CN114506679A

CN114506679A - Automatic three-dimensional warehousing system

Info

Publication number: CN114506679A
Application number: CN202210365318.4A
Authority: CN
Inventors: 赵璐; 白洁
Original assignee: Chengdu Pitai Agricultural Technology Co ltd
Current assignee: Chengdu Pitai Agricultural Technology Co ltd
Priority date: 2022-04-07
Filing date: 2022-04-07
Publication date: 2022-05-17

Abstract

The invention relates to the field of automatic warehousing, in particular to an automatic three-dimensional warehousing system; the device comprises a three-dimensional storage rack provided with a storage cavity, a goods storing and taking mechanism arranged on the front side of the three-dimensional storage rack, a lifting mechanism connected with the goods storing and taking mechanism and a horizontal moving mechanism connected with the lifting mechanism and arranged on the ground; the goods storing and taking mechanism comprises a storing and taking box and a clamping assembly, wherein the storing and taking box is arranged on the front side of the storage cavity, and an opening is formed in one side of the storing and taking box facing the storage cavity; the goods storage box comprises a storage box body, a storage cavity and a storage box body, wherein the storage box body is provided with a storage cavity, the storage cavity is provided with a first bearing roller and a second bearing roller, the first bearing roller is arranged in the storage cavity, the second bearing roller is arranged in the storage cavity, the storage cavity is arranged in the storage cavity, and the storage box body is provided with a sucker.

Description

Automatic three-dimensional warehousing system

Technical Field

The invention relates to the field of automatic warehousing, in particular to an automatic three-dimensional warehousing system.

Background

An automated warehouse refers to a system that can automatically store and retrieve materials without direct human intervention. The multi-layer goods shelf is formed by storing materials in a standard bin or a tray, then realizing the storage and taking operation of the materials on any goods position by a tunnel type stacking crane, and realizing the automatic storage and taking control and management of the materials by a computer.

In the process of automatic storage and taking, the goods are taken from the storage rack and placed through the storage mechanism, the goods are lifted through the lifting mechanism, and the goods are horizontally displaced through the horizontal moving mechanism.

Traditional goods access mechanism adopts multi freedom arm or fork truck arm to carry out the goods transport, and to the goods of big quality, arm or fork truck arm bearing capacity are limited and control structure is complicated, and in addition, the arm causes the damage to the goods surface easily.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide an automatic three-dimensional warehousing system which can drag goods in the horizontal direction so as to convey the goods and has small damage to the surfaces of the goods.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

An automatic three-dimensional storage system comprises a three-dimensional storage rack provided with a storage cavity, a goods storing and taking mechanism arranged on the front side of the three-dimensional storage rack, a lifting mechanism connected with the goods storing and taking mechanism and a horizontal moving mechanism connected with the lifting mechanism and arranged on the ground;

the goods access mechanism includes:

the storing and taking box is arranged at the front side of the storing cavity, and an opening is formed in one side of the storing cavity facing the storing cavity;

the clamping assembly comprises a group of clamping arms which are symmetrically arranged in the storing and taking box and are vertical to the three-dimensional storage rack, a moving beam which is vertically and slidably connected with the clamping arms and is slidably connected with a bottom plate of the storing and taking box, a first screw rod assembly which is arranged in the moving beam and drives the clamping arms to move in opposite directions or in reverse directions, and a second screw rod assembly which is connected with the lower end of the moving beam and is arranged at the lower part of the storing and taking box and drives the moving beam to move towards one side of the storage cavity;

the sucking disc assembly is embedded in the end face of one side, opposite to the clamping arms, of the group of clamping arms and comprises a sucking disc, a horizontal pipe, a vertical pipe, an air extraction piston cylinder, a piston plate, a connecting rod, a telescopic plate and a first spring, the sucking disc assembly is embedded in the inner end face of each clamping arm and extends into the clamping arm, the horizontal pipe is communicated with the sucking disc, the vertical pipe is communicated with the horizontal pipe and is vertically arranged, the air extraction piston cylinder is communicated with the vertical pipe and is installed in the clamping arms, the piston plate is embedded in the air extraction piston cylinder, the connecting rod is fixed to the rear end face of the piston plate and extends to the outer side of the air extraction piston cylinder, the telescopic plate is fixedly connected with the upper end of the connecting rod and penetrates through the inner end face of the clamping arms, and the first spring is sleeved on the connecting rod and two ends of the first spring are respectively abutted to the inner walls of the piston plate and the air extraction piston cylinder;

the sucker component also comprises a pressure relief unit, wherein the pressure relief unit comprises a longitudinal pipe which is fixedly communicated with the upper end of the vertical pipe and is arranged along the length direction of the clamping arm, an exhaust hole which is formed in the upper part of the longitudinal pipe and is opposite to the longitudinal pipe and the vertical pipe communication hole, a piston column which is slidably nested in the longitudinal pipe, a through hole which is formed in the piston column and is matched with the exhaust hole, a squeezing rod which is fixedly connected with the front end of the piston column and extends to the front side of the clamping arm, and a second spring which is nested in the longitudinal pipe and is abutted to the outer end face of the piston column;

the first bearing roller is nested in the bottom plate of the access box;

the second bearing roller is nested and installed on the bottom plate of the storage cavity.

As a further scheme of the invention: the baffle assembly is arranged at an opening at the front end of the storage cavity and comprises an embedding groove arranged in a bottom plate of the storage cavity, a baffle which is embedded in the embedding groove and the outer end surface of which is an arc surface, and a spring supporting rod which is fixedly connected with the lower end of the baffle and is fixedly connected with a bottom plate of the embedding groove; the lower part of the front side of the clamping arm is provided with an arc surface matched with the baffle.

As a further scheme of the invention: the first screw rod assembly comprises a sliding block fixedly connected with the rear side of the clamping arm and slidably nested in the movable beam, a bidirectional screw rod penetrating through the sliding block, connected with the sliding block in a threaded manner and installed in the movable beam, and a first motor installed on the upper end surface of the movable beam and connected with the bidirectional screw rod through a transmission gear set for transmission.

As a further scheme of the invention: the second screw rod assembly comprises a moving plate fixedly connected with the lower end of the moving beam and penetrating through the bottom plate of the storage box, a longitudinal screw rod penetrating through the moving plate and longitudinally arranged, a second motor fixed on the lower portion of the storage box and connected with the longitudinal screw rod through a coupler for transmission, and a central through groove formed in the bottom plate of the storage box and used for the moving plate to longitudinally slide.

As a further scheme of the invention: the front end of the extrusion rod is rotatably connected with a spherical abutting ball.

As a further scheme of the invention: the access box is a hollow box body with an upper part and a front part opened, and a group of through grooves which are symmetrically arranged and are used for accommodating the first bearing roller are arranged on a bottom plate of the access box.

As a further scheme of the invention: the movable beam is connected with a guide rail fixed on the bottom plate of the access box in a sliding way, and the section of the guide rail is I-shaped.

As a further scheme of the invention: the clamping arm is of a hollow structure, a through groove for the expansion plate to penetrate through is formed in the inner end face of the clamping arm, and the expansion plate is connected with the inner wall of the through groove in a sliding mode.

As a further scheme of the invention: the storing intracavity be equipped with a set of symmetry set up and with storing chamber roof fixed connection's limiting plate, the distance is greater than the horizontal width of centre gripping arm between limiting plate and the storing chamber both sides arm, the distance between the lower terminal surface of limiting plate and the storing chamber bottom plate is greater than the height of centre gripping arm.

As a further scheme of the invention: the first motor and the second motor are both screw rod motors.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) the goods storage box comprises a storage box body, a storage cavity and a storage box body, wherein the storage box body is provided with a storage cavity, the storage cavity is provided with a first bearing roller and a second bearing roller, the first bearing roller is arranged in the storage cavity, the second bearing roller is arranged in the storage cavity, the storage cavity is arranged in the storage cavity, and the storage box body is provided with a sucker.

(2) According to the invention, the clamping arm moves oppositely to horizontally clamp the goods, the extrusion plate is extruded by the goods and enters the clamping arm, the extrusion plate drives the piston plate to move outwards in the air extraction piston cylinder through the connecting rod, the air extraction piston cylinder forms negative pressure to extract air in the sucking disc, so that the sucking disc adsorbs the goods, and the adsorption operation of the sucking disc is realized without an air compressor, an electromagnetic air valve and various position sensors, so that the goods are adsorbed and clamped simply and efficiently.

(3) According to the invention, the goods storage device is provided with the longitudinal pipe with the exhaust hole, the piston column with the through hole and the extrusion rod, when goods are stored, the extrusion rod is in contact with the inner wall of the storage cavity and then pushes the piston column to move in the longitudinal pipe, so that the through hole of the piston column is used for communicating the exhaust hole with the vertical pipe, the exhaust is realized, the suction disc is inflated, the goods are conveniently released by the suction disc, and the goods are stored.

(4) According to the goods storage device, the baffle assembly comprising the baffle with the arc-shaped front side and the spring supporting rod and the clamping arm with the arc-shaped front side lower portion are arranged, the goods are limited by the baffle after being stored, the goods are prevented from being separated from the storage cavity, meanwhile, when the goods are taken, the baffle is pressed into the nesting groove by the clamping arm, the goods are taken, and the safety of goods storage and the convenience of goods taking are improved.

(5) The limiting plate is arranged in the storage cavity and matched with the baffle plate, so that goods are stored in the middle of the storage cavity, the clamping arm can be conveniently inserted and clamped, and the goods can be conveniently stored and taken.

Drawings

FIG. 1 is a schematic perspective view of a three-dimensional storage rack and a cargo storage mechanism according to the present invention;

FIG. 2 is a schematic perspective view of the cargo storage mechanism of the present invention;

FIG. 3 is a schematic bottom perspective view of the cargo storage mechanism of the present invention;

FIG. 4 is a schematic perspective view of an access box according to the present invention;

FIG. 5 is a schematic view showing an assembled structure of the clamp arm and the transfer beam according to the present invention;

FIG. 6 is a schematic view of the inner structure of the clamp arm according to the present invention;

FIG. 7 is a schematic view of the internal structure of the clamp arm according to the present invention;

FIG. 8 is a schematic view of the internal structure of the extraction piston cylinder of the present invention;

FIG. 9 is a schematic view of the internal structure of the pressure relief unit according to the present invention;

FIG. 10 is an enlarged view of the structure at A in FIG. 9;

FIG. 11 is a schematic perspective sectional view of a three-dimensional storage rack;

fig. 12 is an enlarged schematic diagram of the structure at B in the bitmap 11.

The reference numbers in the figures illustrate:

1. a three-dimensional storage rack; 101. a storage chamber; 102. embedding a sleeve groove; 2. a cargo access mechanism; 3. an access box; 301. a central through groove; 302. a first carrier roller; 4. a clamp arm; 5. a moving beam; 6. a bidirectional screw rod; 7. a drive gear set; 8. a first motor; 9. moving the plate; 10. a longitudinal screw rod; 11. a second motor; 12. a guide rail; 13. a suction cup; 14. a horizontal tube; 15. a vertical tube; 16. an air extraction piston cylinder; 17. a retractable plate; 18. a connecting rod; 19. a piston plate; 20. a first spring; 21. a longitudinal tube; 2101. an exhaust hole; 22. a piston post; 2201. a through hole; 23. an extrusion stem; 24. abutting the ball; 25. a second spring; 26. a baffle plate; 27. a second carrier roller; 28. a spring support bar; 29. and a limiting plate.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "fitted/connected", "connected", and the like, are to be interpreted broadly, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 10, in an embodiment of the present invention, an auto-stereoscopic warehousing system includes a stereoscopic storage rack 1 having a storage cavity 101, a cargo access mechanism 2 disposed at a front side of the stereoscopic storage rack 1, a lifting mechanism connected to the cargo access mechanism 2, and a horizontal moving mechanism connected to the lifting mechanism and installed on the ground, wherein the cargo access mechanism 2 includes:

the access box 3 is arranged on the front side of the storage cavity 101 and provided with an opening facing the storage cavity 101, and the clamping assembly is nested in the access box 3;

the clamping assembly comprises a group of clamping arms 4 which are symmetrically arranged in the storing and taking box 3 and are vertical to the three-dimensional storage rack 1, a moving beam 5 which is vertically and slidably connected with the clamping arms 4 and is slidably connected with a bottom plate of the storing and taking box 3, a first screw rod assembly which is arranged in the moving beam 5 and drives the clamping arms 4 to move in the opposite direction or in the back direction, and a second screw rod assembly which is connected with the lower end of the moving beam 5 and is arranged at the lower part of the storing and taking box 3 and drives the moving beam 5 to move towards one side of the storage cavity 101;

a sucker component is nested on the end surface of one side opposite to the group of clamping arms 4, and comprises a sucker 13 nested on the inner end surface of the clamping arm 4 and extending into the clamping arm 4, a horizontal pipe 14 communicated with the sucker 13, a vertical pipe 15 communicated with the horizontal pipe 14 and vertically arranged, an air-extracting piston cylinder 16 communicated with the vertical pipe 15 and arranged in the clamping arm 4, a piston plate 19 nested in the air-extracting piston cylinder 16, a connecting rod 18 fixed with the rear end surface of the piston plate 19 and extending to the outer side of the air-extracting piston cylinder 16, an expansion plate 17 fixedly connected with the upper end of the connecting rod 18 and penetrating through the inner end surface of the clamping arm 4, and a first spring 20 sleeved on the connecting rod 18 and having two ends respectively abutted against the piston plate 19 and the inner wall of the air-extracting piston cylinder 16;

the sucker component further comprises a pressure relief unit, the pressure relief unit comprises a longitudinal pipe 21 fixedly communicated with the upper end of the vertical pipe 15 and arranged along the length direction of the clamping arm 4, an exhaust hole 2101 formed in the upper part of the longitudinal pipe 21 and arranged opposite to the longitudinal pipe 21 and the communication hole of the vertical pipe 15, a piston column 22 nested in the longitudinal pipe 21 in a sliding manner, a through hole 2201 formed in the piston column 22 and matched with the exhaust hole 2101, a squeezing rod 23 fixedly connected with the front end of the piston column 22 and extending to the front side of the clamping arm 4, and a second spring 25 nested in the longitudinal pipe 21 and abutted to the outer end face of the piston column 22;

a first carrying roller 302 nestingly mounted in the bottom plate of the access cassette 3;

the bottom plate of the storage cavity 101 is nested with the second bearing roller 27.

Specifically, when goods are taken, the second screw rod assembly drives the movable beam 5 to move towards the direction of the storage cavity 101, the clamping arm 4 is inserted into the storage cavity 101, then the first screw rod assembly is started, the first screw rod assembly drives the symmetrically arranged clamping arms 4 to move oppositely, the suction cups 13 on the inner sides of the clamping arms 4 are gradually attached to the surfaces of the goods, meanwhile, the goods extrude the expansion plates 17, the expansion plates 17 move towards the clamping arms 4, the expansion plates 17 drive the piston plates 19 to move in the air-pumping piston cylinders 16 through the connecting rods 18, the air-pumping piston cylinders 16 pump air in the suction cups 13 through the vertical pipes 15 and the horizontal pipes 14, so that the suction cups 13 suck the goods under negative pressure, then the second screw rod assembly is started again, the second screw rod assembly drives the movable beam 5 to move towards the access box 3, the clamping arms 4 clamp the goods and drag the goods to move towards the access box 3, under the support of the first bearing roller 302 and the second bearing roller 27, goods slide into the access box 3 to be taken, the goods are carried in a sliding and rolling mode, the carrying efficiency is improved, the goods do not need to be lifted firstly by a traditional mechanical arm or a forklift arm, then horizontally moved and finally vertically put down, the goods taking efficiency is improved, and meanwhile, the clamping arm 4 is prevented from damaging the surface of the goods in a sucking disc adsorption and clamping mode;

when goods are stored, the second screw rod assembly drives the moving beam 5 to move towards the direction of the storage cavity 101, the clamping arm 4 clamps the goods through a sucker and pushes the goods to move towards the storage cavity 101, the abutting ball 24 is contacted with the inner wall of the storage cavity 101 along with the movement of the clamping arm 4 towards the storage cavity 101, the abutting ball 24 drives the piston post 22 in the longitudinal pipe 21 to move through the extrusion rod 23 along with the extrusion of the inner wall of the storage cavity 101 on the abutting ball 24, the through hole 2201 of the piston post 22 communicates the exhaust hole 2101 with the vertical pipe 15 to enable air to enter the sucker 13, then the first screw rod assembly drives the clamping arm 4 to move back to back, the clamping arm 4 releases the goods, and then the second screw rod assembly drives the moving beam 5 and the clamping arm 4 to return to the initial position to finish the storage of the goods; the inflation separation of the suction cup 13 is realized through the pressure relief unit comprising the abutting ball 24, the extrusion rod 23, the longitudinal pipe 21 provided with the exhaust hole 2101 and the piston column 22 provided with the through hole 2201, the complicated suction cup inflation assembly is not needed, and the control is convenient.

In this embodiment, the first lead screw assembly includes a slider fixedly connected to the rear side of the clamping arm 4 and slidably nested in the movable beam 5, a bidirectional lead screw 6 passing through the slider and threadedly connected to the slider and mounted in the movable beam 5, and a first motor 8 mounted on the upper end surface of the movable beam 5 and connected to the bidirectional lead screw 6 for transmission through a transmission gear set 7.

Specifically, the first motor 8 drives the bidirectional screw rod 6 to rotate, and the bidirectional screw rod 6 drives the sliding block connected with the movable beam 5 to move in opposite directions or in back directions, so that the clamping and releasing actions of the clamping arm 4 are realized.

In this embodiment, the second screw assembly includes a moving plate 9 fixedly connected to the lower end of the moving beam 5 and penetrating through the bottom plate of the access box 3, a longitudinal screw 10 penetrating through the moving plate 9 and longitudinally disposed, a second motor 11 fixed to the lower portion of the access box 3 and connected to the longitudinal screw 10 through a coupling for transmission, and a central through slot 301 provided on the bottom plate of the access box 3 for the moving plate 9 to longitudinally slide.

Specifically, the second motor 11 drives the longitudinal screw rod 10 to rotate, the longitudinal screw rod 10 drives the movable beam 5 to move longitudinally along the storing and taking box 3 through the movable plate 9, and then the clamping arm 4 is driven to extend into and out of the storing cavity 101, so that the longitudinal movement of the clamping arm 4 is realized.

In this embodiment, the pressing rod 23 has a spherical abutment ball 24 rotatably connected to its tip.

Specifically, through being equipped with butt ball 24 and making the extrusion pole 23 and the realization of storing intracavity 101 inner wall roll butt, be convenient for after the pressure release, when centre gripping arm 4 breaks away from with the goods, extrusion pole 23 slides on storing intracavity wall, reduces extrusion pole 23 moving resistance and noise.

In this embodiment, the access box 3 is a hollow box with an upper portion and a front portion opened, and a set of through slots symmetrically disposed and used for accommodating the first bearing roller 302 is disposed on a bottom plate of the access box 3.

In this embodiment, the moving beam 5 is slidably connected to a guide rail 12 fixed to the bottom plate of the access box 3, and the guide rail 12 has an i-shaped cross section.

Specifically, carry out spacing constraint to walking beam 5 through guide rail 12, improve the stability and the linearity that walking beam 5 removed, the linearity of removal orbit when improving the goods and taking improves the goods and drags the stability of in-process and the accurate nature of position.

In this embodiment, the holding arm 4 is a hollow structure, a through groove for the expansion plate 17 to penetrate is formed on an inner end surface of the holding arm 4, and the expansion plate 17 is slidably connected to an inner wall of the through groove.

In particular, the expansion plate 17 can stably move towards the water in the clamping arm 4 when being squeezed by goods.

In the present embodiment, the first motor 8 and the second motor 11 are both screw motors.

It should be noted that, when goods are stored, the abutting ball 24 at the front end of the extrusion rod 23 needs to contact and extrude the inner wall of the storage cavity 101, and when goods are taken, the abutting ball 24 at the front end of the extrusion rod 23 does not need to contact the inner wall of the storage cavity 101, and at this time, the moving beam 5 and the upper clamping arm 4 thereof need to be controlled to move longitudinally in the storage cavity 101 by controlling the number of turns of the second motor 11.

In another embodiment of the present invention, a baffle assembly is installed at the front opening of the storage cavity 101, and the baffle assembly includes an embedding groove 102 formed in the bottom plate of the storage cavity 101, a baffle 26 embedded in the embedding groove 102 and having an arc-shaped outer end surface, and a spring support rod 28 fixedly connected to the lower end of the baffle 26 and fixedly connected to the bottom plate of the embedding groove 102; the lower part of the front side of the clamping arm 4 is provided with an arc surface matched with the baffle plate 26.

Specifically, through being equipped with baffle flexible from top to bottom, carry on spacingly to the goods of placing on second carrier roller 27, security and stability when improving the goods and depositing, baffle 26 and the cooperation of centre gripping arm 4 simultaneously, when being convenient for carry out the goods and take, baffle 26 is impressed by centre gripping arm 4 in nested groove 102, guarantee that the goods is dragged out, it should be said that, the height of the lower terminal surface of centre gripping arm 4 equals with the height of the peak of second carrier roller 27 for centre gripping arm 4 suppresses baffle 26 in second carrier roller 27 below, guarantees the goods business turn over.

In this embodiment, a set of limiting plates 29 which are symmetrically arranged and fixedly connected with the top plate of the storage cavity 101 are arranged in the storage cavity 101, the distance between the limiting plates 29 and the arms on both sides of the storage cavity 101 is greater than the transverse width of the clamping arm 4, and the distance between the lower end surface of the limiting plate 29 and the bottom plate of the storage cavity 101 is greater than the height of the clamping arm 4.

Specifically, through being equipped with limiting plate 29, guarantee that the goods is deposited in the middle part of storing chamber 101, guarantee that centre gripping arm 4 can stretch into in the storing chamber 101 and deposit and take the goods.

The foregoing is only a preferred embodiment of the present invention; the scope of the invention is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims

1. The utility model provides an automatic three-dimensional warehouse system, is including three-dimensional storing frame (1) that is equipped with storing chamber (101), set up in three-dimensional storing frame (1) front side goods access mechanism (2), with elevating system that goods access mechanism (2) are connected and with elevating system connects and installs subaerial horizontal migration mechanism, its characterized in that, goods access mechanism (2) include:

the storage box (3) is arranged on the front side of the storage cavity (101) and provided with an opening facing the storage cavity (101), and the clamping assembly is nested in the storage box (3);

the clamping assembly comprises a group of clamping arms (4) which are symmetrically arranged in the storing and taking box (3) and are vertical to the three-dimensional storage rack (1), a moving beam (5) which is vertically and slidably connected with the clamping arms (4) and is slidably connected with a bottom plate of the storing and taking box (3), a first screw rod assembly which is arranged in the moving beam (5) and drives the clamping arms (4) to move in the opposite direction or the reverse direction, and a second screw rod assembly which is connected with the lower end of the moving beam (5) and is arranged at the lower part of the storing and taking box (3) and drives the moving beam (5) to move towards one side of the storage cavity (101);

the sucker component is embedded on the end surface of one side opposite to the clamping arm (4), the sucker component comprises a sucker (13) embedded on the inner end surface of the clamping arm (4) and extending into the clamping arm (4), a horizontal pipe (14) communicated with the sucker (13), a vertical pipe (15) communicated with the horizontal pipe (14) and vertically arranged, and an air-extracting piston cylinder (16) communicated with the vertical pipe (15) and arranged in the clamping arm (4), the air extracting device comprises a piston plate (19) which is embedded in the air extracting piston cylinder (16), a connecting rod (18) which is fixed with the rear end face of the piston plate (19) and extends to the outer side of the air extracting piston cylinder (16), a telescopic plate (17) which is fixedly connected with the upper end of the connecting rod (18) and penetrates through the inner end face of the clamping arm (4), and a first spring (20) which is sleeved on the connecting rod (18) and two ends of which are respectively abutted against the piston plate (19) and the inner wall of the air extracting piston cylinder (16);

the sucker component further comprises a pressure relief unit, the pressure relief unit comprises a longitudinal pipe (21) fixedly communicated with the upper end of the vertical pipe (15) and arranged along the length direction of the clamping arm (4), an exhaust hole (2101) formed in the upper portion of the longitudinal pipe (21) and arranged opposite to the longitudinal pipe (21) and the communication hole of the vertical pipe (15), a piston column (22) embedded in the longitudinal pipe (21) in a sliding manner, a through hole (2201) formed in the piston column (22) and matched with the exhaust hole (2101), a squeezing rod (23) fixedly connected with the front end of the piston column (22) and extending to the front side of the clamping arm (4), and a second spring (25) embedded in the longitudinal pipe (21) and abutted to the outer end face of the piston column (22);

a first bearing roller (302) nested in the bottom plate of the access box (3);

and a second bearing roller (27) is nested and installed on the bottom plate of the storage cavity (101).

2. The automatic stereoscopic warehousing system as claimed in claim 1, wherein a baffle assembly is mounted at an opening at the front end of the storage cavity (101), and comprises an embedding groove (102) formed in a bottom plate of the storage cavity (101), a baffle (26) embedded in the embedding groove (102) and having an arc-shaped outer end surface, and a spring support rod (28) fixedly connected with the lower end of the baffle (26) and fixedly connected with the bottom plate of the embedding groove (102); the lower part of the front side of the clamping arm (4) is provided with an arc-shaped surface matched with the baffle (26).

3. The automatic stereoscopic warehousing system according to claim 1, wherein the first lead screw assembly comprises a slider fixedly connected with the rear side of the clamping arm (4) and slidably nested in the moving beam (5), a bidirectional lead screw (6) penetrating through the slider, in threaded connection with the slider and installed in the moving beam (5), and a first motor (8) installed on the upper end surface of the moving beam (5) and connected with the bidirectional lead screw (6) through a transmission gear set (7) for transmission.

4. The automatic stereoscopic warehousing system of claim 3, wherein the second screw assembly comprises a moving plate (9) fixedly connected with the lower end of the moving beam (5) and penetrating through the bottom plate of the storing and taking box (3), a longitudinal screw (10) penetrating through the moving plate (9) and longitudinally arranged, a second motor (11) fixed at the lower part of the storing and taking box (3) and connected with the longitudinal screw (10) through a coupler for transmission, and a central through groove (301) formed in the bottom plate of the storing and taking box (3) and used for the longitudinal sliding of the moving plate (9).

5. The autostereoscopic warehousing system of claim 1, characterized in that the front end of the squeeze bar (23) is rotatably connected with a spherical abutment ball (24).

6. The autostereoscopic warehousing system of claim 1, characterized in that the access box (3) is a hollow box with an upper portion and a front portion opened, and a set of symmetrically arranged through slots for accommodating the first carrying rollers (302) are opened on a bottom plate of the access box (3).

7. The autostereoscopic warehousing system of claim 1, characterized in that the walking beam (5) is slidably connected with a guide rail (12) fixed to the bottom plate of the access box (3), the guide rail (12) having an i-shaped cross-section.

8. The automatic stereoscopic warehousing system as claimed in claim 1, wherein the holding arm (4) is of a hollow structure, a through groove for the expansion plate (17) to penetrate through is formed in an inner end face of the holding arm (4), and the expansion plate (17) is connected with an inner wall of the through groove in a sliding manner.

9. The automatic stereoscopic warehousing system according to claim 2, wherein a group of limiting plates (29) which are symmetrically arranged and fixedly connected with a top plate of the storage cavity (101) are arranged in the storage cavity (101), the distance between the limiting plates (29) and the arms at two sides of the storage cavity (101) is greater than the transverse width of the clamping arm (4), and the distance between the lower end face of each limiting plate (29) and the bottom plate of the storage cavity (101) is greater than the height of the clamping arm (4).

10. The autostereoscopic warehousing system of claim 4, characterized in that the first motor (8) and the second motor (11) are screw motors.