 12 approaches the fastening block 13, the outer tube 141 moves on the inner column 142 until the silicone platform 143 moves away from the large opening 146. The air in the folded silicone tube 11 flows through the large opening 146 to the small opening 145, and then flows through the silicone channel to the movable column 7 and the movable column 9.

[0052] The first movable column 7 is inflated and shortened, causing the traction bearing platform 10 to move upward, allowing the fastening block 13 to lift the fastened material box. The second movable column 9 is inflated and extended, causing the pressure platform 91 to move downward, allowing the pressure platform 91 to press the L-shaped block 132 to rotate and support the lower end of the material box, thus achieving self-fastening and support of the material box.

[0053] Reference Figures 5-7 An electric switch 144 is mounted on the outer tube 141. The electric switch 144 is connected to the small port 145 and is electrically connected to the operation panel.

[0054] When the material box is being unloaded, as the device moves into position, the control panel opens the electric switch 144, allowing air in movable column 7 and movable column 9 to escape through the small opening 145 and the electric switch 144. This causes movable column 7 to extend and press the support platform 10 back into position, while movable column 9 shortens, allowing the L-shaped block 132 to rotate back into position with the assistance of the deformable component 3. Simultaneously, air in the folded silicone tube 11 is released through the large opening 146 and the small opening 145 via the electric switch 144, allowing the folded silicone tube to... The air pressure in cylinder 11 gradually decreases, and the deformable component presses against the pressure block 12, gradually increasing the distance between it and the fastening block 13, until the silicone platform 143 blocks the large opening 146 again. The folded silicone cylinder 11 no longer releases air. At this moment, the material box is only fastened by the fastening block 13. When the mounting base 6 extends onto the shelf, the pump body 8 actuates to draw air into the folded silicone cylinder 11, assisting the deformation force of the deformable component to make the folded silicone cylinder 11 return to its original position, driving the pressure block 12 and the fastening block 13 to return to their original positions, lowering the material box, and realizing the loading.

[0055] Reference Figure 9The movable column 7 includes a tube 71 and a column 72. A silicone platform 73 is movably and sealed in the tube 71. The column 72 extends movably from the lower end of the tube 71 to the inside and is connected to the silicone platform 73. A deformable element 4 is installed between the silicone platform 73 and the tube 71. A through hole is reserved on the side of the lower end of the tube 71. Air is injected into the through hole at the lower end of the tube 71, which compresses the silicone platform 73 to move upward. The deformable element extends, causing the column 72 to shorten. When the air is released, the deforming force of the deformable element causes the silicone platform 73 to return to its original position, driving the column 72 to extend.

[0056] Reference Figure 4 and Figure 5 The two movable columns 9 and 7 have the same structure, but the air inlet positions of the two movable columns 9 and 7 are opposite. The two movable columns 9 expand when filled with air and shorten when venting.

[0057] Reference Figure 2 , Figure 4 and Figure 5 A second sensing element 111 is installed in the folded silicone tube 11. The second sensing element 111 is electrically connected to the pump body 8 via the operation panel. A first sensing element 62 is installed on the wall of the frame 61. The first sensing element 62 is used to detect the vertical orientation of the support platform 10. A third sensing element 133 is installed on the support surface of the L-shaped block 132. Both the first sensing element 62 and the third sensing element 133 are electrically connected to the operation panel. The model of the first sensing element 62 is LK-G30H, the model of the second sensing element 111 is MS5611, and the model of the third sensing element 133 is JNPDS188. The first sensing element 62, the second sensing element 111, and the third sensing element 133 are all existing technologies and will not be described in detail here.

[0058] When picking up the hopper, the pressure in the folded silicone tube 11 is detected by sensor element 2 111. When the pressure reaches the preset value, the pump body 8 stops. At this time, the vertical position of the support platform 10 is detected by sensor element 1 62 to determine whether the support platform 10 has moved upward. The support surface of the L-shaped block 132 is detected by sensor element 3 133 to see if it has rotated to the bottom of the hopper. If the data detected by sensor element 3 133 and sensor element 1 62 are normal, it indicates that the hopper has been picked up successfully. If the detected data are abnormal, it indicates that there is a problem with the picking action. The problem is displayed on the operation panel and then manually handled.

[0059] Reference Figures 3-5 The L-shaped block 132 is installed at the lower end of the fastening block 13. One side of the pressure table 91 contacts the wall of the fastening block 13. When the movable column 2 9 extends, the lower end of the pressure table 91 presses the L-shaped block 132 to rotate. When the horizontal end of the L-shaped block 132 rotates to be parallel to the fastening block 13, the pressure table 91 then moves down to make its side wall contact the side wall of the L-shaped block 132, which is used to stop the L-shaped block 132.

[0060] Reference Figure 8 The inner column 142 and the fastening block 13 are threaded together. Rotating the inner column 142 changes the position of the silicone platform 143 in the large opening 146. When the silicone platform 143 opens the large opening 146, the pressure of the folded silicone tube 11 on the pressure block 12 is changed, which is used to change the pressure of the fastening block 13 on the material box when it picks up the material box and moves upward.

[0061] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A three-dimensional warehouse picking robot for automated production lines, comprising a traveling frame, a lifting module mounted on the inner side of the traveling frame, a longitudinal movement module mounted on the lifting module, an energy storage device mounted on one side of the traveling frame, and an operation panel mounted on the outer side of the energy storage device, characterized in that, A material pick-up module is installed on the longitudinal movement module; The hopper pickup module includes an assembly base fixedly connected to the slider on the longitudinal moving module. The lower end of the assembly base is fixedly connected to the frame. A pair of mirror-shaped vertically extending ends are installed on the frame. A support platform is vertically movable on the frame. The pickup unit is installed inside the support platform. A folded silicone cylinder is installed between the pickup unit and the support platform. A pump body is installed above the folded silicone cylinder. The pump body injects air into the folded silicone cylinder, causing the folded silicone cylinder to expand and compress the pickup unit to approach and fasten the hopper. A movable column is installed on the frame. The movable column is connected to the support platform. The folding silicone tube is connected to the movable column via a switch unit. The movable column is inflated and shortened to pull the support platform to move upward. The lower end of the picking unit is connected to the L-shaped block via a three-rotor deformable component. The top of the L-shaped block is equipped with a second movable column. The second movable column is connected to the folded silicone tube via a switching unit. The second movable column is inflated and extended to pull the L-shaped block to rotate and perform load-bearing on the lower end of the material box. The picking unit includes a fastening block, which is movably connected to a support platform via several guide posts. A pressure block is installed between the fastening block and the support platform. The pressure block is movably connected to the guide posts. A deformation component one is installed between the pressure block and the fastening block. A folded silicone tube is connected to the pressure block. A deformation component two is installed in the folded silicone tube between the support platform and the pressure block. The switch unit includes an outer tube and an inner column. One side of the outer tube is a small opening, and the other side of the outer tube is a large opening. The inner column is connected to a fastening block and can move through the small opening. A silicone platform 2 is installed on the other side of the inner column. The silicone platform 2 is movably connected to the large opening. The radius of the small opening is larger than the radius of the inner column. The small opening is connected to movable column 1 and movable column 2 through silicone channels. The L-shaped block is installed at the lower end of the fastening block. The movable end of the movable column two is fixedly connected to the pressure table. One side of the pressure table is in contact with the wall of the fastening block. The pressure table can force the L-shaped block to rotate to a shape parallel to the fastening block. When the pump works, air is injected into the folded silicone cylinder, causing it to expand. Guided by the guide column, the folded silicone cylinder presses against the pressure block and fastening block, causing the pair of fastening blocks to move closer to the material box. After the fastening block touches the hopper and stops, the pump body then injects air into the folded silicone cylinder, causing the folded silicone cylinder to press against the pressure block and continue to move. This causes the pressure block to press against the deforming part and gradually reduce the distance between it and the fastening block. Under the deformation force of the deforming part, the fastening block fastens the hopper. Because the inner column and the fastening block are fixed together, and the outer tube and the pressure block are fixed together, as the pressure block approaches the fastening block, the outer tube moves on the inner column until the silicone platform 2 moves away from the large opening. The air in the folded silicone tube flows through the large opening to the small opening, and then flows through the silicone channel to the movable column 1 and movable column 2. The first movable column is inflated and shortened, causing the traction bearing platform to move upward, allowing the fastening block to lift the fastened material box. The second movable column is inflated and extended, causing the pressure platform to move downward, causing the pressure platform to press the L-shaped block to rotate and support the lower end of the material box, thus achieving self-fastening and support of the material box.

2. The automated warehouse picking robot for use in an automated production line according to claim 1, characterized in that: The second sensing element is installed inside the folded silicone tube.

3. The automated warehouse picking robot for an automated production line according to claim 1, characterized in that: An electric switch is mounted on the outer tube, and the electric switch connects to the small port.

4. The automated warehouse picking robot for use in an automated production line according to claim 1, characterized in that: The inner column and fastening block are threaded together.

5. A three-dimensional warehouse picking robot for automated production lines according to claim 1, characterized in that: The movable column one includes a tube and a column. A silicone platform one is movably and sealed in the tube. The column extends movably from the lower end of the tube to the inside and connects to the silicone platform one. A deformable component four is installed between the silicone platform one and the tube. A through hole is reserved on the side of the lower end of the tube. The movable column two has the same structure as the movable column one, but the directions in which the movable column two and the movable column one are connected to the air are opposite.

6. The automated warehouse picking robot for use in an automated production line according to claim 1, characterized in that: A sensor is installed on the wall of the frame to detect the vertical orientation of the support platform.

7. A three-dimensional warehouse picking robot for automated production lines according to claim 1, characterized in that: Three sensing elements are installed on the bearing surface of the L-shaped block.

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