An intelligent manipulator, an intelligent storage device, an intelligent evidence collection device, and a certificate collection system

Abstract

The present invention relates to the technical field of conveying mechanisms, and specifically provides an intelligent manipulator, an intelligent storage device, an intelligent evidence collection device, and a certificate collection system. The intelligent manipulator includes a main control unit, a conveying mechanism and a grasping device controlled and allocated by the main control unit. The conveying mechanism is installed on the mounting frame and connected to the grasping device. The mounting frame has a feeding area and a target area. Under the control of the main control unit, the conveying device drives the grasping device to reciprocally convey certificates between the feeding area and the target area of the mounting frame to realize automatic storage and retrieval of certificates. The grasping device can clamp and release certificates under the control of the control unit. This intelligent manipulator can completely replace manual operation, eliminating the need for manual storage of certificates one by one and searching for and retrieving target certificates in the target area. It can achieve the effects of quickly storing and retrieving certificates and quickly and accurately retrieving target certificates, saving time and effort, 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 transmission mechanisms, and more specifically, relates to an intelligent manipulator, an intelligent storage device, an intelligent evidence collection device and a document collection system. Background Art

[0002] After the certificate is produced, it is necessary to store the certificate centrally and retrieve it in a targeted manner according to the target information. When storing and distributing the certificate, a lot of manual intervention is still required, resulting in low efficiency, relatively high error rate, high personnel costs, and time-consuming and labor-intensive. Moreover, the certificate is divided into the original certificate (such as passports) and card certificate (such as identity cards, Hong Kong and Macau Passes, etc.), which increases the workload when centralized management is carried out, making it difficult to manage centrally. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent manipulator, an intelligent storage device, an intelligent evidence collection device and a document collection system to solve the technical problems in the prior art that a large amount of manual intervention is required when storing and distributing documents, resulting in low efficiency, high error rate and high personnel cost.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide an intelligent manipulator, which is mounted on a mounting frame and reciprocates between a loading area and a target area of the mounting frame to realize automatic storage and retrieval of documents, wherein the target area has a plurality of storage locations for storing documents. The intelligent manipulator includes a main control unit and a transmission mechanism and a gripping device both of which are controlled and connected to the main control unit. The transmission mechanism is arranged on the mounting frame and connected to the gripping device, and drives the gripping device to reciprocate and transfer documents between the loading area and the target area under the control of the main control unit. The main control unit controls the gripping device to clamp and release.

[0005] The present invention also provides an intelligent storage device, which is connected to a server in communication, and the intelligent storage device includes a mounting frame, and the mounting frame has a loading area and a target area. The intelligent storage device also includes a storage device arranged in the target area and an intelligent manipulator as described above, the storage device has a plurality of storage locations for storing documents, each of which has a unique address code and is recorded in the server; the transmission mechanism of the intelligent manipulator is arranged in the mounting frame and connected to the grasping device, the main control unit is connected to the server in communication, and the transmission mechanism drives the grasping device to reciprocate between the target area and each of the storage locations.

[0006] The present invention further provides an intelligent evidence-taking device, which is communicatively connected to a background server. The intelligent evidence-taking device includes a mounting rack, which has a feeding area and a target area. The intelligent evidence-taking device further includes an operation component for the evidence-taking personnel to perform evidence-taking operations and the intelligent manipulator as described above. The conveying mechanism of the intelligent manipulator is disposed on the mounting rack and connected to the grasping device. The conveying mechanism, the grasping device and the operation component are all controlled and connected to the main control unit. The main control unit is communicatively connected to the server. The conveying mechanism drives the grasping device to reciprocate between the feeding area and the target area.

[0007] The present invention further provides a certificate collection system, which includes a server, a conveying robot, the intelligent storage device as described above, and the intelligent evidence-taking device as described above. At least one intelligent storage device is provided, and each intelligent storage device corresponds to at least one intelligent evidence-taking device. Each intelligent evidence-taking device is equipped with a conveying robot. Each conveying robot, each intelligent storage device and each intelligent evidence-taking device are communicatively connected to the server and centrally scheduled by it. Each conveying robot is used to convey the certificate to be collected from the intelligent storage device to the intelligent evidence-taking device operated by the evidence-taking personnel.

[0008] The present invention further provides another certificate collection system, which cooperates with a certificate production device. The certificate collection system includes a server, a first conveying robot, a second conveying robot, the intelligent storage device as described above, and the intelligent evidence-taking device as described above. At least one intelligent storage device is provided. At least one first conveying robot is matched between each intelligent storage device and the certificate production device; each intelligent storage device corresponds to at least one intelligent evidence-taking device, and each intelligent evidence-taking device is equipped with a second conveying robot. Each first conveying robot, each second conveying robot, each intelligent storage device and each intelligent evidence-taking device are communicatively connected to the server and centrally scheduled by it. Each first conveying robot is used to convey the qualified certificates produced by the certificate production device to the intelligent storage device for storage. Each second conveying robot is used to convey the certificate to be collected from the intelligent storage device to the intelligent evidence-taking device operated by the evidence-taking personnel.

[0009] The beneficial effects of an intelligent manipulator, an intelligent storage device, an intelligent evidence collection device, and a certificate collection system provided by the present invention are as follows: The intelligent manipulator includes a main control unit, a conveying mechanism, and a grasping device controlled and allocated by the main control unit. Among them, the conveying mechanism is installed on the mounting frame and connected to the grasping device. The mounting frame has a feeding area and a target area, and the target area has multiple storage positions for storing certificates. Under the control of the main control unit, the conveying device drives the grasping device to reciprocally convey certificates between the feeding area and the target area of the mounting frame to achieve automatic storage and retrieval of certificates. The grasping device can clamp and release certificates under the control of the main control unit. In this way, when it is necessary to store a batch of certificates conveyed to the feeding area in the target area, the intelligent manipulator is used to convey the certificates in the feeding area to each storage position in the target area one by one; when it is necessary to take out a certificate from a certain storage position in the target area, the intelligent manipulator is moved to the storage position of the certificate and taken out, and conveyed to the feeding area to take away the certificate, realizing fully intelligent and automated storage and retrieval operations, and the storage capacity can be set according to requirements. This intelligent manipulator can completely replace manual operations, eliminating the need for manual storage of certificates one by one and searching for and taking out target certificates in the target area. It can achieve the effects of quickly storing certificates and quickly and accurately taking out target certificates, 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

[0010] 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 based on these drawings.

[0011] Figure 1 is an assembled three-dimensional view of the intelligent manipulator provided in Embodiment 1 of the present invention;

[0012] Figure 2 is a partial three-dimensional exploded view of the intelligent manipulator provided in Embodiment 1 of the present invention;

[0013] Figure 3 is a three-dimensional exploded view of the sliding connection component provided in Embodiment 1 of the present invention;

[0014] Figure 4 is a three-dimensional exploded view of the vertical conveying device provided in Embodiment 1 of the present invention;

[0015] Figure 5 is a schematic diagram of the power-off protection structure provided in Embodiment 1 of the present invention Figure 1 ;

[0016] Figure 6It is a schematic diagram of the power-off protection structure provided in the first embodiment of the present invention Figure 2 ;

[0017] Figure 7 It is an exploded perspective view of the second horizontal transfer device and the grasping device provided in the first embodiment of the present invention;

[0018] 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;

[0019] Figure 9 It is a perspective view of the intelligent storage device provided in the second embodiment of the present invention;

[0020] Figure 10 It is a perspective view of the storage unit provided in the second embodiment of the present invention;

[0021] Figure 11 It is a perspective view of the intelligent evidence collection device provided in the fourth embodiment of the present invention;

[0022] Figure 12 It is another perspective view of the intelligent evidence collection device provided in the fourth embodiment of the present invention;

[0023] Figure 13 It is a perspective view of the damage device provided in the fourth embodiment of the present invention;

[0024] Figure 14 It is a schematic diagram of the certificate collection system provided in the fifth embodiment of the present invention;

[0025] Figure 15 It is another schematic diagram of the certificate collection system provided in the sixth embodiment of the present invention.

[0026] Among them, the reference numerals in the figures:

[0027] Mounting frame 100 Loading area 101 Target area 102 Intelligent manipulator 200 Conveying mechanism 210 Gripping device 220 First horizontal conveying device 211 Vertical conveying device 212 Second horizontal conveying device 213 First driving assembly 2111 First sliding connection assembly 2112 First support frame 2113 First power source 21111 First gear 21112 First rack 21113 Slide rail 10 Slider 20 Sliding connection groove 11 Sliding connection protrusion 21 First slide rail 21121 First slider 21122 Second driving assembly 2114 Second sliding connection 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 driving assembly 2121 Vertical fixing frame 2122 Vertical support frame 2123 Stator 21211 Rotor 21212 Vertical sliding connection assembly 2124 Vertical frame 21221 Vertical slide rail 21241 Vertical slider 21242 U-shaped groove 201 Position detection assembly 2125 Lower detection part 21251 Upper detection part 21252 Positioning part 21253 Upper buffer part 2126 Lower buffer part 2127 Flank plate 21222 Dust-proof cloth 21223 Receiving groove 202 Power-off protection structure 2128 Lock head 21281 Elastic part 21282 Transmission assembly 21283 Driving part 21284 Through hole 203 Locking position 204 Locking inclined plane 205 Push rod 21286 Mounting shell 21285 Transmission part 21287 Open cavity 206 Third driving assembly 2131 Third sliding connection 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 detection part 2135 Rotating conveying assembly 214 Rotating driving source 2141 Reducer 2142 First roller 2143 Second roller 2144 Second conveying robot 700 Threading hole 208 Limit block 2136 Corner limit detection assembly 2145 First corner limit detection part 21451 Second corner limit detection part 21452 Gripping power source 221 Gripping assembly 222 Gripping support frame 223 First gripping part 2221 Second gripping part 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 connection assembly 2283 Head end 2002 Tail end 2003 Intelligent storage device 300 Storage device 310 Storage position 301 Conveying area 103 Delivery port 104 Clamping structure 311 Elastic plate 312 Rebound port 302 Storage unit 313 Positioning plate 130 Conveying space 105 Intelligent evidence collection device 400 Operation assembly 410 Touch screen 411 Camera 412 Fingerprint scanner 413 Special code identifier 414 Evidence collection shell 420 Evidence entry port 106 Evidence extraction port 107 Book extraction port 108 Delivery space 109 Guide plate 430 Damage device 440 Damage frame 441 Damage driving source 442 Movable frame 443 First damage structure 444 First damage position 401 First damage space 402 Second damage space 403 Second damage position 404 Damage extraction port 405 Damage book port 406 Damage tool 4441 Pressing part 4442 Second damage structure 445 Waste recycling structure 446 Conveying robot 500 First conveying robot 600 Detailed implementation manners

[0028] 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.

[0029] 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.

[0030] It should be understood that the orientation or positional relationship indicated by terms such as "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 drawings. It 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 a limitation on the present invention.

[0031] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, 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.

[0032] Embodiment 1:

[0033] Please refer to Figure 1 and Figure 2 simultaneously. Embodiment 1 of the present invention provides an intelligent manipulator, which is used for transporting documents. The documents are divided into this type of documents (such as passports, etc.) and card-type documents (such as identity cards, Hong Kong and Macau passports, bank cards, etc.). The intelligent manipulator 200 given in this embodiment is not limited to being applied to document transportation and can also be applied to other material transportation without limitation. The intelligent manipulator is assembled on the mounting rack 100 and reciprocates between the loading area 101 and the target area 102 of the mounting rack 100 to achieve automatic document transportation. The target area 102 can be an area for storing documents or an area for outputting documents. The loading area 101 belongs to the document supply area. The intelligent manipulator 200 can be used to transport the documents in the loading area 101 to the target area 102, or the intelligent manipulator 200 can be used to retrieve the documents in the target area 102 and put them back into the loading area 101 to achieve fully automated reciprocating transportation operation. The intelligent manipulator 200 includes a main control unit, a transmission mechanism 210 and a grasping device 220 that are both controlled and connected to the main control unit. The transmission mechanism 210 is arranged on the mounting rack 100 and is connected to the grasping device 220, and drives the grasping device 220 to reciprocally transport documents between the loading 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.

[0034] In this embodiment, the intelligent manipulator 200 includes a main control unit, a conveying mechanism 210 and a grasping device 220 controlled and allocated by the main control unit. Among them, the conveying mechanism 210 is installed on the mounting frame 100 and connected to the grasping device 220. The mounting frame 100 has a loading 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 loading area 101 and the target area 102 of the mounting frame 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 loading 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 loading 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.

[0035] Please also refer to Figures 1 to 3 , 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.

[0036] The first horizontal conveying device 211 is arranged on the mounting frame 100 and connected to the vertical conveying device 212, and it drives the vertical conveying device 212 to reciprocate in the horizontal plane along the first horizontal direction.

[0037] The vertical conveying device 212 is connected to the second horizontal conveying device 213, and it drives the second horizontal conveying device 213 to reciprocate in the vertical direction.

[0038] The second horizontal conveying device 213 is connected to the grasping device 220, and it 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°.

[0039] 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 can be freely displaced and conveyed 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 Figure 1 , Figure 2 shown.

[0040] The first horizontal conveying device 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. 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 conveying device 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 conveying device 212 fixed on the first support frame 2113 to reciprocate along the first horizontal direction. The grasping device 220 is indirectly connected to the first support frame 2113 through the vertical conveying device 212 and the second horizontal conveying device 213. The vertical conveying device 212 is connected to the second horizontal conveying device 213. Therefore, the grasping device 220 is driven to move along the first horizontal direction.

[0041] 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. 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 transformed 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.

[0042] The first gear 21112 and the first rack 21113 can be in straight-tooth meshing or helical-tooth meshing.

[0043] To achieve stable movement and precise directional transmission effects, the cooperation of a slide rail 10 and a slider 20 is usually adopted. Generally, there are two structural solutions. Solution 1: The slide rail 10 is long and the slider 20 is short. The extension 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 extension direction of the slide rail 10. Solution 2: The slide rail 10 is short and the slider 20 is long. The extension 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 extension direction of the slider 20. The sliding connection structure between 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 3 shown.

[0044] Please also refer to Figures 1 to 3 , the first sliding connection assembly 2112 includes at least one first slide rail 21121 and at least one first slider 21122. The specific structural solution can be Solution 1 or Solution 2 in the above-mentioned 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 on the mounting bracket 100, and the short part (the slider 20 in Solution 1 or the slide rail 10 in Solution 2) is fixed on the first support frame 2113. The short part slides along the extension direction of the long part, and the extension direction of the long part is the same as the extension 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 reciprocated directionally 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.

[0045] In this embodiment, the first sliding connection assembly 2112 adopts Solution 1 above. 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.

[0046] 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.

[0047] 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.

[0048] Please also 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 one end starting and the other end having a lag and shifting, resulting in 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. The two ends of the vertical transmission device 212 are respectively fixed to the first support frame 2113 and the second support frame 2116.

[0049] 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 the two 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.

[0050] 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 in both forward and reverse directions. 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 between 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 start timing, synchronous forward rotation, or reverse rotation of the first power source 21111 and the second power source 21141 according to the acquired signals, 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.

[0051] The second gear 21142 and the second rack can be in straight-tooth meshing or helical-tooth meshing.

[0052] Please 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.

[0053] Preferably, two second sliding connection components 2115 are provided and have the same sliding direction. The two are parallel to each other and arranged at intervals, and both are connected to the second support frame 2116 and the mounting frame 100, which can better improve the smoothness of the movement of the grasping device 220 along the first horizontal direction. Preferably, the second driving component 2114 is located between the two second sliding connection components 2115.

[0054] As an alternative to the first drive assembly 2111 and / or the second drive assembly 2114, a lead screw and nut combination can be selected to drive the support frame. Specifically, it includes a lead screw, a power source, and a nut. 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 threadedly connected to the lead screw. At the same time, circumferential limitation is imposed on the nut. 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 transfer device 212 is fixed on the upper side of the support frame to realize reciprocating movement along the first horizontal direction with the vertical transfer device 212. The first horizontal direction is the same as the length direction of the lead screw.

[0055] Please also refer to Figures 2 to 4 , the vertical transfer device 212 includes a vertical drive assembly 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 drive assembly 2121 drives the vertical support frame 2123 to reciprocally slide along the vertical direction relative to the vertical fixing frame 2122. The second horizontal transfer 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.

[0056] In this embodiment, the vertical drive assembly 2121 is a linear motor, that is, the vertical drive assembly 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 generates an electromagnetic thrust, that is, electrical energy is converted into mechanical energy of linear motion. If the primary (stator 21211) is fixed, the secondary (rotor 21212) will perform linear motion under the action of the thrust; conversely, the primary will perform linear motion. 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 powered on, 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.

[0057] As an alternative, the vertical drive assembly 2121 can use a lead screw and nut combination, specifically as the alternative of the above-mentioned first and second drive assemblies (2111, 2114), which will not be elaborated here.

[0058] Please also refer to Figures 2 to 4, preferably, the vertical transfer device 212 further includes a vertical sliding assembly 2124. The vertical sliding assembly 2124 connects the vertical fixing frame 2122 and the vertical support frame 2123, and is used to make the vertical support frame 2123 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 engaged through the vertical sliding 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.

[0059] 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 assembly 2124 includes a vertical slide rail 21241 and a vertical slider 21242, and at least one of each is provided. The specific structural solution can be the first or second solution in the above-mentioned slide rail 10 and slider 20 structural solutions. Taking the first solution 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 engaged with 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 assembly 2124, and the reciprocating sliding of the grasping device 220 in a stable and directional (vertical direction) manner is better realized.

[0060] 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.

[0061] Preferably, two vertical slide rails 21241 are provided and are respectively fixed to both 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 all are 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.

[0062] 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 and the vertical fixing frame 2122 can be directly used for sliding connection. The specific sliding structure can refer to the sliding structure of the slide rail 10 and the slider 20 described above.

[0063] Please refer to Figure 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 to 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.

[0064] 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 is fixed to the upper side surface of the vertical support frame 2123, and at least one lower buffer 2127 is also provided and is 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 abut against 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, and generating collision noises, etc. Therefore, it plays a role in protecting the vertical support frame 2123 and the vertical fixing frame 2122.

[0065] The upper and lower buffer members (2126, 2127) can be made of rubber, silica gel or other components with a buffering effect, and buffer members of different materials can be selected for the upper and lower parts according to the different magnitudes of the acting forces.

[0066] Please refer to Figure 4 , the vertical fixing frame 2122 further includes side wing plates 21222 respectively extending and formed from both end faces at the transverse notch in the vertical frame body 21221. Each side 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 side wing plates 21222. In this way, through the two side wing plates 21222, the components between the two side wing plates 21222 can be protected to prevent dust, metal parts, etc. from entering and affecting the normal operation of the vertical conveying device 212. Preferably, both ends of each side wing plate 21222 respectively extend to the first support frame 2113 and the second support frame 2116 and are fixedly connected.

[0067] 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 side 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 slot of the vertical frame body 21221 and has a certain magnetic attraction force, which needs to be protected emphatically.

[0068] 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.

[0069] Please refer to simultaneously Figures 4 to 6, the vertical transmission 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 arranged inside 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 arranged on the transmission end of the transmission assembly 21283 and is compressed between the lock head 21281 and the mounting shell 21285.

[0070] 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 that when the vertical driving assembly 2121 loses power at any position, a locking position 204 can correspond to it to provide power-off protection.

[0071] The end of the lock head 21281 facing the locking position 204 is provided with a locking inclined surface 205, which is used for quick guiding when connecting with the locking position 204 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 Figure 5 and Figure 6 shown.

[0072] When the driving member 21284 is powered on, it pulls the transmission assembly 21283 to shift, causing the locking 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 locking 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 locking 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 locking 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 driving member 21284 and the power supply of the vertical drive assembly 2121 are 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 locking head 21281, and the locking head 21281 moves towards the mounting shell 21285. At the same time, the locking head 21281 and the mounting shell 21285 jointly compress the elastic member 21282. At this time, there is a certain distance between the locking 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 locking head 21281 to disappear due to power-off. In this way, the locking 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.

[0073] 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 locking head 21281 to move together; when the driving member 21284 is powered off, the power source of the output shaft disappears. Under the elastic restoring force of the elastic member 21282, the locking 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.

[0074] 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.

[0075] Please refer to Figure 4 and Figure 5, the transmission component 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.

[0076] 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.

[0077] 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.

[0078] Please also refer to Figures 4 to 6 , as an alternative, the transmission component 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 on 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.

[0079] Please also refer to Figure 2 、 Figure 4 、 Figure 7 and Figure 8, the second horizontal transfer device 213 includes a third driving component 2131, a third sliding connection component 2132, and a third support frame 2133. The third sliding connection component 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. Under the control of the main control unit, the third driving component 2131 drives the third support frame 2133 to reciprocate along the second horizontal direction. The grasping 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 grasping 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°.

[0080] The second horizontal transfer device 213 further includes a third fixing frame 2134, and 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 driving component 2121, and together with the receiving groove 202 of the vertical support frame 2123, it forms a receiving cavity for the dust-proof cloth 21223 to pass through.

[0081] Please refer to Figure 7 and Figure 8 , the third driving component 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.

[0082] In this embodiment, the third support frame 2133 is provided with a strip-shaped window 207. The length direction of the strip-shaped window 207 is the second horizontal direction. The tooth-shaped part 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, and the third power source 21311 is fixed to the side of the third fixing frame 2134 opposite to the third support frame 2133. It is 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. The tooth-shaped part of the third rack 21313 faces upward or downward. By providing the strip-shaped window 207, on the one hand, it is convenient to observe whether the third gear 21312 and the third rack 21313 are assembled in place and facilitate adjustment; on the other hand, it avoids the third gear 21312 and prevents the third gear 21312 from interfering with the position of the third support frame 2133 during movement and reduces the service life of the components. The length of the strip-shaped window 207 can be the maximum stroke of the grasping device 220 sliding along the second horizontal direction. If the strip-shaped window 207 is too long, multiple reinforcing ribs can be added in the middle. In addition, the overall assembly structure between the third driving component 2131, the third fixing frame 2134, and the third support frame 2133 is compact, reducing the space occupancy rate.

[0083] The third gear 21312 and the third rack 21313 can be in straight-tooth meshing or helical-tooth meshing.

[0084] Please also participate Figure 3 and Figure 7 Moreover, the third sliding connection component 2132 includes at least one third slide rail 21321 and at least one third slider 21322. The specific structural solution can be the first or second solution in the above-mentioned structural solution of the slide rail 10 and the slider 20. Taking the first solution as an example, the third slide rail 21321 is fixed to the third support frame 2133, the third slider 21322 is fixed to the third fixing frame 2134, and the third slider 21322 is slidably connected to the third slide rail 21321 and the sliding direction is the second horizontal direction. In this way, driven by the third driving component 2131, the third support frame 2133 and the third fixing frame 2134 are slidably connected through the third sliding connection component 2132, better realizing the stable and directional (second horizontal direction) reciprocating sliding of the grasping device 220.

[0085] Preferably, two third sliding connection components 2132 are provided and have the same sliding direction. They are parallel to each other and arranged at intervals, and both connect the third support frame 2133 and the third fixing frame 2134, which can better improve the smoothness of the grasping device 220 moving along the second horizontal direction. Preferably, the third driving component 2131 is located between the two third sliding connection components 2132.

[0086] Please refer toFigure 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.

[0087] 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 induction 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 induction 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.

[0088] Please also refer to Figure 2 、 Figure 4 、 Figure 7 and Figure 8 The conveying mechanism 210 includes a rotating conveying assembly 214. The rotating conveying assembly 214 is fixed to the second horizontal conveyor 213 and, under the control of the main control unit, drives the grasping device 220 to rotate around the power output axis of the rotating conveying assembly 214. The second horizontal conveyor 213 drives the rotating conveying assembly 214 and the grasping device 220 to reciprocate in the second horizontal direction. Combining the foregoing content, by using the conveying mechanism 210 to drive the grasping device 220, the grasping 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.

[0089] In this embodiment, the main control unit controls the rotating conveying assembly 214 to drive the grasping device 220 to reciprocally rotate between the loading area 101 and the target area 102, improving the flexibility of the grasping 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.

[0090] Please also refer to Figure 7 and Figure 8 The rotating conveying assembly 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 grasping device 220 and drives the grasping device 220 to rotate synchronously.

[0091] 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. Through the setting of the speed reducer 2142, the rotation 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.

[0092] The rotating conveyor assembly 214 further includes a first roller 2143, a second roller 2144 and a conveyor belt (not marked). 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 is sleeved on both of them for power transmission. The conveyor belt can be a toothed belt, and the first roller 2143 and the second roller 2144 are toothed wheels adapted to it.

[0093] To avoid position interference between the rotating drive source 2141 and the third fixing frame 2134, the rotating drive source 2141 is fixed on the upper side or the lower side of the third support frame 2133. In this way, the overall structure is more compact.

[0094] To make the tension of the conveyor belt adjustable, the fixing position of the rotating drive source 2141 is adjustable to achieve the adjustability of the tension of the conveyor belt; 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 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 is adjusted to meet the use requirements.

[0095] The speed reducer 2142 is provided with a wire threading hole 208 along its axial direction, and the wire threading hole 208 can allow each connecting wire to pass through, making the wire routing more regular and safe.

[0096] The third support frame 2133 is provided with a limiting block 2136 on the surface facing the third fixing frame 2134. The limiting block 2136 is fixed between the limit ends of the speed reducer 2142 and the third rack 21313. When the third support frame 2133 returns to the extreme limit position, the limiting block 2136 approaches the end of the third fixing frame 2134. The extreme limit detection member 2135 is fixed on the limiting block 2136, and the detection head faces the end of the third fixing frame 2134.

[0097] The position of the rotating transfer assembly 214 can be arranged as needed, mainly set according to the rotation range of the grasping device 220, and the grasping device 220 can be rotated 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 feeding area 101 is arranged below the grasping device 220, and the target area 102 is arranged on the side facing the grasping device 220.

[0098] Please refer to Figure 8 , the rotating 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 located near the connection between the grasping device 220 and the rotating transfer assembly 214. In this way, the limit position of the rotation angle of the grasping device 220 can be detected. When the detection reaches the limit position, the main control unit controls the rotating transfer assembly 214 to stop power output, which can protect other components outside the limit rotation range and avoid position interference. The first and second angular limit detection members are both sensors, a kind of sensor similar to a magnetic induction switch.

[0099] Please refer to simultaneously Figure 2 , Figure 4 , Figure 7 and Figure 8 , 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 rotating 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.

[0100] The grasping assembly 222 includes a first grasping member 2221 and a second grasping member 2222 whose one ends are respectively fixedly connected to the two power output ends of the grasping power source 221. 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, the grasping ends of the first grasping member 2221 and the second grasping member 2222 are provided with guiding inclined surfaces 209 on the surface opposite to the clamping opening. The guiding inclined surfaces 209 are guiding surfaces that are inclined towards the grasping end surfaces of the first and second grasping members (2221, 2222) and 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 feeding area 101 and the target area 102.

[0101] Please refer to simultaneously Figure 7 and Figure 8, a first grasping member 2221 extends a first positioning block 2223 towards a second grasping member 2222 at its grasping end. 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, so as to perform 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.

[0102] A second grasping member 2222 extends a second positioning block 2224 towards the first grasping member 2221 at its grasping end. 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, so as to perform clamping positioning on 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.

[0103] 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.

[0104] Please refer to Figure 7 and Figure 8 , the grasping device 220 further includes a reading unit 224 for identifying and / or reading document information. The reading unit 224 faces the document when the grasping assembly 222 grasps the document. The reading unit 224 is arranged on the grasping 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 grasped by the grasping assembly 222. The server matches a storage position for the document in the target area 102 and associates the position information of the storage position with the document information. When taking evidence, the specific position 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 grasped 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 grasping end of the grasping device 220 vertically upward, and the second limit detection member 21452 is used to detect the position of the grasping end of the grasping device 220 vertically downward.

[0105] The identification unit 224 is an RFID module 2241 and / or an OCR module 2242. Some document information is stored on a chip inside the document, and the RFID module 2241 can be used to read out 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 check codes, etc., or text information, etc. The printed or engraved information on the document can be obtained through the OCR module 2242. The document information includes document numbers, types, identity information of the person to whom the document belongs, etc., and is not limited thereto.

[0106] Please also refer to Figure 7 and Figure 8 . The grasping device 220 further includes a grasping detection unit 225 for detecting whether there is a document on the grasping component 222 and for detecting whether the document is inserted into a specified position of the grasping component 222 when grasping the document. The grasping detection unit 225 is provided on the grasping 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.

[0107] In this embodiment, the grasping detection unit 225 is a sensor that can emit a laser beam. Specifically, the detection end of the grasping detection unit 225 faces the inner end of the clamping opening where the document is inserted into the grasping component 222, and is used to detect whether the document is inserted in place and whether there is a document on the grasping component 222.

[0108] Please also refer to Figure 7 and Figure 8 . The grasping device 220 further includes a target detection unit 226 for detecting whether there is a document at the target position in the target area 102 and the loading position in the loading area 101 when accessing the document. 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 specified 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 directly storing the document and causing damage to the document; when retrieving the 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 to monitor abnormal situations and ensure the smooth progress of accessing the document. The target detection unit 226 is a sensor that can emit a laser beam.

[0109] Please also refer to Figure 7 and Figure 8, the gripping device 220 further includes a guiding frame 227. The guiding frame 227 is provided on the gripping support frame 223 and can elastically expand and contract relative to the gripping assembly 222. The guiding 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 gripping assembly 222. When the gripping assembly 222 grips the document, the guiding structure 2271 can guide the document to be directed in; when the gripping assembly 222 sends out the document, the guiding structure 2271 can guide the document to be directed out; when the gripping assembly 222 conveys the document, the guiding structure 2271 can cooperate with the gripping assembly 222 to support or clamp the end of the document. In this way, it can assist the gripping assembly 222 to achieve directed in and out when taking out and sending out the document, and can support or clamp the end of the document when conveying the document, better improving the stability and accuracy of the operations of taking out, conveying, 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.

[0110] The reading unit 224 is provided on the guiding 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 gripping device 220 acquires the document. In this way, before storing it in the target area 102, a designated storage location address is matched for the document, so that the document is directed to be stored in the target area 102; when taking out the document from the storage location, it is verified whether the taken-out document is the target document, making the whole operation faster and more accurate.

[0111] Please refer to Figure 7 and Figure 8 , the guiding structure 2271 includes two guiding grooves 2001, which are respectively provided on the guiding frame 227. The two notches face each other, and the extending direction is the same as the direction in which the gripping assembly 222 grips 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.

[0112] Please refer to Figure 7 and Figure 8, the grasping device 220 further includes a connecting component 228 connecting 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 with the same orientation as the grasping end of the grasping component 222 and a tail end 2003 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 on the end face 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 arranged 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, and 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 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 directionally, 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.

[0113] 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 for reading 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 for identifying a document with a special code or text information.

[0114] 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.

[0115] 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 in the feeding area 101 and calculating its deviation amount. The visual detection unit is arranged 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.

[0116] Embodiment Two:

[0117] Please refer to Figure 9 、 Figure 10 and those in Embodiment 1 Figures 1 to 8 Embodiment 2 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 which has a loading area 101 and a target area 102. The intelligent storage device 300 further includes a storage device 310 disposed in the target area 102 and the intelligent manipulator 200 as described above. The storage device 310 has a plurality of storage positions 301 for storing certificates, and each storage position 301 has a unique address code. Each address code is recorded in the server, and the address code is the spatial coordinate position where the storage position 301 is located. A transfer mechanism 210 is disposed on the mounting rack 100 and is connected to the grasping device 220. Both the transfer mechanism 210 and the grasping device 220 are controlledly connected to the main control unit, and the main control unit is communicatively connected to the server. The transfer mechanism 210 drives the grasping device 220 to reciprocally transfer the certificate between the target area 102 and the storage position 301.

[0118] In this embodiment, when a certificate needs to be stored, the transfer mechanism 210 is controlled by the main control unit to drive the grasping device 220 to shift to the loading area 101 to grasp the certificate to be stored from the loading area 101. At the same time, the server matches a storage position 301 for the certificate, that is, sends the address code corresponding to the storage position 301 to the main control unit. The main control unit controls the transfer mechanism 210 to transfer the grasping device 220 to the designated storage position 301 according to the address code and aligns the certificate with it to store the certificate. When a designated certificate needs to be taken out, the server sends the designated address code to the main control unit. The main control unit controls the transfer mechanism 210 to transfer the grasping device 220 to the designated storage position 301, takes out the certificate, and transfers it to the loading area 101 to complete the evidence-taking operation, realizing fully intelligent and automated access 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 certificates one by one and searching for and taking out the target certificate in the target area 102. It can achieve the effects of quickly storing certificates and quickly and accurately taking out the target certificate, saving time and effort, increasing the storage capacity of the target area 102, greatly reducing the cost investment, and achieving the effects of product intelligence and automation.

[0119] When the intelligent manipulator 200 in the first embodiment is used in a document storage device, the target area 102 has multiple 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 specified 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 complete the document retrieval operation.

[0120] The loading area 101 has multiple 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 retrieve 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. The server analyzes whether each loading position is vacant, then matches a vacant loading position and sends the address code to the main control unit to control the intelligent manipulator 200 to accurately store the document.

[0121] The storage device 310 includes a first storage part for storing this type of document and a second storage part for storing card-type documents. Both the first and second storage parts have multiple storage positions 301, so that the device can store card and this type of documents at the same time, enriching its storage performance.

[0122] Please refer to Figure 9 and Figure 10The mounting frame 100 has two conveying areas 103, each conveying area 103 is equipped with at least one intelligent manipulator 200, and two loading areas 101 are respectively arranged in the two conveying areas 103. Each loading area 101 is provided with at least one conveying port 104 for conveying documents, and each intelligent manipulator 200 corresponds to at least one conveying port 104; the two conveying areas 103 are arranged on opposite sides of the target area 102, and each storage position 301 of the storage device 310 has two interconnected insertion ports and faces the intelligent manipulator 200 on each side respectively. In this way, on the one hand, the storage efficiency is improved, and on the other hand, when the intelligent manipulator 200 on one side fails, the intelligent manipulator 200 on the opposite side can still continue to work, ensuring that the storage work is carried out stably and orderly. Each storage position 301 of the storage device 310 is a storage slot provided on the storage device 310. The storage slots on the storage device 310 are arranged in an array, and are double-socket storage slots, and the two insertion ports face the two conveying areas 103 respectively.

[0123] Please also see Figure 9 and Figure 10 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.

[0124] 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.

[0125] Alternatively, the clamping structure 311 includes an elastic plate 312 and a rebound opening 302, wherein the rebound opening 302 is provided on the inner side wall of each storage position 301 and extends along the document insertion direction, and 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, and the rebound protrusion is located in the storage position 301. When the document is inserted, it can elastically contact with the document to stabilize the document. The rebound protrusion is trapezoidal, arc-shaped, V-shaped, etc. The rebound opening 302 can avoid the deformed part after the elastic plate 312 is elastically deformed. The elastic plate 312 is integrally formed with the storage device 310 or detachably connected.

[0126] The storage device 310 is composed of a plurality of storage units 313 that are detachably connected together, and each storage unit 313 has a plurality of storage positions 301, so that it is easy to repair, maintain or replace, which can meet the use requirements while reducing the maintenance cost.

[0127] The intelligent storage device 300 cooperates with the transfer robot. The transfer robot is communicatively connected to the server, and the server conducts unified scheduling on it. The mounting rack 100 has a transfer space 105 below it for the transfer robot to come and go. 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 - away certificate on the feeding device of the transfer robot, and uses the transfer robot to send it out. In this way, the transmission and storage of certificates are realized, and the full - intelligent and automated management is achieved.

[0128] At least one positioning plate 130 is fixed to the bottom of the mounting rack 100. Each positioning plate 130 is provided with the 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, the guiding and positioning effect of the guiding inclined surface can achieve the deviation - correcting effect. Preferably, the conveying port 104 is adapted to the outer shape of the feeding device.

[0129] Embodiment Three:

[0130] Please refer to Figure 1 in Embodiment One Figure 10 and

[0131] in Embodiment Two. Another intelligent storage device 300 is provided in Embodiment Three of the present invention. The difference from Embodiment Two lies in 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 elaborated. The specific differences are as follows: The mounting rack 100 has a transfer area 103. The transfer area 103 is configured with at least one intelligent manipulator 200. 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 - storing slot provided on the storage device 310. The certificate - storing slots on the storage device 310 are arranged in an array and are single - insertion - port - type certificate - storing slots, and the insertion ports face the transfer area 103.

[0132] Embodiment Four:

[0133] Please refer to Figure 11 andFigure 12 and in the first embodiment Figures 1 to 8 , Embodiment 4 of the present invention provides an intelligent evidence-taking device, which is communicatively connected to a background server. The intelligent evidence-taking device 400 includes a mounting rack 100, and the mounting rack 100 has a feeding area 101 and a target area 102. The intelligent evidence-taking device 400 further includes an operation component 410 for the evidence-taking personnel to perform evidence-taking operations and the intelligent manipulator 200 as described in the first embodiment. The conveying mechanism 210 of the intelligent manipulator 200 is arranged on the mounting rack 100 and connected to the grasping device 220. The conveying mechanism 210, the grasping device 220, and the operation component 410 are all 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 reciprocate between the feeding area 101 and the target area 102.

[0134] In this embodiment, the evidence-taking personnel input information by using the operation component 410. The server obtains this information and the certificate information matching this information, and transmits the target certificate to the feeding area 101. After it arrives, the main control unit controls the intelligent manipulator 200 to grasp the target certificate and convey it to the target area 102, and the evidence-taking personnel can directly take it away. If the certificate is not taken away beyond the preset time, the server sends a signal of taking away the detained certificate to the main control unit, and the main control unit controls the intelligent grasping device 220 to take away the detained certificate in the target area 102 and put it back to the feeding area 101. On the one hand, it avoids mis-taking by others, and on the other hand, it is convenient for subsequent normal operations. Through this intelligent evidence-taking device 400, rapid evidence-taking can be realized without manual intervention, which is convenient and fast.

[0135] The operation component 410 includes a touch screen 411, which can provide evidence-taking operation guidelines for the evidence-taking personnel and also allow the evidence-taking personnel to input verification information, playing a role in human-computer interaction.

[0136] The operation component 410 further includes a camera 412, which is used to take pictures of the current evidence-taking operator and store them in the server, and can also be used for face recognition verification. In addition, it can also perform live body identification, such as whether the operator is wearing a mask, etc., to prevent illegal operations.

[0137] The operation component 410 further includes a fingerprint scanner 413, which is used to obtain the fingerprints of the evidence-taking personnel for identity verification.

[0138] The operation component 410 further includes a special code identifier 414. The evidence-taking personnel can carry an evidence-taking receipt with a special code for scanning and identification for evidence-taking.

[0139] The operation component 410 further includes a printer (not shown in the figure), which is used to print an evidence-taking receipt after evidence-taking.

[0140] The touch screen 411, the camera 412, the fingerprint scanner 413, the special code identifier 414, and the printer are all controlled and connected to the main control unit.

[0141] The intelligent forensics device 400 includes a forensics housing 420, which wraps around the upper side and the circumferential side of the mounting frame 100, and a movable door can be arranged as needed. A touch screen 411, a camera 412, a fingerprint scanner 413, a special code identifier 414, and a printer are arranged on the same side of the forensics housing.

[0142] The loading area 101 is provided with a certificate inlet 106, and the target area 102 is provided with a forensics outlet. The forensics outlet includes a card-taking port 107 and a book-taking port 108, which are used for the transmission of this type of certificate and card-type certificate. Of course, a common outlet can also be used.

[0143] The intelligent forensics device 400 cooperates with a transfer robot. The transfer robot is communicatively connected to a server, and the server conducts unified scheduling for it. The mounting frame 100 has a conveying space 109 below it for the transfer robot to move back and forth. The conveying space 109 is located below the transfer area 103 and is communicated with the certificate inlet 106. The transfer robot can accommodate multiple certificates (card-type certificates or / and this type of certificate). When the transfer robot moves to the conveying space 109, the loading device on it that holds the certificates is pushed to the opposite certificate inlet 106 for the intelligent manipulator 200 to grab; when it is necessary to take away the detained certificates, the intelligent manipulator 200 places the taken certificates on the loading device of the transfer robot, and uses the transfer robot to send them out. In this way, forensics and detention management are realized, which is fully intelligent and automated.

[0144] A guide plate 430 is fixed to the bottom of the mounting frame 100. The guide plate 430 is provided with the above-mentioned certificate inlet 106. The certificate inlet 106 is provided with a downward and circumferential guide slope, which can make the loading device of the transfer robot quickly insert into the certificate inlet 106 along the guide slope. Even if there is a small deviation in the alignment between the loading device and the certificate inlet 106, the deviation correction effect can be achieved due to the positioning and guiding effect of the guide slope. Preferably, the shape of the certificate inlet 106 is adapted to the shape of the loading device.

[0145] Please refer to Figure 12 and Figure 13, the intelligent forensics device 400 further includes a destruction device 440. The destruction device 440 includes a destruction drive source 442, a destruction frame 441, a movable frame 443 disposed on the destruction frame 441, and a destruction structure. The destruction frame 441 and the movable frame 443 jointly enclose a destruction space. The destruction space has a destruction position for inserting a certificate. The destruction position is disposed on the movable frame 443 or the destruction frame 441 facing the movable frame 443. The destruction structure is disposed in the destruction space and opposite to the destruction position. The destruction drive source 442 is controlled and connected to the main control unit. The movable frame 443 is connected to the destruction drive source 442 and is driven by the destruction drive source 442 to move the destruction structure closer to or away from the destruction position. After the forensics personnel receive a new certificate, they need to perform a destruction operation on the old or invalid certificate to avoid random discarding and being used by illegal persons.

[0146] There are two destruction spaces, namely a first destruction space 402 and a second destruction space 403. The first and second destruction spaces (402, 403) are respectively disposed on two opposite sides of the movable frame 443. It can be arranged left and right, or up and down. The arrangement orientation is not restricted.

[0147] There are two destruction positions, namely a first destruction position 401 for inserting this type of certificate and a second destruction position 404 for inserting card-type certificates. The first destruction position 401 is disposed in the first destruction space 402, and the second destruction position 404 is disposed in the second destruction space 403. The first destruction position 401 is disposed on the movable frame 443 or the destruction frame 441 facing the movable frame 443, and the second destruction position 404 is disposed on the movable frame 443 or the destruction frame 441 facing the movable frame 443. This device can receive this type of certificate and can also receive card-type certificates. At the same time, it can destroy cards and this type of certificate.

[0148] On the operation side of the forensics housing 420, there is also a destruction opening. The destruction opening includes a card destruction slot 405 for inserting card-type certificates and a book destruction slot 406 for inserting this type of certificate. The card destruction slot 405 is opposite to the first destruction position 401, and the book destruction slot 406 is opposite to the second destruction position 404.

[0149] There are two destruction structures, namely a first destruction structure 444 disposed in the first destruction space 402 and opposite to the first destruction position 401, and a second destruction structure 445 disposed in the second destruction space 403 and opposite to the second destruction position 404.

[0150] Such as Figure 13As shown, the destruction structure includes a destruction tool 4441 and a pressing part 4442. Before destroying the certificate, the pressing part 4442 moves towards the destruction position and jointly clamps the certificate to be destroyed with the destruction position. After the certificate is clamped, the destruction driving source 442 drives the destruction tool 4441 to perform a destruction operation on the certificate, effectively avoiding the displacement of the certificate due to external force during the destruction process, resulting in the failure of destruction. When the certificate destruction is completed, the driving destruction tool 4441 preferentially disengages from the destroyed certificate. After the disengagement is completed, the pressing part 4442 is then driven to disengage from the destruction position. In this way, it is convenient for the destroyed certificate to quickly and smoothly disengage from the destruction tool 4441. The first and second destruction structures are both the above-mentioned destruction structure. The destruction tool 4441 can be a punching tool or a shearing tool. The movable frame body 443 is driven by the destruction driving source 442 to displace the movable frame body 443 in the first destruction space 402 and the second destruction space 403.

[0151] The destruction device 440 also includes a displacement driving source (not shown in the figure), which is connected to the destruction frame body 441 and is used to drive the destruction frame body 441 to displace towards or away from the destruction socket direction to ensure the safe destruction of the certificate. When the certificate is inserted into the destruction position, the main control unit controls the displacement driving source to move and displace the destruction frame body 441 away from the destruction socket direction. In this way, it can effectively prevent the destruction personnel from taking away the certificate during the destruction operation, resulting in the abnormal progress of the certificate destruction; when the certificate destruction is completed, the destruction frame body 441 will be driven to move towards the destruction socket for resetting, and the destruction personnel can take away the destroyed certificate.

[0152] The destruction device 440 also includes a waste recycling structure 446, and the waste recycling structure 446 is fixed to the bottom of the destruction frame body 441 and is used to recycle the waste after the certificate is destroyed.

[0153] Embodiment Five:

[0154] Please also refer to Figure 14 in Embodiment Two Figure 9 and Figure 11 in Embodiment Four Figure 12 and

[0155] An embodiment five of the present invention provides a certificate collection system, which includes a server, a transfer robot 500, the intelligent storage device 300 as described above, and the intelligent evidence-taking device 400 as described above. At least one intelligent storage device 300 is provided, and each intelligent storage device 300 corresponds to at least one intelligent evidence-taking device 400. Each intelligent evidence-taking device 400 is equipped with a transfer robot 500. Each transfer robot 500, each intelligent storage device 300, and each intelligent evidence-taking device 400 are all communicatively connected to the server and are centrally dispatched by it. Each transfer robot 500 is used to transfer the certificate to be collected from the intelligent storage device 300 to the intelligent evidence-taking device 400 operated by the evidence-taking personnel.In this embodiment, the intelligent forensics device 400 serves as a forensics terminal, which can also be understood as a terminal for information input and identity verification. The server controls the credential storage device to output the to-be-collected credential corresponding to the to-be-verified information based on the to-be-verified information obtained from the intelligent forensics device 400. At the same time, the server controls the transfer robot 500 to transfer the to-be-collected credential output by the credential storage device to the location of the intelligent forensics device 400. The intelligent forensics device 400 automatically transfers the credential to the operation end face of the forensics personnel, and the forensics personnel take it out. The entire forensics process is fully intelligent and automated without human intervention.

[0156] Embodiment Six:

[0157] Please also refer to Figure 15 , those in Embodiment Two Figure 9 and those in Embodiment Four Figure 11 and Figure 12 , Embodiment Six of the present invention provides another credential collection system, which cooperates with the credential production device. The credential collection system includes a server, a first transfer robot 600, a second transfer robot 700, the aforementioned intelligent storage device 300, and the aforementioned intelligent forensics device 400. At least one intelligent storage device 300 is provided, and at least one first transfer robot 600 is matched between each intelligent storage device 300 and the credential production device; each intelligent storage device 300 corresponds to at least one intelligent forensics device 400, and each intelligent forensics device 400 is equipped with a second transfer robot 700. Each first transfer robot 600, each second transfer robot 700, each intelligent storage device 300, and each intelligent forensics device 400 are all communicatively connected to the server and centrally scheduled by it. Each first transfer robot 600 is used to transfer the qualified credentials produced by the credential production device to the intelligent storage device 300 for storage, and each second transfer robot 700 is used to transfer the to-be-collected credentials from the intelligent storage device 300 to the intelligent forensics device 400 operated by the forensics personnel.

[0158] In this embodiment, after the certificate is produced by the certificate production device, the server controls the first transfer robot 600 to transfer the qualified certificate to the certificate storage device. The certificate storage device obtains the certificate, reads the certificate information, and matches a unique storage address for it. This storage address is recorded in the server to complete the certificate storage work. The intelligent evidence collection device 400, as the evidence collection terminal, can also be understood as the terminal for information input and identity verification. The server controls the certificate storage device to output the certificate to be received corresponding to the information to be verified according to the information to be verified obtained from the intelligent evidence collection device 400. At the same time, it controls the second transfer robot 700 to transfer the certificate to be received output by the certificate storage device to the intelligent evidence collection device 400. The intelligent evidence collection device 400 automatically transfers the certificate to the operation end face of the evidence collection personnel, and the evidence collection personnel takes it out. The whole process from the production of the certificate by the certificate production device to the taking out of the certificate is fully intelligent and automated without human intervention.

[0159] 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 manipulator, which is assembled on a mounting rack, and the mounting rack has a feeding area and a target area, characterized in that, The intelligent manipulator includes a main control unit, a conveying mechanism and a grasping device, both of which are connected to the main control unit for control. The conveying mechanism is arranged on the mounting frame and connected to the grasping device, and drives the grasping device to reciprocally convey between the feeding area and the target area under the control of the main control unit. The main control unit controls the grasping and releasing of the grasping device. The grasping device includes a grasping power source, a grasping component and a grasping support frame. The grasping power source is fixed to the grasping support frame and connected to the grasping component, and drives the grasping component to grasp and release under the control of the main control unit. The grasping device further includes a guiding frame. The guiding frame is arranged on the grasping support frame and can elastically expand and contract relative to the grasping component. The guiding frame is provided with a guiding structure. The guiding structure faces the grasping component, and is used for guiding the document to move in a specific direction when the grasping component grasps or sends out the document, and supports or clamps the end of the document when the grasping component conveys the document. When the grasping component grasps or stores the document, the guiding frame moves towards the tail of the grasping support frame. The grasping end of the grasping component extends from the head end of the guiding frame. The guiding frame is elastically compressed relative to the grasping component. The end of the guiding frame abuts against the target area or the feeding area, and the grasping component grasps or stores the document.

2. The intelligent manipulator 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 connected to the main control unit for control. The first horizontal conveying device is arranged on the mounting frame and connected to the vertical conveying device, and drives the vertical conveying device to reciprocally move in the horizontal plane along a first horizontal direction. The vertical conveying device is connected to the second horizontal conveying device, and drives the second horizontal conveying device to reciprocally move along the vertical direction. The second horizontal conveying device is connected to the grasping device, and drives the grasping device to reciprocally move in the horizontal plane along a second horizontal direction. There is an included angle θ between the second horizontal direction and the first horizontal direction, and 0° < θ < 180°.

3. The intelligent manipulator according to claim 2, wherein, The first horizontal conveying device includes a first driving component, a first sliding connection component and a first support frame. The first sliding connection component is connected between the mounting frame and the first support frame, and is used to make the sliding direction of the first support frame relative to the mounting frame be the first horizontal direction. The first driving component drives the first support frame to reciprocally slide along the first horizontal direction under the control of the main control unit. The vertical conveying device is fixedly connected to the first support frame.

4. The intelligent manipulator according to claim 3, characterized in that, The first horizontal conveying device further includes a second driving component, a second sliding connection component and a second support frame. The second sliding connection component is connected between the mounting frame and the second support frame, and is used to make the sliding direction of the second support frame relative to the mounting frame be the first horizontal direction. The second driving component drives the second support frame to reciprocally slide synchronously with the first support frame along the first horizontal direction under the control of the main control unit. The vertical conveying device is fixedly connected to the second support frame.

5. The intelligent manipulator 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. Two end portions of the vertical fixing frame are fixedly connected to the first supporting frame and the second supporting frame respectively. The vertical driving assembly drives the vertical supporting frame to reciprocally slide in the vertical direction relative to the vertical fixing frame under the control of the main control unit, and the second horizontal conveying device is fixedly connected to the vertical supporting frame.

6. The intelligent manipulator according to claim 5, characterized in that, 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 a side wall facing the vertical supporting frame. The transmission assembly is disposed inside the mounting shell and electrically connected to the driving member. A transmission end portion of the transmission assembly passes through the through hole and is connected to the lock head. The elastic member is disposed on the transmission end portion of the transmission assembly and is compressed between the lock head and the mounting shell. A plurality of locking positions are arranged at intervals in the vertical direction on a 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 is locked with the corresponding locking position.

7. The intelligent manipulator according to claim 6, wherein, The transmission assembly includes a push rod and a transmission member threadedly connected to an 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 portion of the push rod, and the transmission member is circumferentially limited inside the mounting shell.

8. The intelligent manipulator according to claim 6, characterized in that, The transmission assembly includes a push rod and a transmission member that moves synchronously with an output shaft of the driving member. One end portion 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 portion 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 portion of the push rod.

9. The intelligent manipulator according to claim 5, wherein 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 drives the third supporting frame to reciprocally slide along the second horizontal direction under the control of the main control unit, and the grasping device is connected to the third supporting frame.

10. The intelligent manipulator 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 drives the grasping device to rotate around the power output axis of the rotating conveying assembly under the control of the main control unit. The second horizontal conveying device drives the rotating conveying assembly and the grasping device to reciprocally move along the second horizontal direction simultaneously. The grasping support frame is connected to and rotates synchronously with the power output shaft of the rotating conveying assembly.

11. The intelligent manipulator according to claim 10, characterized in that, The grasping device further includes a reading unit for identifying and / or reading document information. The reading unit faces the document when the grasping component grasps the document, and the reading unit is provided on the grasping support frame or the mounting frame.

12. The intelligent manipulator according to claim 10, characterized in that, The grasping device further includes a grasping position detection unit for detecting whether there is a document on the grasping component and for detecting whether the document is inserted into a specified position of the grasping component when grasping the document. The grasping position detection unit is provided on the grasping support frame.

13. The intelligent manipulator according to claim 10, characterized in that, The grasping 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 grasping support frame.

14. The intelligent manipulator 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 grasped in the loading area and calculating its deviation amount. The vision detection unit is provided on the grasping device; the main control unit controls the movement of the conveying mechanism according to the deviation amount and conveys the grasping device to a position aligned with the document to be grasped.

15. 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 a storage device provided in the target area and the intelligent manipulator according to any one of claims 1 to 14. The storage device has a plurality of storage positions for storing documents, and each storage position has a unique address code recorded in the server; the conveying mechanism of the intelligent manipulator is provided on the mounting frame and connected to the grasping device, the main control unit is communicatively connected to the server, and the conveying mechanism drives the grasping device to reciprocate between the target area and each storage position.

16. The intelligent storage device according to claim 15, wherein The mounting frame has a conveying area, and at least one of the intelligent manipulators is configured 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, and each intelligent manipulator corresponds to at least one conveying port; the target area is adjacent to the conveying area, and each storage position has one insertion port facing the intelligent manipulator.

17. The intelligent storage device according to claim 15, characterized in that, The mounting frame has two conveying areas, and at least one of the intelligent manipulators is configured in each conveying area. There are two loading areas configured and are respectively located in the two conveying areas. Each loading area is provided with at least one conveying port for conveying documents, and each intelligent manipulator corresponds to at least one conveying port; the two conveying areas are respectively located on opposite sides of the target area, and each storage position of the storage device has two communicating insertion ports respectively facing the intelligent manipulators on each side.

18. The intelligent storage device according to claim 16 or 17, characterized in that, At least one clamping structure for clamping the document is provided on each side of each storage, and the clamping end of the clamping structure extends into the storage position.

19. An intelligent forensics device, which is communicatively connected to a background server. The intelligent forensics device includes a mounting rack, and the mounting rack has a feeding area and a target area, characterized in that, The intelligent evidence-taking device further includes an operation component for the evidence-taking personnel to perform evidence-taking operations and the intelligent manipulator according to any one of claims 1 to 14. The conveying mechanism of the intelligent manipulator is provided on the mounting frame and connected to the grasping device. The conveying mechanism, the grasping device and the operation component are all controlled and connected to the main control unit. The main control unit is communicatively connected to the server, and the conveying mechanism drives the grasping device to reciprocate between the loading area and the target area.

20. The intelligent forensics device according to claim 19, characterized in that, The intelligent forensics device further includes a damage device, which includes a damage driving source, a damage frame body, a movable frame body provided on the damage frame body, and a damage structure. The damage frame body and the movable frame body jointly enclose a damage space, and the damage space has a damage position for inserting a certificate. The damage position is provided on the movable frame body or the damage frame body facing the movable frame body. The damage structure is provided in the damage space and opposite to the damage position. The damage driving source is controllably connected to the main control unit. The movable frame body is connected to the damage driving source and is driven by the damage driving source to make the damage structure approach or move away from the damage position relative to the damage position.

21. The intelligent forensics device according to claim 20, wherein, There are two damage spaces, namely a first damage space and a second damage space, and the first and second damage spaces are respectively disposed on two opposite sides of the movable frame body; There are two damage positions, namely a first damage position for inserting this type of certificate and a second damage position for inserting a card-type certificate. The first damage position is provided in the first damage space, the second damage position is provided in the second damage space, the first damage position is provided on the movable frame body or the damage frame body facing the movable frame body, and the second damage position is provided on the movable frame body or the damage frame body facing the movable frame body; There are two damage structures, namely a first damage structure provided in the first damage space and opposite to the first damage position and a second damage structure provided in the second damage space and opposite to the second damage position; The movable frame body is driven by the damage driving source to shift the movable frame body between the first damage space and the second damage space.

22. A certificate collection system, characterized in that, It includes a server, a transfer robot, an intelligent storage device according to any one of claims 15 to 18, and an intelligent forensics device according to any one of claims 19 to 21. At least one intelligent storage device is provided, each intelligent storage device corresponds to at least one intelligent forensics device, each intelligent forensics device is equipped with a transfer robot, each transfer robot, each intelligent storage device, and each intelligent forensics device are communicatively connected to the server and centrally dispatched by it. Each transfer robot is used to transfer the certificate to be collected from the intelligent storage device to the intelligent forensics device operated by the forensics personnel.

23. A certificate collection system, which cooperates with a certificate manufacturing device, is characterized in that, The certificate collection system includes a server, a first transfer robot, a second transfer robot, an intelligent storage device according to any one of claims 15 to 18, and an intelligent forensics device according to any one of claims 19 to 21. At least one intelligent storage device is provided, and at least one of the first transfer robots is matched between each intelligent storage device and the certificate production device; Each of the intelligent storage devices corresponds to at least one of the intelligent forensics devices. Each intelligent forensics device is equipped with a second transfer robot. Each of the first transfer robots, each of the second transfer robots, each of the intelligent storage devices, and each of the intelligent forensics devices are communicatively connected to the server and centrally scheduled by it. Each of the first transfer robots is used to transfer the qualified certificates made by the certificate making device to the intelligent storage device for storage, and each of the second transfer robots is used to transfer the certificates to be collected from the intelligent storage device to the intelligent forensics device operated by the forensics personnel.

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