Storage truss robot

Abstract

The utility model discloses a storage truss robot which comprises an X cross beam, a Y cross beam, an X-direction driving mechanism, a Z-direction lifting mechanism, a Y-direction driving mechanism, a crystal bar clamp, a material frame, a crystal bar placing table and a stand column. The crystal bar feeding device is reasonable and simple in structure, low in production cost and convenient to install, the X-direction motor, the Y-direction motor and the Z-direction motor work in a linkage mode to drive the crystal bar clamp to move, and therefore crystal bars in a warehousing conveying line can be clamped and conveyed to any vacant site on the crystal bar containing table to be stored; similarly, required crystal bars on the crystal bar placing table can be clamped and conveyed to the warehouse-out conveying line to be output and used, so that the functions of carrying, storing, sorting and the like of the crystal bars are met; according to the crystal bar clamp, the lead screw can be driven by the clamping motor to rotate, and the two clamping seats move towards the inner side together to clamp the crystal bars through rotation of the lead screw, so that the requirement for taking and placing the crystal bars with different diameters and lengths is met, and the convenience in use is also improved.

Description

Technical field:

[0001] The utility model relates to the technical field of robots, in particular to a storage truss robot. Background technology:

[0002] Existing warehouse robots generally use stackers or AGVs, etc. Stackers require a relatively high factory building height. This application scenario is on the second floor of a workshop with a floor height limit of 5 meters, and the ground load capacity of stackers and shelves cannot meet the requirements. However, with the diversification and intelligence of modern society's demand for automated logistics equipment, traditional automated stereoscopic warehouse logistics systems with limited ground load capacity and height of storage sites are difficult to meet the needs. The logistics and warehousing system with truss robots as the core can effectively solve specific logistics needs with ultra-high density and high-efficiency storage and retrieval technology in a flat storage mode. Compared with traditional logistics systems, logistics and warehousing solutions using truss robots do not require high shelves, stackers, shuttles and other costly equipment. Using truss manipulators to replace the original stacker shelves in certain scenarios can significantly reduce costs, save labor costs, and improve energy utilization. It is a good green and energy-saving logistics project with good social and economic benefits and market prospects. Utility model content:

[0003] The purpose of the present utility model is to provide a storage truss robot in order to solve the above problems, thereby solving the problems mentioned in the background technology.

[0004] In order to solve the above problems, the utility model provides a technical solution: a storage truss robot, including an outbound conveyor line and an inbound conveyor line, and also including an X-beam, a Y-beam, an X-direction driving mechanism, a Z-direction lifting mechanism, a Y-direction driving mechanism, a crystal rod clamp, a material rack, a crystal rod placement table and a column; the number of the X-beams is two, and the two X-beams are respectively connected to the upper side of the corresponding outbound conveyor line and the inbound conveyor line, and the bottoms of the two X-beams are fixedly connected to a plurality of columns; the Y-beam is connected to the corresponding X-beam through the X-direction driving mechanism, the Y-direction driving mechanism is provided on the Y-direction driving mechanism, and the moving part of the Y-direction driving mechanism is provided with a Z-direction lifting mechanism; the crystal rod clamp is fixedly connected to the lower end of the Z-direction lifting mechanism; the number of the material racks is several, and the several material racks are located on the inner sides of the two X-beams, and the tops of the several material racks are fixedly connected to the crystal rod placement table.

[0005] Preferably, the specific structure of the X-axis driving mechanism includes an X-axis motor, an X-axis guide rail, an X-axis slider, a transmission shaft and an X-axis rack; there are two X-axis guide rails, and the two X-axis guide rails are respectively fixedly connected to the top of the corresponding X-beam, and the outside of the two X-axis guide rails are movably connected with the X-axis slider, and the inner side of the X-axis slider is fixedly connected to the end face of the Y-beam; there are two X-axis racks, and the two X-axis racks are respectively fixedly connected to the inner side of the corresponding X-beam; the X-axis motor is fixedly connected to the center of the Y-beam, and the output shafts on both sides of the X-axis motor are fixedly connected with transmission shafts, and the driven gears arranged on the outer side of the transmission shaft are respectively connected to the corresponding X-axis racks.

[0006] Preferably, the X-axis motor is a servo motor.

[0007] Preferably, the specific structure of the Y-direction driving mechanism includes a Y-direction guide rail, a Y-direction slider, a mounting seat, a Y-direction motor and a Y-direction rack; the Y-direction guide rail is fixedly connected to the Y-direction beam, the Y-direction slider is movably connected to the Y-direction guide rail, and the outer side of the Y-direction slider is fixedly connected to the mounting seat, and a Z-direction lifting mechanism is provided on the mounting seat; the Y-direction rack is fixedly connected to the side of the Y-direction beam; the Y-direction motor is fixedly connected to the mounting seat, and the transmission gear arranged on the output shaft of the Y-direction motor is connected to the Y-direction rack.

[0008] Preferably, the Y-axis motor is a servo motor.

[0009] Preferably, the specific structure of the Z-axis lifting mechanism comprises a Z-axis motor, a Z-guide groove body, a Z-guide rail, a Z-axis arm, a driving gear and a Z-axis rack; there are several Z-guide groove bodies, and the several Z-guide groove bodies are respectively fixedly connected to the two sides of the outer side surface of the mounting seat; both sides of the Z-axis arm are fixedly connected with Z-guide rails, and the Z-guide rails are respectively movably connected to the inner sides of the corresponding Z-guide groove bodies, and the left side of the Z-axis arm is fixedly connected with a Z-axis rack; the Z-axis motor is fixedly connected to the left side of the mounting seat, and a driving gear is fixedly connected to the output shaft on the right side of the Z-axis motor, and the driving gear is connected to the Z-axis rack.

[0010] Preferably, the Z-direction motor is a servo motor.

[0011] Preferably, the specific structure of the crystal rod clamp includes a connecting block, a clamp seat, a clamping motor, a connecting plate, a driving pulley, a synchronous belt, a driven pulley, a screw rod, a clamping mechanism, a clamping seat, a clamping guide rail, a bearing seat 1, a nut, a bearing seat 2 and a coupling; a connecting block is fixedly connected to the center of the upper side of the clamp seat, and a connecting plate is fixedly connected to the left side of the clamp seat; a clamping motor is fixedly connected to the right side of the connecting plate, and a driving pulley on the output shaft of the clamping motor; there are two screw rods, and the thread rotation directions of the two screw rods are opposite, and the left and right sides of the two screw rods are movably connected to the corresponding bearing seat 1 and bearing seat 2 respectively. The tops of bearing seat 1 and bearing seat 2 are fixedly connected to the bottom of the clamp seat, the two screw rods are connected by a coupling, the left side of the screw rod is fixedly connected to a driven pulley on the left side, and the driven pulley is connected to the driving pulley through a synchronous belt; there are two clamping guide rails, and the two clamping guide rails are respectively fixedly connected to the two sides of the clamp seat; there are two clamping seats, and the upper sides of the two clamping seats are movably connected to the left and right sides of the clamping guide rails, and nuts are fixedly connected to the central inner parts of the upper sides of the two clamping seats, and the nuts are respectively connected to the corresponding screw rods, and clamping mechanisms are provided inside the lower sides of the two clamping seats.

[0012] Preferably, the specific structure of the clamping mechanism includes a fixed shell, a spring, a fixed cover, a replaceable clamping block, a guide hole cover and an elastic snap ring; a fixed cover is fixedly connected to the right opening of the fixed shell, a guide hole cover is fixedly connected to the left opening of the fixed shell, and a spring is provided inside the fixed shell; the left outer part of the replaceable clamping block is movably connected to the central inner part of the guide hole cover and the fixed cover, an elastic snap ring is provided on the left outer part of the replaceable clamping block, and the central step surface of the replaceable clamping block is connected to the right side of the spring.

[0013] Beneficial effects of the utility model:

[0014] (1) The utility model has a reasonable and simple structure, low production cost and convenient installation. Here, the crystal rod clamp is driven to move by the linkage work of the X-axis motor, the Y-axis motor and the Z-axis motor, so that the crystal rod clamp in the incoming conveyor line can be sent to any empty space on the crystal rod placement table for storage. Similarly, the required crystal rod clamp on the crystal rod placement table can also be sent to the outgoing conveyor line for output and use, thus satisfying the functions of crystal rod transportation, storage, sorting and the like.

[0015] (2) The crystal rod clamp provided in the present invention can drive the screw to rotate through the clamping motor, and the rotation of the screw causes the two clamping seats to move inward together to clamp the crystal rod, thereby meeting the needs of taking and placing crystal rods of different diameters and lengths, and improving the convenience during use.

[0016] (3) The clamping mechanism provided in the crystal rod clamp of the utility model can ensure buffering by the spring during the clamping process. In addition, suitable replaceable clamping blocks are used as needed to ensure the stability and reliability of the crystal rod grasping, thereby ensuring the quality of the crystal rod storage. Description of the drawings:

[0017] Figure 1 It is a structural schematic diagram of the utility model.

[0018] Figure 2 It is a top view of the utility model.

[0019] Figure 3 It is a structural schematic diagram of the X-axis driving mechanism.

[0020] Figure 4 for Figure 3 Top view of the .

[0021] Figure 5 It is a structural schematic diagram of the Y-axis driving mechanism.

[0022] Figure 6 It is a structural schematic diagram of the Z-axis lifting mechanism.

[0023] Figure 7 This is a schematic diagram of the structure of the crystal rod clamp.

[0024] Figure 8 for Figure 7 sectional view of .

[0025] Fig. 9 It is a structural schematic diagram of the clamping mechanism.

[0026] 1-outbound conveyor line; 2-inbound conveyor line; 3-X beam; 4-Y beam; 5-X drive mechanism; 6-Z lifting mechanism; 7-Y drive mechanism; 8-crystal rod clamp; 9-material rack; 10-crystal rod placement table; 11-column; 51-X motor; 52-X guide rail; 53-X slider; 54-drive shaft; 55-X rack; 71-Y guide rail; 72-Y slider; 73-mounting seat; 74-Y motor; 75-Y rack; 61-Z motor; 62-Z guide trough; 63-Z guide rail; 64 -Z-axis arm; 65-driving gear; 66-Z-axis rack; 81-connecting block; 82-clamp seat; 83-clamping motor; 84-connecting plate; 85-driving pulley; 86-synchronous belt; 87-driven pulley; 88-screw rod; 89-clamping mechanism; 810-clamping seat; 811-clamping guide rail; 812-bearing seat 1; 813-nut; 814-bearing seat 2; 815-coupling; 891-fixed housing; 892-spring; 893-fixed cover; 894-replaceable clamping block; 895-guide hole cover; 896-elastic snap ring. Specific implementation method:

[0027] like Figure 1 and Figure 2 As shown, this specific embodiment adopts the following technical scheme: a storage truss robot, including an outbound conveyor line 1 and an inbound conveyor line 2, and its innovation lies in: it also includes an X-beam 3, a Y-beam 4, an X-direction driving mechanism 5, a Z-direction lifting mechanism 6, a Y-direction driving mechanism 7, a crystal rod clamp 8, a material rack 9, a crystal rod placement table 10 and a column 11; the X-beams 3 are two, and the two X-beams 3 are respectively connected to the upper side of the outbound conveyor line 1 and the inbound conveyor line 2, and the two X-beams 3 are respectively connected to the upper side of the outbound conveyor line 1 and the inbound conveyor line 2. The bottom is fixedly connected with several columns 11; the Y-beam 4 is connected with the corresponding X-beam 3 through the X-direction driving mechanism 5, the Y-direction driving mechanism 7 is provided on the Y-direction driving mechanism 4, and the moving part of the Y-direction driving mechanism 7 is provided with a Z-direction lifting mechanism 6; the lower end of the Z-direction lifting mechanism 6 is fixedly connected with a crystal rod clamp 8; there are several material racks 9, and several of the material racks 9 are located on the inner sides of the two X-beams 3, and the tops of several of the material racks 9 are fixedly connected with crystal rod placement tables 10.

[0028] like Figure 3 and Figure 4 As shown, the specific structure of the X-axis driving mechanism 5 includes an X-axis motor 51, an X-axis guide rail 52, an X-axis slider 53, a transmission shaft 54 ​​and an X-axis rack 55; there are two X-axis guide rails 52, and the two X-axis guide rails 52 are respectively fixedly connected to the top of the corresponding X-beam 3, and the outsides of the two X-axis guide rails 52 are movably connected with the X-axis slider 53, and the inner sides of the X-axis sliders 53 are fixedly connected to the end faces of the Y-beam 4; there are two X-axis racks 55, and the two X-axis racks 55 are respectively fixedly connected to the inner sides of the corresponding X-beams 3; the X-axis motor 51 is fixedly connected to the center of the Y-beam 4, and the transmission shafts 54 are fixedly connected to the output shafts on both sides of the X-axis motor 51, and the driven gears arranged on the outer sides of the transmission shafts 54 are respectively connected to the corresponding X-axis racks 55.

[0029] Wherein, the X-axis motor 51 is a servo motor, so it is easy to control by existing automation technology.

[0030] like Figure 5 As shown, the specific structure of the Y-direction driving mechanism 7 includes a Y-direction guide rail 71, a Y-direction slider 72, a mounting seat 73, a Y-direction motor 74 and a Y-direction rack 75; the Y-direction guide rail 71 is fixedly connected to the Y-direction beam 4, the Y-direction slider 72 is movably connected to the Y-direction guide rail 71, and the outer side of the Y-direction slider 72 is fixedly connected to the mounting seat 73, and the mounting seat 73 is provided with a Z-direction lifting mechanism 6; the Y-direction rack 75 is fixedly connected to the side of the Y-direction beam 4; the Y-direction motor 74 is fixedly connected to the mounting seat 73, and the transmission gear arranged on the output shaft of the Y-direction motor 74 is connected to the Y-direction rack 75.

[0031] Wherein, the Y-axis motor 74 is a servo motor, so it is easy to control through existing automation technology.

[0032] like Figure 6 As shown, the specific structure of the Z-axis lifting mechanism 6 comprises a Z-axis motor 61, a Z-guide groove body 62, a Z-guide rail 63, a Z-axis arm 64, a driving gear 65 and a Z-axis rack 66; there are several Z-guide groove bodies 62, and the several Z-guide groove bodies 62 are respectively fixedly connected to the two sides of the outer side surface of the mounting seat 73; both sides of the Z-axis arm 64 are fixedly connected with Z-guide rails 63, and the Z-guide rails 63 are respectively movably connected to the inner sides of the corresponding Z-guide groove bodies 62, and the left side of the Z-axis arm 64 is fixedly connected with a Z-axis rack 66; the Z-axis motor 61 is fixedly connected to the left side of the mounting seat 73, and the driving gear 65 is fixedly connected to the output shaft on the right side of the Z-axis motor 61, and the driving gear 65 is connected to the Z-axis rack 66.

[0033] The Z-direction motor 61 is a servo motor, which is convenient for control through existing automation technology.

[0034] like Figure 7 and Figure 8 As shown, the specific structure of the crystal rod clamp 8 includes a connecting block 81, a clamp seat 82, a clamping motor 83, a connecting plate 84, a driving pulley 85, a synchronous belt 86, a driven pulley 87, a screw 88, a clamping mechanism 89, a clamping seat 810, a clamping guide rail 811, a bearing seat 1 812, a nut 813, a bearing seat 2 814 and a coupling 815; the connecting block 81 is fixedly connected to the center of the upper side of the clamp seat 82, and the connecting plate 84 is fixedly connected to the left side of the clamp seat 82; the clamping motor 83 is fixedly connected to the right side of the connecting plate 84, and the driving pulley 85 is on the output shaft of the clamping motor 83; there are two screw rods 88, and the thread rotation directions of the two screw rods 88 are opposite, and the left and right sides of the two screw rods 88 are movably connected to the corresponding bearing seat 1 812 and the bearing seat 2 814 respectively. , and the tops of bearing seat 1 812 and bearing seat 2 814 are fixedly connected to the bottom of the clamp seat 82, the two screw rods 88 are connected by a coupling 815, and the left side of the screw rod 88 is fixedly connected to the driven pulley 87, and the driven pulley 87 is connected to the driving pulley 85 through a synchronous belt 86; there are two clamping guide rails 811, and the two clamping guide rails 811 are respectively fixedly connected to the two sides of the clamp seat 82; there are two clamping seats 810, and the upper sides of the two clamping seats 810 are movably connected to the left and right sides of the clamping guide rails 811, and the central parts of the upper sides of the two clamping seats 810 are fixedly connected with nuts 813, and the nuts 813 are respectively connected to the corresponding screw rods 88, and the lower sides of the two clamping seats 810 are provided with clamping mechanisms 89.

[0035] like Fig. 9 As shown, the specific structure of the clamping mechanism 89 includes a fixed shell 891, a spring 892, a fixed cover 893, a replaceable clamp block 894, a guide hole cover 895 and an elastic retaining ring 896; the fixed shell 891 is fixedly connected to the right opening of the fixed shell 891 with a fixed cover 893, the fixed shell 891 is fixedly connected to the left opening of the fixed shell 891 with a guide hole cover 895, and a spring 892 is arranged inside the fixed shell 891; the left outer part of the replaceable clamp block 894 is movably connected to the central inner part of the guide hole cover 895 and the fixed cover 893, the left outer part of the replaceable clamp block 894 is provided with an elastic retaining ring 896, and the central step surface of the replaceable clamp block 894 is connected to the right side of the spring 892.

[0036] The use status of the utility model is as follows: the utility model has a reasonable and simple structure, low production cost, and convenient installation. When in use, the crystal rod clamp 8 is first driven to move by the linkage work of the X-axis motor 51, the Y-axis motor 74, and the Z-axis motor 61, so that the crystal rod clamp in the inbound conveyor line 2 can be sent to any empty space on the crystal rod placement table 10 for storage. Similarly, the crystal rod clamp required on the crystal rod placement table 10 can also be sent to the outbound conveyor line 1 for output, thus satisfying the functions of crystal rod handling, storage, and sorting. The crystal rod clamp set here 8, the screw rod 88 can be driven to rotate by the clamping motor 83, and the rotation of the screw rod 88 causes the two clamping seats 810 to move inward together to clamp the crystal rod, thereby meeting the needs of taking and placing crystal rods of different diameters and lengths, and improving the convenience during use. In addition, the clamping mechanism 89 provided in the crystal rod clamp 8 can ensure buffering through the spring 892 during the clamping process, and use a suitable replaceable clamping block 894 as needed, thereby ensuring the stability and reliability of the crystal rod when grasping the crystal rod, and also ensuring the quality of the crystal rod storage.

[0037] The control method in the present invention is to start manually or control by existing automation technology. The wiring diagram of the power element and the provision of power supply belong to the common knowledge in the field, and the present invention is mainly used to protect mechanical devices, so the present invention will not explain the control method and wiring arrangement in detail.

[0038] In the description of the utility model, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0039] In the utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0040] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. Technical personnel in this industry should understand that the utility model is not limited to the above embodiments. The above embodiments and descriptions are only for illustrating the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which shall fall within the scope of the utility model to be protected. The scope of protection of the utility model shall be defined by the attached claims and their equivalents.

Claims

1. A warehouse truss robot, comprising a warehouse-out conveyor line (1) and a warehouse-in conveyor line (2), characterized in that: It also includes an X-beam (3), a Y-beam (4), an X-direction driving mechanism (5), a Z-direction lifting mechanism (6), a Y-direction driving mechanism (7), a crystal rod clamp (8), a material rack (9), a crystal rod placement table (10) and a column (11); There are two X-beams (3), and the two X-beams (3) are respectively connected to the upper side of the corresponding outbound conveying line (1) and the inbound conveying line (2), and the bottoms of the two X-beams (3) are fixedly connected to a plurality of columns (11); The Y-beam (4) is connected to the corresponding X-beam (3) via an X-direction driving mechanism (5); a Y-direction driving mechanism (7) is provided on the Y-beam (4); and a moving part of the Y-direction driving mechanism (7) is provided with a Z-direction lifting mechanism (6); A crystal rod clamp (8) is fixedly connected to the lower end of the Z-direction lifting mechanism (6); There are a plurality of material racks (9), each of which is located inside the two X-beams (3), and a crystal rod placement table (10) is fixedly connected to the top of each of the material racks (9).

2. The storage truss robot according to claim 1, characterized in that: The specific structure of the X-direction driving mechanism (5) includes an X-direction motor (51), an X-direction guide rail (52), an X-direction slider (53), a transmission shaft (54) and an X-direction rack (55); There are two X-direction guide rails (52), the two X-direction guide rails (52) are respectively fixedly connected to the top of the corresponding X-direction beam (3), the outsides of the two X-direction guide rails (52) are movably connected with X-direction sliders (53), and the inner sides of the X-direction sliders (53) are fixedly connected to the end faces of the Y-direction beam (4); There are two X-direction racks (55), and the two X-direction racks (55) are respectively fixedly connected to the inner sides of corresponding X-beams (3); The X-direction motor (51) is fixedly connected to the center of the Y-beam (4), and transmission shafts (54) are fixedly connected to the output shafts on both sides of the X-direction motor (51), and the driven gears arranged outside the transmission shafts (54) are respectively connected to the corresponding X-direction racks (55).

3. The storage truss robot according to claim 2, characterized in that: The X-direction motor (51) is a servo motor.

4. The storage truss robot according to claim 1, characterized in that: The specific structure of the Y-direction driving mechanism (7) includes a Y-direction guide rail (71), a Y-direction slider (72), a mounting seat (73), a Y-direction motor (74) and a Y-direction rack (75); The Y-direction guide rail (71) is fixedly connected to the Y-direction beam (4), a Y-direction slider (72) is movably connected to the Y-direction guide rail (71), a mounting seat (73) is fixedly connected to the outer side of the Y-direction slider (72), and a Z-direction lifting mechanism (6) is arranged on the mounting seat (73); The Y-direction rack (75) is fixedly connected to the side of the Y-beam (4); The Y-direction motor (74) is fixedly connected to the mounting seat (73), and the transmission gear arranged on the output shaft of the Y-direction motor (74) is connected to the Y-direction rack (75).

5. The storage truss robot according to claim 4, characterized in that: The Y-direction motor (74) is a servo motor.

6. The storage truss robot according to claim 4, characterized in that: The specific structure of the Z-direction lifting mechanism (6) includes a Z-direction motor (61), a Z-direction guide groove (62), a Z-direction guide rail (63), a Z-axis arm (64), a driving gear (65) and a Z-direction rack (66); There are a plurality of Z-guide groove bodies (62), and the plurality of Z-guide groove bodies (62) are respectively fixedly connected to two sides of the outer side surface of the mounting seat (73); Both sides of the Z-axis arm (64) are fixedly connected with Z-guide rails (63), and the Z-guide rails (63) are movably connected to the inner sides of the corresponding Z-guide groove bodies (62), and the left side of the Z-axis arm (64) is fixedly connected with a Z-axis rack (66); The Z-direction motor (61) is fixedly connected to the left side of the mounting seat (73), and a driving gear (65) is fixedly connected to the output shaft on the right side of the Z-direction motor (61), and the driving gear (65) is connected to the Z-direction rack (66).

7. The storage truss robot according to claim 6, characterized in that: The Z-direction motor (61) is a servo motor.

8. The storage truss robot according to claim 1, characterized in that: The specific structure of the crystal rod clamp (8) includes a connecting block (81), a clamp seat (82), a clamping motor (83), a connecting plate (84), a driving pulley (85), a synchronous belt (86), a driven pulley (87), a screw rod (88), a clamping mechanism (89), a clamping seat (810), a clamping guide rail (811), a bearing seat 1 (812), a nut (813), a bearing seat 2 (814) and a coupling (815); A connecting block (81) is fixedly connected to the center of the upper side of the clamp seat (82), and a connecting plate (84) is fixedly connected to the left side of the clamp seat (82); The right side of the connecting plate (84) is fixedly connected to a clamping motor (83), and a driving pulley (85) is provided on the output shaft of the clamping motor (83); There are two screw rods (88), and the thread rotation directions of the two screw rods (88) are opposite. The left and right sides of the two screw rods (88) are movably connected to the inside of the corresponding bearing seat 1 (812) and the bearing seat 2 (814), and the tops of the bearing seat 1 (812) and the bearing seat 2 (814) are fixedly connected to the bottom of the clamp seat (82). The two screw rods (88) are connected by a coupling (815). The left side of the screw rod (88) is fixedly connected to a driven pulley (87), and the driven pulley (87) is connected to the driving pulley (85) through a synchronous belt (86); There are two clamping guide rails (811), and the two clamping guide rails (811) are respectively fixedly connected to two sides of the clamp seat (82); There are two clamping seats (810), and the upper sides of the two clamping seats (810) are movably connected to the left and right sides of the clamping guide rail (811) respectively. Nuts (813) are fixedly connected to the central interior of the upper sides of the two clamping seats (810), and the nuts (813) are respectively connected to the corresponding screw rods (88). A clamping mechanism (89) is provided inside the lower sides of the two clamping seats (810).

9. The storage truss robot according to claim 8, characterized in that: The specific structure of the clamping mechanism (89) includes a fixed housing (891), a spring (892), a fixed cover (893), a replaceable clamping block (894), a guide hole cover (895) and an elastic snap ring (896); A fixed cover (893) is fixedly connected to the right opening of the fixed shell (891), a guide hole cover (895) is fixedly connected to the left opening of the fixed shell (891), and a spring (892) is provided inside the fixed shell (891); The left outer portion of the replaceable clamping block (894) is movably connected to the central inner portion of the guide hole cover (895) and the fixed cover (893), an elastic clamping ring (896) is provided on the left outer portion of the replaceable clamping block (894), and the central step surface of the replaceable clamping block (894) is connected to the right side of the spring (892).

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