An in-house robot and a storage room for storing automobile keys and certificates

Abstract

The utility model provides a kind of in-store manipulator and for the storage room of automobile key and qualified certificate warehousing, comprising: horizontal moving structure is set in storage room;Vertical moving structure is connected with the moving end of horizontal moving structure;Supporting plate, one end is connected with the moving end of vertical moving structure, the other end extends outward along the moving direction of horizontal moving structure, forms cantilever state;Pick-and-place structure, including base, one end of base is connected with the other end of supporting plate by horizontal rotating mechanism, the upside of base is horizontally provided with pick-and-place guide rail, pick-and-place guide rail is slidably connected with pick-and-place slider, pick-and-place slider is connected with base by pick-and-place drive mechanism, for driving pick-and-place slider sliding, one side upper end and lower end of pick-and-place slider are respectively provided with one negative pressure suction nozzle, for suction and release material box;Solve the problem that automobile key and qualified certificate warehousing management consume manpower in prior art, efficiency is relatively low, and required operation space is larger, not conducive to intensive warehousing.

Description

Technical Field

[0001] This utility model belongs to the technical field of car key and certificate of conformity storage management equipment, and more specifically, relates to a warehouse robotic arm and a storage room for storing car keys and certificates of conformity. Background Technology

[0002] In automotive warehousing, a large number of vehicles correspond to a large number of car keys and certificates of conformity. Each key and certificate is associated with a specific vehicle, making the storage of such a large quantity of keys and certificates labor-intensive and prone to errors. Traditionally, many car keys are stored in key cabinets, each bearing the corresponding vehicle's VIN code. Certificates are stored in separate cabinets. When a vehicle is taken out or borrowed, the warehouse keeper must locate the key based on the driver's requested VIN code, and sometimes also search for the corresponding certificate. This process is not only labor-intensive but also inaccurate. Even with a combined storage room for keys and certificates, manual handling is still required, resulting in low efficiency, a large operating space requirement, and unsuitability for dense warehousing. Utility Model Content

[0003] The purpose of this utility model is to address the shortcomings of existing technologies by providing an in-warehouse robotic arm and a storage room for storing car keys and certificates of conformity, thereby solving the problems of low efficiency, large operating space requirements, and unfavorable conditions for dense storage in the storage and management of car keys and certificates of conformity in existing technologies.

[0004] To achieve the above objectives, this utility model provides a warehouse robotic arm for installation in a storage room, the storage room being used to store boxes containing car keys and certificates of conformity, comprising: A horizontally moving structure is disposed within the storage room; A vertically moving structure, wherein the vertically moving structure is connected to the moving end of the horizontally moving structure; A support plate, one end of which is connected to the moving end of the vertical moving structure, and the other end of which extends outward along the moving direction of the horizontal moving structure to form a cantilever. The pick-and-place structure includes a base, one end of which is connected to the other end of a support plate via a horizontal rotation mechanism. A pick-and-place guide rail is horizontally arranged on the upper side of the base, and a pick-and-place slider is slidably connected to the pick-and-place guide rail. The pick-and-place slider is connected to the base via a pick-and-place drive mechanism, which drives the pick-and-place slider to slide. A negative pressure suction nozzle is provided at the upper and lower ends of one side of the pick-and-place slider, and the negative pressure suction nozzle is used to suck up and release the material box.

[0005] Optionally, the horizontal movement structure includes: The bottom horizontal guide rail and the top horizontal guide rail are slidably connected to the bottom horizontal slider and the top horizontal slider respectively, and the bottom horizontal slider and the top horizontal slider are connected by a column; A horizontal drive mechanism is provided for driving the bottom horizontal slider and the top horizontal slider to slide horizontally.

[0006] Optionally, the vertical moving structure includes: A vertical guide rail is provided on the column, and a vertical slider is slidably connected to the vertical guide rail; A vertical drive mechanism is provided to drive the vertical slider to slide vertically, and one end of the support plate is connected to the vertical slider.

[0007] Optionally, the horizontal drive mechanism includes: A first synchronous belt and a second synchronous belt are respectively disposed on one side of the bottom horizontal guide rail and the top horizontal guide rail; The first synchronous pulley and two first guide pulleys are rotatably connected to the bottom horizontal slider. The two first guide pulleys are respectively located on both sides of the first synchronous pulley. The first synchronous belt passes around the two first guide pulleys and is in transmission cooperation with the first synchronous pulley. The second synchronous pulley and two second guide pulleys are rotatably connected to the top horizontal slider. The two second guide pulleys are respectively located on both sides of the second synchronous pulley. The second synchronous belt passes around the two second guide pulleys and is engaged with the second synchronous pulley for transmission. A synchronous shaft, the two ends of which are respectively connected to the first synchronous pulley and the second synchronous pulley; A first drive motor is connected to the first synchronous pulley, the second synchronous pulley, or the synchronous shaft.

[0008] Optionally, the vertical drive mechanism includes: The third synchronous belt is a ring, and the third synchronous belt is connected to the vertical slider through the first connecting component; Two third synchronous pulleys are respectively rotatably connected to the bottom horizontal slider and the top horizontal slider, and are engaged with the third synchronous belt for transmission. The second drive motor is connected to the third synchronous pulley.

[0009] Optionally, the horizontal rotation mechanism includes a third drive motor, which is mounted on the lower side of the base and connected to the support plate, and a vision sensor is provided on the lower side of the other end of the base.

[0010] Optionally, the pick-and-place driving mechanism includes: The fourth synchronous belt is a ring, and the fourth synchronous belt is connected to the pick-and-place slider through the second connecting component; Two fourth synchronous pulleys are respectively rotatably connected to both ends of the base and are engaged with the fourth synchronous belt drive. The third drive motor is connected to the fourth synchronous pulley.

[0011] Optionally, a guide frame is provided above the base, and the guide frame is provided with a guide groove, which slides and guides the material box.

[0012] Optionally, the negative pressure nozzle is connected to a negative pressure generator, and the negative pressure nozzle is connected to a negative pressure detection sensor.

[0013] This utility model also provides a storage room for storing car keys and certificates of conformity, comprising: The shelf has multiple storage compartments for placing material boxes, and an access channel is formed between adjacent shelves. The aforementioned in-warehouse robotic arm is located within the pick-and-place channel and is capable of picking up, placing, and moving material boxes on the shelves on both sides.

[0014] This utility model provides an in-warehouse robotic arm and a storage room for storing car keys and certificates of conformity. Its advantages are as follows: the in-warehouse robotic arm is used for storing car keys and certificates of conformity in pairs in storage boxes. The robotic arm is installed inside the storage room and moves horizontally via a horizontal moving structure that drives a vertical moving structure. The vertical moving structure then drives a pick-and-place structure to move vertically. Through a cantilevered support plate and a rotatable connection between the pick-and-place structure and the other end of the support plate, the pick-and-place structure can pick up, place, and move the storage boxes on the shelves located on both sides of the in-warehouse robotic arm. This not only... It can replace manpower and improve efficiency. Moreover, compared with the operating space required for manual picking and placing, the operating space required by this in-warehouse robot is smaller and more conducive to dense storage. The picking and placing structure drives the picking and placing slider to slide horizontally through the picking and placing drive mechanism, and realizes the suction and release of the material box through two negative pressure suction nozzles on the picking and placing slider. After the material box is suctioned, it can be dragged to the upper side of the base, improving the stability when moving the base and the reliability of suction. When putting down the material box, it can be pushed out by the sliding of the suction slider, for example, into the placement grid of the shelf, and then the material box is released by the negative pressure suction nozzle.

[0015] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0016] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally represent like parts.

[0017] Figure 1 A schematic diagram of a warehouse robot arm according to an embodiment of the present invention is shown.

[0018] Figure 2 A schematic diagram of a warehouse robot's pick-and-place structure according to an embodiment of the present invention is shown.

[0019] Figure 3 It shows Figure 1 A magnified schematic diagram of the structure at point A.

[0020] Figure 4 This diagram shows a top view of the internal structure of a storage room for storing car keys and certificates of conformity, according to an embodiment of the present invention.

[0021] Figure 5 A schematic diagram of the structure of a storage rack for storing car keys and certificates of conformity is shown according to an embodiment of the present invention.

[0022] Explanation of reference numerals in the attached figures: 1. Support plate; 2. Picking and placing structure; 3. Base; 4. Picking and placing slider; 5. Negative pressure suction nozzle; 6. Material box; 7. Bottom horizontal slider; 8. Top horizontal slider; 9. Column; 10. Vertical roller; 11. Horizontal roller; 12. Vertical slider; 13. First synchronous belt; 14. Second synchronous belt; 15. Second synchronous pulley; 16. Second guide wheel; 17. Synchronous shaft; 18. Third drive motor; 19. Camera; 20. Guide frame; 21. Shelf; 22. Placement grid; 23. Picking and placing channel; 24. Transplanting device; 25. Window. Detailed Implementation

[0023] Preferred embodiments of the present invention will now be described in more detail. While preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0024] like Figure 1 and Figure 2 As shown, this utility model provides a warehouse robotic arm for installation inside a storage room. The storage room is used to store a container 6 containing car keys and certificates of conformity, and includes: A horizontally moving structure is installed inside the storage room. A vertically moving structure, with its moving end connected to the horizontally moving structure; Support plate 1, one end of support plate 1 is connected to the moving end of the vertical moving structure, and the other end of support plate 1 extends outward along the moving direction of the horizontal moving structure to form a cantilever state; The pick-and-place structure 2 includes a base 3. One end of the base 3 is connected to the other end of the support plate 1 through a horizontal rotation mechanism. A pick-and-place guide rail is horizontally arranged on the upper side of the base 3. A pick-and-place slider 4 is slidably connected to the pick-and-place guide rail. The pick-and-place slider 4 is connected to the base 3 through a pick-and-place drive mechanism. The pick-and-place drive mechanism is used to drive the pick-and-place slider 4 to slide. A negative pressure suction nozzle 5 is respectively arranged on the upper and lower ends of one side of the pick-and-place slider 4. The negative pressure suction nozzle 5 is used to suck up and release the material box 6.

[0025] Specifically, to address the problems of low manpower consumption, low efficiency, and large operating space requirements in the existing technology for the storage and management of car keys and certificates of conformity, which are not conducive to dense storage, the present invention provides an in-warehouse robotic arm for storing car keys and certificates of conformity in pairs in material boxes 6. This in-warehouse robotic arm is installed inside the storage room. A horizontal moving structure drives a vertical moving structure to move horizontally, and the vertical moving structure drives a pick-and-place structure 2 to move vertically. Through the cantilevered arrangement of the support plate 1 and the rotatable connection between the pick-and-place structure 2 and the other end of the support plate 1, the pick-and-place structure 2 can pick up the material boxes 6 located on the shelves 21 on both sides of the in-warehouse robotic arm. The placement and movement of the robotic arm not only replaces manpower and improves efficiency, but also requires less operating space compared to manual handling, making it more suitable for dense storage. The placement structure 2 drives the placement slider 4 to slide horizontally through the placement drive mechanism, and uses two negative pressure suction nozzles 5 on the placement slider 4 to suction and release the material box 6. After suctioning the material box 6, the material box 6 can be dragged to the upper side of the base 3, improving the stability and reliability of suction when moving the base 3. When putting down the material box 6, the material box 6 can be pushed out by sliding the suction slider, for example, into the placement grid 22 of the shelf 21, and then released by the negative pressure suction nozzles 5.

[0026] Optionally, the horizontal movement structure includes: The bottom horizontal guide rail and the top horizontal guide rail are slidably connected to the bottom horizontal slider 7 and the top horizontal slider 8, respectively. The bottom horizontal slider 7 and the top horizontal slider 8 are connected by a column 9. The horizontal drive mechanism is used to drive the bottom horizontal slider and the top horizontal slider to slide horizontally.

[0027] Specifically, the bottom horizontal slider 7 and the top horizontal slider 8 are connected by the column 9 to form an integral structure, and are slidably set between the bottom horizontal guide rail and the top horizontal guide rail. The bottom horizontal guide rail and the top horizontal guide rail are set parallel to each other in the storage room and are close to the ground and the roof respectively. Driven by the horizontal drive mechanism, the horizontal moving structure can drive the vertical moving structure and the pick-and-place structure 2 to move horizontally in the storage room.

[0028] In this embodiment, the bottom horizontal guide rail and the top horizontal guide rail are linear guide rails.

[0029] In this embodiment, both the bottom horizontal guide rail and the top horizontal guide rail are rectangular guide rails. The bottom horizontal slider 7 and the top horizontal slider 8 are respectively guided and engaged with the bottom horizontal guide rail and the top horizontal guide rail through a guide structure, such as... Figure 3As shown, the guide structure on the top horizontal slider 8 includes a pair of vertical rollers 10 and two pairs of horizontal rollers 11 rotatably connected to the top horizontal slider 8. The rotation axis of the pair of vertical rollers 10 is a horizontal axis, and the outer periphery of the vertical rollers 10 contacts the bottom surface of the top horizontal guide rail. Each pair of horizontal rollers 11 is distributed on both sides of the top horizontal guide rail, and the rotation axis of the horizontal rollers 11 is a vertical axis. The outer periphery of the horizontal rollers 11 contacts the side of the top horizontal guide rail.

[0030] Optionally, the vertical moving structure includes: A vertical guide rail is provided on the column 9, and a vertical slider 12 is slidably connected to the vertical guide rail. A vertical drive mechanism is used to drive the vertical slider 12 to slide vertically, and one end of the support plate 1 is connected to the vertical slider 12.

[0031] Specifically, the vertical guide rail can be installed on the column 9 or integrally formed on the column 9 to guide the movement of the vertical slider 12. The vertical guide rail is set vertically, and under the drive of the vertical drive mechanism, the digital display slider can drive the pick-and-place structure 2 to rise and fall in the storage room.

[0032] Optionally, the horizontal drive mechanism includes: The first synchronous belt 13 and the second synchronous belt 14 are respectively disposed on one side of the bottom horizontal guide rail and the top horizontal guide rail. The first synchronous pulley and two first guide pulleys are rotatably connected to the bottom horizontal slider 7. The two first guide pulleys are located on both sides of the first synchronous pulley. The first synchronous belt 13 passes around the two first guide pulleys and is in transmission cooperation with the first synchronous pulley. The second synchronous pulley 15 and two second guide pulleys 16 are rotatably connected to the top horizontal slider 8. The two second guide pulleys 16 are located on both sides of the second synchronous pulley 15. The second synchronous belt 14 passes around the two second guide pulleys 16 and is in transmission cooperation with the second synchronous pulley 15. Synchronous shaft 17, with its two ends connected to the first synchronous pulley and the second synchronous pulley 15, respectively; The first drive motor is connected to the first synchronous pulley, the second synchronous pulley 15, or the synchronous shaft 17.

[0033] Specifically, the horizontal drive mechanism adopts a synchronous belt drive, and in order to ensure the synchronicity of the movement of the upper and lower ends of the column 9, a synchronous shaft 17 is set. The two ends of the synchronous shaft 17 are respectively connected to the first synchronous pulley and the second synchronous pulley 15, and the three rotate synchronously. The first synchronous pulley and the second synchronous pulley 15 are respectively engaged with the first synchronous belt 13 and the second synchronous belt 14. During this process, the first guide wheel and the second guide wheel 16 provide assistance to ensure that the engagement of the first synchronous pulley and the second synchronous pulley 15 with the first synchronous belt 13 and the second synchronous belt 14 is stable. When the integral structure formed by the synchronous shaft 17 and the first synchronous pulley and the second synchronous pulley 15 rotates, the bottom horizontal slider 7 and the top horizontal slider 8 move synchronously along the bottom horizontal guide rail and the top horizontal guide rail.

[0034] In this embodiment, the two ends of the first synchronous belt 13 and the second synchronous belt 14 are fixedly installed at the bottom and top of the storage room respectively through connecting components.

[0035] In this embodiment, the first drive motor is mounted on the bottom horizontal slider 7 and connected to the first synchronous wheel, driving the first synchronous wheel to rotate.

[0036] Optionally, the vertical drive mechanism includes: The third synchronous belt is a ring, and it is connected to the vertical slider 12 through the first connecting component. Two third synchronous pulleys are rotatably connected to the bottom horizontal slider 7 and the top horizontal slider 8 respectively, and are engaged with the third synchronous belt drive. The second drive motor is connected to the third synchronous pulley.

[0037] Specifically, the vertical drive mechanism also adopts a synchronous belt drive, with a ring-shaped third synchronous belt vertically arranged. Its lower and upper ends are semi-enclosed and meshed with two third synchronous pulleys. When the second drive motor drives any of the third synchronous pulleys to rotate, the third synchronous belt runs in a cycle. The vertical slider 12 is connected to the third synchronous belt through the first connecting component, so that the vertical slider 12 can move vertically following the cycle of the third synchronous belt.

[0038] In this embodiment, the first connecting component is detachably connected to one side of the vertical slider 12, and the third synchronous belt is clamped and fixed by the first connecting component and the vertical slider 12.

[0039] Optionally, the horizontal rotation mechanism includes a third drive motor 18, which is mounted on the lower side of the base 3 and connected to the support plate 1. A vision sensor is provided on the lower side of the other end of the base 3.

[0040] Specifically, the third drive motor 18 drives the base 3 to rotate in the horizontal plane on the upper side of the support plate 1, changing the picking and placing direction of the picking and placing structure 2. The setting of the vision sensor can easily obtain the image in front of the picking and placing direction of the picking and placing structure 2. It can not only assist the picking and placing structure 2 in picking and placing the material box 6 and improve the picking and placing accuracy, but also be used when inventory is carried out in the storage room.

[0041] In this embodiment, the visual sensor is camera 19.

[0042] In this embodiment, the third drive motor 18 drives the base 3 to rotate between 0° and 180°. When the base 3 rotates to the 90° position, the extension direction of the base 3 is parallel to the movement direction of the horizontal moving structure. This allows the pick-and-place structure 2 to pick up and place the material boxes 6 on the two adjacent shelves 21 when the base 3 rotates to 0° and 180° respectively.

[0043] Optionally, the pick-and-place drive mechanism includes: The fourth synchronous belt is a ring and is connected to the pick-and-place slider 4 via the second connecting component. Two fourth synchronous pulleys are respectively rotatably connected to both ends of the base 3 and cooperate with the fourth synchronous belt drive; The third drive motor 18 is connected to the fourth synchronous pulley.

[0044] Specifically, the pick-and-place drive mechanism drives the pick-and-place slider 4 to translate along the pick-and-place guide rail in a horizontal plane. For the pick-and-place direction of the pick-and-place structure 2, the translation of the pick-and-place slider 4 is telescopic. When the third drive motor 18 drives any of the fourth synchronous pulleys to rotate, the fourth synchronous belt runs in a cycle. Since the pick-and-place slider 4 is connected to the fourth synchronous belt through the second connecting component, the pick-and-place slider 4 can move with the fourth synchronous belt, thereby driving the two negative pressure suction nozzles 5 to move telescopically along the pick-and-place direction of the pick-and-place structure 2.

[0045] In this embodiment, the base 3 has an open-top receiving groove inside, the fourth synchronous pulley and the fourth synchronous belt are located in the receiving groove, the second connecting component is a clamping assembly, the upper end of the clamping assembly is connected to the bottom of the pick-and-place slider 4, and its lower end is clamped and fixedly connected to the fourth synchronous belt.

[0046] Optionally, a guide frame 20 is provided above the base 3, and the guide frame 20 is provided with a guide groove, which slides and guides the material box 6.

[0047] Specifically, the guide groove is designed to guide and limit the material box 6 when the negative pressure suction nozzle 5 sucks up the material box 6 and drags it backward, and to keep the material box 6 stable when it moves.

[0048] Optionally, the negative pressure nozzle 5 is connected to a negative pressure generator, and the negative pressure nozzle 5 is connected to a negative pressure detection sensor.

[0049] Specifically, the negative pressure sensor can detect the negative pressure of the negative pressure nozzle 5 to ensure that the suction force of the negative pressure nozzle 5 on the material box 6 meets the requirements.

[0050] In this embodiment, the negative pressure adsorption threshold is below -0.08 MPa.

[0051] In summary, when using the warehouse robot provided by this utility model, taking the retrieval of a material box 6 containing a car key and a certificate of conformity in a storage room as an example: the warehouse robot can be manually or automatically controlled. After receiving the control command, the horizontal drive mechanism of the horizontal moving structure and the vertical drive mechanism of the vertical moving structure start to operate, driving the pick-and-place structure 2 to translate and lift, and arrive at the target position. The horizontal rotation mechanism of the pick-and-place structure 2 drives the base 3 to rotate, so that the pick-and-place direction of the pick-and-place structure 2 is towards the shelf 21 where the target material box 6 is located. After the pick-and-place structure 2 is in place, the pick-and-place drive mechanism starts to operate, driving the pick-and-place... The slider 4 moves toward the target box 6 until the negative pressure suction nozzle 5 picks up the box 6. Then, the pick-up and put-down drive mechanism drives the slider 4 to move, pulling the box 6 to the upper side of the base 3 and into the guide groove. The horizontal drive mechanism, vertical drive mechanism and horizontal rotation mechanism of the manipulator that has picked up the box 6 run again, moving the pick-up and put-down structure 2 that has picked up the box 6 to the window 25 of the storage room, so that the end of the box 6 away from the negative pressure suction nozzle 5 faces the window 25, so that the pick-up and put-down drive mechanism can drive the slider 4 to move and push out the box 6. After the box 6 is pushed out, the negative pressure suction nozzle 5 releases the box 6.

[0052] In this embodiment, a transplanting device 24 is installed near the window 25 in the storage room. The transplanting device 24 includes a transfer groove, an interaction groove, and a transplanting robot. Only the interaction groove is connected to the window 25, so that the warehouse keeper outside the storage room can take the material box 6 through the window 25 to realize the outbound delivery of the material box 6. Then, the picking and placing structure 2 of the robot in the warehouse moves to the position aligned with the transfer groove after picking up the material box 6. Then, the picking and placing drive mechanism drives the picking and placing slider 4 to move and push out the material box 6. After the material box 6 is pushed into the transfer groove, the negative pressure suction nozzle 5 releases the material box 6 so that the transplanting robot can move the material box 6 into the interaction groove, and the warehouse keeper outside the storage room can take out the material box 6 through the window 25.

[0053] like Figure 4 and Figure 5 As shown, this utility model also provides a storage room for storing car keys and certificates of conformity, comprising: Shelf 21, with multiple storage compartments 22 inside the shelf 21, the storage compartments 22 are used to place material boxes 6, and a retrieval channel 23 is formed between adjacent shelves 21; The aforementioned in-warehouse robotic arm is installed in the pick-and-place channel 23 and can pick up, place, and move the material boxes 6 on the shelves 21 on both sides.

[0054] Specifically, the aforementioned in-warehouse mechanical device is installed in the pick-and-place channel 23. The horizontal rotation mechanism drives the support plate 1 to rotate, which can adjust the pick-and-place direction of the pick-and-place structure 2, enabling the pick-and-place operation of the material boxes 6 on two adjacent shelves 21. Compared with the large operating space required for manual pick-and-place of material boxes 6, the distance between two adjacent shelves 21 in this warehouse can be made smaller, saving space, increasing storage capacity, and realizing dense warehousing.

[0055] In this embodiment, the storage room is equipped with four shelves 21, arranged in pairs, such as... Figure 4 As shown, each set of shelves 21 forms a pick-and-place channel 23 in the middle, and each pick-and-place channel 23 is equipped with the aforementioned in-warehouse robotic arm; furthermore, at one end of the storage room, a transplanting device 24 is provided on the outer side of one end of each pick-and-place channel 23. The transplanting device 24 includes a transfer groove, an interaction groove, and a transplanting robotic arm. A window 25 is provided on the wall of the storage room, and only the interaction groove communicates with the window 25, allowing the warehouse keeper outside the storage room to retrieve the material box 6 through the window 25, thus realizing the outbound release of the material box 6; as Figure 5 As shown, the shelf 21 has multiple layers, and each layer has multiple storage compartments 22 arranged side by side. Each storage compartment 22 can hold a material box 6.

[0056] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An in-library robot for setting in a storage room for storing a magazine containing an automobile key and a certificate, characterized by, include: A horizontally moving structure is disposed within the storage room; A vertically moving structure, wherein the vertically moving structure is connected to the moving end of the horizontally moving structure; A support plate, one end of which is connected to the moving end of the vertical moving structure, and the other end of which extends outward along the moving direction of the horizontal moving structure to form a cantilever. The pick-and-place structure includes a base, one end of which is connected to the other end of a support plate via a horizontal rotation mechanism. A pick-and-place guide rail is horizontally arranged on the upper side of the base, and a pick-and-place slider is slidably connected to the pick-and-place guide rail. The pick-and-place slider is connected to the base via a pick-and-place drive mechanism, which drives the pick-and-place slider to slide. A negative pressure suction nozzle is provided at the upper and lower ends of one side of the pick-and-place slider, and the negative pressure suction nozzle is used to suck up and release the material box.

2. The in-library robot according to claim 1, characterized in that, The horizontal movement structure includes: The bottom horizontal guide rail and the top horizontal guide rail are slidably connected to the bottom horizontal slider and the top horizontal slider respectively, and the bottom horizontal slider and the top horizontal slider are connected by a column; A horizontal drive mechanism is provided for driving the bottom horizontal slider and the top horizontal slider to slide horizontally.

3. The in-library robot according to claim 2, characterized in that, The vertical moving structure includes: A vertical guide rail is provided on the column, and a vertical slider is slidably connected to the vertical guide rail; A vertical drive mechanism is provided to drive the vertical slider to slide vertically, and one end of the support plate is connected to the vertical slider.

4. The in-library robot according to claim 2, wherein The horizontal drive mechanism includes: A first synchronous belt and a second synchronous belt are respectively disposed on one side of the bottom horizontal guide rail and the top horizontal guide rail; The first synchronous pulley and two first guide pulleys are rotatably connected to the bottom horizontal slider. The two first guide pulleys are respectively located on both sides of the first synchronous pulley. The first synchronous belt passes around the two first guide pulleys and is in transmission cooperation with the first synchronous pulley. The second synchronous pulley and two second guide pulleys are rotatably connected to the top horizontal slider. The two second guide pulleys are respectively located on both sides of the second synchronous pulley. The second synchronous belt passes around the two second guide pulleys and is engaged with the second synchronous pulley for transmission. A synchronous shaft, the two ends of which are respectively connected to the first synchronous pulley and the second synchronous pulley; A first drive motor is connected to the first synchronous pulley, the second synchronous pulley, or the synchronous shaft.

5. The in-library robot according to claim 3, wherein The vertical drive mechanism includes: The third synchronous belt is a ring, and the third synchronous belt is connected to the vertical slider through the first connecting component; Two third synchronous pulleys are respectively rotatably connected to the bottom horizontal slider and the top horizontal slider, and are engaged with the third synchronous belt for transmission. The second drive motor is connected to the third synchronous pulley.

6. The in-library robot according to claim 1, wherein, The horizontal rotation mechanism includes a third drive motor, which is mounted on the lower side of the base and connected to the support plate. A vision sensor is provided on the lower side of the other end of the base.

7. The in-library robot according to claim 1, wherein The pick-and-place driving mechanism includes: The fourth synchronous belt is a ring, and the fourth synchronous belt is connected to the pick-and-place slider through the second connecting component; Two fourth synchronous pulleys are respectively rotatably connected to both ends of the base and are engaged with the fourth synchronous belt drive. The third drive motor is connected to the fourth synchronous pulley.

8. The in-library robot according to claim 1, characterized in that, A guide frame is provided above the base, and the guide frame is provided with a guide groove, which slides and guides the material box.

9. The in-library robot according to claim 1, characterized in that, The negative pressure nozzle is connected to the negative pressure generator, and the negative pressure nozzle is connected to a negative pressure detection sensor.

10. A storage room for automotive keys and titles, characterized by, include: The shelf has multiple storage compartments for placing material boxes, and an access channel is formed between adjacent shelves. The warehouse robot according to any one of claims 1-9, wherein the warehouse robot is disposed in the pick-and-place channel and is capable of picking up, placing and moving material boxes on the shelves on both sides thereof.

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