An intelligent storage device

Abstract

The present invention relates to the technical field of conveying mechanisms, and specifically provides an intelligent storage device. When storing documents is required, the conveying mechanism is controlled by the main control unit, driving the grasping device to shift to the feeding area, grasping the document to be stored from the feeding area. At the same time, the server matches a storage location for the document, that is, sending the address code corresponding to the storage location to the main control unit. The main control unit controls the conveying mechanism to convey the grasping device to the specified storage location according to the address code and align the document with it, and store the document. When retrieving a specified document is required, the server sends the specified address code to the main control unit. The main control unit controls the conveying mechanism to convey the grasping device to the specified storage location, retrieve the document, and convey it to the feeding area, completing the document retrieval operation, realizing fully intelligent and automated access operations, saving time and effort, capable of expanding the storage capacity of the target area, greatly reducing the cost investment, and achieving the effects of product intelligence and automation.

Description

Technical Field

[0001] The present invention belongs to the technical field of card storage, and more specifically, relates to an intelligent storage device. Background Art

[0002] After the certificates are made, they need to be centrally stored and retrieved directionally according to the target information. When storing and distributing the certificates, a large amount of manual intervention is still required, resulting in low efficiency, relatively high error rates, and high personnel costs, consuming time and effort. Moreover, the certificates are divided into this type of certificates (such as passports, etc.) and card-type certificates (such as identity cards, Hong Kong and Macau passports, etc.), which increases the workload during centralized management and is difficult to manage centrally. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent storage device to solve the technical problems in the prior art that a large amount of manual intervention is required when storing and distributing certificates, resulting in low efficiency, high error rates, and high personnel costs.

[0004] To achieve the above object, the technical solution adopted by the present invention is: providing an intelligent storage device, which is communicatively connected to a server. The intelligent storage device includes a mounting rack, and the mounting rack has a loading area and a target area. The intelligent storage device further includes an intelligent manipulator and a storage device provided in the target area. The storage device has a plurality of storage positions for storing certificates, and each storage position has a unique address code recorded in the server; the intelligent manipulator includes a main control unit, a conveying mechanism and a grasping device that are all controlled and connected to the main control unit. The conveying mechanism is provided on the mounting rack and is connected to the grasping device. The main control unit is communicatively connected to the server. The conveying mechanism drives the grasping device to reciprocate between the target area and each storage position, and the main control unit controls the grasping device to grasp and release.

[0005] The beneficial effects of the intelligent storage device provided by the present invention are as follows: When it is necessary to store certificates, the conveying mechanism is controlled by the main control unit to drive the grasping device to shift to the feeding area, grasp the certificate to be stored from the feeding area. At the same time, the server matches a storage location for the certificate, that is, sends the address code corresponding to the storage location to the main control unit. The main control unit controls the conveying mechanism according to the address code to convey the grasping device to the designated storage location and align the certificate with it, and store the certificate. When it is necessary to take out a designated certificate, the server sends the designated address code to the main control unit. The main control unit controls the conveying mechanism to convey the grasping device to the designated storage location, take out the certificate, and convey it to the feeding area to complete the evidence-taking operation, realizing fully intelligent and automated access operations, and the storage capacity can be set according to requirements. This intelligent manipulator can completely replace manual operations, eliminating the workload of manually storing certificates one by one and searching for and taking out the target certificate in the target area. It can achieve the effects of quickly storing certificates and quickly and accurately taking out the target certificate, saving time and effort, expanding the storage capacity of the target area, greatly reducing the cost investment, and achieving the effects of product intelligence and automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0007] Figure 1 It is a three-dimensional assembly drawing of the intelligent manipulator provided in the first embodiment of the present invention;

[0008] Figure 2 It is a partial three-dimensional exploded view of the intelligent manipulator provided in the first embodiment of the present invention;

[0009] Figure 3 It is a three-dimensional exploded view of the sliding connection component provided in the first embodiment of the present invention;

[0010] Figure 4 It is a three-dimensional exploded view of the vertical conveying device provided in the first embodiment of the present invention;

[0011] Figure 5 It is a schematic diagram of the power-off protection structure provided in the first embodiment of the present invention Figure 1 ;

[0012] Figure 6 It is a schematic diagram of the power-off protection structure provided in the first embodiment of the present invention Figure II ;

[0013] Figure 7It is an exploded perspective view of the second horizontal transfer device and the grasping device provided in the first embodiment of the present invention;

[0014] Figure 8 It is an assembled perspective view of the second horizontal transfer device and the grasping device provided in the first embodiment of the present invention;

[0015] Figure 9 It is a perspective view of the intelligent storage device provided in the first embodiment of the present invention;

[0016] Figure 10 It is a perspective view of the storage unit provided in the first embodiment of the present invention.

[0017] Among them, the reference numerals in the figure are as follows:

[0018] Mounting frame 100 Loading area 101 Target area 102 Intelligent manipulator 200 Conveyor mechanism 210 Gripping device 220 First horizontal conveyor 211 Vertical conveyor 212 Second horizontal conveyor 213 First drive assembly 2111 First sliding assembly 2112 First support frame 2113 First power source 21111 First gear 21112 First rack 21113 Slide rail 10 Slider 20 Sliding groove 11 Sliding protrusion 21 First slide rail 21121 First slider 21122 Second drive assembly 2114 Second sliding assembly 2115 Second support frame 2116 Upper cross beam 110 Lower cross beam 120 Second power source 21141 Second gear 21142 Second slider 21151 Vertical drive assembly 2121 Vertical fixing frame 2122 Vertical support frame 2123 Stator 21211 Rotor 21212 Vertical sliding assembly 2124 Vertical frame 21221 Vertical slide rail 21241 Vertical slider 21242 U-shaped groove 201 Position detection assembly 2125 Lower detector 21251 Upper detector 21252 Locator 21253 Upper buffer 2126 Lower buffer 2127 Flanking plate 21222 Dust-proof cloth 21223 Receiving groove 202 Power-off protection structure 2128 Lock head 21281 Elastic member 21282 Transmission assembly 21283 Driver 21284 Through hole 203 Locking position 204 Locking inclined plane 205 Push rod 21286 Mounting shell 21285 Transmission part 21287 Open cavity 206 Third drive assembly 2131 Third sliding assembly 2132 Third support frame 2133 Third fixing frame 2134 Third power source 21311 Third gear 21312 Third rack 21313 Strip window 207 Third slide rail 21321 Third slider 21322 Limit position detector 2135 Rotary conveyor assembly 214 Rotary drive source 2141 Reducer 2142 First roller 2143 Second roller 2144 Conveyor belt 2145 Threading hole 208 Limit block 2136 Angle limit detection assembly 2145 First angle limit detector 21451 Second angle limit detector 21452 Gripping power source 221 Gripping assembly 222 Gripping support frame 223 First gripper 2221 Second gripper 2222 Guiding inclined plane 209 First positioning block 2223 Second positioning block 2224 Reading unit 224 RFID module 2241 OCR module 2242 Gripping detection unit 225 Target detection unit 226 Guiding frame 227 Guiding structure 2271 Guiding groove 2001 Connection assembly 228 Guiding rod 2281 U-shaped frame 2272 Guiding sliding assembly 2283 Head end 2002 Tail end 2003 Intelligent storage device 300 Storage device 310 Storage position 301 Conveyor area 103 104 Delivery port 311 Clamping structure 312 Elastic plate 302 Rebound port 313 Storage unit 130 Positioning plate 105 Specific embodiments

[0019] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0020] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or it may be indirectly fixed to or disposed on the other element through a third component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or it may be indirectly connected to the other element through a third component.

[0021] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0022] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0023] Embodiment 1:

[0024] Please refer to simultaneously Conveyor space, Figure 1 and Figure 9 , Embodiment 1 of the present invention provides an intelligent storage device, which is communicatively connected to a server. The intelligent storage device 300 includes a mounting rack 100, and the mounting rack 100 has a feeding area 101 and a target area 102. The intelligent storage device 300 further includes an intelligent manipulator 200 and a storage device 310 disposed in the target area 102. The storage device 310 has a plurality of storage positions 301 for storing documents. Each storage position 301 has a unique address code, and each address code is recorded in the server. The address code is the spatial coordinate position where the storage position 301 is located. The intelligent manipulator 200 includes a main control unit, a conveying mechanism 210 and a grasping device 220 that are both controlled and connected to the main control unit. The conveying mechanism 210 is disposed on the mounting rack 100 and is connected to the grasping device 220. The conveying mechanism 210 and the grasping device 220 are both controlled and connected to the main control unit. The main control unit is communicatively connected to the server. The conveying mechanism 210 drives the grasping device 220 to reciprocally convey documents between the target area 102 and the storage position 301. The main control unit controls the grasping device 220 to grasp and release.

[0025] In this embodiment, when storing a document is required, the conveying mechanism 210 is controlled by the main control unit to drive the grasping device 220 to shift to the feeding area 101 to grasp the document to be stored from the feeding area 101. At the same time, the server matches a storage position 301 for the document, that is, sends the address code corresponding to the storage position 301 to the main control unit. The main control unit controls the conveying mechanism 210 to convey the grasping device 220 to the designated storage position 301 according to the address code and aligns the document with it to store the document. When it is required to take out a designated document, the server sends the designated address code to the main control unit. The main control unit controls the conveying mechanism 210 to convey the grasping device 220 to the designated storage position 301, takes out the document, and conveys it to the feeding area 101 to complete the document-taking operation, realizing fully intelligent and automated storage and retrieval operations, and the storage capacity can be set according to requirements. The intelligent manipulator 200 can completely replace manual operations, eliminating the workload of manually storing documents one by one and searching for and taking out the target document in the target area 102. It can achieve the effects of quickly storing documents and quickly and accurately taking out the target document, saving time and effort, increasing the storage capacity of the target area 102, and greatly reducing the cost investment, achieving the effects of product intelligence and automation.

[0026] When the intelligent manipulator 200 in the first embodiment is used in a document storage device, the target area 102 has a plurality of storage positions 301 for storing documents. Each storage position 301 has a unique address code, and each address code contains the spatial coordinate information of the corresponding storage position 301. When performing a document storage operation, the conveying mechanism 210 is controlled by the main control unit to drive the grasping device 220 to grasp a document from the loading area 101. The reading unit on the grasping device 220 is used to obtain the document information and upload it to the server. The server matches an empty storage position 301 for the document information and sends the address code to the main control unit. The conveying mechanism 210 is controlled by the main control unit to transfer the grasping device 220 to the designated storage position 301 to store the document. When performing a document retrieval operation, the main control unit obtains the address code of the target document sent by the server. The conveying mechanism 210 is controlled by the main control unit to drive the grasping device 220 to grasp the document from the storage position 301 corresponding to the address code in the target area 102, obtain the document information, verify whether it is the target document, feedback the result, and transfer the document to the loading area 101 to implement the document retrieval operation.

[0027] The loading area 101 has a plurality of loading positions, and each loading position has a unique address number and is stored in the server. When the intelligent manipulator 200 goes to the loading area 101 to pick up a document, the vision detection unit is used to obtain a picture of the loading area 101 and upload it to the server. The server analyzes whether each loading position is equipped with a document, and then sends the address code of the loading position with a document to the main control unit to control the intelligent manipulator 200 to accurately grasp the document; or directly use the address code sent by the server to grasp the document. When it is necessary to store a document in the loading area 101, the image of the loading area 101 is also obtained and uploaded to the server, and it is analyzed whether each loading position is vacant. Then an empty loading position is matched and the address code is sent to the main control unit to control the intelligent manipulator 200 to accurately store the document.

[0028] The storage device 310 includes a first storage part for storing this type of document and a second storage part for storing card documents. Both the first and second storage parts have a plurality of storage positions 301, so that the device can store card and this type of documents at the same time, enriching its storage performance.

[0029] Please refer to Figure 10 and Figure 9The mounting frame 100 has two conveyor areas 103, each equipped with at least one intelligent robotic arm 200. Two loading areas 101 are located within each conveyor area 103. Each loading area 101 has at least one delivery port 104 for conveying documents, and each intelligent robotic arm 200 corresponds to at least one delivery port 104. The two conveyor areas 103 are located on opposite sides of the target area 102. Each storage location 301 of the storage device 310 has two interconnected insertion ports, one facing the intelligent robotic arm 200 on each side. This improves storage efficiency and, if one intelligent robotic arm 200 fails, the other intelligent robotic arm 200 can continue to operate, ensuring stable and orderly storage operations. Each storage location 301 of the storage device 310 is a document storage slot located on the storage device 310. The document storage slots on the storage device 310 are arranged in an array and are dual-socket storage slots, with the two insertion ports facing each of the two conveyor areas 103.

[0030] Please also see Figure 10 and Figure 9 Each storage position 301 is provided with a clamping structure 311 for clamping the document on at least one side thereof, and the clamping end of the clamping structure 311 extends into the storage position 301, so that the document can be stably stored in the storage position 301 after being inserted into place.

[0031] The clamping structure 311 can be a rib plate protruding from the inner wall of each storage position 301, which uses its own space to clamp the document.

[0032] Alternatively, the clamping structure 311 includes an elastic plate 312 and a rebound opening 302. The rebound opening 302 is provided on the inner side wall of each storage position 301 and extends along the document insertion direction. The two ends of the elastic plate 312 are connected to the rebound opening 302 and are opposite to the rebound opening 302 and extend along the document insertion direction. The elastic plate 312 is elastically bent at the rebound opening 302 to form a rebound protrusion, which is located within the storage position 301. When the document is inserted, it can elastically contact the document to stabilize the document. The rebound protrusion can be trapezoidal, arc-shaped, V-shaped, etc. After the elastic plate 312 is elastically deformed, the rebound opening 302 can avoid the deformed portion. The elastic plate 312 is integrally formed with the storage device 310 or is detachably connected.

[0033] The storage device 310 is composed of a plurality of storage units 313 detachably connected together, and each storage unit 313 has a plurality of storage positions 301 , which is convenient for repair, maintenance or replacement, meeting usage requirements while reducing maintenance costs.

[0034] The intelligent storage device 300 cooperates with a transfer robot, which is communicatively connected to a server, and the server performs unified scheduling on them. The mounting frame 100 has a transfer space 105 below it for the transfer robot to move back and forth. The transfer space 105 is located below the transfer area 103 and communicates with each conveying port 104. The transfer robot can accommodate multiple certificates (card - type certificates or / and book - type certificates). When the transfer robot moves to the transfer space 105, the feeding device on it that holds the certificates is pushed to the conveying port 104 opposite to it for the intelligent manipulator 200 to grab; when it is necessary to take away a specified certificate, the intelligent manipulator 200 places the taken - down certificate on the feeding device of the transfer robot, and uses the transfer robot to send it out. In this way, the transfer and storage of certificates are realized, and the management is fully intelligent and automated.

[0035] At least one positioning plate 130 is fixed to the bottom of the mounting frame 100. Each positioning plate 130 is provided with the above - mentioned conveying port 104. Each conveying port 104 is provided with a guiding inclined surface downward and circumferentially, which can make the feeding device of the transfer robot quickly insert into the conveying port 104 along the guiding inclined surface. Even if there is a small deviation in the alignment between the feeding device and the conveying port 104, due to the positioning and guiding effect of the guiding inclined surface, a deviation - correcting effect can be achieved. Preferably, the shape of the conveying port 104 is adapted to the outer shape of the feeding device.

[0036] Please also refer to Figure 10 and Figure 1 The intelligent manipulator is used to transfer certificates. The certificates are divided into book - type certificates (such as passports, etc.) and card - type certificates (such as identity cards, Hong Kong and Macao passports, bank cards, etc.). The intelligent manipulator 200 given in this embodiment is not limited to being applied to the transfer of certificates, but can also be applied to the transfer of other materials without limitation. The intelligent manipulator is assembled on the mounting frame 100 and reciprocates between the feeding area 101 and the target area 102 of the mounting frame 100 to realize the automatic transfer of certificates. The target area 102 can be an area for storing certificates or an area for outputting certificates. The feeding area 101 belongs to the certificate supply area. The intelligent manipulator 200 can transfer the certificates in the feeding area 101 to the target area 102, or can also use the intelligent manipulator 200 to retrieve the certificates in the target area 102 and put them back into the feeding area 101 to realize the fully automated operation of reciprocating transfer. The intelligent manipulator 200 includes a main control unit, a transfer mechanism 210 and a grasping device 220 that are all controlled and connected to the main control unit. The transfer mechanism 210 is arranged on the mounting frame 100 and is connected to the grasping device 220, and drives the grasping device 220 to reciprocally transfer certificates between the feeding area 101 and the target area 102 under the control of the main control unit. The main control unit controls the grasping device 220 to grasp and release.

[0037] In this embodiment, the intelligent manipulator 200 includes a main control unit, a conveying mechanism 210 and a grasping device 220 controlled and deployed by the main control unit. Among them, the conveying mechanism 210 is installed on the mounting rack 100 and connected to the grasping device 220. The mounting rack 100 has a feeding area 101 and a target area 102. Under the control of the main control unit, the conveying mechanism 210 drives the grasping device 220 to reciprocate between the feeding area 101 and the target area 102 of the mounting rack 100 to realize automatic storage and retrieval of documents. The grasping device 220 can grasp and release documents under the control of the main control unit. In this way, the intelligent manipulator 200 can be used to convey the documents in the feeding area 101 to the target area 102 one by one, or the intelligent manipulator 200 can be used to take out the documents in the target area 102 and convey them to the feeding area 101, realizing the full intelligence and automation of document management. The intelligent manipulator 200 can completely replace manual operation, eliminating the cumbersome operations of manually conveying documents and searching for target documents, achieving the effects of fast conveying, accurate storage and retrieval of documents, saving time and effort, greatly reducing the cost investment, and truly achieving the intelligent and automated effects of the product.

[0038] Please also refer to Figure 2 , the conveying mechanism 210 includes a first horizontal conveying device 211, a vertical conveying device 212 and a second horizontal conveying device 213, all of which are connected to the main control unit for control.

[0039] The first horizontal conveying device 211 is arranged on the mounting rack 100 and connected to the vertical conveying device 212, and drives the vertical conveying device 212 to reciprocate in the horizontal plane along the first horizontal direction.

[0040] The vertical conveying device 212 is connected to the second horizontal conveying device 213, and drives the second horizontal conveying device 213 to reciprocate in the vertical direction.

[0041] The second horizontal conveying device 213 is connected to the grasping device 220, and drives the grasping device 220 to reciprocate in the horizontal plane along the second horizontal direction. There is an included angle θ between the second horizontal direction and the first horizontal direction, and 0° < θ < 180°.

[0042] In this embodiment, by using the first horizontal conveying device 211, the vertical conveying device 212 and the second horizontal conveying device 213 of the conveying mechanism 210, the grasping device 220 can be driven to move along the first horizontal direction, the second horizontal direction and the vertical direction. Generally, the included angle θ between the first horizontal direction and the second horizontal direction is taken as 90°, that is, the grasping device 220 is realized to freely shift and convey in the three-dimensional space of the X-axis (the first horizontal direction), the Y-axis (the second horizontal direction) and the Z-axis (the vertical direction), improving the spatial range and flexibility of document conveying, as Figures 1 to 3 , Figure 1 shown.

[0043] The first horizontal conveyor 211 includes a first driving assembly 2111, a first sliding connection assembly 2112, and a first support frame 2113. The first sliding connection assembly 2112 is connected between the mounting frame 100 and the first support frame 2113, and the sliding direction of the first support frame 2113 relative to the mounting frame 100 is the first horizontal direction. Under the control of the main control unit, the first driving assembly 2111 drives the first support frame 2113 to reciprocate along the first horizontal direction, and the vertical conveyor 212 is fixedly connected to the first support frame 2113. In this way, while the first driving assembly 2111 drives the first support frame 2113 to reciprocate along the first horizontal direction, it drives the vertical conveyor 212 fixed on the first support frame 2113 to reciprocate along the first horizontal direction at the same time. The gripping device 220 is indirectly connected to the first support frame 2113 through the vertical conveyor 212 and the second horizontal conveyor 213. The vertical conveyor 212 is connected to the second horizontal conveyor 213. Therefore, the gripping device 220 is driven to move along the first horizontal direction.

[0044] The first driving assembly 2111 includes a first power source 21111, a first gear 21112, and a first rack 21113. The first power source 21111 is fixed to the first support frame 2113, and its power output shaft is connected to the first gear 21112, and the power output shaft can drive the first gear 21112 to rotate synchronously forward and backward. The first rack 21113 is fixed to the mounting frame 100 and meshes with the first gear 21112. In this way, the forward and reverse meshing movement of the first gear 21112 and the first rack 21113 is converted into the forward and reverse movement of the first support frame 2113 relative to the first rack 21113. The extending direction of the first rack 21113 is the first horizontal direction. In this embodiment, the first power source 21111 is a driving motor. The main control unit controls the starting time and forward or reverse rotation of the driving motor according to the acquired signal.

[0045] The first gear 21112 and the first rack 21113 can be in straight-tooth meshing or helical-tooth meshing.

[0046] To achieve stable movement and precise directional transmission effects, the cooperation mode of the slide rail 10 and the slider 20 is usually adopted. Generally, there are two structural schemes. Scheme one: the slide rail 10 is long and the slider 20 is short. The extending direction of the slide rail 10 is consistent with the predetermined transmission direction. The slider 20 is slidably connected to the slide rail 10 and slides directionally along the extending direction of the slide rail 10. Scheme two: the slide rail 10 is short and the slider 20 is long. The extending direction of the slider 20 is consistent with the predetermined transmission direction. The slide rail 10 is slidably connected to the slider 20 and slides directionally along the extending direction of the slider 20. The sliding connection structure of the slide rail 10 and the slider 20 usually includes a sliding groove 11 and a sliding protrusion 21. The sliding protrusion 21 is inserted into the sliding groove 11 and the two can slide relative to each other. The two can be respectively arranged on the slide rail 10 and the slider 20 to realize the sliding connection relationship between the slide rail 10 and the slider 21, specifically as Figure 2 shown.

[0047] Please refer to Figure 3 simultaneously. The first sliding connection assembly 2112 includes at least one first slide rail 21121 and at least one first slider 21122. The specific structural scheme can be scheme one or scheme two in the above-mentioned structural scheme of the slide rail 10 and the slider 20. The long part (the slide rail 10 in scheme one or the slider 20 in scheme two) is fixed on the mounting bracket 100, and the short part (the slider 20 in scheme one or the slide rail 10 in scheme two) is fixed on the first support frame 2113. The short part slides along the extending direction of the long part, and the extending direction of the long part is the same as the extending direction of the first rack 21113. In this way, by connecting the first support frame 2113 and the mounting bracket 100 through the first sliding connection assembly 2112, on the one hand, the stable support of the first support frame 2113 is realized, and on the other hand, the first support frame 2113 is moved reciprocally in a fixed direction along the first horizontal direction, and the smoothness of its movement is improved, that is, the smoothness of the reciprocating movement of the grasping device 220 along the first horizontal direction is improved.

[0048] In this embodiment, the first sliding connection assembly 2112 adopts the above-mentioned scheme one. The length direction of each first slide rail 21121 and the length direction of the first rack 21113 are both the same as the first horizontal direction.

[0049] Preferably, at least one first slider 21122 slidably connected to each first slide rail 21121 can be provided, which can be determined according to specific requirements.

[0050] Preferably, two first sliding connection assemblies 2112 are provided and the sliding directions are the same. The two are parallel to each other and arranged at intervals, and both are connected to the first support frame 2113 and the mounting bracket 100, which can further improve the smoothness of the movement of the grasping device 220 along the first horizontal direction. Preferably, the first driving assembly 2111 is located between the two first sliding connection assemblies 2112.

[0051] Please refer to Figures 1 to 3, in order to better improve the smoothness of the transmission of the grasping device 220 in the first horizontal direction, the first horizontal transmission device 211 further includes a second driving component 2114, a second sliding connection component 2115 and a second support frame 2116. The second sliding connection component 2115 is connected between the mounting frame 100 and the second support frame 2116, and the sliding direction of the second support frame 2116 relative to the mounting frame 100 is the first horizontal direction. Under the control of the main control unit, the second driving component 2114 drives the second support frame 2116 to reciprocate synchronously with the first support frame 2113 along the first horizontal direction, and the vertical transmission device 212 is fixedly connected to the second support frame 2116. In this way, the first driving component 2111 and the second driving component 2114 are started simultaneously, and drive the first support frame 2113 and the second support frame 2116 to reciprocate synchronously along the first horizontal direction, while driving the vertical transmission device 212 to reciprocate along the first horizontal direction together, which better improves the smoothness and stability of the sliding along the first horizontal direction, avoids the start of one end and the lag of the other end resulting in deviation, causing unstable transmission and reduced accuracy, and at the same time will also reduce the overall service life. In addition, it effectively expands the transmission stroke of the grasping device 220 in the vertical direction to meet the use requirements. Both ends of the vertical transmission device 212 are respectively fixed to the first support frame 2113 and the second support frame 2116.

[0052] The mounting frame 100 includes an upper cross beam 110 and a lower cross beam 120, and the upper cross beam 110 and the lower cross beam 120 are parallel to each other and arranged at intervals. The first sliding connection component 2112 connects the lower cross beam 120 and the first support frame 2113, the second sliding connection component 2115 connects the upper cross beam 110 and the second support frame 2116, and both ends of the vertical transmission device 212 are respectively fixed to the first support frame 2113 and the second support frame 2116. The distance between the upper and lower cross beams (110, 120) is determined by the vertical stroke of the grasping device 220.

[0053] The second driving component 2114 includes a second power source 21141, a second gear 21142, and a second rack (not shown in the figure). The second power source 21141 is fixed to the second support frame 2116, and its power output shaft is connected to the second gear 21142. The power output shaft can drive the second gear 21142 to rotate synchronously forward and backward. The second rack is fixed to the mounting frame 100 and meshes with the second gear 21142. In this way, the forward and reverse meshing movement of the second gear 21142 and the second rack is converted into the forward and reverse movement of the first support frame 2113 relative to the second rack. The extending direction of the second rack is the first horizontal direction. In this embodiment, the second power source 21141 is a driving motor. The main control unit controls the synchronous starting time and synchronous forward or reverse rotation of the first power source 21111 and the second power source 21141 according to the acquired signal, so that the moving directions and speeds of the first support frame 2113 and the second support frame 2116 are the same, achieving a synchronous effect.

[0054] The second gear 21142 and the second rack can be in straight-tooth meshing or helical-tooth meshing.

[0055] Please also refer to Figures 1 to 3 , the second sliding connection component 2115 includes at least one second slide rail (not shown in the figure) and at least one second slider 21151. The specific structural solution can be Solution 1 or Solution 2 in the above structural solution of the slide rail 10 and the slider 20. The long part (the slide rail 10 in Solution 1 or the slider 20 in Solution 2) is fixed to the mounting frame 100, and the short part (the slider 20 in Solution 1 or the slide rail 10 in Solution 2) is fixed to the second support frame 2116. The short part slides along the extending direction of the long part, and the extending direction of the long part is the same as the extending direction of the second rack. In this way, by connecting the second support frame 2116 and the mounting frame 100 through the second sliding connection component 2115, on the one hand, the stable support of the second support frame 2116 is realized, and on the other hand, the second support frame 2116 is realized to move reciprocally in a fixed direction along the first horizontal direction, and the smoothness of its movement is improved, that is, the smoothness of the reciprocating movement of the grasping device 220 along the first horizontal direction is better improved.

[0056] Preferably, two second sliding connection components 2115 are provided and have the same sliding direction. The two are parallel to each other and spaced apart, and both are connected to the second support frame 2116 and the mounting frame 100, which can better improve the smoothness of the grasping device 220 moving along the first horizontal direction. Preferably, the second driving component 2114 is located between the two second sliding connection components 2115.

[0057] As an alternative to the first driving component 2111 and / or the second driving component 2114, a lead screw and a nut can be used in combination to drive the support frame. Specifically, it includes a lead screw, a power source, and a nut. Among them, the power output shaft of the power source is docked with one end of the lead screw to drive the lead screw to rotate. The nut is sleeved on the lead screw and is threadedly connected to the lead screw. At the same time, the nut is circumferentially limited. When the lead screw rotates, the nut does not rotate with the rotation of the lead screw, but moves along with the rotation of the lead screw. The moving direction is the extending direction of the lead screw. The first and second support frames can be fixedly connected to the nut, and the vertical transmission device 212 is fixed on the upper side of the support frame to realize reciprocating movement along the first horizontal direction with the vertical transmission device 212. The first horizontal direction is the same as the length direction of the lead screw.

[0058] Please refer to Figures 1 to 3 simultaneously. The vertical transmission device 212 includes a vertical driving component 2121, a vertical fixing frame 2122, and a vertical support frame 2123. The two ends of the vertical fixing frame 2122 are respectively fixedly connected to the first support frame 2113 and the second support frame 2116. Under the control of the main control unit, the vertical driving component 2121 drives the vertical support frame 2123 to reciprocally slide along the vertical direction relative to the vertical fixing frame 2122. The second horizontal transmission device 213 is fixedly connected to the vertical support frame 2123, that is, indirectly drives the grasping device 220 to shift along the vertical direction.

[0059] In this embodiment, the vertical driving component 2121 is a linear motor, that is, the vertical driving component 2121 includes a primary winding and a secondary winding. Its working principle is as follows: when an alternating current power supply is applied to the primary winding, a traveling wave magnetic field is generated in the air gap. When the secondary winding is cut by the traveling wave magnetic field, an electromotive force will be induced and a current will be generated. The interaction between this current and the magnetic field in the air gap will generate an electromagnetic thrust, that is, convert electrical energy into mechanical energy of linear motion. If the primary (stator 21211) is fixed, the secondary (rotor 21212) will move linearly under the action of the thrust; otherwise, the primary will move linearly. In this embodiment, the former is selected. The stator 21211 is fixed on the vertical fixing frame 2122, and the rotor 21212 is fixed on the vertical support frame 2123. After being energized, the rotor 21212 drives the vertical support frame 2123 to slide along the vertical direction relative to the vertical fixing frame 2122 under the action of the thrust.

[0060] As an alternative, the vertical driving component 2121 can be a combination of a lead screw and a nut, specifically as the alternative of the above-mentioned first and second driving components (2111, 2114), which will not be elaborated here.

[0061] Please refer to Figures 2 to 4, preferably, the vertical conveying device 212 further includes a vertical sliding connection assembly 2124. The vertical sliding connection assembly 2124 connects the vertical fixing frame 2122 and the vertical support frame 2123 to enable the vertical support frame 2123 to slide relative to the vertical fixing frame 2122, and the sliding direction is the vertical direction, that is, the vertical support frame 2123 and the vertical fixing frame 2122 are slidably connected through the vertical sliding connection assembly 2124. In this way, on the one hand, directional sliding is achieved, on the other hand, the vertical support frame 2123 can be displaced more smoothly, and furthermore, it has the effect of connecting the vertical support frame 2123 and the vertical fixing frame 2122.

[0062] The vertical fixing frame 2122 includes a vertical frame body 21221 with both ends fixed to the first support frame 2113 and the second support frame 2116 respectively, and the stator 21211 is fixed to the vertical frame body 21221. The vertical sliding connection assembly 2124 includes a vertical slide rail 21241 and a vertical slider 21242, and at least one of each is provided. The specific structural scheme can be the first or second scheme in the above-mentioned slide rail 10 and slider 20 structural scheme. Taking the first scheme as an example, the vertical slide rail 21241 is fixed to the vertical frame body 21221, the vertical slider 21242 is fixed to the vertical support frame 2123, and the vertical slider 21242 is slidably connected to the vertical slide rail 21241 and the sliding direction is the vertical direction. In this way, under the drive of the vertical drive assembly 2121, the vertical support frame 2123 and the vertical fixing frame 2122 are slidably connected through the vertical sliding connection assembly 2124, and the reciprocating sliding of the grasping device 220 in a stable and directional (vertical direction) manner is better realized.

[0063] Specifically, the vertical frame body 21221 has a vertically penetrating U-shaped groove 201, and the stator 21211 is fixed to the bottom of the U-shaped groove 201, which plays a role in protecting the stator 21211.

[0064] Preferably, two vertical slide rails 21241 are provided and are respectively fixed to the two end faces of the vertical frame body 21221 located at its transverse notch. The extending direction of each vertical slide rail 21241 is the same as the extending direction of the vertical frame body 21221 and is the vertical direction. At least one vertical slider 21242 slidably engaged with each vertical slide rail 21241 is provided, and they are all fixedly connected to the vertical support frame 2123. The mover 21212 is fixed between the two rows of vertical slide rails 21241 and is opposite to the stator 21211. In this way, the stability of the support and sliding of the vertical support frame 2123 is better improved, and at the same time, it also plays a role in protecting the vertical drive assembly 2121.

[0065] As an alternative to the sliding connection between the vertical fixing frame 2122 and the vertical support frame 2123, the vertical sliding component 2124 may not be added, and the vertical support frame 2123 can be directly used to slide with the vertical fixing frame 2122. The specific sliding structure can refer to the sliding structure of the slide rail 10 and the slider 20 described above.

[0066] Please refer to Figures 2 to 4 , the vertical transmission device 212 further includes a position detection component 2125. The position detection component 2125 includes a lower detection piece 21251 for detecting the lower extreme position where the vertical support frame 2123 slides to the vertical fixing frame 2122 and an upper detection piece 21252 for detecting the upper extreme position where the vertical support frame 2123 slides to the vertical fixing frame 2122. The lower detection piece 21251 is fixed to the lower extreme position of the vertical fixing frame 2122, and the upper detection piece 21252 is fixed to the upper extreme position of the vertical fixing frame 2122. The distance between the upper extreme position and the lower extreme position of the vertical fixing frame 2122 is the maximum stroke of the vertical support frame 2123 sliding in the vertical direction, that is, the sliding stroke of the grasping device 220 in the vertical direction. When it is detected that the vertical support frame 2123 slides to the upper extreme position or the lower extreme position, the main control unit controls the vertical support frame 2123 to stop. In this embodiment, the upper and lower detection pieces are position sensors. The position detection component 2125 further includes a positioning piece 21253 fixed on the vertical support frame 2123, and the positioning piece 21253 is fixed on one side of the vertical support frame 2123. When the vertical support frame 2123 slides to the upper extreme position under the drive of the vertical drive component 2121, the upper detection piece 21252 located at the upper extreme position senses the positioning piece 21253, and then controls the vertical drive component 2121 to stop driving; similarly, when sliding to the lower extreme position, it will also be detected and stop sliding. In this way, on the one hand, the vertical stroke can be determined; on the other hand, the safety of vertical sliding can be better protected.

[0067] Please refer to Figure 4 , the vertical support frame 2123 is provided with an upper buffer 2126 and a lower buffer 2127. At least one upper buffer 2126 is provided, and all are fixed to the upper side surface of the vertical support frame 2123, while at least one lower buffer 2127 is also provided, and all are fixed to the lower side surface of the vertical support frame 2123. The upper and lower buffers (2126, 2127) have certain buffering performance. When the vertical support frame 2123 slides to the upper extreme position and the lower extreme position of the vertical fixing frame 2122, the upper buffer 2126 and the lower buffer 2127 can directly contact the extreme ends of the vertical fixing frame 2122 or the first support frame 2113 and the second support frame 2116, avoiding direct contact of rigid parts, causing damage to rigid parts, shortening the service life, generating collision noises, etc. Therefore, it plays a role in protecting the vertical support frame 2123 and the vertical fixing frame 2122.

[0068] The upper and lower buffer members (2126, 2127) can be made of rubber, silicone or other components with a buffering effect. Moreover, according to the different magnitudes of the applied forces, buffer members of different materials can be selected for the upper and lower parts.

[0069] Please refer to Figure 4 , the vertical fixing frame 2122 further includes wing plates 21222 respectively extending and formed from both end faces at the transverse notch in the vertical frame body 21221. Each wing plate 21222 extends along the length direction of the vertical frame body 21221, and the vertical sliding connection assembly 2124 is located between the two wing plates 21222. In this way, through the two wing plates 21222, the components between the two wing plates 21222 can be protected, preventing dust, metal parts, etc. from entering and affecting the normal operation of the vertical conveying device 212. Preferably, both ends of each wing plate 21222 respectively extend to the first support frame 2113 and the second support frame 2116 and are fixedly connected.

[0070] Please refer to Figure 4 , the vertical fixing frame 2122 further includes a dust-proof cloth 21223. One end of the dust-proof cloth 21223 is fixed to the first support frame 2113, and the other end is fixed to the second support frame 2116. The dust-proof cloth 21223 is stretched between the first support frame 2113 and the second support frame 2116, and the width of the dust-proof cloth 21223 is greater than or equal to the distance between the two wing plates 21222. The vertical support frame 2123 slides inside the dust-proof cloth 21223. In this way, the components located inside the vertical fixing frame 2122 can be better protected, and it is better to prevent dust, metal parts and other components from entering and affecting the normal operation of the vertical conveying device 212. Especially, the vertical driving assembly 2121 uses a linear motor, and the stator 21211 is fixed to the bottom of the groove of the vertical frame body 21221 and has a certain magnetic attraction force, which needs to be protected emphatically.

[0071] Please refer to Figure 4 , preferably, the vertical support frame 2123 has a vertically penetrating receiving groove 202, and the receiving groove 202 faces away from the vertical driving assembly 2121 for the dust-proof cloth 21223 to pass through the receiving groove 202 to prepare for subsequent fixed connection with the second horizontal conveying device 213.

[0072] Please refer to simultaneously Figure 4, the vertical conveying device 212 further includes a power-off protection structure 2128. The power-off protection structure 2128 includes a lock head 21281, an elastic member 21282, a transmission assembly 21283, a driving member 21284, and a mounting shell 21285 fixed to the vertical support frame 2123. The mounting shell 21285 is provided with a through hole 203 on the side wall facing the vertical fixing frame 2122. The transmission assembly 21283 is disposed in the mounting shell 21285 and is electrically connected to the driving member 21284. The transmission end of the transmission assembly 21283 passes through the through hole 203 and is connected to the lock head 21281. The elastic member 21282 is disposed on the transmission end of the transmission assembly 21283 and is compressed between the lock head 21281 and the mounting shell 21285.

[0073] On the surface of the vertical fixing frame 2122 facing the lock head 21281, a plurality of locking positions 204 are arranged at intervals in the vertical direction, so as to prevent the vertical driving assembly 2121 from having a corresponding locking position 204 when power is off at any position, thereby playing a role in power-off protection.

[0074] The end of the lock head 21281 facing the locking position 204 is provided with a locking inclined surface 205, and the locking inclined surface 205 is used for quick guiding when connecting with the locking position 204, so as to improve the locking efficiency. The locking inclined surface 205 is an inclined cutting surface or a conical surface. In this embodiment, an inclined cutting surface is selected, as Figures 4 to 6 and Figure 5 shown.

[0075] When the driving member 21284 is powered on, it pulls the transmission assembly 21283 to shift, causing the lock head 21281 to move towards the mounting shell 21285 and compress the elastic member 21282. At this time, a safe distance is maintained between the lock head 21281 and each locking position 204, enabling the vertical support frame 2123 to reciprocate vertically under the drive of the vertical drive assembly 2121, and the lock head 21281 will not touch any components; when the driving member 21284 is powered off, under the elastic restoring force of the elastic member 21282, the lock head 21281 is quickly pushed towards the locking position 204 opposite when powered off, and is locked and cooperated with the locking position 204. The power supply of the driving member 21284 and the vertical drive assembly 2121 is the same. It can be understood that when the driving member 21284 is powered on, the driving member 21284 drives the transmission assembly 21283 to pull the lock head 21281, and the lock head 21281 moves towards the mounting shell 21285. At the same time, the lock head 21281 and the mounting shell 21285 jointly compress the elastic member 21282. At this time, there is a certain distance between the lock head 21281 and each locking position 204, ensuring that the vertical support frame 2123 can smoothly reciprocate vertically under the drive of the vertical drive assembly 2121. When the driving member is powered off, due to the elastic member 21282 having a certain elastic restoring force, and the driving member 21284 causes the pulling force applied by the transmission assembly 21283 to the lock head 21281 to disappear due to power-off. In this way, the lock head 21281 is quickly ejected under the elastic restoring force of the elastic member 21282 and is locked with the locking position 204 when powered off, fixing the vertical support frame 2123 to prevent rapid dropping or free fall due to power-off and damaging the vertical transmission device 212.

[0076] The driving member 21284 is a stepper motor, that is, an open-loop control motor that converts an electrical pulse signal into an angular displacement. It can be understood that when the driving member 21284 is powered on, its output shaft rotates a certain angular displacement, and the transmission assembly 21283 connected to the output shaft undergoes a linear displacement and pulls the lock head 21281 to move together; when the driving member 21284 is powered off, the power source of the output shaft disappears, and under the elastic restoring force of the elastic member 21282, the lock head 21281 is instantly ejected and locked with the corresponding locking position 204 when powered off, and the output shaft also rotates reversely to the initial position under the action of the elastic restoring force, achieving a reset effect.

[0077] In this embodiment, the elastic member 21282 is a spring, which can be a cylindrical helical spring or a conical helical spring, and is selected according to needs.

[0078] Please refer to Figure 6 and Figure 4, the transmission assembly 21283 includes a push rod 21286 and a transmission member 21287 threadedly connected to the output shaft of the driving member 21284. One end of the push rod 21286 is fixedly connected to the transmission member 21287, and the other end thereof extends out through the through hole 203 and is fixedly connected to the lock head 21281. The elastic member 21282 is sleeved on the extended end of the push rod 21286, and the transmission member 21287 is circumferentially limited within the mounting shell 21285.

[0079] In this embodiment, the center line of the push rod 21286 is the same as the axis of the output shaft of the driving member 21284.

[0080] In this embodiment, the transmission member 21287 has an open cavity 206. The output shaft of the driving member 21284 is inserted into the open cavity 206 from the cavity opening and is threadedly connected to the cavity opening. At the same time, the outer contour of the cross-section of the transmission member 21287 is non-circular and is adapted to the inner wall of the mounting shell 21285 to achieve circumferential limitation of the transmission member 21287. When the power output shaft has an angular displacement, the transmission member 21287 is displaced along the axis direction of the power output shaft to achieve the purpose of pulling the push rod 21286.

[0081] Please refer to Figure 5 , as an alternative, the transmission assembly 21283 includes a push rod 21286 and a transmission member 21287 that moves synchronously with the output shaft of the driving member 21284. One end of the push rod 21286 is hinged to the transmission member 21287, and there is a certain distance between the hinge position and the axis. The other end of the push rod 21286 extends out through the through hole 203 and is fixedly connected to the lock head 21281. The elastic member 21282 is sleeved on the extended end of the push rod 21286. Specifically, the transmission member 21287 is a runner that undergoes an angular displacement together with the power output shaft. The runner can be a cam or other conventional components. One end of the push rod 21286 is hinged to the rotating member 21287 and has a certain distance from the rotation axis of the transmission member 21287. This distance is the rotation radius. When the power output shaft has an angular displacement, the transmission member 21287 also undergoes an angular displacement synchronously, pulling the push rod 21286 that has a certain distance from the rotation axis to achieve the purpose of pulling the push rod 21286.

[0082] Please refer to Figures 4 to 6 , Figure 2 , Figure 4 and Figure 7, the second horizontal transfer device 213 includes a third drive assembly 2131, a third sliding connection assembly 2132, and a third support frame 2133. The third sliding connection assembly 2132 is connected between the vertical support frame 2123 and the third support frame 2133 to enable the third support frame 2133 to slide relative to the vertical support frame 2123, and the sliding direction is the second horizontal direction. The third drive assembly 2131, under the control of the main control unit, drives the third support frame 2133 to reciprocate along the second horizontal direction. The gripping device 220 is connected to the third support frame 2133 and reciprocates along the second horizontal direction together with the third support frame 2133, increasing the movement freedom degree of the gripping device 220. The second horizontal direction forms an angle θ with the first horizontal direction, and 0° < θ < 180°. Generally, θ is taken as 90°.

[0083] The second horizontal transfer device 213 further includes a third fixing frame 2134. One end of the third fixing frame 2134 is fixed to the vertical support frame 2123. Specifically, the third fixing frame 2134 is fixed on the side of the vertical support frame 2123 opposite to the vertical drive assembly 2121 and together with the receiving groove 202 of the vertical support frame 2123 encloses a receiving cavity for the dust-proof cloth 21223 to pass through.

[0084] Please refer to Figure 8 and Figure 7 , the third drive assembly 2131 includes a third power source 21311, a third gear 21312, and a third rack 21313. The third power source 21311 is fixed to the other end of the third fixing frame 2134. The third gear 21312 is located between the third fixing frame 2134 and the third support frame 2133 and is connected to the power output shaft of the third power source 21311. The power output shaft can drive the third gear 21312 to rotate synchronously forward and backward. The third rack 21313 is fixed to the third support frame 2133 and meshes with the third gear 21312. In this way, the forward and reverse meshing movement of the third gear 21312 and the third rack 21313 is converted into the reciprocating movement of the third support frame 2133 relative to the third fixing frame 2134. The extending direction of the third rack 21313 is the second horizontal direction. In this embodiment, the third power source 21311 is a driving motor. The main control unit controls the starting time and forward or reverse rotation of the driving motor according to the acquired signal. The third rack 21313 can be integrally formed with the third support frame 2133.

[0085] In this embodiment, the third support frame 2133 defines a strip-shaped window 207 . The length direction of the strip-shaped window 207 is the second horizontal direction. The toothed portion of the third rack 21313 and the third gear 21312 are both exposed through the strip-shaped window 207 . This is because the third fixing frame 2134 faces the third support frame 2133, the third power source 21311 is fixed to the side of the third fixing frame 2134 opposite the third support frame 2133, and is located on the same side as the vertical support frame 2123. The end of the power output shaft of the third power source 21311 extends horizontally between the third fixing frame 2134 and the third support frame 2133, and the toothed portion of the third rack 21313 faces upward or downward. The provision of the strip window 207 facilitates observation of the proper assembly of the third gear 21312 and the third rack 21313, facilitating adjustment. It also avoids interference between the third gear 21312 and the third support frame 2133 during movement, thereby shortening the service life of the components. The length of the strip window 207 can be the maximum sliding travel of the gripping device 220 along the second horizontal direction. If the strip window 207 is too long, multiple reinforcing ribs can be added in the middle. In addition, the overall assembly structure between the third driving assembly 2131, the third fixing frame 2134 and the third supporting frame 2133 is compact, which reduces space occupancy.

[0086] The third gear 21312 and the third rack 21313 may be in straight tooth engagement or helical tooth engagement.

[0087] Please also participate Figure 8 and Figure 3 The third sliding assembly 2132 includes at least one third slide rail 21321 and at least one third slider 21322. The specific structural scheme may be Option 1 or Option 2 of the aforementioned slide rail 10 and slider 20 schemes. Taking Option 1 as an example, the third slide rail 21321 is fixed to the third support frame 2133, and the third slider 21322 is fixed to the third fixing frame 2134. The third slider 21322 slides in contact with the third slide rail 21321 in the second horizontal direction. Thus, driven by the third drive assembly 2131, the third support frame 2133 and the third fixing frame 2134 are slidably connected via the third sliding assembly 2132, thereby achieving stable and directional reciprocating sliding (in the second horizontal direction) of the grasping device 220.

[0088] Preferably, two third sliding assemblies 2132 are provided, sliding in the same direction, parallel to each other, spaced apart, and connected to the third support frame 2133 and the third fixing frame 2134, thereby further improving the smooth movement of the grasping device 220 along the second horizontal direction. Preferably, the third driving assembly 2131 is located between the two third sliding assemblies 2132.

[0089] See alsoFigure 7 The second horizontal conveyor 213 further includes a limit position detector 2135. The limit position detector 2135 is fixed to the third support frame 2133 or the third fixing frame 2134 and is used to detect the limit position when the third support frame 2133 is retracted, which can also be recorded as the zero position.

[0090] The limit position detector 2135 is fixed at the conveying end of the third support frame 2133, and the detection end is opposite to the end of the third fixing frame 2134. Of course, an additional sensing member can also be provided and fixed to the third fixing frame 2134. When the limit position detector 2135 approaches the target object (the end of the third fixing frame 2134 or the additional sensing member) during the return stroke of the third support frame 2133, it indicates that the third support frame 2133 has returned to the limit position or the zero position, and the main control unit controls the third power source 21311 to stop power output, playing a protective role.

[0091] Please also refer to Figure 7 、 Figure 2 、 Figure 4 and As shown in, the conveying mechanism 210 includes a rotating conveying component 214. The rotating conveying component 214 is fixed to the second horizontal conveyor 213 and, under the control of the main control unit, drives the gripping device 220 to rotate around the power output axis of the rotating conveying component 214. The second horizontal conveyor 213 drives the rotating conveying component 214 and the gripping device 220 to reciprocate in the second horizontal direction. Combining the foregoing content, by using the conveying mechanism 210 to drive the gripping device 220, the gripping device 220 can be conveyed in the first horizontal direction, the second horizontal direction, the vertical direction, and the rotating direction, achieving four degrees of freedom and better improving the spatiality and flexibility of its conveyance.

[0092] In this embodiment, the main control unit controls the rotating conveying component 214 to drive the gripping device 220 to reciprocally rotate between the loading area 101 and the target area 102, improving the flexibility of the gripping device 220 for conveying documents. The rotation angle generally ranges from 0° to 180°. Of course, the rotation angle range can also be expanded as needed.

[0093] Please also refer to Figure 7 and Figure 8 As shown in, the rotating conveying component 214 includes a rotating drive source 2141. The rotating drive source 2141 is fixed to the conveying end of the third support frame 2133. The power output shaft of the rotating drive source 2141 is connected to the gripping device 220 and drives the gripping device 220 to rotate synchronously.

[0094] The rotating conveyor assembly 214 further includes a speed reducer 2142. The power output shaft of the rotating drive source 2141 is connected to the power input end of the speed reducer 2142, and the grasping device 220 is connected to the power output end of the speed reducer 2142. By providing the speed reducer 2142, the rotational speed output by the rotating drive source 2141 can be effectively regulated, so that the transmission of the grasping device 220 is more stable. In this embodiment, the rotating drive source 2141 is a drive motor, and the speed reducer 2142 is a harmonic speed reducer 2142.

[0095] The rotating conveyor assembly 214 further includes a first roller 2143, a second roller 2144 and a conveyor belt 2145. The first roller 2143 is sleeved on the power output shaft of the rotating drive source 2141 and rotates synchronously with the power output shaft. The second roller 2144 is connected to the power input end of the speed reducer 2142, and the speed reducer 2142 is also fixed to the conveying end of the third support frame 2133. The first roller 2143 and the second roller 2144 are located on the same side of the third support frame 2133, and the conveyor belt 2145 is sleeved on both of them for power transmission. The conveyor belt 2145 can be a toothed belt, and then the first roller 2143 and the second roller 2144 are toothed wheels adapted thereto.

[0096] To avoid position interference between the rotating drive source 2141 and the third fixing frame 2134, the rotating drive source 2141 is fixed to the upper side or the lower side of the third support frame 2133. In this way, the overall structure is more compact.

[0097] To make the tension of the conveyor belt adjustable, the fixing position of the rotating drive source 2141 is adjustable to realize the adjustability of the tension of the conveyor belt 2145; or, a tensioning wheel (not shown in the figure) is added. The tensioning wheel is rotatably connected to the conveying end of the third support frame 2133 and is located on the same side as the first roller 2143 and the second roller 2144. The conveyor belt 2145 is also sleeved on the tensioning wheel. The tensioning wheel, the first roller 2143 and the second roller 2144 together form a triangle. By adjusting the tensioning wheel to be closer to or farther from the axis connection line of the first roller 2143 and the second roller 2144, the tension of the conveyor belt 2145 is adjusted to meet the use requirements.

[0098] The speed reducer 2142 is provided with a wire threading hole 208 along its axis direction. The wire threading hole 208 can allow each connection wire to pass through, making the wire routing more standard and safe.

[0099] The third support frame 2133 is provided with a limit block 2136 on the surface facing the third fixed frame 2134. The limit block 2136 is fixed between the extreme ends of the speed reducer 2142 and the third rack 21313. When the third support frame 2133 returns to the extreme position, the limit block 2136 approaches the end of the third fixed frame 2134. The extreme position detection member 2135 is fixed on the limit block 2136, and the detection head faces the end of the third fixed frame 2134.

[0100] The position of the rotational transfer assembly 214 can be arranged as needed, mainly set according to the rotation range of the grasping device 220. It can enable the grasping device 220 to rotate in the vertical plane, in the horizontal plane, or in any other arbitrary plane. In this embodiment, rotation in the vertical plane is adopted. The loading area 101 is provided below the grasping device 220, and the target area 102 is provided on the side facing the grasping device 220.

[0101] Please refer to Figure 7 , the rotational transfer assembly 214 further includes an angular limit detection assembly 2145. The angular limit detection assembly 2145 includes a first angular limit detection member 21451 and a second angular limit detection member 21452, both of which are fixed on the third support frame 2133 and are near the connection between the grasping device 220 and the rotational transfer assembly 214. In this way, the extreme position of the rotation angle of the grasping device 220 can be detected. When the detection reaches the extreme position, the main control unit controls the rotational transfer assembly 214 to stop power output, which can protect other components outside the extreme rotation range and avoid position interference. The first and second angular limit detection members are both sensors, a type of sensor similar to a magnetic induction switch.

[0102] Please also refer to Figure 8 , Figure 8 , Figure 2 and Figure 4 , the grasping device 220 includes a grasping power source 221, a grasping assembly 222, and a grasping support frame 223. The grasping support frame 223 is connected to the power output shaft of the rotational transfer assembly 214 and rotates synchronously with the power output shaft. The grasping power source 221 is fixed on the grasping support frame 223 and is connected to the grasping assembly 222. Under the control of the main control unit, the grasping power source 221 drives the grasping assembly 222 to clamp and release. The grasping power source 221 is a driving motor.

[0103] The grasping assembly 222 includes a first grasping member 2221 and a second grasping member 2222, one ends of which are fixedly connected to the two power output ends of the grasping power source 221 respectively. The other ends of the first grasping member 2221 and the second grasping member 2222 face each other and jointly form a clamping opening for clamping documents. In this embodiment, on the surface of the grasping ends of the first grasping member 2221 and the second grasping member 2222 that is opposite to the clamping opening, there is a guiding inclined surface 209, which is a guiding surface that faces the grasping end faces of the first and second grasping members (2221, 2222) and is inclined in the direction close to the clamping opening. In this way, it is convenient for the grasping assembly 222 to smoothly and quickly perform the operations of depositing and retrieving documents between the loading area 101 and the target area 102.

[0104] Please also refer to Figure 7 and Figure 8 A first positioning block 2223 extends from the grasping end of the first grasping member 2221 towards the second grasping member 2222. The first positioning block 2223 is located at the tail end of the clamping opening and is used for the document to abut against when clamping the document for clamping positioning. The contact surface between the first positioning block 2223 and the document is a plane, which increases the contact area with the document and improves the positioning accuracy.

[0105] A second positioning block 2224 extends from the grasping end of the second grasping member 2222 towards the first grasping member 2221. The second positioning block 2224 is located at the inner end of the clamping opening and is used for the document to abut against when clamping the document for clamping and positioning the document. The planes of the first and second positioning blocks (2223, 2224) in contact with the document are coplanar, which better increases the stability of document positioning and better improves the positioning accuracy.

[0106] In this embodiment, when the first grasping member 2221 and the second grasping member 2222 are separated, both the first positioning block 2223 and the second positioning block 2224 are exposed at the inner end of the clamping opening.

[0107] Please also refer to Figure 7 and Figure 8, the gripping device 220 further includes a reading unit 224 for identifying and / or reading document information. The reading unit 224 faces the document when the gripping assembly 222 grips the document, and the reading unit 224 is provided on the gripping support frame 223 or the mounting frame 100. When the intelligent manipulator 200 is applied to a storage device, the reading unit 224 is used to obtain the document information grabbed by the gripping assembly 222. The server matches a storage location for the document in the target area 102 and associates the location information of the storage location with the document information. When taking evidence, the specific location of the target document can be known immediately. When taking out the document, the document information is read to verify whether the document is the target document. When the intelligent manipulator 200 is applied to an evidence-taking device, the reading unit 224 is used to obtain the document information to verify whether it is the target document. When the document in the target area 102 exceeds the preset collection time, the document is grabbed and the information is obtained, and the server automatically records the delay in collection. In this embodiment, the first corner limit detection member 21451 is used to detect the position of the gripping end of the gripping device 220 vertically upward, and the second limit detection member 21452 is used to detect the position of the gripping end of the gripping device 220 vertically downward.

[0108] The reading unit 224 is an RFID module 2241 and / or an OCR module 2242. Some document information is stored on the chip inside the document, and the RFID module 2241 can be used to read the document information in the chip. Some document information is printed or engraved on the document, such as special codes in the form of barcodes, QR codes, special verification codes, etc., or text information, etc. The OCR module 2242 can be used to identify the printed or engraved information on the document. The document information includes document numbers, types, identity information of the person to whom the document belongs, etc., and is not limited thereto.

[0109] Please refer to Figure 7 and Figure 8 , the gripping device 220 further includes a gripping detection unit 225 for detecting whether there is a document on the gripping assembly 222 and for detecting whether the document is inserted into a specified position of the gripping assembly 222 when gripping the document. The gripping detection unit 225 is provided on the gripping support frame 223. In this way, on the one hand, it is convenient to control the position of the document to ensure that the document is clamped properly; on the other hand, it prevents scratching other components during transmission and affects normal transmission.

[0110] In this embodiment, the gripping detection unit 225 is a sensor that can emit a laser beam. Specifically, the detection end of the gripping detection unit 225 faces the inner end of the clamping opening where the document is inserted into the gripping assembly 222, and is used to detect whether the document is inserted in place and whether there is a document on the gripping assembly 222.

[0111] Please refer to Figure 7 and Figure 8, the grasping device 220 further includes a target detection unit 226 for detecting whether there are documents at the target position in the target area 102 and the loading position in the loading area 101 when accessing documents. The target detection unit 226 is provided on the grasping support frame 223. When the intelligent manipulator 200 is applied to a storage device, the grasping device 220 grasps the document and transports it to the target area 102, and detects whether there is a document at the designated target position. If there is a document, the storage is stopped and feedback is sent to the server to re-match the storage address to avoid direct storage of the document and causing damage to the document. When retrieving a document, it is detected whether there is a document at the target storage position. If there is no document, the document retrieval action is stopped and the system detects the reason. In this way, it is convenient for monitoring abnormal situations and ensuring the smooth progress of accessing documents. The target detection unit 226 is a sensor that can emit a laser beam.

[0112] Please also refer to Figure 7 and Figure 8 , the grasping device 220 further includes a guide frame 227. The guide frame 227 is provided on the grasping support frame 223 and can elastically expand and contract relative to the grasping assembly 222. The guide frame 227 is provided with a guiding structure 2271 for guiding the document to be directed in and out. The guiding structure 2271 faces the grasping assembly 222. When the grasping assembly 222 grasps the document, the guiding structure 2271 can guide the document to be directed in; when the grasping assembly 222 sends out the document, the guiding structure 2271 can guide the document to be directed out; when the grasping assembly 222 transports the document, the guiding structure 2271 can cooperate with the grasping assembly 222 to support or clamp the end of the document. In this way, it can assist the grasping assembly 222 to achieve directed in and out when the document is taken out and sent out, and can support or clamp the end of the document when transporting the document, better improving the stability and accuracy of the operations of taking out, transporting, and storing the document. Especially for this type of document, it can better regularize this type of document and avoid the occurrence of page turning and folding.

[0113] The reading and recognition unit 224 is provided on the guide frame 227 and faces the guiding structure 2271, and is used to identify and read the document information of the document located on the guiding structure 2271 when the grasping device 220 obtains the document. In this way, before storing it in the target area 102, a designated storage position address is matched for this document to direct the document to be stored in the target area 102; when retrieving the document from the storage position, it is verified whether the retrieved document is the target document, making the whole operation faster and more accurate.

[0114] Please also refer to Figure 7 and Figure 8 , the guiding structure 2271 includes two guiding grooves 2001, which are respectively provided on the guide frame 227. The two notch openings face each other, and the extending direction is the same as the direction in which the grasping assembly 222 grasps or sends out the document. The two side parts of the document are respectively inserted into the two guiding grooves 2001 and can slide directionally relative to the guiding grooves 2001.

[0115] Please refer to Figure 7 and Figure 8 as well. The grasping device 220 further includes a connecting component 228 that connects the guiding frame 227 and the grasping support frame 223. The connecting component 228 includes a guiding rod 2281, an elastic member, and a guiding sliding connection component 2283. Among them, the guiding frame 227 has a head end 2002 that faces the same direction as the grasping end of the grasping component 222, and a tail end 2003 that is opposite to the head end 2002. The guiding frame 227 is provided with a guiding hole (not marked in the figure) for the guiding rod 2281 to extend into from the end surface of its tail end 2003 towards the head end 2002. One end of the guiding rod 2281 is fixed to the grasping support frame 223, and the other end extends into the guiding hole and is limited within the guiding hole. The elastic member is disposed on the guiding rod 2281 and abuts against the guiding frame 227 and the grasping support frame 223 at both ends respectively. In the natural state, the elastic member is in a compressed state. The tail of the guiding frame 227 away from the grasping support frame 223, and the grasping component 222 can be located between the two guiding grooves 2001 and can be away from the two guiding grooves 2001. When the grasping component 222 grasps or stores a document, the guiding frame 227 moves along the guiding rod 2281 towards the tail of the grasping support frame, and the grasping end of the grasping component 222 extends out from the head end 2002 of the guiding frame 227 to grasp or store the document. At this time, the elastic member is compressed, and the end of the guiding frame 227 abuts against the target area 102 or the feeding area 101. The guiding sliding connection component 2283 is connected between the guiding frame 227 and the grasping support frame 223, which can enable the guiding frame 227 to slide in a specific direction, improving the smoothness and stability of the telescopic movement of the guiding frame 227. For the specific structure, refer to the structural solution of the above-mentioned slide rail 10 and slider 20.

[0116] In this embodiment, the RFID module is fixed on the guiding frame 227 and is opposite to the space between the two guiding grooves 2001, and is used to read a document with a chip. The guiding frame 227 is further provided with a U-shaped frame 2272, and the OCR module is fixed on the U-shaped frame 2272 and is opposite to the space between the two guiding grooves 2001, and is used to identify a document with a special code or text information.

[0117] In this embodiment, the grasping detection unit is fixed on the guiding frame 227 and is opposite to the inner end of the grasping component 222 in the natural state. The target detection unit 226 is also fixed on the guiding frame 227 and is located at the head end of the guiding frame 227.

[0118] The intelligent manipulator 200 further includes a visual detection unit (not shown in the figure) for acquiring an image of the document to be grasped located in the feeding area 101 and calculating its deviation amount. The visual detection unit is provided on the grasping device 220. The main control unit controls the movement of the conveying mechanism 210 according to the deviation amount and transports the grasping device 220 to a position aligned with the document to be grasped. In this way, it is not necessary to accurately position the document in the feeding area 101, making the entire structure more intelligent.

[0119] Embodiment 2:

[0120] Please refer to Figure 7 and Figure 8 Figure 1 Figure 10 in Embodiment 1. Another intelligent storage device 300 is provided in Embodiment 2 of the present invention. The difference from Embodiment 1 is that the structure of the storage device 310 and the arrangement of the intelligent manipulator 200 corresponding to the storage device 310 are different. The same parts will not be described again. The specific differences are as follows: The mounting rack 100 has a transfer area 103, and at least one intelligent manipulator 200 is configured in the transfer area 103. The loading area 101 is located in the transfer area 103 and is provided with at least one conveying port 104 for conveying certificates. Each intelligent manipulator 200 corresponds to at least one conveying port 104; the target area 102 is adjacent to the transfer area 103, and each insertion port of the storage positions 301 has one and faces the intelligent manipulator 200. In this way, the access efficiency of the device is effectively improved. Each storage position 301 of the storage device 310 is a certificate storage slot provided on the storage device 310. The certificate storage slots on the storage device 310 are arranged in an array and are single-socket certificate storage slots, and the insertion ports face the transfer area 103.

[0121] The storage device 310 can rotate relative to the mounting rack 100, which can increase the storage capacity.

[0122] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent storage device, which is communicatively connected to a server. The intelligent storage device includes a mounting rack, and the mounting rack has a loading area and a target area, characterized in that, The intelligent storage device further includes an intelligent manipulator and a storage device located in the target area, the storage device having a plurality of storage locations for storing documents, each of the storage locations having a unique address code and recorded in the server; the intelligent manipulator includes a main control unit, a transmission mechanism and a gripping device, both of which are controlled and connected to the main control unit; the transmission mechanism is located on the mounting frame and connected to the gripping device, the main control unit is in communication with the server, the transmission mechanism drives the gripping device to reciprocate between the target area and each of the storage locations, and the main control unit controls the gripping and releasing of the gripping device; Each storage is provided with a clamping structure for clamping a document on at least one side thereof, and a clamping end of the clamping structure extends into the storage position; The clamping structure includes an elastic plate and a rebound port, the rebound port is arranged on the inner side wall of each storage position and extends along the direction of document insertion, the two ends of the elastic plate are connected to the rebound port and are opposite to the rebound port and extend along the direction of document insertion; the elastic plate is elastically bent at the rebound port to form a rebound protrusion, and the rebound protrusion is located in the storage position; when the document is inserted, it can elastically contact the document.

2. The intelligent storage device according to claim 1, characterized in that, The conveying mechanism includes a first horizontal conveying device, a vertical conveying device and a second horizontal conveying device, all of which are control-connected to the main control unit; The first horizontal conveying device is provided on the mounting frame and connected to the vertical conveying device, and drives the vertical conveying device to reciprocate along a first horizontal direction in a horizontal plane; The vertical conveying device is connected to the second horizontal conveying device, and drives the second horizontal conveying device to reciprocate in the vertical direction; The second horizontal conveying device is connected to the grasping device, and drives the grasping device to reciprocate along a second horizontal direction in a horizontal plane. The second horizontal direction has an angle θ with the first horizontal direction, and 0°<θ<180°.

3. The intelligent storage device according to claim 2, characterized in that, The first horizontal conveying device includes a first driving component, a first sliding component and a first support frame. The first sliding component is connected between the mounting frame and the first support frame to make the sliding direction of the first support frame relative to the mounting frame the first horizontal direction; the first driving component drives the first support frame to slide back and forth along the first horizontal direction under the control of the main control unit, and the vertical conveying device is fixedly connected to the first support frame.

4. The intelligent storage device according to claim 3, wherein The first horizontal conveying device also includes a second driving assembly, a second sliding assembly and a second support frame. The second sliding assembly is connected between the mounting frame and the second support frame to make the sliding direction of the second support frame relative to the mounting frame the first horizontal direction; under the control of the main control unit, the second driving assembly drives the second support frame to slide back and forth synchronously with the first support frame along the first horizontal direction, and the vertical conveying device is fixedly connected to the second support frame.

5. The intelligent storage device according to claim 4, characterized in that, The vertical conveying device includes a vertical driving assembly, a vertical fixing frame, and a vertical supporting frame. Both ends of the vertical fixing frame are fixedly connected to the first supporting frame and the second supporting frame respectively. The vertical driving assembly, under the control of the main control unit, drives the vertical supporting frame to reciprocally slide along the vertical direction relative to the vertical fixing frame, and the second horizontal conveying device is fixedly connected to the vertical supporting frame.

6. The intelligent storage device according to claim 5, wherein The vertical conveying device further includes a power-off protection structure. The power-off protection structure includes a lock head, an elastic member, a transmission assembly, a driving member, and a mounting shell fixed to the vertical supporting frame. The mounting shell is provided with a through hole on the side wall facing the vertical supporting frame. The transmission assembly is arranged inside the mounting shell and is electrically connected to the driving member. The transmission end of the transmission assembly passes through the through hole and is connected to the lock head. The elastic member is arranged on the transmission end of the transmission assembly and is compressed between the lock head and the mounting shell. A plurality of locking positions are arranged at intervals along the vertical direction on the surface of the vertical fixing frame facing the lock head. When the driving member is powered on, the lock head has a retracted state in which it is pulled by the transmission assembly and maintains a safe distance from each of the locking positions. When the driving member is powered off, the lock head has a locked state in which it extends under the action of the elastic restoring force of the elastic member and locks with the corresponding locking position.

7. The intelligent storage device according to claim 6, wherein The transmission assembly includes a push rod and a transmission member threadedly connected to the output shaft of the driving member. One end of the push rod is fixedly connected to the transmission member, and the other end thereof passes through the through hole and is fixedly connected to the lock head. The elastic member is sleeved on the protruding end of the push rod, and the transmission member is circumferentially limited inside the mounting shell.

8. The intelligent storage device according to claim 6, wherein, The transmission assembly includes a push rod and a transmission member that moves synchronously with the output shaft of the driving member. One end of the push rod is hinged to the transmission member, and there is a certain distance between the hinge position and the axis. The other end of the push rod passes through the through hole and is fixedly connected to the lock head. The elastic member is sleeved on the protruding end of the push rod.

9. The intelligent storage device according to claim 5, characterized in that, The second horizontal conveying device includes a third driving assembly, a third sliding connection assembly, and a third supporting frame. The third sliding connection assembly is connected between the vertical supporting frame and the third supporting frame to enable the sliding direction of the third supporting frame relative to the vertical supporting frame to be the second horizontal direction. The third driving assembly, under the control of the main control unit, drives the third supporting frame to reciprocally slide along the second horizontal direction, and the grasping device is connected to the third supporting frame.

10. The intelligent storage device according to any one of claims 2 to 9, characterized in that, The conveying mechanism further includes a rotating conveying assembly. The rotating conveying assembly is fixed to the second horizontal conveying device and, under the control of the main control unit, drives the grasping device to rotate around the power output axis of the rotating conveying assembly. The second horizontal conveying device drives the rotating conveying assembly and the grasping device to reciprocally move along the second horizontal direction together.

11. The intelligent storage device according to claim 10, characterized in that, The gripping device includes a gripping power source, a gripping component, and a gripping support frame. The gripping support frame is connected to the power output shaft of the rotating conveyor component and rotates synchronously with it. The gripping power source is fixed to the gripping support frame and is connected to the gripping component. Under the control of the main control unit, it drives the gripping component to grip and release.

12. The intelligent storage device according to claim 11, wherein The gripping device further includes a reading unit for identifying and / or reading document information. The reading unit faces the document when the gripping component grips the document. The reading unit is provided on the gripping support frame or the mounting frame.

13. The intelligent storage device according to claim 11, wherein The gripping device further includes a gripping position detection unit for detecting whether there is a document on the gripping component and for detecting whether the document is inserted into a specified position of the gripping component when gripping the document. The gripping position detection unit is provided on the gripping support frame.

14. The intelligent storage device according to claim 11, wherein The gripping device further includes a target detection unit for detecting whether there is a document at the target position in the target area and the loading position in the loading area. The target detection unit is provided on the gripping support frame.

15. The intelligent storage device according to claim 11, wherein The gripping device further includes a guiding frame. The guiding frame is provided on the gripping support frame and can elastically expand and contract relative to the gripping component. The guiding frame is provided with a guiding structure. The guiding structure faces the gripping component and allows the document to be directionally displaced when the gripping component grips or ejects the document, and supports or clamps the end of the document when the gripping component conveys the document.

16. The intelligent storage device according to any one of claims 1 to 9, characterized in that, The intelligent manipulator further includes a vision detection unit for acquiring an image of the document to be gripped in the loading area and calculating its deviation amount. The vision detection unit is provided on the gripping device. The main control unit controls the movement of the conveyor mechanism according to the deviation amount and transports the gripping device to a position aligned with the document to be gripped.

17. The intelligent storage device according to any one of claims 1 to 9, characterized in that The mounting frame has a conveying area, and at least one of the intelligent manipulators is arranged in the conveying area. The loading area is located in the conveying area and is provided with at least one conveying port for conveying documents. Each of the intelligent manipulators corresponds to at least one of the conveying ports. The target area is adjacent to the conveying area. Each insertion port of the storage positions has one and faces the intelligent manipulator.

18. The intelligent storage device according to any one of claims 1 to 9, characterized in that, The mounting frame has two conveying areas, and at least one of the intelligent manipulators is arranged in each of the conveying areas. The loading area is configured with two and is respectively located in the two conveying areas. Each of the loading areas is provided with at least one conveying port for conveying documents. Each of the intelligent manipulators corresponds to at least one of the conveying ports. The two conveying areas are respectively located on opposite sides of the target area. Each of the storage positions of the storage device has two communicating insertion ports and faces the intelligent manipulators on each side respectively.

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