Barrel material batch moving robot

Abstract

The barrel material batch mobile robot comprises an AGV trolley and a shell, the shell is connected with the AGV trolley, a plurality of barrel material storage arms used for hanging and storing barrel materials are arranged in the shell, the head ends of the barrel material storage arms are suspended, the tail ends of the barrel material storage arms are fixedly connected with the inner wall of the shell, and hanging space is provided for the barrel materials. A plurality of barrel materials can be hung on the barrel material storage arms at a time, batch transportation of the barrel materials is achieved, the carrying efficiency is effectively improved, the barrel material storage arms are arranged at intervals, the distance between every two adjacent barrel material storage arms can guarantee that the barrel materials do not interfere with each other during storage and carrying, and the conveying efficiency is improved. And deformation or damage caused by mutual extrusion and friction between the barrel materials is avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of automation transportation, especially a batch moving robot for cylinder materials. BACKGROUND

[0002] In the modern industrial automation process, the transportation of cylinder materials is an important link in the production process. In order to improve the efficiency of cylinder material handling in the factory, a mobile robot is currently designed to realize the transportation of cylinder materials. However, the traditional mobile robot is usually designed for handling standard pallets or box goods, and when it comes to transporting pressure-sensitive goods such as pressure-sensitive cylinder materials, its structure and function may not meet the needs of transporting pressure-sensitive cylinder materials, for example, the load design cannot ensure the stability of the cylinder materials during transportation, and when transporting multiple pressure-sensitive cylinder materials, the lack of protection measures may cause the cylinder materials to collide and deform due to extrusion between them, etc. Certain limitations are exposed in use. SUMMARY

[0003] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a batch moving robot for cylinder materials, which solves the problem that the existing mobile robot is not suitable for batch moving pressure-sensitive cylinder materials.

[0004] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0005] A batch moving robot for cylinder materials, comprising an AGV trolley and a shell, the shell is connected with the AGV trolley, a plurality of cylinder material storage arms for suspending and storing cylinder materials are arranged inside the shell, the leading end of the cylinder material storage arm is suspended, and the trailing end is fixedly connected with the inner wall of the shell.

[0006] Among them, the plurality of cylinder material storage arms are arranged at intervals, and the spacing between every two adjacent cylinder material storage arms can prevent the cylinder materials from interfering with each other during storage.

[0007] Further, the trailing end of the cylinder material storage arm is provided with a cylinder material limiting mechanism, the cylinder material limiting mechanism has a limiting state protruding from the outer surface of the cylinder material storage arm and a non-limiting state lower than or flush with the outer surface of the cylinder material storage arm.

[0008] Further, the cylinder material limiting mechanism comprises a limiting rod and a motor, the motor is used to drive the limiting rod, so that the limiting rod can be switched between the limiting state and the non-limiting state.

[0009] Further, the motor is fixed inside the cylinder material storage arm, and the limiting rod connected with the motor is eccentrically arranged relative to the axis of the cylinder material storage arm, and the limiting rod can rotate relative to the trailing end of the cylinder material storage arm under the driving of the motor.

[0010] Further, the end of the cylinder storage arm has a notch, and the limiting rod rotates in the notch; in the limiting state, the limiting rod abuts against the inner wall of one side of the notch, and in the non-limiting state, the limiting rod abuts against the inner wall of the other side of the notch.

[0011] Further, the axial depth of the notch is at least the axial thickness of the limiting rod, so that the limiting rod is completely accommodated in the notch when it switches to the non-limiting state.

[0012] Further, the cantilever carrying device can be lifted and laterally telescoped to align with the cylinder storage arm and push or remove the cylinder from the cylinder storage arm.

[0013] Further, the cantilever carrying device comprises a moving assembly, a cantilever body and a carrying assembly; the moving assembly can drive the cantilever body and the carrying assembly to be lifted or laterally telescoped; the carrying assembly is connected with the cantilever body and can axially slide relative to the cantilever body.

[0014] The carrying assembly comprises a moving mechanism and a clamping mechanism; the clamping mechanism comprises a base and a telescopic part; the base is connected with the moving mechanism; the telescopic part has a first state of being clamped into a clamping groove arranged at the end of the cylinder and a second state of being separated from the clamping groove arranged at the end of the cylinder; when the telescopic part is in the first state, the cylinder can be moved to the cantilever body.

[0015] Further, the telescopic part comprises a housing and a telescopic unit; the telescopic unit can relatively approach or move away from the clamping groove arranged at the end of the cylinder, so that the telescopic part is switched between the first state and the second state.

[0016] Further, the cantilever carrying device is arranged inside the housing and is fixedly connected with the inner wall of the housing.

[0017] Compared with the prior art, the cylinder batch moving robot has at least the following beneficial effects:

[0018] The cylinder batch moving robot comprises an AGV trolley and a housing; the housing is connected with the AGV trolley; the inside of the housing is provided with a plurality of cylinder storage arms for suspending and storing cylinders; the leading end of the cylinder storage arm is suspended, and the trailing end is fixedly connected with the inner wall of the housing, thereby providing a suspension space for the cylinders; the plurality of cylinder storage arms can hang a plurality of cylinders at one time, thereby realizing batch transportation of the cylinders and effectively improving the carrying efficiency; in addition, the plurality of cylinder storage arms are arranged at intervals, and the spacing between every two adjacent cylinder storage arms can ensure that the cylinders do not interfere with each other during storage and carrying, thereby avoiding deformation or damage of the cylinders due to mutual extrusion and friction. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a batch material moving robot provided in one embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the structure of a cylindrical material storage arm provided in one embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of the material limiting mechanism in a limiting state provided in one embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the material limiting mechanism provided in one embodiment of the present invention in a non-limiting state.

[0024] Figure 5 This is an enlarged schematic diagram of the telescopic part provided in one embodiment of the present invention.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. AGV (Automated Guided Vehicle) trolley;

[0027] 2. Shell;

[0028] 3. Material storage arm; 31. Material limiting mechanism; 311. Limiting rod; 312. Motor; 32. Notch;

[0029] 4. Cantilever transport device; 41. Moving component; 42. Cantilever body; 43. Clamping mechanism; 431. Base; 432. Telescopic part; 4321. Outer shell; 4322. Telescopic unit;

[0030] 5. Barrel material; 51. Slot. Detailed Implementation

[0031] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0032] In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the indicated device or element must have a particular orientation, construct and operate in a particular orientation, therefore, it cannot be understood as the limitation of the utility model. In addition, the term "first", "second", "third" is only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the utility model, it needs to explain, unless otherwise explicitly specified and limited, the term "installation", "connection", "connection" should be broad understanding, for example, it can be fixed connection, can also be detachable connection, or integrally connected, can be mechanical connection, can also be electrical connection, can be directly connected, can also be indirectly connected through intermediate medium, can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific circumstances.

[0034] As shown in the accompanying Figure 1 A kind of cylinder material batch moving robot, including AGV 1 and shell 2, shell 2 is connected with AGV 1, shell 2 inside is equipped with several for suspending and storing cylinder material 5 cylinder material storage arm 3, the first end of cylinder material storage arm 3 is suspended, the end is fixedly connected with shell 2 inner wall, provides suspension space for cylinder material 5, each cylinder material 5 is suspended on independent cylinder material storage arm 3. Specifically, when needing to carry and move cylinder material 5, AGV 1 drives shell 2 to move to the cylinder material 5 needing to be carried, by methods such as cantilever handling device or hoisting system or manual handling etc. Multiple cylinder materials 5 are moved to several cylinder material storage arms 3, after the cylinder material 5 needing to be moved is all carried, AGV 1 drives shell 2 and several cylinder materials 5 to move to destination. In some embodiments, shell 2 is located above AGV 1;In some other embodiments, shell 2 is located at the side of AGV 1. Or, in other embodiments, shell 2 is provided with rollers below and is connected with AGV 1 as an independent unit and is dragged by AGV 1 to move forward, to more flexibly increase the number of shell 2 according to the demand of cylinder material 5.

[0035] And, several cylinder material storage arms 3 are arranged at intervals, and the spacing between every two adjacent cylinder material storage arms 3 can ensure that cylinder materials 5 do not interfere with each other during storage and carrying. In some embodiments, several cylinder material storage arms 3 are arranged in parallel in the same direction;In some other embodiments, several cylinder material storage arms 3 are staggered, to increase the number of suspending cylinder materials 5 in unit area.

[0036] The batch material moving robot of the utility model stores the non-pressure-resistant cylinder material 5 through the several cylinder material storage arms 3 arranged in the shell 2, can mount multiple cylinder materials 5 at one time, realizes batch transportation of the cylinder material 5 under the cooperation of the AGV trolley 1, effectively improves the carrying efficiency, and can also avoid deformation or damage of the several cylinder materials 5 due to mutual extrusion and friction between the several cylinder materials 5 when batch moving the cylinder material 5.

[0037] In some embodiments of the utility model, as shown in the accompanying drawings, Figures 2-4 In order to prevent the cylinder material 5 from falling off from the cylinder material storage arm 3 during the movement of the AGV trolley 1, the end of the cylinder material storage arm 3 is provided with a cylinder material limiting mechanism 31, and the cylinder material limiting mechanism 31 has a limiting state protruding from the outer surface of the cylinder material storage arm 3 and a non-limiting state lower than or flush with the outer surface of the cylinder material storage arm 3. Specifically, when the cylinder material 5 is completely placed on the cylinder material storage arm 3, the cylinder material limiting mechanism 31 is switched to the limiting state, at this time part or all of the cylinder material limiting mechanism 31 will protrude from the outer surface of the cylinder material storage arm 3, forming a blocking structure, which can block the end of the cylinder material 5, preventing the cylinder material 5 from accidentally sliding off the cylinder material storage arm 3 due to vibration, turning and other actions during transportation. When the cylinder material 5 is moved to the cylinder material storage arm 3 or after the cylinder material 5 is removed from the cylinder material storage arm 3, the cylinder material limiting mechanism 31 is switched to the non-limiting state, so that it is lower than or flush with the outer surface of the cylinder material storage arm 3, avoiding affecting the loading and unloading operation of the cylinder material 5. More preferably, the arm length of the cylinder material storage arm 3 is set to the length of the cylinder material 5, and the cylinder material limiting mechanism 31 can limit the cylinder material 5 in all directions, avoiding the movement of the cylinder material 5 on the cylinder material storage arm 3, and enhancing the stability during transportation.

[0038] In some embodiments of the utility model, as shown in the accompanying drawings, Figures 2-4 The cylinder material limiting mechanism 31 includes a limiting rod 311 and a motor 312, and the motor 312 is used to drive the limiting rod 311 to switch between the limiting state and the non-limiting state. Specifically, in some embodiments, the motor 312 drives the limiting rod 311 to perform extension and contraction movement, when the limiting state, the limiting rod 311 is extended from the outer surface of the end of the cylinder material storage arm 3 through the motor 312, when the non-limiting state, the limiting rod 311 is retracted through the motor 312, until it is lower than or flush with the outer surface of the cylinder material storage arm 3; in another embodiment, the motor 312 drives the limiting rod 311 to rotate, changes the position of the limiting rod 311 relative to the cylinder material 5, and switches the limiting rod 311 between the limiting state and the non-limiting state through rotation.

[0039] In some embodiments of the utility model, as shown in the accompanying drawings, Figure 2As shown, the motor 312 is fixed inside the tube material storage arm 3, and the limiting rod 311 connected with the motor 312 is eccentrically arranged relative to the axis of the tube material storage arm 3, and the limiting rod 311 can rotate relative to the end of the tube material storage arm 3 under the driving of the motor 312, and due to the eccentric arrangement, when switched to the limiting state, the motor 312 drives the limiting rod 311 to rotate around the eccentric rotation center thereof in the rotating process, and then can partially protrude from the outer surface of the tube material storage arm 3, forming effective blocking of the end of the tube material 5, preventing it from falling. Further, by changing the eccentric distance of the limiting rod 311 relative to the axis of the tube material storage arm 3 or the rotation angle, the blocking effect of the limiting rod 311 can be flexibly adjusted to adapt to tube materials of different inner diameter sizes and effectively improve the versatility.

[0040] In some embodiments of the present application, as shown in the accompanying drawings, Figures 2-4 As shown, the end of the tube material storage arm 3 has a notch 32, and the limiting rod 311 rotates in the notch 32, and in the limiting state, the limiting rod 311 abuts against one side of the inner wall of the notch 32, and in the non-limiting state, the limiting rod 311 abuts against the other side of the inner wall of the notch 32, that is, when the limiting rod 311 is driven to rotate by the motor 312, the limiting rod 311 will be physically limited by the inner wall of the notch 32 and cannot continue to move, so as to ensure that the limiting rod 311 can accurately stay at the required position in the limiting state or the non-limiting state each time, and then accurately limit the limiting rod 311, ensuring the accuracy and repeatability of the limiting rod 311 after state switching.

[0041] In some embodiments of the present application, as shown in the accompanying drawings, Figure 2 As shown, when the tube material 5 moves into or out of the tube material storage arm 3, the related handling device of the tube material 5 often abuts against the end of the tube material storage arm 3 to facilitate the movement of the tube material, in order to prevent the limiting rod 311 from being damaged in this process, the axial depth of the notch 32 is at least the axial thickness of the limiting rod 311, so that the limiting rod 311 can be completely accommodated in the notch 32 when switched to the non-limiting state, and the limiting rod 311 in the accommodation state can be protected by the notch 32, and will not protrude from the surface of the tube material storage arm 3 during loading and unloading of the tube material 5, effectively avoiding collision with the related handling device of the tube material 5 and causing damage, thereby prolonging the service life of the limiting rod 311.

[0042] In some embodiments of the present application, as shown in the accompanying drawings, Figure 1As shown, the barrel batch moving robot further comprises a cantilever carrying device 4, which can be lifted and laterally telescoped, and the position of the cantilever carrying device 4 can be adjusted as needed to align with the barrel storage arms 3 at different heights and positions and push the barrels 5 onto the barrel storage arms 3 or move the barrels 5 out of the barrel storage arms 3. In some embodiments, the cantilever carrying device 4 is arranged inside the housing 2 and connected to the inner wall of the housing 2; in other embodiments, the cantilever carrying device 4 is arranged outside the housing 2 and connected to the outer wall of the housing 2; or in other embodiments, the cantilever carrying device 4 is arranged outside the housing 2 and connected to the AGV 1, the cantilever carrying device 4 is located at one end of the AGV 1, and the housing 2 is located at the other end of the AGV 1.

[0043] In some embodiments of the present application, as shown in the accompanying drawings Figure 1 and the accompanying drawings Figure 5 As shown, the cantilever carrying device 4 comprises a moving assembly 41, a cantilever body 42 and a carrying assembly, the moving assembly 41 can drive the cantilever body 42 and the carrying assembly to be lifted or laterally telescoped relative to the barrel storage arms 3, and the carrying assembly is connected to the cantilever body 42 and can axially slide relative to the cantilever body 42. The carrying assembly comprises a moving mechanism and a clamping mechanism 43, the clamping mechanism 43 comprises a base 431 and a telescopic part 432, the base 431 is connected to the moving mechanism, and the base 431 can be driven by the moving mechanism to move the telescopic part 432 relative to the cantilever body 42, the telescopic part 432 has a first state of being clamped into the clamping groove 51 provided at the end of the barrel 5 and a second state of being separated from the clamping groove 51 provided at the end of the barrel 5, and when the telescopic part 432 is in the first state, it can drive the barrel 5 to move onto the cantilever body 42. Compared with the traditional way of moving the cantilever into the inner wall of the barrel 5 and clamping it by supporting, the above-mentioned way can not only reduce the complexity of the overall mechanical structure by not needing to move the cantilever itself, but also can not need to rely on the specific size of the inner wall of the barrel 5 to customize the design of the cantilever, but only need to adapt to the clamping groove 51 at the end of the barrel 5 to clamp the barrel 5, thereby effectively improving the versatility and flexibility of the cantilever carrying device 4.

[0044] In some embodiments, the number of clamping grooves 51 is multiple, and the clamping grooves 51 are circumferentially spaced at the end of the cartridge 5. In other embodiments, the number of clamping grooves 51 is one, and the clamping groove 51 corresponds to the position of the telescopic part 432. Further, the telescopic part 432 can be flexibly arranged at any position around the clamping groove 51. In some embodiments, the telescopic part 432 is located below the cantilever body 42, corresponding to the clamping groove 51 below the end of the cartridge 5. By moving up and down to adjust the height, the telescopic part 432 can be accurately aligned and clamped into the clamping groove 51 below the end of the cartridge 5. In other embodiments, the telescopic part 432 is located on one side or both sides of the cantilever body 42, corresponding to the clamping groove 51 on the side of the end of the cartridge 5. By moving horizontally, the telescopic part 432 can be accurately aligned and clamped into the clamping groove 51 on the side of the end of the cartridge 5. In other embodiments, the telescopic part 432 is located at an oblique angle of the cantilever body 42, corresponding to the clamping groove 51 obliquely arranged at the end of the cartridge 5. By moving obliquely within a certain range, the telescopic part 432 can be accurately clamped into the clamping groove 51 obliquely arranged at the end of the cartridge 5.

[0045] After reaching the first state, the moving mechanism can drive the entire handling assembly to slide axially along the cantilever body 42 back, thereby simultaneously pulling the cartridge 5 to move onto the cantilever body 42. The timing of the telescopic part 432 switching from the first state to the second state can be set by the user. Specifically, in some embodiments, after completing this step, the telescopic part 432 moves to the initial position relative to the base 431, and changes to the second state of being separated from the clamping groove 51. After the cantilever handling device 4 moves to the position of the cartridge storage arm 3 and is docked, the moving mechanism 2 is restarted and pushes the base 431 to move axially along the cantilever body 42 towards the cartridge storage arm 3, so as to push the cartridge 5 to move onto the cartridge storage arm 3. In other embodiments, after completing this step, after the cantilever handling device 4 moves to the position of the cartridge storage arm 3 and is docked, the moving mechanism is restarted and pushes the base 431 to move axially along the cantilever body 42 towards the cartridge storage arm 3, so as to push the telescopic part 432 to drive the cartridge 5 to move onto the cartridge storage arm 3. After the handover is completed, the telescopic part 432 moves to the initial position relative to the base 431, and changes to the second state of being separated from the clamping groove 51.

[0046] In some embodiments of the present application, as shown in FIG. 8, the telescopic part 432 is arranged on the cantilever body 42, and the telescopic part 432 is arranged to be capable of moving axially along the cantilever body 42. In other embodiments, as shown in FIG. 9, the telescopic part 432 is arranged on the cantilever body 42, and the telescopic part 432 is arranged to be capable of moving horizontally along the cantilever body 42. Figure 5As shown, the telescopic part 432 comprises a housing 4321 and a telescopic unit 4322, which can be arranged close to or away from the clamping groove 51 arranged at the end of the tube material 5, so as to switch the telescopic part 432 between the first state and the second state. Specifically, in some embodiments, the housing 4321 is fixed, and the telescopic unit 4322 can be independently telescoped to be clamped into or separated from the clamping groove 51; in other embodiments, the housing 4321 can drive the telescopic unit 4322, when the tube material 5 needs to be clamped, the housing 4321 drives the telescopic unit 4322 to move together until the telescopic unit 4322 is clamped into the clamping groove 51 at the end of the tube material 5 to switch to the first state, and when the second state needs to be switched, the housing 4321 is moved to drive the telescopic unit 4322 to separate from the clamping groove 51.

[0047] In some embodiments of the present application, the cantilever carrying device 4 is arranged inside the shell 2 and fixedly connected with the inner wall of the shell 2. Since the cantilever carrying device 4 has the functions of lifting and telescoping laterally, the floor area of the cantilever carrying device 4 in the shell 2 can be greatly reduced.

[0048] As shown in FIG. 1, the shell 2 is provided with a cantilever carrying device 4, which is arranged inside the shell 2 and fixedly connected with the inner wall of the shell 2. The cantilever carrying device 4 is provided with a telescopic part 432, which is arranged at the end of the cantilever carrying device 4 and can be switched between a first state and a second state. Figure 1As shown, the specific use mode of the barrel material batch moving robot according to the embodiment of the utility model application is as follows: first, the cantilever handling device 4 is lifted and retracted by the moving assembly 41 to align with the end of the barrel material 5 to be handled, the retractable part 432 is switched to the first state to be clamped into the clamping groove 51 arranged at the end of the barrel material 5, the retractable part 432 is driven by the moving mechanism to drive the barrel material 5 to move to the cantilever body 42, then the cantilever body 42 is controlled to retract into the housing 2 laterally by the moving assembly 41, at this time the retractable part 432 is switched to the second state to be separated from the clamping groove 51, then the cantilever body 42 is lifted to the end of the barrel material storage arm 3 by the moving assembly 41, then the moving mechanism is restarted and the base 431 is axially moved along the cantilever body 42 to the direction of the barrel material storage arm 3 to drive the retractable part 432 to drive the barrel material 5 to move to the barrel material storage arm 3, when the barrel material 5 is completely moved to the barrel material storage arm 3, the limiting rod 311 is switched from the non-limiting state to the limiting state, the above operation is repeated according to the number of barrel materials 5 to be handled, when the barrel materials 5 are all handled or the barrel material storage arm 3 is completely filled, the cantilever handling device 4 is returned to the initial position in the housing 2 by the moving assembly 41, the housing 2 is moved to the destination of the barrel material 5 by the AGV 1, after reaching the destination, the cantilever handling device 4 is aligned with the end of the barrel material storage arm 3 by the moving assembly 41, at this time the limiting rod 311 is switched from the limiting state to the non-limiting state, the retractable part 432 is aligned with the clamping groove 51 by the moving mechanism, then the retractable part 432 is switched to the first state to be clamped into the clamping groove 51, the barrel material 5 is moved to the cantilever body 42 again by the retractable part 432 driven by the moving mechanism, the barrel material 5 is sent to the destination outside the housing by the lifting and retracting of the moving assembly 41, the above operation is repeated according to the number of barrel materials 5 to be handled, until all the barrel materials 5 are moved to the destination.

[0049] The above embodiment is only a preferred embodiment of the utility model, and cannot be used to limit the scope of protection of the utility model, any non-substantial change and replacement made by the person skilled in the art on the basis of the utility model belongs to the scope of protection of the utility model.

Claims

1. A cylinder batch moving robot characterized by comprising: The application relates to an AGV (Automatic Guided Vehicle) and a shell connected with the AGV, wherein a plurality of cylinder storage arms for suspending and storing cylinder materials are arranged in the shell, the first end of each cylinder storage arm is suspended, and the tail end of each cylinder storage arm is fixedly connected with the inner wall of the shell. The cylinder storage arms are arranged at intervals, and the interval between every two adjacent cylinder storage arms is capable of preventing the cylinder materials from interfering with each other during storage.

2. The cartridge batch movement robot of claim 1, wherein, The tail end of each cylinder storage arm is provided with a cylinder limiting mechanism, and the cylinder limiting mechanism has a limiting state of protruding from the outer surface of the cylinder storage arm and a non-limiting state of being lower than or flush with the outer surface of the cylinder storage arm.

3. The cartridge batch movement robot of claim 2, wherein, The cylinder limiting mechanism comprises a limiting rod and a motor, and the motor is used for driving the limiting rod to switch the limiting rod between the limiting state and the non-limiting state.

4. The cartridge batch movement robot of claim 3, wherein, The motor is fixed in the interior of the cylinder storage arm, and the limiting rod connected with the motor is arranged eccentrically relative to the axis of the cylinder storage arm, and the limiting rod can rotate relative to the tail end of the cylinder storage arm under the driving of the motor.

5. The cartridge batch movement robot of claim 3, wherein, The tail end of the cylinder storage arm has a notch, the limiting rod rotates in the notch, the limiting rod abuts against the inner wall of one side of the notch in the limiting state, and the limiting rod abuts against the inner wall of the other side of the notch in the non-limiting state.

6. The cartridge batch movement robot of claim 5, wherein, The axial depth of the notch is at least the axial thickness of the limiting rod, so that the limiting rod can be completely accommodated in the notch when the limiting rod is switched to the non-limiting state.

7. The cartridge batch movement robot of claim 1, wherein, The application further relates to a cantilever carrying device which can be lifted and laterally telescoped to align with the cylinder storage arm and push the cylinder material into or out of the cylinder storage arm.

8. The cartridge batch movement robot of claim 7, wherein, The cantilever carrying device comprises a moving assembly, a cantilever body and a carrying assembly, the moving assembly can drive the cantilever body and the carrying assembly to be lifted or laterally telescoped, the carrying assembly is connected with the cantilever body and can axially slide relative to the cantilever body. The carrying assembly comprises a moving mechanism and a clamping mechanism, the clamping mechanism comprises a base and a telescopic part, the base is connected with the moving mechanism, the telescopic part has a first state of being clamped into a clamping groove arranged at the end of the cylinder material and a second state of being separated from the clamping groove arranged at the end of the cylinder material, and the telescopic part can drive the cylinder material to move onto the cantilever body when the telescopic part is in the first state.

9. The cartridge batch movement robot of claim 8, wherein, The telescopic part comprises a shell and a telescopic unit, the telescopic unit can be close to or away from the clamping groove arranged at the end of the cylinder material, so that the telescopic part can be switched between the first state and the second state.

10. The cartridge batch movement robot of claim 7, wherein, The cantilever carrying device is arranged in the interior of the shell and fixedly connected with the inner wall of the shell.

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