CN112357829B

CN112357829B - All-round automatic handling equipment

Info

Publication number: CN112357829B
Application number: CN202011179020.1A
Authority: CN
Inventors: 周文武; 蔡钢思; 胡小芳
Original assignee: Wenzhou Industrial Design Institute Co ltd
Current assignee: Wenzhou Industrial Design Institute Co ltd
Priority date: 2020-10-29
Filing date: 2020-10-29
Publication date: 2022-04-22
Anticipated expiration: 2040-10-29
Also published as: CN112357829A

Abstract

The invention relates to an omnibearing automatic handling loading and unloading device which comprises a movable base, a rotating platform, a loading and unloading platform lifting device, a loading and unloading platform and a PLC (programmable logic controller); the movable base comprises a bearing base body and a movable wheel; the top surface of the bearing seat body is provided with a steering driving device; the bottom surface of the rotating table is connected with a steering driving device, and the top surface of the rotating table is fixedly connected with a loading and unloading table lifting device; the loading and unloading platform lifting device is fixedly connected with the loading and unloading platform; the top surface of the loading and unloading platform is a storage surface and is fixedly provided with an operation claw base which is connected with a loading and unloading operation claw; the side of the object placing surface opposite to the loading and unloading operation claw is a distance measuring surface and is provided with an ultrasonic distance measuring device, and the object placing surface is provided with a graduated scale vertical to the loading and unloading operation claw. The steering driving device enables the loading platform to be easily adjusted in direction in a narrow passageway, and the flexibility of the equipment is improved; all parts of the PLC connecting equipment are controlled to measure the residual space of the goods shelf, and goods are automatically loaded and unloaded, so that a large amount of manpower is saved.

Description

All-round automatic handling equipment

Technical Field

The invention relates to the field of logistics, in particular to an all-dimensional automatic carrying, loading and unloading device.

Background

With the development of economy, the production and circulation of goods increase, and the importance of warehousing as one of the links is also promoted. In the warehousing process, the goods shelf is a storage device specially used for storing finished goods and plays a very important role in logistics and warehouses. However, the difficulty and the efficiency of manually loading and unloading goods to the high layer of the goods shelf are high, and in order to improve the efficiency, workers usually adopt some automatic loading and unloading equipment to load and unload goods. The existing automatic loading and unloading equipment is inconvenient to turn when the goods are loaded and unloaded between two goods shelves, more space is needed for turning, and the equipment can collide with the goods shelves and the goods, so that the turning is very inconvenient. Meanwhile, the staff cannot observe the goods stacking condition of the high-rise goods shelf, when the goods shelf stacks certain goods, the residual space is not enough for stacking the goods, the goods are continuously stacked and exceed the residual space of the goods shelf, the situation that the goods fall down to injure other people is possible, and great potential safety hazards exist. Therefore, it is an urgent technical problem to be solved to develop an all-directional automatic handling and loading/unloading device which can flexibly rotate and determine whether the shelf space is sufficient.

Disclosure of Invention

The invention provides an all-dimensional automatic handling loading and unloading device for solving the problems.

The invention adopts the technical scheme that the omnibearing automatic carrying loading and unloading equipment comprises a movable base, a rotating platform, a loading and unloading platform lifting device, a loading and unloading platform and a PLC (programmable logic controller); the movable base comprises a bearing base body and a movable wheel, and the movable wheel is connected and arranged on the bottom surface of the bearing base body; the top surface of the bearing seat body is connected with a steering driving device; the rotating table is matched and linked with the steering driving device, and the top surface of the rotating table is fixedly connected with a loading and unloading table lifting device; the loading and unloading platform lifting device is fixedly connected with the loading and unloading platform; the top surface of the loading and unloading platform is provided with an object placing surface, and the object placing surface is fixedly provided with a loading and unloading operation claw; the side surface of the loading and unloading platform, which is opposite to the loading and unloading operation claw, is a ranging surface, a graduated scale which is vertical to the loading and unloading operation claw is arranged on the object placing surface, a plurality of ultrasonic ranging sensors are transversely distributed on the ranging surface, and the detection direction of the ultrasonic ranging sensors is the same as the moving direction of the loading and unloading operation claw; the PLC is in signal connection with a steering driving device, a loading and unloading platform lifting device, a loading and unloading operation claw and an ultrasonic ranging sensor; the bottom of each ultrasonic ranging sensor is fixedly provided with a supporting plate, the supporting plate is provided with an electric telescopic rod connected with a ranging surface, and the supporting plate is provided with a reverse ultrasonic ranging sensor which is opposite to the loading and unloading operation claw in the detection direction; the electric telescopic rod and the reverse ultrasonic ranging sensor are connected with a PLC (programmable logic controller); the loading and unloading platform is provided with a baffle corresponding to the position of the pneumatic clamping jaw.

After the structure is adopted, the steering driving device rotates to drive the rotating platform and the loading and unloading platform to rotate, so that the ranging surface is opposite to the target goods shelf, no steering space is required to be reserved, the requirement of the equipment rotation on the width of a passageway is reduced, and the equipment is prevented from colliding with the goods shelf and goods during rotation; and then operating the loading and unloading platform lifting device to enable the loading and unloading platform to move to a target height along the vertical direction, enabling the ultrasonic ranging sensor to be over against the goods shelf object placing space, measuring the distance between the ultrasonic ranging sensor and the original goods on the goods shelf to calculate the residual space, comparing the residual space with the length of the goods input by a worker, loading and unloading the goods onto the goods shelf through the loading and unloading operation claw when the residual space is enough, abandoning the loading and unloading when the space is insufficient, and returning the loading and unloading platform to the original position. The length of the goods can be quickly read by the graduated scale on the loading and unloading platform; through the extension of PLC controller control drive electric telescopic handle, the lifting backup pad, make reverse ultrasonic ranging sensor be higher than put the thing face and measure and put the distance of goods on the thing face, hug closely the baffle when stacking the goods and because baffle and reverse ultrasonic ranging sensor's distance is fixed, the latter distance subtracts the former distance and reachs the goods length, whether the realization is full-automatic to judge goods shelves remaining space and satisfies the goods length, saved the manual work and read input goods length, the data accuracy has been improved.

The steering driving device enables the loading platform to be easily adjusted in direction in a narrow passageway, and the flexibility of the equipment is improved; the length of the goods and the height of the target layer are input into the PLC, all parts of the equipment are controlled by the PLC, the residual space is measured sufficiently, the goods are loaded and unloaded automatically, and a large amount of manpower is saved.

As a further improvement of the present invention, the steering drive device includes a gear drive motor and a drive gear set; the driving gear set is matched and linked with a gear driving motor, and the gear driving motor is connected with a PLC (programmable logic controller); the bottom surface of the rotating table is provided with a circular rotating groove, the side wall of the circular rotating groove is provided with tooth grooves, the driving gear sets are uniformly distributed in the circular rotating groove, and the driving gear sets are tightly meshed with the tooth grooves.

After adopting above-mentioned structure, control gear drive motor through operating the PLC controller and start, drive gear group and swivel platform and rotate, because drive gear group evenly distributed is at circular rotation inslot, the removal of relative movement base can not be realized to the swivel platform when rotating, has turned to in a flexible way of equipment.

As a further improvement of the invention, the platform lifting device comprises a screw rod, a screw rod nut seat, bearing seats, bearings, a coupling and a screw rod motor, wherein the bearing seats are vertically and fixedly arranged on the top surface of the rotating platform, the bearings are fixedly arranged at two ends of the bearing seats, two ends of the screw rod penetrate through the bearings to be connected with the bearing seats, the screw rod is connected with the screw rod motor through the coupling, the screw rod nut seat is arranged on the screw rod in a screwing manner through threads, the screw rod nut seat is fixedly connected with the platform, and the screw rod motor is connected with the PLC controller; the loading and unloading platform is provided with a guide rod through hole and a lifting guide rod inserted in the guide rod through hole, and the lifting guide rod is fixedly connected with the top surface of the rotating platform.

After the structure is adopted, the lifting guide rod penetrates through the loading and unloading platform and is fixed on the top surface of the rotating platform, so that the loading and unloading platform cannot rotate relative to the screw rod, the screw rod motor drives the screw rod to rotate, and the screw rod is matched with the screw rod nut seat to finish the movement of the loading and unloading platform in the vertical direction. The PLC controller controls the loading and unloading platform to move to a specified height, so that the loading and unloading platform can move automatically.

As a further improvement of the invention, the loading and unloading operation claw comprises an electromagnetic valve, a telescopic oil cylinder, a push rod and a pneumatic clamping jaw; the electromagnetic valve is connected with a telescopic oil cylinder, and the telescopic oil cylinder is connected with the pneumatic clamping jaw through a push rod; the PLC is in signal connection with the electromagnetic valve.

After the structure is adopted, the PLC controller controls the pneumatic clamping jaw to clamp the goods during loading and unloading, the telescopic oil cylinder is controlled to extend out of the push rod to push the pneumatic clamping jaw with the goods to the goods shelf, and finally the pneumatic clamping jaw is controlled to be loosened to put down the goods, and the pneumatic clamping jaw is retracted to the loading and unloading platform. Can press from both sides tight not unidimensional goods through adjusting pneumatic clamping jaw, the PLC controller has realized moving the goods from the loading platform to goods shelves automatically.

As a further improvement of the invention, the bottom surface of the loading and unloading platform is provided with a pair of guide plate rails, guide plates, guide plate rotating wheels and a guide plate motor; the guide plate rail is perpendicular to the ranging surface, a guide plate groove is formed in the guide plate rail, and two sides of the guide plate are located in the guide plate groove; the guide plate rotating wheel is positioned on the guide plate, and interference friction is formed between the guide plate rotating wheel and the guide plate; the guide plate motor is connected with the guide plate rotating wheel for matching linkage, and the guide plate motor is connected with the PLC.

After adopting above-mentioned structure, before control loading and unloading operation claw removes, control baffle motor drive baffle runner and rotate earlier, drive the baffle and shift out the baffle groove and be connected to goods shelves and do the bridging, loading and unloading operation claw resets back and then reverse drive baffle runner, makes the baffle return to the baffle groove. Through set up the baffle between mount table and goods shelves, can be more steady when the goods pushes away to goods shelves on the one hand, avoid colliding with and lead to the goods to damage, on the other hand because the existence of removing the base, there is one section distance in mount table and goods shelves, if pneumatic clamping jaw accident unclamps at the goods removal in-process, the baffle can play the effect of accepting the goods.

As a further improvement of the invention, the top surface of the bearing seat body is uniformly distributed with ball grooves, and the ball grooves are internally provided with adaptive balls.

After adopting above-mentioned structure, can reduce the area of contact of revolving stage and bearing the weight of the pedestal through the ball, both reduced the frictional force that receives when revolving stage rotates, improved the efficiency that turns to drive arrangement, also reduced the loss that the revolving stage appears because of the friction.

Drawings

FIG. 1 is a schematic view of the present invention.

Fig. 2 is a schematic view of the base of the present invention.

Fig. 3 is a schematic view of the steering drive device.

Fig. 4 is a schematic view of the platform lifting device.

Fig. 5 shows a schematic view of the loading dock.

1-moving base, 2-rotating table, 3-loading and unloading table lifting device, 4-loading and unloading table, 11-bearing base, 12-moving wheel, 13-steering driving device, 41-object placing surface, 42-loading and unloading operation claw, 43-distance measuring surface, 44-graduated scale, 431-ultrasonic distance measuring sensor, 131-gear driving motor, 132-driving gear set, 21-circular rotating groove, 22-tooth groove, 31-screw rod, 32-screw rod nut seat, 33-bearing seat, 34-bearing, 35-coupling, 36-screw rod motor, 45-guide rod through hole, 46-lifting guide rod, 421-electromagnetic valve, 422-telescopic oil cylinder, 423-push rod, 424-pneumatic clamping jaw, 432-guide plate track, 433-guide plate, 434-guide plate rotating wheel, 435-guide plate motor, 436-guide plate groove, 14-ball groove, 15-ball, 437-support plate, 438-electric telescopic rod, 439-reverse ultrasonic distance measuring sensor and 47-baffle plate.

Detailed Description

As shown in fig. 1-5, the omnibearing automatic handling loading and unloading equipment comprises a movable base 1, a rotating platform 2, a loading and unloading platform lifting device 3, a loading and unloading platform 4 and a PLC controller; the movable base 1 comprises a bearing base body 12 and a movable wheel 13, and the movable wheel 13 is connected and arranged on the bottom surface of the bearing base body 12; the top surface of the bearing seat body 12 is connected with a steering driving device 13; the rotating table 2 is in matched linkage with the steering driving device 13, and the top surface of the rotating table 2 is fixedly connected with the loading and unloading table lifting device 3; the loading and unloading platform lifting device 3 is fixedly connected with a loading and unloading platform 4; the top surface of the loading and unloading platform 4 is provided with an object placing surface 41, and the object placing surface 41 is fixedly provided with an loading and unloading operation claw 42; the side of the loading and unloading platform 4 opposite to the loading and unloading operation claw 42 is a distance measuring surface 43, the object placing surface 41 is provided with a graduated scale 44 vertical to the loading and unloading operation claw 42, the distance measuring surface 43 is transversely provided with a plurality of ultrasonic distance measuring sensors 431, and the detection direction of the ultrasonic distance measuring sensors 431 is the same as the moving direction of the loading and unloading operation claw 42; the PLC is in signal connection with a steering driving device 13, a loading and unloading platform lifting device 3, a loading and unloading operation claw 42 and an ultrasonic ranging sensor 431; a supporting plate 437 is fixedly arranged at the bottom of the ultrasonic ranging sensors 431, an electric telescopic rod 438 connected with the ranging surface 43 is arranged on the supporting plate 437, and a reverse ultrasonic ranging sensor 439 opposite to the assembling and disassembling operation claw 42 in the detection direction is arranged on the supporting plate 437; the electric telescopic rod 438 and the reverse ultrasonic ranging sensor 439 are connected with a PLC (programmable logic controller); the platform 4 is provided with a flap 47 corresponding to the position of the pneumatic gripper 424.

Firstly, the steering driving device rotates 13 to drive the rotating platform 2 and the loading and unloading platform 4 to rotate, so that the distance measuring surface 43 is just opposite to a target shelf, no steering space is required to be reserved, the requirement of the equipment rotation on the width of a passageway is reduced, and the equipment is prevented from colliding with the shelf and goods during rotation; then, the platform lifting device 3 is operated to move the platform 4 to a target height along the vertical direction, the ultrasonic ranging sensor 431 is opposite to the goods placing space of the shelf, the distance between the ultrasonic ranging sensor 431 and the original goods on the shelf is measured to calculate the residual space, the residual space is compared with the length of the goods input by the operator, when the residual space is enough, the goods are placed on the shelf by the loading and unloading operation claw 42, when the space is insufficient, the loading and unloading are abandoned, and the platform 4 returns to the original position. The length of the goods can be quickly read through the graduated scale 44 on the loading and unloading platform 4; drive electric telescopic handle 438 extension through PLC controller control, lifting backup pad 437, make reverse ultrasonic ranging sensor 439 be higher than and put thing face 41 and measure and put the distance of thing on the thing face 41, through hug closely baffle 47 when piling up the goods and because baffle 47 is fixed with reverse ultrasonic ranging sensor 439's distance, the latter distance subtracts the former distance and obtains goods length, whether the realization is full-automatic to judge goods shelf remaining space satisfies goods length, the artifical input goods length that reads has been saved, the data accuracy has been improved.

The steering driving device 13 enables the loading platform 4 to easily adjust the direction in a narrow passageway, so that the flexibility of the equipment is improved; the length of the goods and the height of the target layer are input into the PLC, all parts of the equipment are controlled by the PLC, the residual space is measured sufficiently, the goods are loaded and unloaded automatically, and a large amount of manpower is saved.

The steering drive device 13 includes a gear drive motor 131 and a drive gear set 132; the driving gear set 132 is in linkage with the gear driving motor 131 in a matching way, and the gear driving motor 131 is connected with the PLC; the bottom surface of the rotating table 2 is provided with a circular rotating groove 21, the side wall of the circular rotating groove 21 is provided with tooth grooves 22, the driving gear sets 132 are uniformly distributed in the circular rotating groove 21, and the driving gear sets 132 are tightly meshed with the tooth grooves 22.

Control gear drive motor 131 through operation PLC controller 5 and start, drive gear set 132 and revolving stage 2 and rotate, because drive gear set 132 evenly distributed is in circular rotation groove 21, can not the removal of relative movement base 1 when revolving stage 2 rotates, realized the nimble of equipment and turned to.

The assembly and disassembly platform lifting device comprises a screw rod 31, a screw rod nut seat 32, a bearing seat 33, bearings 34, a coupling 35 and a screw rod motor 36, wherein the bearing seat 33 is vertically and fixedly arranged on the top surface of the rotating platform 2, the bearings 34 are fixedly arranged at two ends of the bearing seat 33, two ends of the screw rod 31 penetrate through the bearings 34 to connect the bearing seat 33, the screw rod 31 is connected with the screw rod motor 36 through the coupling 35, the screw rod nut seat 32 is screwed on the screw rod 31 through threads, the screw rod nut seat 32 is fixedly connected with the assembly and disassembly platform 4, and the screw rod motor 36 is connected with a PLC (programmable logic controller); the loading and unloading platform 4 is provided with a guide rod through hole 45 and a lifting guide rod 46 inserted in the guide rod through hole 45, and the lifting guide rod 46 is fixedly connected with the top surface of the rotating platform 2.

The lifting guide rod 46 penetrates through the loading platform 4 and is fixed on the top surface of the rotating platform 2, so that the loading platform 4 cannot rotate relative to the screw rod 31, the screw rod motor 36 drives the screw rod 31 to rotate, and the screw rod 31 is matched with the screw rod nut seat 32 to finish the movement of the loading platform 4 in the vertical direction. The PLC controller controls the loading and unloading platform 4 to move to a specified height, and the moving automation of the loading and unloading platform 4 is realized.

The loading and unloading operation claw 42 comprises an electromagnetic valve 421, a telescopic oil cylinder 422, a push rod 423 and a pneumatic clamping jaw 424; the electromagnetic valve 421 is connected with a telescopic oil cylinder 422, and the telescopic oil cylinder 422 is connected with a pneumatic clamping jaw 424 through a push rod 423; the PLC is connected with the electromagnetic valve 421 by signals.

When loading and unloading, the PLC controller controls the pneumatic clamping jaw 424 to clamp the goods, then controls the telescopic oil cylinder 422 to extend out of the push rod 423 to push the pneumatic clamping jaw 424 together with the goods onto a shelf, finally controls the pneumatic clamping jaw 424 to be loosened, puts down the goods, and retracts the pneumatic clamping jaw 424 to the loading and unloading platform 4. By adjusting the pneumatic jaws 424 to clamp different sizes of goods, the PLC controller achieves that the goods will be automatically moved from the loading dock 4 to the shelf.

The bottom surface of the loading and unloading platform 4 is provided with a pair of guide plate rails 432, a guide plate 433, a guide plate rotating wheel 434 and a guide plate motor 435; the guide plate rail 432 is perpendicular to the ranging surface 43, a guide plate groove 436 is formed in the guide plate rail 432, and two sides of the guide plate 433 are located in the guide plate groove 436; the guide plate rotating wheel 434 is positioned on the guide plate 433, and interference friction is generated between the guide plate rotating wheel 434 and the guide plate 433; the guide plate motor 435 is connected with the guide plate rotating wheel 434 for matching linkage, and the guide plate motor 435 is connected with the PLC.

Before the loading and unloading operation claw 42 is controlled to move, the guide plate motor 435 is controlled to drive the guide plate rotating wheel 434 to rotate, the guide plate 433 is driven to move out of the guide plate groove 436 to be connected to the shelf for bridging, and after the loading and unloading operation claw 42 is reset, the guide plate rotating wheel 434 is driven reversely, so that the guide plate 433 returns to the guide plate groove 436. Through set up baffle 433 between cargo bed 4 and goods shelves, can be more steady when the goods pushes away to goods shelves on the one hand, avoid colliding with and lead to the goods to damage, on the other hand because the existence of removing base 1, there is one section distance in cargo bed 4 and goods shelves, if pneumatic clamping jaw 424 accident loosens at the goods removal in-process, baffle 433 can play the effect of accepting the goods.

The top surface of the bearing seat body 11 is uniformly distributed with ball grooves 14, and the ball grooves 14 are internally provided with adaptive balls 15.

The contact area between the rotating table 2 and the bearing seat body 11 can be reduced through the balls 15, so that the friction force applied to the rotating table 2 during rotation is reduced, the efficiency of the steering driving device 13 is improved, and the loss of the rotating table 2 caused by friction is also reduced.

Claims

1. The utility model provides an all-round automatic handling equipment which characterized in that: comprises a movable base (1), a rotating platform (2), a loading and unloading platform lifting device (3), a loading and unloading platform (4) and a PLC controller; the movable base (1) comprises a bearing base body (11) and a movable wheel (12), and the movable wheel (12) is connected with the bottom surface of the bearing base body (11); the top surface of the bearing seat body (11) is connected with a steering driving device (13); the rotating platform (2) is matched and linked with the steering driving device (13), and the top surface of the rotating platform (2) is fixedly connected with the loading and unloading platform lifting device (3); the loading and unloading platform lifting device (3) is fixedly connected with a loading and unloading platform (4); the top surface of the loading and unloading platform (4) is provided with an object placing surface (41), and the object placing surface (41) is fixedly provided with a loading and unloading operation claw (42); the side, facing the loading and unloading operation claw (42), of the loading and unloading platform (4) is provided with a ranging surface (43), a graduated scale (44) perpendicular to the loading and unloading operation claw (42) is arranged on the object placing surface (41), a plurality of ultrasonic ranging sensors (431) are distributed on the ranging surface (43) in the transverse direction, and the detection direction of the ultrasonic ranging sensors (431) is the same as the moving direction of the loading and unloading operation claw (42); the PLC is in signal connection with a steering driving device (13), a loading and unloading platform lifting device (3), a loading and unloading operation claw (42) and an ultrasonic ranging sensor (431); a supporting plate (437) is fixedly arranged at the bottom of the ultrasonic ranging sensors (431), an electric telescopic rod (438) connected with a ranging surface (43) is arranged on the supporting plate (437), and a reverse ultrasonic ranging sensor (439) which is opposite to the assembling and disassembling operation claw (42) in the detection direction is arranged on the supporting plate (437); the electric telescopic rod (438) and the reverse ultrasonic ranging sensor (439) are connected with a PLC controller; the loading and unloading platform (4) is provided with a baffle (47) corresponding to the position of the pneumatic clamping jaw (424).

2. The all-directional auto-handler handling apparatus of claim 1, wherein: the steering driving device (13) comprises a gear driving motor (131) and a driving gear set (132); the driving gear set (132) is matched and linked with a gear driving motor (131), and the gear driving motor (131) is connected with a PLC (programmable logic controller); the bottom surface of the rotating table (2) is provided with a circular rotating groove (21), the side wall of the circular rotating groove (21) is provided with a tooth groove (22), the driving gear sets (132) are uniformly distributed in the circular rotating groove (21), and the driving gear sets (132) are tightly meshed with the tooth groove (22).

3. The all-directional auto-handler handling apparatus of claim 1, wherein: the assembly and disassembly platform lifting device (3) comprises a screw rod (31), a screw rod nut seat (32), a bearing seat (33), a bearing (34), a coupling (35) and a screw rod motor (36), wherein the bearing seat (33) is vertically and fixedly arranged on the top surface of the rotating platform (2), the bearing (34) is fixedly arranged at two ends of the bearing seat (33), two ends of the screw rod (31) penetrate through the bearing (34) to be connected with the bearing seat (33), the screw rod (31) is connected with the screw rod motor (36) through the coupling (35), the screw rod nut seat (32) is arranged on the screw rod (31) in a screwing mode through threads, the screw rod nut seat (32) is fixedly connected with the assembly and disassembly platform (4), and the screw rod motor (36) is connected with a PLC (programmable logic controller); the loading and unloading platform (4) is provided with a guide rod through hole (45) and a lifting guide rod (46) inserted in the guide rod through hole (45), and the lifting guide rod (46) is fixedly connected with the top surface of the rotating platform (2).

4. The all-directional auto-handler handling apparatus of claim 1, wherein: the loading and unloading operation claw (42) comprises an electromagnetic valve (421), a telescopic oil cylinder (422), a push rod (423) and a pneumatic clamping jaw (424); the electromagnetic valve (421) is connected with a telescopic oil cylinder (422), and the telescopic oil cylinder (422) is connected with a pneumatic clamping jaw (424) through a push rod (423); the PLC is in signal connection with an electromagnetic valve (421).

5. The all-directional auto-handler handling apparatus of claim 1, wherein: the bottom surface of the loading and unloading platform (4) is provided with a pair of guide plate rails (432), guide plates (433), guide plate rotating wheels (434) and a guide plate motor (435); the guide plate rail (432) is perpendicular to the ranging surface (43), a guide plate groove (436) is formed in the guide plate rail (432), and two sides of the guide plate (433) are located in the guide plate groove (436); the guide plate rotating wheel (434) is positioned on the guide plate (433), and interference friction is generated between the guide plate rotating wheel (434) and the guide plate (433); the guide plate motor (435) is connected with the guide plate rotating wheel (434) to be matched and linked, and the guide plate motor (435) is connected with the PLC.

6. The all-directional auto-handler handling apparatus of claim 1, wherein: the top surface of the bearing seat body (11) is uniformly distributed with ball grooves (14), and the ball grooves (14) are internally provided with adaptive balls (15).