A robotic arm and document management terminal

Abstract

This invention discloses a guiding mechanism, a robotic arm, and a document management terminal. The guiding mechanism includes: a first guide frame, a first drive module, and a second guide frame. The first guide frame has a first guide groove; the first drive module is disposed on the first guide frame; the second guide frame has a second guide groove and is connected to the first drive module. The height of the second guide groove is less than the height of the first guide groove. The first drive module drives the second guide frame closer to the first guide groove, so that the second guide groove partially overlaps with the first guide groove; or, the first drive module drives the second guide frame away from the first guide groove, so that the second guide groove and the first guide groove are arranged parallel to each other. This guiding mechanism effectively achieves device miniaturization.

Description

Technical Field

[0001] This invention relates to the field of document management terminal technology, and in particular to a robotic arm and a document management terminal. Background Technology

[0002] With the development of technology, self-service equipment has been widely used in people's lives. Among them, document management terminals are a type of self-service equipment. Operators can store documents in batches into the document management terminal so that users can retrieve the corresponding documents. These documents include booklet documents and card documents.

[0003] In practical applications, due to the different thicknesses of paper-based and card-based ID cards, different transmission mechanisms are required to transmit paper-based and card-based ID cards separately during the ID card transmission process. The two different transmission mechanisms occupy the internal space of the ID card management terminal, resulting in a larger size of the ID card management terminal.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to propose a guiding mechanism aimed at miniaturizing the device.

[0006] To achieve the above objectives, the guiding mechanism proposed in this invention includes:

[0007] A first guide frame, wherein the first guide frame is provided with a first guide groove;

[0008] A first drive module, wherein the first drive module is disposed on the first guide frame; and

[0009] The second guide frame is provided with a second guide groove, and the second guide frame is connected to the first drive module. The height of the second guide groove is less than the height of the first guide groove.

[0010] The first drive module drives the second guide frame to approach the first guide groove, so that the second guide groove partially overlaps with the first guide groove.

[0011] Alternatively, the first drive module drives the second guide frame away from the first guide groove, so that the second guide groove and the first guide groove are arranged in parallel.

[0012] In one embodiment of the present invention, the first guide frame is provided with a first guide slope at at least one end of the first guide groove, so that the opening of at least one end of the first guide groove is flared.

[0013] In one embodiment of the present invention, the second guide frame is provided with a second guide slope at at least one end of the second guide groove, so that the opening of at least one end of the second guide groove is flared.

[0014] In one embodiment of the present invention, the first guide frame is further provided with a third guide groove, the third guide groove being connected to the first guide groove;

[0015] At least a portion of the second guide frame is located within the third guide groove.

[0016] In one embodiment of the present invention, the first guide frame is provided with a first clearance opening, and the first clearance opening is connected to the first guide groove;

[0017] The second guide frame is provided with a second clearance opening, which is connected to the second guide groove, and the second clearance opening is provided corresponding to the first clearance opening;

[0018] The guiding mechanism also includes an identifier disposed on the first guide frame, wherein the sensing end of the identifier is disposed corresponding to the first clearance opening and the second clearance opening.

[0019] In one embodiment of the present invention, the guiding mechanism further includes a card reader disposed on the first guide frame, the card reader being disposed opposite to the identifier and corresponding to the first clearance opening and the second clearance opening.

[0020] In one embodiment of the present invention, the second guide frame includes:

[0021] A first plate, the first plate being connected to the first drive module; and

[0022] Two second plates are disposed on one side of the first plate. The two second plates are arranged opposite each other and form the second clearance opening. Each second plate is provided with a second guide groove, and the two second guide grooves are arranged correspondingly.

[0023] In one embodiment of the present invention, the guiding mechanism further includes at least one guide rod, the guide rod being disposed on the first guide frame;

[0024] The second guide frame is provided with a sliding hole, and the guide rod slides through the sliding hole so that the second guide frame slides along the extension direction of the guide rod.

[0025] The present invention also proposes a robotic arm, comprising a second drive module, a third drive module, a first connecting frame, a second connecting frame, a robotic gripper, and the guiding mechanism. The first connecting frame is disposed on the second drive module, and the first connecting frame and the second connecting frame are rotatably connected. The third drive module is disposed on the first connecting frame and / or the second connecting frame, and the third drive module is used to drive the second connecting frame to rotate relative to the first connecting frame. The first guide frame and the robotic gripper of the guiding mechanism are disposed on the second connecting frame, and the robotic gripper is configured to correspond to the first guide groove of the first guide frame.

[0026] The present invention also proposes a document management terminal, including the aforementioned robotic arm.

[0027] The technical solution of this invention employs a first drive module mounted on a first guide frame, connected to a second guide frame. The first drive module drives the second guide frame to move closer to or further away from the first guide frame, allowing the guiding mechanism to have two states: one for transmitting card-type documents with the second guide frame closer to the first guide frame, and another for transmitting printed documents with the second guide frame farther away from the first guide frame. Specifically, in the card-type document transmission state, the second guide slot and the first guide slot partially overlap, with the first guide slot partially obstructed by the second guide frame, allowing the card-type document to pass through the second guide slot with a smaller slot height. In the printed document transmission state, the second guide slot is farther away from the first guide slot, ensuring the first guide slot is not obstructed, allowing the printed document to pass through the first guide slot with a larger slot height. Thus, a single guiding mechanism is used to guide both printed and card-type documents, avoiding the need for two separate devices for each type of document, reducing the space occupied by the equipment, and achieving equipment miniaturization. This invention's guiding mechanism effectively achieves equipment miniaturization. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of an embodiment of the robotic arm of the present invention;

[0030] Figure 2 for Figure 1 A structural schematic diagram of some mechanisms of a robotic arm from one perspective;

[0031] Figure 3 for Figure 1 A structural schematic diagram of some mechanisms of the robotic arm from another perspective;

[0032] Figure 4 for Figure 3 A partial schematic diagram at point A in the middle;

[0033] Figure 5 for Figure 1 Another structural diagram of some mechanisms of the robotic arm;

[0034] Figure 6 for Figure 5 A partial schematic diagram at point B in the middle;

[0035] Figure 7 This is a cross-sectional view of a partial structure of an embodiment of the robotic arm of the present invention;

[0036] Figure 8 for Figure 1 A schematic diagram of the assembly structure of some mechanisms of the robotic arm.

[0037] Explanation of icon numbers:

[0038] label name label name 1 Guiding agency 136 Sliding hole 11 First guide frame 14 Recognizer 111 First guide groove 15 Card reader 112 First guide slope 16 Guide rod 113 Third guide groove 2 Second drive module 114 First evacuation opening 3 Third drive module 12 First drive module 4 First connecting frame 13 Second guide frame 5 Second connecting frame 131 Second guide groove 6 mechanical claw 132 Second guide slope 7 Third connecting frame 133 Second avoidance opening 8 Fourth drive module 134 First plate 9 rack 135 Second plate

[0039] The implementation, functional features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0041] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0042] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the word "and / or" throughout the text means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0043] This invention proposes a robotic arm comprising a guiding mechanism. The guiding mechanism guides the identification documents, ensuring their stable entry into the document management terminal. The guiding mechanism can be mounted on the robotic arm to assist in gripping paper-based and card-based identification documents; alternatively, it can be mounted at the document input and output ports to facilitate stable input and output of paper-based and card-based identification documents in conjunction with rollers at these ports. (Reference) Figure 1 This is a schematic diagram of the structure of an embodiment of the robotic arm of the present invention; see reference. Figure 2 ,for Figure 1 A schematic diagram of some mechanisms of the robotic arm from one perspective; Reference Figure 3 ,for Figure 1 A structural diagram of some mechanisms of the robotic arm from another perspective; Reference Figure 4 ,for Figure 3 A partial schematic diagram at point A; for reference Figure 5 ,for Figure 1 Another structural diagram of some mechanisms of the robotic arm; Reference Figure 6 ,for Figure 5 A partial schematic diagram at point B; for reference. Figure 7 This is a cross-sectional view of a partial structure of an embodiment of the robotic arm of the present invention; see reference. Figure 8 ,for Figure 1 A schematic diagram of the assembly structure of some mechanisms of the robotic arm.

[0044] In embodiments of the present invention, such as Figure 1 As shown, and in combination Figure 2 , Figure 3 as well as Figure 5As shown, the guiding mechanism 1 includes: a first guide frame 11, a first drive module 12, and a second guide frame 13. The first guide frame 11 is provided with a first guide groove 111; the first drive module 12 is disposed on the first guide frame 11; the second guide frame 13 is provided with a second guide groove 131, and the second guide frame 13 is connected to the first drive module 12. The height of the second guide groove 131 is less than the height of the first guide groove 111. The first drive module 12 drives the second guide frame 13 to move closer to the first guide groove 111, so that the second guide groove 131 partially overlaps with the first guide groove 111; or, the first drive module 12 drives the second guide frame 13 away from the first guide groove 111, so that the second guide groove 131 and the first guide groove 111 are arranged in parallel.

[0045] In this embodiment, a first drive module 12 is provided on the first guide frame 11. The first drive module 12 is connected to the second guide frame 13. The first drive module 12 drives the second guide frame 13 to move closer to or away from the first guide frame 11, so that the guide mechanism 1 has a card-type document transmission state where the second guide frame 13 is close to the first guide frame 11, and a document-type document transmission state where the guide mechanism 1 has the second guide frame 13 away from the first guide frame 11. In other words, in the card-type document transmission state, the second guide groove 131 and the first guide groove 111 partially overlap, and the first guide groove 111 is partially blocked by the second guide frame 13, allowing the card-type document to pass through the second guide groove 131 with a smaller groove height. In the physical document transmission state, the second guide groove 131 is away from the first guide groove 111, so that the first guide groove 111 is not blocked, allowing the physical document to pass through the first guide groove 111 with a larger groove height. Thus, a single guiding mechanism 1 is used to guide both physical and card-type documents, avoiding the need for two separate sets of equipment for transmitting physical and card-type documents, reducing the space occupied by the equipment, and achieving equipment miniaturization. The guiding mechanism 1 of this invention effectively achieves equipment miniaturization.

[0046] In an optional embodiment of the present invention, the second guide frame 13 may be movably connected to the first guide frame 11, for example, the second guide frame 13 may be rotatably connected to the first guide frame 11, or the second guide frame 13 may be slidably connected to the first guide frame 11.

[0047] In an optional embodiment of the present invention, the first guide frame 11 can be configured in any form, such as a plate structure and a frame structure.

[0048] Based on the above embodiments, when the first guide frame 11 can be configured as a plate structure, the first guide groove 111 is located on any surface of the first guide frame 11, the first drive module 12 can be installed on any surface or side of the first guide frame 11, and the first drive module 12 drives the second guide frame 13 to move.

[0049] On the other hand, when the first guide frame 11 can be configured as a frame structure, the first guide groove 111 can be provided on the surface of the inner frame or the outer frame of the frame structure. Without obstructing the first guide groove 111, the first drive module 12 can be provided on the surface of the inner frame or the outer frame of the frame structure, and the first drive module 12 drives the second guide frame 13 to move.

[0050] Based on the optional embodiment of the first guide frame 11 described above, the second guide frame 13 can also be configured in any form, such as a plate structure and a frame structure.

[0051] In one embodiment of the present invention, combined with Figure 2 , Figure 3 as well as Figure 4 As shown, the first guide frame 11 can be configured as a frame structure, and the outline of the frame structure is rectangular. The first drive module 12 is located on the outer frame of the frame structure, the first guide groove 111 of the first guide frame 11 is located inside the frame structure, and the second guide frame 13 is located inside the frame structure and connected to the first drive module 12.

[0052] In an optional embodiment of the present invention, the first drive module 12 may be configured as a cooperating component of a motor and a transmission structure; or, the first drive module 12 may be configured as a cooperating component of a cylinder and a transmission structure; or, the first drive module 12 may be configured as a cooperating component of an electric cylinder and a transmission structure.

[0053] In one embodiment of the present invention, combined with Figure 2 , Figure 3 as well as Figure 4 As shown, the first guide frame 11 is provided with a first guide slope 112 at at least one end of the first guide groove 111, so that the opening of at least one end of the first guide groove 111 is flared.

[0054] In this embodiment, a first guide slope 112 is provided at the port of any one end of the first guide groove 111. The first guide slope 112 extends from the opening of the first guide groove 111 to the outer edge of the first guide groove 111, so that at least one end of the first guide groove 111 is set as an flared opening to facilitate the entry of the document into the first guide groove 111.

[0055] In an optional embodiment of the present invention, the first guide slope 112 is disposed around the opening of the first guide groove 111.

[0056] In an optional embodiment of the present invention, both ends of the first guide groove 111 are provided with first guide slopes 112.

[0057] In one embodiment of the present invention, combined with Figure 2 , Figure 3 as well as Figure 4As shown, the second guide frame 13 is provided with a second guide slope 132 at at least one end of the second guide groove 131 so that the opening of at least one end of the second guide groove 131 is flared.

[0058] In this embodiment, a second guide slope 132 is provided at the port of any one end of the second guide groove 131. The second guide slope 132 extends from the opening of the second guide groove 131 to the outer edge of the second guide groove 131, so that at least one end of the second guide groove 131 is set as an flared opening to facilitate the entry of the document into the second guide groove 131.

[0059] In an optional embodiment of the present invention, the second guide slope 132 is disposed around the opening of the second guide groove 131.

[0060] In an optional embodiment of the present invention, a second guide slope 132 is provided at both ends of the second guide groove 131.

[0061] In one embodiment of the present invention, combined with Figure 2 , Figure 3 as well as Figure 4 As shown, the first guide frame 11 is also provided with a third guide groove 113, which connects to the first guide groove 111; at least a portion of the second guide frame 13 is located within the third guide groove 113. That is, the third guide groove 113 is used to guide the movement of the second guide frame 13, so that the second guide frame 13 can move smoothly along the third guide groove 113.

[0062] In an optional embodiment of the present invention, the third guide groove 113 may be located relative to either end of the first guide groove 111.

[0063] In an optional embodiment of the present invention, the third guide groove 113 may be located relative to the middle of the first guide groove 111. That is, the third guide groove 113 connects to the middle of the first guide groove 111, so that the second guide frame 13 can enter the middle region of the first guide groove 111, so that at least a portion of the second guide frame 13 coincides with the first guide frame 11, thereby preventing the second guide frame 13 from protruding from the first guide frame 11 and realizing a miniaturized configuration of the guide mechanism 1.

[0064] In one embodiment of the present invention, combined with Figure 4 As shown, the first guide frame 11 is provided with a first clearance opening 114, which is connected to the first guide groove 111; the second guide frame 13 is provided with a second clearance opening 133, which is connected to the second guide groove 131, and the second clearance opening 133 is provided corresponding to the first clearance opening 114.

[0065] The guide mechanism 1 also includes an identifier 14 disposed on the first guide frame 11, and the sensing end of the identifier 14 is disposed corresponding to the first clearance port 114 and the second clearance port 133.

[0066] In this embodiment, an identifier 14 is provided on the first guide frame 11 so that the identifier 14 can correspond to the first recess 114 and the second recess 133. When the document corresponds to the first recess 114 and / or the second recess 133, the identifier 14 can obtain the image of the document.

[0067] In an optional embodiment of the present invention, the first guide frame 11 is provided with a first clearance opening 114, which can be understood as the first guide frame 11 being provided with a first clearance opening 114, and the first clearance opening 114 connecting the upper wall and / or lower wall of the first guide groove 111.

[0068] Based on the above, it can be understood that when both the upper and lower walls of the first guide groove 111 have a first clearance opening 114, the first guide groove 111 can be divided into two grooves by the first clearance opening 114. The two grooves are opposite each other. When the document is passed into the first guide groove 111, the two sides of the document move along the two grooves of the first guide frame 11 respectively.

[0069] Similarly, in the embodiment where the second guide frame 13 is provided with the second clearance opening 133, it is equivalent to the above description. When the document is passed into the second guide groove 131, the two sides of the document move along the two grooves of the second guide frame 13 respectively.

[0070] In an optional embodiment of the present invention, the identifier 14 is arranged side by side with the first drive module 12 to achieve a compact structure.

[0071] In an optional embodiment of the present invention, the first guide frame 11 has an avoidance opening at the sensing port of the identifier 14.

[0072] Alternatively, the recognizer 14 may be a camera module.

[0073] In one embodiment of the present invention, combined with Figure 3 , Figure 5 as well as Figure 7 As shown, the guide mechanism 1 also includes a card reader 15 disposed on the first guide frame 11. The card reader 15 is disposed opposite to the identifier 14 and is disposed corresponding to the first clearance port 114 and the second clearance port 133.

[0074] In this embodiment, the card reader 15 and the identifier 14 are arranged opposite to each other so that the guide mechanism 1 can recognize both paper-based and card-based documents, thereby integrating functions and improving the integration of the equipment.

[0075] Optionally, the card reader 15 may be an electromagnetic identification module.

[0076] In one embodiment of the present invention, combined with Figure 5 , Figure 7as well as Figure 7 As shown, the second guide frame 13 includes: a first plate 134 and two second plates 135. The first plate 134 is connected to the first drive module 12. The two second plates 135 are disposed on one side of the first plate 134. The two second plates 135 are arranged opposite each other and form a second clearance opening 133. Each second plate 135 is provided with a second guide groove 131. The two second guide grooves 131 are arranged correspondingly.

[0077] In this embodiment, two second plates 135 are arranged opposite each other to form a second recess 133 between the two second plates 135, so that the card reader 15 and / or the identifier 14 can read the information of the document. On the other hand, the two second plates 135 are located on one side of the first plate 134. With the second plates 135 corresponding to the third guide groove 113, the first drive module 12 can be arranged outside the first guide frame 11, so that the guide mechanism 1 can be formed by assembling the smaller first guide frame 11.

[0078] In one embodiment of the present invention, combined with Figure 3 and Figure 7 As shown, the guiding mechanism 1 also includes at least one guide rod 16, which is disposed on the first guide frame 11; the second guide frame 13 is provided with a sliding hole 136, and the guide rod 16 slides through the sliding hole 136 so that the second guide frame 13 slides along the extension direction of the guide rod 16, so that the second guide frame 13 can move smoothly relative to the first guide frame 11 through the cooperation of the guide rod 16 and the sliding hole 136 of the second guide frame 13.

[0079] In one embodiment of the present invention, the guide rod 16 is provided corresponding to the third guide groove 113.

[0080] In one embodiment of the present invention, the extension direction of the guide rod 16 is perpendicular to the extension direction of the first guide groove 111, so that the second guide frame 13 slides smoothly into the first guide groove 111 along the third guide groove 113.

[0081] This invention also proposes a robotic arm, combined with Figure 1 and Figure 8 As shown, the robotic arm includes a second drive module 2, a third drive module 3, a first connecting frame 4, a second connecting frame 5, a third connecting frame 7, a fourth drive module 8, a mechanical gripper 6, and a guiding mechanism 1. The specific structure of the robotic arm is as described in the above embodiments. Since the robotic arm adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0082] The third connecting frame 7 is located on the second drive module 2 and is slidably connected to the first connecting frame 4. The fourth drive module 8 is located on the third connecting frame 7 and is connected to the first connecting frame 7 via a rack 9 and a gear. That is, the rack 9 is located on the first connecting frame 4.

[0083] The first connecting frame 4 and the second connecting frame 5 are rotatably connected. The third driving module 3 is disposed on the first connecting frame 4 and / or the second connecting frame 5. The third driving module 3 is used to drive the second connecting frame 5 to rotate relative to the first connecting frame 4. The first guide frame 11 and the mechanical claw 6 of the guiding mechanism 1 are disposed on the second connecting frame 5. The mechanical claw 6 is disposed corresponding to the first guide groove 111 of the first guide frame 11.

[0084] Understandably, the mechanical claw 6 includes an electric cylinder or a pneumatic cylinder and two clamping plates. The two clamping plates are mounted on the electric cylinder or the pneumatic cylinder, and the electric cylinder or the pneumatic cylinder drives the two clamping plates to move closer or further apart to clamp the document.

[0085] The present invention also proposes a document management terminal (not shown), which includes a robotic arm. The specific structure of the robotic arm is as described in the above embodiments. Since the document management terminal adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0086] In one embodiment of the present invention, the document management terminal further includes a storage compartment (not shown), which is spaced apart from the robotic arm. The storage compartment has multiple storage slots for storing documents.

[0087] In one embodiment of the present invention, the document management terminal further includes a rack (not shown), and the storage compartment and the robotic arm are both located on the rack.

[0088] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the description and drawings of the present invention under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A robotic arm, characterized in that, The device includes a second drive module, a third drive module, a fourth drive module, a first connecting frame, a second connecting frame, a third connecting frame, a mechanical claw, and a guiding mechanism. The third connecting frame is disposed on the second drive module and is slidably connected to the first connecting frame. The fourth drive module is disposed on the third connecting frame and is meshed with the first connecting frame via a rack and pinion. The first connecting frame and the second connecting frame are rotatably connected. The third drive module is disposed on the first connecting frame and / or the second connecting frame and is used to drive the second connecting frame to rotate relative to the first connecting frame. The first guide frame and the mechanical claw of the guiding mechanism are disposed on the second connecting frame. The mechanical claw is configured to correspond to the first guide groove of the first guide frame and is used to grip documents. The guiding mechanism includes: A first guide frame, the first guide frame being provided with a first guide groove, the first guide groove being used to pass through this type of certificate; A first drive module, wherein the first drive module is disposed on the first guide frame; and The second guide frame is provided with a second guide groove. The second guide frame is connected to the first drive module. The height of the second guide groove is less than the height of the first guide groove. The second guide groove is used to pass card-type documents. The first drive module drives the second guide frame to approach the first guide groove, so that the second guide groove partially overlaps with the first guide groove; Alternatively, the first drive module drives the second guide frame away from the first guide groove, so that the second guide groove and the first guide groove are arranged in parallel.

2. The robotic arm as described in claim 1, characterized in that, The first guide frame is provided with a first guide slope at at least one end of the first guide groove so that the opening of at least one end of the first guide groove is flared.

3. The robotic arm as described in claim 1, characterized in that, The second guide frame is provided with a second guide slope at at least one end of the second guide groove so that the opening of at least one end of the second guide groove is flared.

4. The robotic arm as described in claim 1, characterized in that, The first guide frame is also provided with a third guide groove, which is connected to the first guide groove; At least a portion of the second guide frame is located within the third guide groove.

5. The robotic arm as described in claim 1, characterized in that, The first guide frame is provided with a first clearance opening, which is connected to the first guide groove; The second guide frame is provided with a second clearance opening, which is connected to the second guide groove, and the second clearance opening is provided corresponding to the first clearance opening; The guiding mechanism also includes an identifier disposed on the first guide frame, wherein the sensing end of the identifier is disposed corresponding to the first clearance opening and the second clearance opening.

6. The robotic arm as described in claim 5, characterized in that, The guiding mechanism also includes a card reader disposed on the first guide frame. The card reader is disposed opposite to the identifier and is disposed corresponding to the first clearance opening and the second clearance opening.

7. The robotic arm as described in claim 5, characterized in that, The second guide frame includes: A first plate, the first plate being connected to the first drive module; and Two second plates are disposed on one side of the first plate. The two second plates are arranged opposite each other and form the second clearance opening. Each second plate is provided with a second guide groove, and the two second guide grooves are arranged correspondingly.

8. The robotic arm as described in claim 1, characterized in that, The guiding mechanism further includes at least one guide rod, which is disposed on the first guide frame; The second guide frame is provided with a sliding hole, and the guide rod slides through the sliding hole so that the second guide frame slides along the extension direction of the guide rod.

9. A document management terminal, characterized in that, Including the robotic arm as described in any one of claims 1 to 8.

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