A robot for file crawling

Abstract

The present invention relates to the field of robot technology, and in particular to a robot for grabbing archives, which is suitable for grabbing archive boxes in unmanned archives, and includes: an archive frame; at least two transverse slides, which are arranged in parallel at the first end and the second end of the archive frame; a cantilever device, which is arranged between the cantilever device and the at least two transverse slides, and is used to drive the cantilever device to grab or place the archive box through the operation of the at least two transverse slides; a shifting device, which is arranged in the unmanned archives, and is used to store the archive boxes in batches after the cantilever device grabs the archive box. The beneficial effect of the technical solution of the present invention is that the cantilever device can be driven to grab or place the archive box through the operation of at least two transverse slides, and then the archive box is temporarily stored in batches through the shifting device. The cantilever device can accurately locate the position of the archive box and quickly grab the archive box, thereby realizing the automation of the unmanned archive warehouse.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot for file grabbing. Background Art

[0002] Archives generally refer to various forms of original records with preservation value directly formed by people in various social activities, with a thickness of about 10mm. With the development of society, the amount of archival information is growing exponentially, and the workload of archiving, accessing and consulting archives is increasing. The continuous innovation of new technologies, the rapid development and application of big data, RFID (Radio Frequency Identification) technology and robotics technology have put forward new demands on archive management. There is an increasing demand for bank intelligent archives based on archive access, inventory and inspection, which can better adapt to the development pace of safe and efficient archive management at home and abroad.

[0003] At present, the work of retrieving archives is still done manually by archivists, which is time-consuming, labor-intensive and inefficient. At this stage, some technologies using robots to retrieve archives have emerged, which can reduce the labor intensity of archivists and improve work efficiency. However, since the general archive retrieval robots are designed to be large in size, the manipulators for grabbing archives are not flexible enough, and the grabbing accuracy is difficult to meet the access requirements of archives. Therefore, the above-mentioned problems have become difficult problems that need to be solved urgently by technical personnel in this field. Summary of the invention

[0004] In view of the above problems existing in the prior art, a robot for file crawling is now provided.

[0005] The specific technical solutions are as follows:

[0006] The present invention provides a robot for grabbing files, which is suitable for grabbing file boxes in an unmanned archive library, and is characterized by comprising:

[0007] 1. Archive framework;

[0008] At least two transverse slide rails, at least two of the transverse slide rails are arranged in parallel at the first end and the second end of the file frame;

[0009] a cantilever device, the cantilever device being arranged between the at least two transverse slide rails and being used for driving the cantilever device to grab or place the file box through the operation of the at least two transverse slide rails;

[0010] A file shifting device is arranged in the unmanned archive library, and is used for storing the file boxes in batches after the cantilever device grabs the file boxes.

[0011] Preferably, each of the transverse slide rails includes a synchronous belt, which is arranged at the upper end of each of the transverse slide rails and is used to reduce the noise generated during the operation of the cantilever device.

[0012] Preferably, the cantilever device comprises:

[0013] At least two first guide rails, wherein the at least two first guide rails are respectively arranged in parallel between the at least two transverse slide rails, and are used to support a mechanical arm;

[0014] The mechanical arm is installed at the center between at least two of the first guide rails and is used to grab or place the file box;

[0015] A first servo motor is installed at the upper end of the mechanical arm and is used to drive at least two of the first guide rails.

[0016] Preferably, the mechanical arm comprises:

[0017] A transmission mechanism, used to provide a mechanical hand clamping component with power for extending and retracting in the up and down directions;

[0018] The manipulator clamping component is connected below the transmission mechanism and is used to clamp or place the file box.

[0019] Preferably, the manipulator clamping component comprises:

[0020] A mechanical gripper;

[0021] a second servo motor, the second servo motor is electrically connected to the manipulator clamp and is used to drive the manipulator clamp;

[0022] a detection device, the detection device is connected to the manipulator clamp and is used to detect whether the manipulator clamp is empty;

[0023] a color mark sensor, disposed at the first end of the manipulator clamp, for detecting the walking accuracy of the manipulator clamp;

[0024] a second guide rail, disposed on the manipulator clamp, for adjusting the shape of the manipulator clamp;

[0025] A stepper motor is electrically connected to the second guide rail and is used to drive the second guide rail.

[0026] Preferably, the shifting device comprises:

[0027] A file shifter, used for placing the file boxes;

[0028] a rotating mechanism, electrically connected to the gear shifter, for controlling the operating state of the gear shifter;

[0029] a disinfection device, electrically connected to the file shifter, for disinfecting the file boxes stored in the file shifter;

[0030] A file position detection device is electrically connected to the file shifter and is used to detect the position status of the file box stored in the file shifter.

[0031] Preferably, the gear shifting machine comprises:

[0032] A file taking opening, arranged at the upper end of the file moving machine, for users to take and put the file box;

[0033] An operation screen is arranged on the stall taking port and is used to operate and / or display the running status of the robot.

[0034] Preferably, the rotating mechanism is at least two sensors.

[0035] The beneficial effect of the technical solution of the present invention is that: by providing a robot for grabbing files, the operation of at least two horizontal slide rails is used to drive a cantilever device to grab or place file boxes, and then the file boxes are temporarily stored in batches through a shifting device. The cantilever device can accurately locate the position of the file boxes and quickly grab the file boxes, thereby realizing the automation of unmanned file warehouses. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The embodiments of the present invention will be described more fully with reference to the attached drawings, which are provided for illustration and description only and are not intended to limit the scope of the present invention.

[0037] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0038] Figure 2 Schematic diagram of the structure of a mechanical arm in an embodiment of the present invention;

[0039] Figure 3 Schematic diagram of the mechanical arm hand clamp structure in an embodiment of the present invention.

[0040] The accompanying drawings in the above description indicate:

[0041] File frame (1); transverse slide rail (2); synchronous belt (20); cantilever device (3); first guide rail (30); mechanical arm (31); mechanical hand clamp component (310); mechanical hand clamp (3100); second servo motor (3101); second guide rail (3102); gear shifting device (4); gear opening (400); file cabinet (5). DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0045] The present invention provides a robot for grabbing files, which is suitable for grabbing file boxes in an unmanned archive library, and is characterized by comprising:

[0046] A file frame 1;

[0047] At least two transverse slide rails 2, at least two transverse slide rails 2 are arranged in parallel at the first end and the second end of the file frame 1;

[0048] A cantilever device 3, which is arranged between at least two transverse slide rails 2 and is used to drive the cantilever device 3 to grab or place the file box through the operation of at least two transverse slide rails 2;

[0049] A file shifting device 4 is arranged in the unmanned archive library, and is used to store the file boxes in batches after the cantilever device 3 grabs the file boxes.

[0050] Each transverse slide rail 2 includes a synchronous belt 20 disposed at the upper end of each transverse slide rail 2 for reducing the noise generated during the operation of the cantilever device 3 .

[0051] The robot crawled through the archive provided above, such as Figure 1As shown, the file frame 1 is set on the file cabinet 5 for storing files. The file frame 1 is made of standard aluminum alloy profiles and has the advantages of short processing cycle and convenient installation and debugging. The file frame 1 is suitable for a venue of 20 meters * 30 meters (length * width) * 3.0 meters. The above-mentioned file cabinet 5 displays file boxes in a single row: 60 to 120 books, with specifications ≤20, 30, 40, 50, 60 optional (unit: mm), and then at least two transverse slide rails 2 are arranged in parallel at the first end and the second end of the file frame 1, that is, the front end and the rear end of the file frame 1, and a synchronous belt 20 is placed on each transverse guide rail 2. The synchronous belt 20 adopts a German Continental synchronous belt with a tooth surface and a cloth base. When the cantilever device 3 arranged between the at least two transverse slide rails 2 reciprocates on the at least two transverse slide rails 2, the synchronous belt 20 can reduce the noise generated by the cantilever device 3 and the at least two transverse slide rails 2 and improve durability.

[0052] Further, after the cantilever device 3 grabs the file box from the filing cabinet 5, it places the file box in the shifting device 4, which can temporarily store the file boxes in batches, and finally transfer the batches of file boxes to the staff through the shifting device 4; or

[0053] When the staff needs to store the file box, it can be transferred to the cantilever device 3 through the shifting device 4, and then the cantilever device 3 will correctly place the file box on the filing cabinet 5, wherein the transmission speed of the shifting device 4 is greater than 0.4 m / s (this speed is designed as a standard design and can be customized if required). The cantilever device of the present invention can accurately locate the position of the file box and quickly grab the file box, thereby realizing the automation of the unmanned archive warehouse.

[0054] In addition, it should be noted that the above series of operations are all carried out under the control of the host computer, and the operating noise of the overall device is less than 55dB.

[0055] In a preferred embodiment, the cantilever device 3 comprises:

[0056] At least two first guide rails 30, the at least two first guide rails 30 are respectively arranged in parallel between the at least two transverse slide rails 2, and are used to support a mechanical arm 31;

[0057] A mechanical arm 31 is installed at the center between at least two first guide rails 30 and is used to grab or place the file box;

[0058] A first servo motor (not shown in the figure) is installed at the upper end of the mechanical arm 31 and is used to drive at least two first guide rails 30.

[0059] The robot arm 31 comprises:

[0060] A transmission mechanism (not shown) for providing a mechanical hand clamping component 310 with power for extending and retracting in the up and down directions;

[0061] The mechanical arm clamping component 310 is connected to the lower side of the transmission mechanism (not shown in the figure) and is used to clamp or place the file box.

[0062] The robot gripping component 310 includes:

[0063] A manipulator clamp 3100;

[0064] A second servo motor 3101, the second servo motor 3101 is electrically connected to the manipulator clamp 3100, and is used to drive the manipulator clamp 3100;

[0065] A detection device (not shown in the figure), which is connected to the manipulator clamp 3100 and is used to detect whether the manipulator clamp 3100 is empty;

[0066] A color mark sensor (not shown), disposed at the first end of the manipulator 3100, for detecting the walking accuracy of the manipulator 3100;

[0067] A second guide rail 3102, provided on the robot clamp 3100, for adjusting the shape of the robot clamp 3100;

[0068] A stepper motor, the stepper motor is electrically connected to the second guide rail 3102 , and is used to drive the second guide rail 3102 .

[0069] Specifically, combined Figure 2-3 As shown, the cantilever device 3 adopts a double guide rail mode, which can improve the joint stiffness of each section of the structure, that is, at least two first guide rails 30 are adopted. When the at least two transverse slide rails 2 run at a low speed, the disadvantage that the cantilever device 3 needs to be recovered to the original position before it can run can be avoided, thereby improving the running speed of the whole device. It should be noted that the maximum translation speed of the at least two first guide rails 30 on the above-mentioned at least two transverse slide rails 2 is 1 m / s, and the positioning accuracy is less than 0.2 mm.

[0070] Furthermore, the cantilever device 30 also includes a mechanical arm 31 and a first servo motor (not shown in the figure), wherein the mechanical arm 31 adopts Siemens professional PLC (Programmable Logic Controller) control technology, and the actual average load of the construction site is less than 5 kg / m2. It is installed at the center position between at least two first guide rails 30. The first servo motor (not shown in the figure) is installed at the upper end of the mechanical arm 31, and is used to drive at least two first guide rails 30 to drive the reciprocating operation of the mechanical arm 31. The first servo motor (not shown in the figure) is controlled in a pulse mode and can be applicable to various file frames 1 of different height models.

[0071] Furthermore, the robot arm 31 uses a steel rope traction mode to provide the robot clamp component 310 in the robot arm 31 with power for upward and downward extension and retraction through a transmission mechanism (not shown in the figure). The transmission mechanism (not shown in the figure) uses a multi-stage four-bar transmission device with controllable transmission, and the wiring of the entire device can be linked with the multi-stage four-bar transmission device, and the wiring of the entire device can be completely enclosed in the multi-stage four-bar transmission device, making the overall device more beautiful. Then, the file box is clamped or placed through the robot clamp component 310. In addition, the operating speed of the robot arm 31 is 0.5 m / s, the positioning accuracy is less than 0.5 mm, the angle reversing speed is less than 1.5 seconds, and the positioning accuracy is less than 0.8 arc minutes.

[0072] Furthermore, the manipulator clamp component 310 includes a manipulator clamp 3100 and a second servo motor 3101, wherein the second servo motor 3101 is used to drive the manipulator clamp 3100, and the second servo motor 3101 operates in a force feedback mode. The opening and closing size of the manipulator clamp 3100 can be any value within 0 to 70 mm, the working time of the manipulator clamp 3100 is less than 1 second (calculated based on the maximum opening and closing of 70 mm), and the repeated positioning accuracy is less than 0.2 mm, which meets the requirements of grabbing all kinds of file boxes. When the manipulator clamp 3100 closes and grabs the file, a constant force is used to hold the file. The case box is grasped to protect the file box from deformation during the grasping process, and the detection device (not shown in the figure) in the robot clamp component 310 is used to detect whether the robot clamp 3100 is empty. After the robot clamp 3100 grasps the theoretical position, the force feedback is zero, indicating that the file box is not clamped, so it can be judged whether it is empty, and then the color mark sensor (not shown in the figure) in the robot clamp component 310 is used to detect the walking accuracy of the robot clamp 3100. The walking accuracy of the robot clamp 3100 can be regularly checked to ensure the normal operation of the overall device and improve the reliability of the overall device.

[0073] Furthermore, by adjusting the shape of the manipulator clamp 3100 through the second guide rail 3102, the difficulty of debugging the entire device is reduced, and a mechanical technical basis is provided for the manipulator clamp 3100 to position and grasp the file box.

[0074] Furthermore, the second guide rail 3102 is driven by a stepper motor, and the stepper motor can adjust the overload value to ensure that if the manipulator clamp 3100 encounters a fault during the extension and retraction process, it can play an overload protection role to prevent abnormal damage to the entire device and increase the reliability of the entire device.

[0075] In a preferred embodiment, the shifting device 4 comprises:

[0076] A file shifter for placing file boxes;

[0077] A rotating mechanism (not shown), electrically connected to the gear shifter, for controlling the operating state of the gear shifter;

[0078] a disinfection device (not shown), electrically connected to the file transfer machine, for disinfecting the file boxes stored in the file transfer machine;

[0079] A file position detection device (not shown in the figure) is electrically connected to the file shifter and is used to detect the position status of the file box stored in the file shifter.

[0080] The shifting machine includes:

[0081] A file taking opening 400 is provided at the upper end of the file moving machine for users to take and place file boxes;

[0082] An operation screen is provided on the stall taking opening 400 and is used to operate and / or display the running status of the robot.

[0083] The rotating mechanism (not shown) is at least two sensors.

[0084] Specifically, if Figure 1 As shown, the file shifter in the file shifting device 4 is used to place file boxes. The file shifter is designed with three positions for taking and placing file boxes, which can meet the requirements of batch taking and placing. A disinfection device (not shown in the figure) is used to perform ultraviolet disinfection on the stored file boxes, and the file shifter is set with a file position detection device (not shown in the figure), which can judge the posture of the placed file box. The file box that is not placed as required can be directly returned to ensure the stable operation of the overall device.

[0085] Furthermore, the gear shifter adopts a rotating mechanism (not shown in the figure) to control the operating state of the gear shifter. The rotating mechanism (not shown in the figure) is at least two sensors. The host computer sends instructions to the PLC, and the PLC controls the optional motor to rotate forward or reverse, and stops when it rotates to the right position.

[0086] Furthermore, the gear shifter's stall opening 400 is designed as an embedded panel and is equipped with an operating screen, which is a 22-inch 10-point capacitive touch device that can be used for operation demonstrations and explanations, and can display the device status in real time during device operation. In addition, mechanical anti-pinch technology is used at the door opening and closing of the overall device to ensure user safety during the door opening and closing process, and the safety protection sensing response time is less than 400 milliseconds.

[0087] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A file grabbing robot, suitable for grabbing file boxes in an unmanned archive, characterized in that: include: - Archive framework; At least two transverse slide rails, at least two of the transverse slide rails are arranged in parallel at the first end and the second end of the file frame; a cantilever device, the cantilever device being arranged between the at least two transverse slide rails and being used for driving the cantilever device to grab or place the file box through the operation of the at least two transverse slide rails; A file shifting device, disposed in the unmanned archive library, for storing the file boxes in batches after the cantilever device grabs the file boxes; Each of the transverse slide rails includes a synchronous belt, which is arranged at the upper end of each of the transverse slide rails and is used to reduce the noise generated during the operation of the cantilever device; The cantilever device comprises: At least two first guide rails, wherein the at least two first guide rails are respectively arranged in parallel between the at least two transverse slide rails, and are used to support a mechanical arm; The mechanical arm is installed at the center between at least two of the first guide rails and is used to grab or place the file box; a first servo motor, the first servo motor being mounted on the upper end of the mechanical arm and being used to drive at least two of the first guide rails; The shifting device comprises: A file shifter, used for placing the file boxes; a rotating mechanism, electrically connected to the gear shifter, for controlling the operating state of the gear shifter; a disinfection device, electrically connected to the file shifter, for disinfecting the file boxes stored in the file shifter; A file position detection device is electrically connected to the file shifter and is used to detect the position status of the file box stored in the file shifter.

2. The file grabbing robot according to claim 1, characterized in that: The robotic arm comprises: A transmission mechanism, used to provide a mechanical hand clamping component with power for extending and retracting in the up and down directions; The manipulator clamping component is connected below the transmission mechanism and is used to clamp or place the file box.

3. The file grabbing robot according to claim 2, characterized in that: The manipulator clamping component comprises: A mechanical gripper; a second servo motor, the second servo motor is electrically connected to the manipulator clamp and is used to drive the manipulator clamp; a detection device, the detection device is connected to the manipulator clamp and is used to detect whether the manipulator clamp is empty; a color mark sensor, disposed at the first end of the manipulator clamp, for detecting the walking accuracy of the manipulator clamp; a second guide rail, disposed on the manipulator clamp, for adjusting the shape of the manipulator clamp; A stepper motor is electrically connected to the second guide rail and is used to drive the second guide rail.

4. The robot for file grabbing according to claim 1, characterized in that: The gear shifting machine comprises: A file taking opening, arranged at the upper end of the file moving machine, for users to take and put the file box; An operation screen is arranged on the stall taking port and is used to operate and / or display the running status of the robot.

5. The file grabbing robot according to claim 1, characterized in that: The rotating mechanism is at least two sensors.

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