Intelligent archive warehouse for archive robots

Abstract

The present invention discloses an intelligent archive warehouse for an archive robot, comprising a middle plate, a lifting mechanism is provided below the middle plate, an archive chamber, a transmission control device and a measuring mechanism are provided above the middle plate. The archive chamber is provided with a transmission mechanism for transmitting archives, and the transmission directions and speeds of the two transmission mechanisms are the same. The transmission control device is connected to the transmission mechanism and transmits power. The present invention can realize dense arrangement of stored archives and support automatic grabbing by a general manipulator; it is reliable in operation, can greatly improve the work efficiency of the archive robot, and can carry more types and quantities of archives, and can grab target archives from densely arranged archives; the setting of the elastic brush prevents the archives from tipping over or falling on the ground.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment, and in particular to an intelligent archive warehouse used in conjunction with an archive robot when storing and accessing archives. Background Art

[0002] There are tens of thousands of archives stored in archives rooms, and accessing them often consumes a lot of manpower and material resources. Especially in recent years, with the increase in social activities, the number of archives has also been increasing, which has greatly increased the burden on archivists. Therefore, the archives industry urgently needs to improve the level of automation in archives management, and seeking to use robots to replace manual labor to realize the inventory and access of archives is the direction of development of the archives industry.

[0003] Generally speaking, the archive storage and retrieval robot consists of a robot mobile chassis, an operating mechanical arm and a hand gripper. The robot mobile chassis is responsible for walking, replacing the function of human legs, and realizing autonomous navigation walking and target recognition; the mechanical arm is equivalent to a human arm, responsible for driving the functional equipment to move in space; the manipulator is used to realize automatic storage and retrieval of archives. The manipulator can automatically take the archives from the archive rack and place them in the grid archive bin it carries. The existing problems are: in the retrieval operation, due to the influence of rasterization, the types and quantities of archives that can be carried are very small, and they are easy to dump or fall on the ground; in the retrieval operation, the existing manipulator cannot grab the target archives from the densely arranged archives, which makes it impossible for the archive bin to carry multiple archives. These problems restrict the work efficiency of the archive robot. Summary of the invention

[0004] Purpose of the invention: The present invention provides a device that solves the problem that the archive robot is greatly affected by rasterization during operation and cannot carry multiple archives; at the same time, it solves the problem of low working efficiency of the archive robot.

[0005] Technical solution: The intelligent archive warehouse for the archive robot of the present invention includes a middle plate, a lifting mechanism is provided at the bottom of the middle plate, and an archive warehouse, a transmission control device and a measuring mechanism are provided at the top of the middle plate.

[0006] The file storage chamber comprises a cavity surrounded by an upper panel and a plurality of vertical panels, wherein two opposite vertical panels are each provided with a conveying mechanism for conveying files, and the conveying directions and speeds of the two conveying mechanisms are the same.

[0007] The transmission control device is connected to the transmission mechanism, including a control motor, a transmission mechanism connected to the output end of the control motor, and transmission reversing mechanisms with opposite transmission directions connected to both ends of the transmission mechanism, and the two transmission reversing mechanisms are respectively connected to the two transmission mechanisms and transmit power.

[0008] The measuring mechanism comprises a distance meter capable of measuring the distance between the archives grasped by the archive robot and the archive chamber, and the distance meter is connected to the middle plate through a mounting seat.

[0009] The lifting mechanism comprises an electric push rod connected to the middle plate, the electric push rod is fixedly connected to the middle plate through a connecting flange, a lifting platform is arranged on the linear motion shaft, and the limit position of the lifting platform moving downward is lower than the upper surface of the middle plate.

[0010] The archive chamber is a square structure, and the two opposite vertical plates provided with the transmission mechanism are box-shaped structural members made of thin plates, which are provided with a plurality of connection holes for connection with the middle plate and the upper plate.

[0011] The conveying mechanism includes two parallel conveying belts arranged transversely on the vertical plate, and a rotating shaft whose input end is connected to the transmission reversing mechanism and used for the winding movement of the conveying belts, and the two ends of the rotating shaft are respectively connected to the upper panel and the middle plate through bearings.

[0012] A belt wheel used in conjunction with a conveyor belt is sleeved on the rotating shaft, and the belt wheel is relatively fixed to the rotating shaft.

[0013] The conveyor belt is a flexible and windable universal component, such as the common flat belts and synchronous belts in industry, or various transmission chains. The conveyor belt can convert the circular motion of the motor into linear motion under the drive of the pulley.

[0014] Four identical pulleys are installed on the rotating shaft, and every two pulleys are used in conjunction with a conveyor belt.

[0015] A conveying block is provided on the inner side of the conveyor belt, and a strip-shaped through hole is provided on the vertical plate at a position opposite to the conveyor belt, and the conveying block can pass through the through hole and move with the conveyor belt.

[0016] A raised transfer block is fixed on the conveyor belt. The transfer block is fixed on the conveyor belt. The fixing method can be integrally formed, such as directly forming the corresponding shape on the flat belt or synchronous belt, or connected by bonding, threading, etc. The transfer block moves linearly with the conveyor belt, and its function is to force the files between the two opposite vertical plates to achieve a given movement with the conveyor belt.

[0017] The conveying mechanism also includes an elastic brush disposed inwardly and laterally on the vertical plate, and the distance between the elastic brushes on the two vertical plates is smaller than the size of the file.

[0018] The elastic soft brush is a universal industrial brush with a simple structure, low cost and very convenient material. The present invention cleverly utilizes some characteristics of the brush hair. Because it has a certain elasticity, it can exert a certain force on the contact object, and it can remain upright in the natural state and can naturally restore the upright state. It is also soft and easy to bend. The role of the soft brush is particularly important. Since there are soft brushes on the left and right sides (two opposite vertical plates with a conveying mechanism), the distance between the soft brushes on both sides is smaller than the size of the file. Therefore, when the file is placed in the file warehouse, the hair of the soft brush will be forced to bend, so that the file can stand upright at any position without tipping over; it also allows the file to move from one position to another in the file warehouse without hindrance. The advantage of this feature is that it allows the file to maintain its position in the file warehouse. Compared with the existing file grids made of hard materials such as steel plates or plastics, the structure of the present invention is adaptive to the size of the file, allowing files of different thicknesses to be placed in different positions, and also allowing the files to be densely arranged one by one.

[0019] The transmission mechanism comprises a synchronous shaft connected to the output end of the control motor and connected to the middle plate through a bearing support.

[0020] The transmission reversing mechanism includes reversing bevel gears respectively arranged at both ends of the synchronous shaft, and two transmission bevel gears respectively meshing with the two reversing bevel gears. The two reversing bevel gears are installed in opposite directions and can rotate with the rotation of the synchronous shaft. The two transmission bevel gears are respectively connected to the two rotating shafts.

[0021] The control motor is fixedly connected to the middle plate through an angle seat, and the output shaft of the control motor is connected to the synchronous shaft through a coupling and can drive the synchronous shaft to rotate, and the synchronous shaft drives the four bevel gears to rotate synchronously.

[0022] There are two bearing supports, both of which are fixedly connected to the middle plate, to support the synchronous shaft and allow it to rotate freely.

[0023] When the transmission bevel gear rotates, it will drive the pulley to rotate together, so that the conveyor belt and the conveyor block move in a direction perpendicular to the paper surface, achieving the purpose of pushing the file. Since the installation direction of the reversing bevel gear is opposite, the rotation direction of the transmission bevel gear is also opposite, and finally the movement direction of the conveyor belts on the two opposite plates is exactly the same, and the speed is kept consistent, and the elastic brush can ensure that the file will not tilt during the transmission process.

[0024] Beneficial effects: 1. The present invention can realize dense arrangement of stored files and support automatic grabbing by general manipulators; 2. It works reliably and can greatly improve the working efficiency of the file robot. The types and quantities of files that can be carried are increased, and the target files can be grabbed from densely arranged files; 3. The setting of the elastic brush prevents the files from tipping over or falling to the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the present invention;

[0026] Figure 2 It is a structural schematic diagram of the archive warehouse in the present invention;

[0027] Figure 3 It is a schematic diagram of the conveyor belt structure of the archives warehouse in the present invention;

[0028] Figure 4 It is a schematic diagram of the side plate structure of the archives warehouse in the present invention;

[0029] Figure 5 is a schematic cross-sectional structure diagram of the transmission control device in the present invention;

[0030] Figure 6 It is a part of the workflow diagram of the intelligent archive warehouse in the present invention to complete the crawling task;

[0031] Figure 7 This is another part of the workflow diagram for the intelligent archive warehouse in the present invention to complete the crawling task. DETAILED DESCRIPTION

[0032] See also Figure 1 and Figure 2 The intelligent archive warehouse for an archive robot described in one embodiment of the present invention includes a middle plate, a lifting mechanism is provided below the middle plate, and an archive chamber, a transmission control device and a measuring mechanism are provided above the middle plate.

[0033] The lifting mechanism includes an electric push rod 1 and a connecting flange 11. The electric push rod 1 is fixedly connected to the middle plate 3 through the connecting flange 11. A lifting platform 12 is installed on the linear motion axis of the electric push rod 1, which can move up and down under the action of the electric push rod 1. The limit position of the downward movement of the lifting platform 12 is lower than the upper surface of the middle plate 3.

[0034] The measuring mechanism is composed of a mounting seat 6 and a distance meter 7 . The mounting seat 6 is fixedly connected to the middle plate 3 , and the distance meter 7 is fixedly connected to the mounting seat 6 .

[0035] The archive chamber 4 is fixedly installed above the middle plate 3, and is mainly surrounded by a front vertical plate 41, a right vertical plate 42, a rear vertical plate 43, a left vertical plate 44 and an upper panel 5. Both the left vertical plate 44 and the right vertical plate 42 are provided with a transmission mechanism, and the two transmission mechanisms have the same movement direction and speed. Taking the right vertical plate 42 as an example, the transmission mechanism includes right conveyor belts 47 and 48 arranged on the right vertical plate 42, and also includes a rotating shaft 263 whose input end is connected to the transmission control device and is used for the winding movement of the conveyor belt. A bearing 29 is installed on the upper panel 5, and a bearing 27 is installed on the middle plate 3. The two ends of the rotating shaft 263 are respectively connected to the upper panel 5 and the middle plate 3 through bearings 29 and 27. Four identical pulleys 28 are installed on the shaft 263, and the pulleys 28 cooperate with the conveyor belts 47 and 48.

[0036] The structures of the left conveyor belts 45, 46 and the right conveyor belts 47, 48 are the same. Taking the right conveyor belt 47 as an example, the right conveyor belt 47 is a flexible and retractable universal element, such as a flat belt, a synchronous belt, etc. commonly used in industry, or various transmission chains. A raised conveyor block 471 is fixedly installed on the right conveyor belt 47. The right conveyor belt 47 can convert the circular motion of the motor into a linear motion under the drive of the pulley 28. The conveyor block 471 is fixed on the right conveyor belt 47, and the fixing method can be integrally formed, such as directly forming a corresponding shape on a flat belt or a synchronous belt, or connected by bonding, threading, etc. A strip through hole is opened on the right vertical plate 42 at a position opposite to the right conveyor belt 47, and the conveyor block 471 can pass through the through hole and move with the right conveyor belt 47. The conveyor block 471 moves linearly with the conveyor belt, and its function is to force the files located between the left vertical plate 44 and the right vertical plate 42 to achieve a given movement with the conveyor belt.

[0037] Elastic brushes 422 and 421 are disposed horizontally on the inner side of the left vertical plate 44 and the right vertical plate 42. The brushes have a certain elasticity and can exert a certain force on the contacted object. They remain upright in a natural state and can naturally restore the upright state. They are also soft and easy to bend. The distance between the elastic brushes 422 and 421 on both sides is smaller than the file size.

[0038] The transmission control device is connected to the transmission mechanism, including a control motor 2, a transmission mechanism connected to the output end of the control motor 2, and transmission reversing mechanisms with opposite transmission directions connected to both ends of the transmission mechanism, and the two transmission reversing mechanisms are respectively connected to the two transmission mechanisms and transmit power. The control motor 2 is fixedly connected to the middle plate 3 through an angle seat 25.

[0039] The transmission mechanism includes a synchronous shaft 22 connected to the output shaft of the control motor 2 through a coupling. The synchronous shaft 22 is connected to the middle plate 3 through two bearing supports 241, 242.

[0040] The transmission reversing mechanism includes reversing bevel gears 231, 232 respectively arranged at both ends of the synchronous shaft 22, two transmission bevel gears 261, 262 respectively meshing with the two reversing bevel gears 231, 232, and the two reversing bevel gears 231, 232 are installed in opposite directions and can rotate with the rotation of the synchronous shaft 22, and the two transmission bevel gears 261, 262 are respectively connected to the two rotating shafts 263. Under the drive of the control motor 2, the synchronous shaft 22 drives the four bevel gears 231, 232, 261, 262 to rotate synchronously.

[0041] The transmission bevel gear 261, the pulley 28 and the rotating shaft 263 are relatively fixed, so when the transmission bevel gear 261 rotates, it will drive the pulley 28 to rotate together, so that the conveyor belts 47, 48, and the conveyor blocks 471, 481 move in a direction perpendicular to the paper surface, so as to achieve the purpose of pushing the file. Also, because the installation directions of the reversing bevel gears 231, 232 are opposite, the rotation directions of the transmission bevel gears 261, 262 are also opposite, and finally the movement directions of the conveyor blocks 451, 461 and 471, 481 are exactly the same, and the speeds are kept consistent, and it can be ensured that the file will not tilt during the conveying process.

[0042] The working principle of the present invention is:

[0043] Combination Figure 6 , explaining the workflow of the intelligent archive warehouse to complete the crawling task.

[0044] Figure 6 a is a schematic diagram of the working principle of the intelligent archive warehouse. At this time, the intelligent archive warehouse is in an empty standby state, and the transmission blocks 451, 461, 471, and 481 of the left and right transmission points are located on one side of the rangefinder 7. At the same time, the reading value of the rangefinder 7 is the distance from the rangefinder 7 to the rear stand 43, which is recorded as L0.

[0045] Figure 6 b is the file robot grabbing a file from the file rack and putting it into the side of the chamber near the distance meter 7. The reading value of the distance meter 7 is the distance between the distance meter 7 and the file. Therefore, the distance meter 7 can sense whether the file is put into the chamber 4. The thickness of the file is recorded as D1. The motor 2 is controlled to rotate and drive the conveyor belts 45, 46, 47, and 48 to move in the direction of the arrow in the figure, and the conveyor blocks 451, 461, 471, and 481 to move in the direction of B in the figure until the reading value of the distance meter 7 is L0-D1. Figure 6 As shown in c.

[0046] exist Figure 6c, the conveyor blocks 451, 461, 471, 481 can keep the files upright and prevent them from falling, thus allowing the file robot to move to the next position. When the file robot needs to grab the next box of files, the motor 2 is controlled to rotate and the conveyor belts 45, 46, 47, 48 are driven to rotate. Figure 6 c, and the conveying blocks 451, 461, 471, 481 are moved in the direction of the arrow shown in FIG. Figure 6 c shows the direction A, and the reading value of the rangefinder 7 controls the rotation angle of the motor 2, so that the four conveying blocks return to Figure 6 In the standby position shown in a, during this process, the original files can be reliably kept upright due to the effect of the brushes 421 and 422 and will not fall over, thus ensuring the next grabbing process.

[0047] Figure 6 d is the robot has completely grasped the multiple boxes of files. Similarly, because the transmission blocks 451, 461, 471, and 481 can keep the files upright reliably, the file robot is allowed to move and send the files to the designated location. At this time, the state of the intelligent file warehouse is as follows: Figure 7 shown.

[0048] Figure 7 a also represents the situation where the intelligent archive warehouse carries a certain number of archives and is ready to complete the task of putting them on the shelves. The following describes the process of the intelligent archive warehouse cooperating with the robot to complete the task of putting archives on the shelves. When the robot moves to the designated position and is ready to grab a box of archives from the intelligent warehouse, it first makes the control motor 2 rotate and drives the conveyor belts 45, 46, 47, and 48 to rotate. Figure 6 c, and the conveying blocks 451, 461, 471, 481 are moved in the direction of the arrow shown in FIG. Figure 6 d moves in the direction A, and controls the rotation angle of the motor 2 according to the reading value of the rangefinder 7, so that the four conveying blocks reach Figure 7 b. In this process, the original files can be kept upright reliably due to the effect of the brushes 421 and 422, so that all the files will not fall over during the shelving process.

[0049] Control motor 2 to rotate intermittently in the same direction, then Figure 7 As shown in Figure c, the first file to be put on the shelf is gradually pushed to a position close to the front stand 41, and the position of the first file is read from the rangefinder 7. Therefore, this process is completely measurable and controllable. When the first file reaches the set position, the electric push rod 1 works to lift the first file a certain distance, so that the file robot's gripper can grab the file and complete the task of putting a file on the shelf. The working situation is as follows Figure 5As shown. When the first file is taken out, the position it occupied is vacated, but the brushes 421 and 422 can keep the subsequent files upright, ensuring that all files will not fall during the shelving process. At the same time, the reading value of the rangefinder 7 becomes significantly larger. At this time, the control motor continues to rotate, so that the four conveying blocks are pressed Figure 7 c) moves in the direction A until the second box of files approaches the front stand 41, and the final situation is as follows Figure 7 c. At this time, since the four conveyor blocks and the front stand 41 form a fixed space, it is ensured that the subsequent files will not fall down when the file robot moves to the next position. When the file robot moves to the next position, it can complete the task of putting another file on the shelf. When the last box of files is taken out by the robot, the position of the four conveyor blocks is determined by the thickness of the last box of files. As long as the thickness of the last box of files is known, the rotation angle of the control motor 2 can be calculated to make the conveyor blocks return to the original position. Figure 6 a's standby position.

Claims

1. An intelligent archive warehouse for an archive robot, characterized in that: It includes a middle plate, a lifting mechanism is provided at the bottom of the middle plate, and a file storage room, a transmission control device and a measuring mechanism are provided at the top of the middle plate. - The file chamber comprises a cavity surrounded by an upper panel and a plurality of vertical panels, wherein two opposite vertical panels are provided with a conveying mechanism for conveying files, and the conveying direction and speed of the two conveying mechanisms are the same; the conveying mechanism comprises two parallel conveyor belts arranged transversely on the vertical panels, a rotating shaft whose input end is connected to a transmission reversing mechanism and used for winding the conveyor belt, and the two ends of the rotating shaft are respectively connected to the upper panel and the middle panel through bearings; a conveying block is arranged on the inner side of the conveyor belt, a strip through hole is provided on the vertical panel at a position opposite to the conveyor belt, and the conveying block can pass through the through hole and move with the conveyor belt; the conveying mechanism also comprises an elastic brush arranged transversely on the vertical panel facing inward, and the distance between the elastic brushes on the two vertical panels is smaller than the size of the file; - the transmission control device is connected to the transmission mechanism, including a control motor, a transmission mechanism connected to the output end of the control motor, and transmission reversing mechanisms with opposite transmission directions are respectively connected to both ends of the transmission mechanism, and the two transmission reversing mechanisms are respectively connected to the two transmission mechanisms and transmit power; - The measuring mechanism comprises a distance meter capable of measuring the distance between the archives grasped by the archive robot and the archive storage chamber.

2. The intelligent archive warehouse for an archive robot according to claim 1, characterized in that: The lifting mechanism comprises an electric push rod connected to the middle plate, the electric push rod is fixedly connected to the middle plate through a connecting flange, and a lifting platform is arranged on the linear motion shaft thereof.

3. The intelligent archive warehouse for an archive robot according to claim 1, characterized in that: A belt wheel used in conjunction with a conveyor belt is sleeved on the rotating shaft, and the belt wheel is relatively fixed to the rotating shaft.

4. The intelligent archive warehouse for an archive robot according to claim 1, characterized in that: The transmission mechanism comprises a synchronous shaft connected to the output end of the control motor.

5. The intelligent archive warehouse for an archive robot according to claim 4, characterized in that: The transmission reversing mechanism includes reversing bevel gears respectively arranged at both ends of the synchronous shaft, and two transmission bevel gears respectively meshing with the two reversing bevel gears. The two reversing bevel gears are installed in opposite directions and can rotate with the rotation of the synchronous shaft. The two transmission bevel gears are respectively connected to the two rotating shafts.

6. The intelligent archive warehouse for an archive robot according to claim 4, characterized in that: The synchronous shaft is connected with the middle plate through a bearing support.

7. The intelligent archive warehouse for an archive robot according to claim 1, characterized in that: The rangefinder is connected to the middle plate via a mounting seat.

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