The invention discloses a storage crane based on a parallelogram mechanism. A vehicle frame is a bracket of an n shape of which the opening faces right; a parallelogram lifting and lowering mechanismis installed on the middle of the bracket of the n shape of which the opening faces right; a driving controller drives a lifting and lowering driving mechanism to drive the parallelogram lifting and lowering mechanism to carry out pitching deformation movement; a clamping and grasping mechanism is hinged to the front end of the parallelogram lifting and lowering mechanism so as to carry out corresponding lifting and lowering movement along with the pitching movement of the lifting and lowering mechanism, and the clamping and grasping mechanism keeps a horizontal state; the driving controller controls the clamping and grasping mechanism to grasp and release an article; a movement mechanism is installed on the bottom of the vehicle frame; and the driving controller drives the movement mechanism to drive the vehicle frame to move and steer. The storage crane moves and rotates through the movement mechanism; through the positive and negative rotation movement of a gripper motor, a left clamping jaw and a right clamping jaw are driven to clamp the article in a face-to-face way or loosen the article in an opposite direction; through the positive and negative rotation movement of a lead screw motor, the parallelogram lifting and lowering mechanism is driven to carry out pitching movement, and the clamping and grasping mechanism is driven to synchronously lower and lift to grasp and release articles at different heights. A whole operation is controlled by the driving controller, and electrified control is realized so as to be efficient and save labor.

本发明公开了一种基于平行四边形机构的仓储起重机，车架为匚型支架，平行四边形升降机构安装在匚型支架中部，驱动控制器驱动升降驱动机构带动平行四边形升降机构俯仰形变运动，夹抓机构铰接在平行四边形升Π降机构前端，随升降机构的仰俯运动作相应升降运动，并保持水平状态，驱动控制器控制夹抓机构抓放物件，移动机构安装在车架底部，驱动控制器驱动移动机构带动车架移动转向。本发明通过移动机构移动和转动，通过抓手电机正反转运动以驱动左右夹爪相向夹紧物件或反向松开物件，通过丝杆电机正反转运动以驱动平行四边形升降机构俯仰运动，并带动夹抓机构同步升降以抓放不同高度物件，整个操作由驱动控制器控制运行，电动化控制，高效省力。