A high-precision positioning device and positioning method for unmanned archive warehouse

Abstract

The present invention discloses a high-precision positioning device and positioning method for an unmanned archive warehouse, relates to the technical field of archive storage, and solves the problem that traditional archive storage institutions adopt manual storage, which not only requires the employment of professional archive management personnel, but also is difficult to avoid the damage and loss of archives and has low work efficiency. The present invention realizes overall automatic operation through electric control. After the user puts the archives into a fixed-point archive storage and retrieval cabinet or a mobile archive storage and retrieval cabinet, and inputs the archive storage / retrieval command in the human-computer interaction interface, the optical sensor in the archive partition plate is cooperated with the four-axis skyhook truss structure to drive the archive clamping mechanism to the corresponding position of the collaborative compact rack to complete the archive storage and retrieval, which not only realizes the automatic storage and retrieval process of the archive room, but also enables the user to remotely call a trolley to complete the archive storage and retrieval. The overall structure is simple and compact, the confidentiality is excellent, and the automation efficiency of the archive room management is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of archive storage, and in particular to a high-precision positioning device and a positioning method for an unmanned archive warehouse. Background Art

[0002] With the rapid development of science and technology, archive storage is gradually digitized. Despite this, traditional physical archives are still necessary in society. Archives are documents directly formed in human social activities and preserved for reference. Traditional archive storage institutions use manual storage, which is responsible for statistics, access, and management. Archives are arranged in a certain order to form positioning data. This manual storage method not only requires the employment of professional archive management personnel, but also makes it difficult to avoid the damage and loss of archives and has low work efficiency. Summary of the invention

[0003] In view of the above-mentioned traditional archive storage institutions using manual storage, not only do they need to hire professional archive management personnel, but it is also difficult to avoid the damage and loss of archives and the problem of low work efficiency. The purpose of the present invention is to provide a high-precision positioning device and positioning method for an unmanned archive warehouse.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A high-precision positioning device for an unmanned archive warehouse, comprising: a four-axis skyhook truss structure A, a collaborative compact rack B, a file clamping mechanism C, a fixed-point archive storage cabinet D and a mobile archive storage cabinet E, wherein the four-axis skyhook truss structure A is arranged around the collaborative compact rack B, the file clamping mechanism C is installed on the four-axis skyhook truss structure A, the relative position of the file clamping mechanism C and the collaborative compact rack B is adjusted by the four-axis skyhook truss structure A, the fixed-point archive storage cabinet D and the mobile archive storage cabinet E are both arranged on the outside of the four-axis skyhook truss structure A, the file on the collaborative compact rack B is grabbed by the file clamping mechanism C, and transferred to the fixed-point archive storage cabinet D and / or the mobile archive storage cabinet E, or the file in the fixed-point archive storage cabinet D and / or the mobile archive storage cabinet E is grabbed by the file clamping mechanism C, and transferred to the collaborative compact rack B.

[0006] The above-mentioned high-precision positioning device for unmanned archive warehouse, wherein the four-axis skyhook truss structure A includes: an X-axis mechanism 1, an auxiliary positioning connecting rod 2, a column 3, a Y-axis mechanism 4 and a Z-axis mechanism 5, a truss base is formed by connecting multiple columns 3 and multiple auxiliary positioning connecting rods 2, two parallel X-axis mechanisms 1 are installed on the truss base, two ends of the Y-axis mechanism 4 are respectively connected to the two X-axis mechanisms 1, the Y-axis mechanism 4 is installed on the truss base, and the Y-axis mechanism 4 is connected to the Z-axis mechanism 5.

[0007] The above-mentioned unmanned archive warehouse high-precision positioning device, wherein the four-axis skyhook truss structure A also includes: a Y-axis motor 6, a Z-axis motor 7, an X-axis motor 10, an X-axis motor bracket 11 and a transmission rod 12, the Y-axis mechanism 4 is provided with a Y-axis rack 8 and a Y-axis guide rail 9, the Y-axis motor 6 and the Z-axis motor 7 are both installed on the Y-axis mechanism 4, the Y-axis mechanism 4 is installed with the X-axis motor bracket 11, the X-axis motor 10 is installed on the X-axis motor bracket 11, the transmission rod 12 is connected to the X-axis motor 10, the Y-axis mechanism 4 and the Z-axis mechanism 5 are controlled by the X-axis motor 10 to move along the X-axis mechanism 1, and the Y-axis rack 8 is driven by the Y-axis motor 6 to drive the Z-axis mechanism 5 to move along the Y-axis guide rail 9.

[0008] The above-mentioned unmanned archive warehouse high-precision positioning device, wherein the four-axis skyhook truss structure A also includes: an X-axis drag chain 13, a reducer 15 and an X-axis bearing connecting plate 16, the X-axis mechanism 1 is provided with an X-axis rack 14 and an X-axis guide rail 17, each of the X-axis mechanism 1 and the Y-axis mechanism 4 is connected through an X-bearing connecting plate 16, and the X-bearing connecting plate 16 is equipped with a reducer 15, and the Y-axis mechanism 4 is equipped with the X-axis drag chain 13, each end of the transmission rod 12 is connected to a reducer 15, and the X-axis motor 10 drives the reducer 15 through the transmission rod 12 to drive the Y-axis mechanism 4 to move along the X-axis guide rail 17.

[0009] The above-mentioned unmanned archive warehouse high-precision positioning device, wherein the four-axis skyhook truss structure A also includes: an archive clamping claw mechanism 20, an anti-collision shield 21 and an optical sensor 22, the Z-axis mechanism 5 is provided with the lead screw 18 and the Z-axis guide rail 19, the lower end of the Z-axis mechanism 5 is installed with the anti-collision shield 21 and the optical sensor 22, the archive clamping claw mechanism 20 is installed on the lead screw 18, the archive clamping claw mechanism 20 is installed on the lead screw 18, and the lead screw 18 is driven by the Z-axis motor 7 to drive the archive clamping claw mechanism 20 to move along the Z-axis guide rail 19.

[0010] The above-mentioned unmanned archive warehouse high-precision positioning device, wherein the four-axis skyhook truss structure A also includes: an A-axis motor, a cover plate 23, a harmonic reducer 24, an A-axis motor shield 25, a Z-axis slide rail base 26 and an A-axis rotating bottom plate 27, the A-axis motor shield 25 is connected to the archive clamp mechanism 20, the A-axis motor is installed in the A-axis motor shield 25, the A-axis rotating bottom plate 27 and the A-axis motor are connected through the harmonic reducer 24, the cover plate 23 is installed on the A-axis motor shield 25, the Z-axis slide rail base 26 is installed on the A-axis rotating bottom plate 27, and the A-axis motor drives the harmonic reducer 24 to drive the A-axis rotating bottom plate 27 to rotate in the horizontal direction.

[0011] The above-mentioned high-precision positioning device for unmanned archive warehouses, wherein the collaborative dense shelving B includes: a frame body, internal shelves, bottom driving wheels, a driving motor and a partition plate, each of the frame bodies is equipped with multiple rows of the internal shelves, the lower surface of each frame body is equipped with the bottom driving wheel, each frame body is equipped with a driving motor, the driving motor is used to drive the bottom driving wheel connected thereto, each internal shelf is equipped with a partition plate, and the partition plate includes: a side panel 28 and a bottom panel 29, each bottom panel 29 is installed on an internal shelf, and each bottom panel 29 is equipped with a plurality of side panels 28 arranged at equal intervals.

[0012] The above-mentioned unmanned archive warehouse high-precision positioning device, wherein the file clamping mechanism C includes: an optical ranging sensor 30, a clamping jaw motor, a clamping jaw slide rail 31, an RFID antenna 32, an RFID reader / writer 33, a side support 34 and a bottom support 35, the RFID antenna 32 is installed on the A-axis motor shield 25, the clamping jaw slide rail 31 is connected to the Z-axis slide rail base 26, the two side supports 34 and one bottom support 35 are both installed on the clamping jaw slide rail 31, the optical ranging sensor 30 and the RFID reader / writer 33 are both installed on the file clamping jaw mechanism 20, the clamping jaw motor is installed and connected to the clamping jaw slide rail 31, and the two side supports 34 are driven by the clamping jaw motor to move along the clamping jaw slide rail 31.

[0013] The above-mentioned high-precision positioning device for unmanned archive warehouse, wherein the fixed-point archive storage cabinet D is provided with an archive access window 38, a human-machine interactive touch screen 40 and a fixed-point archive storage cabinet electric control mechanism 43, the fixed-point archive storage cabinet D is equipped with the lead screw motor 36 and the lifting door 37, the opening and closing of the lifting door 37 is controlled by the lead screw motor 36, and the fixed-point archive storage cabinet D is also provided with face recognition 39, fingerprint recognition 41 and ID card recognition 42;

[0014] The mobile file storage and access cabinet E is provided with a mobile file storage and access cabinet file access window 44, the mobile file storage and access cabinet E is equipped with the mobile file storage and access cabinet electric control mechanism 45, and the mobile file storage and access cabinet E is equipped with an AGV trolley 46 below.

[0015] A high-precision positioning method for an unmanned archive warehouse, applicable to the above-mentioned high-precision positioning device for an unmanned archive warehouse, including: a fixed-point archive deposit method, a fixed-point archive retrieval method, a user-positioned archive deposit method, and a user-positioned archive retrieval method;

[0016] The fixed-point file storage method comprises:

[0017] A1: The customer authenticates the information through the fixed-point file storage cabinet D;

[0018] A2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet D;

[0019] A3: The customer puts the files into the fixed-point file storage cabinet D;

[0020] A4: The four-axis skyhook truss structure A controls the file clamping mechanism C to move to the fixed-point file storage cabinet D. The file clamping mechanism C clamps the file in the fixed-point file storage cabinet D. After clamping, the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the access position of the collaborative compact rack B. The file clamping mechanism C places the file on the collaborative compact rack B.

[0021] The fixed-point file retrieval method comprises:

[0022] B1: The customer authenticates his / her information through the fixed-point file storage cabinet D;

[0023] B2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet D;

[0024] B3: The collaborative compact shelving B moves the file to the outermost side, and the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the access position of the file on the collaborative compact shelving B. The file clamping mechanism C clamps the file. After clamping, the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the fixed-point file storage cabinet D. The file clamping mechanism C places the file in the fixed-point file storage cabinet D.

[0025] B4: The customer takes out files from the fixed-point file storage cabinet D;

[0026] The method for storing the user location file comprises:

[0027] C1: The customer performs remote information authentication through the fixed-point file storage cabinet D;

[0028] C2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet D;

[0029] C3: The mobile file storage cabinet E moves to the customer's location. After the customer puts the file into the mobile file storage cabinet E, the mobile file storage cabinet E moves to the designated access position of the mobile file storage cabinet E;

[0030] C4: The four-axis skyhook truss structure A controls the file clamping mechanism C to move to the mobile file storage cabinet E. The file clamping mechanism C clamps the file in the mobile file storage cabinet E. After clamping, the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the access position of the collaborative compact rack B. The file clamping mechanism C places the file on the collaborative compact rack B;

[0031] The method for retrieving the user location file comprises:

[0032] D1: The customer performs remote information authentication through the fixed-point file storage cabinet D;

[0033] D2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet D;

[0034] D3: The collaborative compact shelving B moves the file to the outermost side, and the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the access position of the file on the collaborative compact shelving B. The file clamping mechanism C clamps the file. After clamping, the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the fixed-point file storage cabinet D, and the file clamping mechanism C places the file in the mobile file storage cabinet E;

[0035] D4: The mobile file storage cabinet E moves to the customer's positioning position. After the customer takes out the files from the mobile file storage cabinet E, the mobile file storage cabinet E moves to the designated access position of the mobile file storage cabinet E.

[0036] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0037] (1) The present invention is based on the mechanism and realizes the overall automatic operation through electric control. The main electric components include motors and sensors. The overall process can also be manually operated or controlled by a host computer. After the user puts the file in the fixed-point file storage cabinet or the mobile file storage cabinet, and inputs the file storage / retrieval command in the human-computer interaction interface, the four-axis skyhook truss structure cooperates with the optical sensor in the file partition plate to drive the file clamping mechanism to the corresponding position of the collaborative compact rack to complete the file storage and retrieval;

[0038] (2) The present invention not only realizes the automated access process of the archive room, but also enables users to remotely call a cart to complete archive access. The overall structure is simple and compact, with excellent confidentiality, which improves the automation efficiency of archive room management. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of a high-precision positioning device for an unmanned archive warehouse of the present invention.

[0040] Figure 2 It is a top view schematic diagram of a high-precision positioning device for an unmanned archive warehouse of the present invention.

[0041] Figure 3 It is a structural schematic diagram of a four-axis skyhook truss structure of a high-precision positioning device for an unmanned archive warehouse of the present invention.

[0042] Figure 4 The present invention is a schematic structural diagram of a Y-axis mechanism of a high-precision positioning device for an unmanned archive warehouse.

[0043] Figure 5 The present invention is a structural schematic diagram of the connection between an X-axis mechanism and a Y-axis mechanism of a high-precision positioning device for an unmanned archive warehouse.

[0044] Figure 6 The present invention is a schematic structural diagram of a Z-axis mechanism of a high-precision positioning device for an unmanned archive warehouse.

[0045] Figure 7 The present invention is a schematic structural diagram of an A-axis motion mechanism of a high-precision positioning device for an unmanned archive warehouse.

[0046] Figure 8 It is a structural schematic diagram of a collaborative compact rack of a high-precision positioning device for an unmanned archive warehouse of the present invention.

[0047] Fig. 9 The present invention is a schematic structural diagram of a partition plate of a high-precision positioning device for an unmanned archive warehouse.

[0048] Fig.10 The present invention is a schematic structural diagram of a file clipping mechanism of a high-precision positioning device for an unmanned file warehouse.

[0049] Fig.11 The present invention is a structural schematic diagram of a fixed-point file storage and retrieval cabinet with a high-precision positioning device for an unmanned file warehouse.

[0050] Fig.12 It is a structural schematic diagram of a mobile file storage and retrieval cabinet with a high-precision positioning device for an unmanned file warehouse of the present invention.

[0051] In the attached figure: A, four-axis skyhook truss structure; B, collaborative compact shelving; C, file clamping mechanism; D, fixed-point file storage cabinet; E, mobile file storage cabinet; 1, X-axis mechanism; 2, auxiliary positioning connecting rod; 3, column; 4, Y-axis mechanism; 5, Z-axis mechanism; 6, Y-axis motor; 7, Z-axis motor; 8, Y-axis rack; 9, Y-axis guide rail; 10, X-axis motor; 11, X-axis motor bracket; 12, transmission rod; 13, X-axis drag chain; 14, X-axis rack; 15, reducer; 16, X-bearing connecting plate; 17, X-axis guide rail; 18, lead screw; 19, Z-axis guide rail; 20, file clamping claw mechanism; 21, anti-collision shield; 22, optical sensor; 23 , cover plate; 24, harmonic reducer; 25, A-axis motor shield; 26, Z-axis slide base; 27, A-axis rotating bottom plate; 28, side plate; 29, bottom plate; 30, optical ranging sensor; 31, gripper slide; 32, RFID antenna; 33, RFID reader; 34, side support; 35, bottom support; 36, screw motor; 37, lifting door; 38, file access window; 39, face recognition; 40, human-computer interaction touch screen; 41, fingerprint recognition; 42, ID card recognition; 43, fixed-point file access cabinet electric control mechanism; 44, mobile file access cabinet file access window; 45, mobile file access cabinet electric control mechanism; 46, AGV trolley. DETAILED DESCRIPTION

[0052] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0053] Please refer to Figures 1 to 12 As shown, a high-precision positioning device for an unmanned archive warehouse is shown, which includes: a four-axis skyhook truss structure A, a collaborative compact rack B, a file clamping mechanism C, a fixed-point archive storage cabinet D and a mobile archive storage cabinet E. The four-axis skyhook truss structure A is arranged around the collaborative compact rack B, and the file clamping mechanism C is installed on the four-axis skyhook truss structure A. The relative position of the file clamping mechanism C and the collaborative compact rack B is adjusted by the four-axis skyhook truss structure A. The fixed-point archive storage cabinet D and the mobile archive storage cabinet E are both arranged on the outside of the four-axis skyhook truss structure A. The files on the collaborative compact rack B are grabbed by the file clamping mechanism C and transferred to the fixed-point archive storage cabinet D and / or the mobile archive storage cabinet E, or the files in the fixed-point archive storage cabinet D and / or the mobile archive storage cabinet E are grabbed by the file clamping mechanism C and transferred to the collaborative compact rack B.

[0054] Furthermore, in a preferred embodiment, the four-axis skyhook truss structure A includes: an X-axis mechanism 1, an auxiliary positioning connecting rod 2, a column 3, a Y-axis mechanism 4 and a Z-axis mechanism 5, a truss base is formed by connecting multiple columns 3 and multiple auxiliary positioning connecting rods 2, two parallel X-axis mechanisms 1 are installed on the truss base, two ends of the Y-axis mechanism 4 are respectively connected to the two X-axis mechanisms 1, the Y-axis mechanism 4 is installed on the truss base, and the Y-axis mechanism 4 is connected to the Z-axis mechanism 5.

[0055] Further, in a preferred embodiment, the four-axis skyhook truss structure A also includes: a Y-axis motor 6, a Z-axis motor 7, an X-axis motor 10, an X-axis motor bracket 11 and a transmission rod 12. The Y-axis mechanism 4 is provided with a Y-axis rack 8 and a Y-axis guide rail 9. The Y-axis motor 6 and the Z-axis motor 7 are both installed on the Y-axis mechanism 4. The Y-axis mechanism 4 is equipped with an X-axis motor bracket 11. The X-axis motor 10 is installed on the X-axis motor bracket 11. The transmission rod 12 is connected to the X-axis motor 10. The Y-axis mechanism 4 and the Z-axis mechanism 5 are controlled to move along the X-axis mechanism 1 by the X-axis motor 10. The Y-axis rack 8 is driven by the Y-axis motor 6 to drive the Z-axis mechanism 5 to move along the Y-axis guide rail 9.

[0056] Furthermore, in a preferred embodiment, the four-axis skyhook truss structure A also includes: an X-axis drag chain 13, a reducer 15 and an X-bearing connecting plate 16, the X-axis mechanism 1 is provided with an X-axis rack 14 and an X-axis guide rail 17, each X-axis mechanism 1 and the Y-axis mechanism 4 are connected through an X-bearing connecting plate 16, a reducer 15 is installed on the X-bearing connecting plate 16, an X-axis drag chain 13 is installed on the Y-axis mechanism 4, each end of the transmission rod 12 is connected to a reducer 15, and the X-axis motor 10 drives the reducer 15 through the transmission rod 12 to drive the Y-axis mechanism 4 to move along the X-axis guide rail 17.

[0057] Furthermore, in a preferred embodiment, the four-axis skyhook truss structure A also includes: a file clamping claw mechanism 20, an anti-collision shield 21 and an optical sensor 22, the Z-axis mechanism 5 is provided with a lead screw 18 and a Z-axis guide rail 19, the lower end of the Z-axis mechanism 5 is installed with an anti-collision shield 21 and an optical sensor 22, the file clamping claw mechanism 20 is installed on the lead screw 18, the file clamping claw mechanism 20 is installed on the lead screw 18, and the lead screw 18 is driven by the Z-axis motor 7 to drive the file clamping claw mechanism 20 to move along the Z-axis guide rail 19.

[0058] Further, in a preferred embodiment, the four-axis skyhook truss structure A also includes: an A-axis motor, a cover plate 23, a harmonic reducer 24, an A-axis motor shield 25, a Z-axis slide rail base 26 and an A-axis rotating base plate 27. The A-axis motor shield 25 is connected to the file clamp mechanism 20, the A-axis motor is installed in the A-axis motor shield 25, the A-axis rotating base plate 27 and the A-axis motor are connected through the harmonic reducer 24, the cover plate 23 is installed on the A-axis motor shield 25, the Z-axis slide rail base 26 is installed on the A-axis rotating base plate 27, and the A-axis motor drives the harmonic reducer 24 to drive the A-axis rotating base plate 27 to rotate in the horizontal direction.

[0059] Further, in a preferred embodiment, the collaborative compact shelving B includes: a frame body, internal shelves, bottom drive wheels, a drive motor and a partition plate, each frame body is equipped with multiple rows of internal shelves, each frame body is equipped with a bottom drive wheel on the lower surface, each frame body is equipped with a drive motor, the drive motor is used to drive the bottom drive wheel connected thereto, each internal shelf is equipped with a partition plate, the partition plate includes: a side panel 28 and a bottom panel 29, each bottom panel 29 is installed on an internal shelf, and each bottom panel 29 is equipped with multiple side panels 28 arranged at equal intervals.

[0060] Further, in a preferred embodiment, the file clamping mechanism C includes: an optical ranging sensor 30, a clamping jaw motor, a clamping jaw slide 31, an RFID antenna 32, an RFID reader / writer 33, a side support 34 and a bottom support 35, the RFID antenna 32 is installed on the A-axis motor shield 25, the clamping jaw slide 31 is connected to the Z-axis slide base 26, two side supports 34 and one bottom support 35 are both installed on the clamping jaw slide 31, the optical ranging sensor 30 and the RFID reader / writer 33 are both installed on the file clamping jaw mechanism 20, the clamping jaw motor is installed and connected to the clamping jaw slide 31, and the two side supports 34 are driven by the clamping jaw motor to move along the clamping jaw slide 31.

[0061] Further, in a preferred embodiment, the fixed-point file storage cabinet D is provided with a file access window 38, a human-machine interactive touch screen 40 and a fixed-point file storage cabinet electric control mechanism 43, a lead screw motor 36 and a lifting door 37 are installed on the fixed-point file storage cabinet D, and the opening and closing of the lifting door 37 are controlled by the lead screw motor 36, and the fixed-point file storage cabinet D is also provided with a face recognition 39, a fingerprint recognition 41 and an ID card recognition 42;

[0062] The mobile file storage and retrieval cabinet E is provided with a mobile file storage and retrieval cabinet file access window 44 , the mobile file storage and retrieval cabinet E is provided with a mobile file storage and retrieval cabinet electric control mechanism 45 , and the mobile file storage and retrieval cabinet E is provided with an AGV trolley 46 below.

[0063] A high-precision positioning method for an unmanned archive warehouse, applicable to the above-mentioned high-precision positioning device for an unmanned archive warehouse, including: a fixed-point archive deposit method, a fixed-point archive retrieval method, a user-positioned archive deposit method, and a user-positioned archive retrieval method;

[0064] Fixed-point file deposit methods include:

[0065] A1: The customer authenticates the information through the fixed-point file storage cabinet D;

[0066] A2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet D;

[0067] A3: The customer puts the files into the fixed-point file storage cabinet D;

[0068] A4: The four-axis skyhook truss structure A controls the file clamping mechanism C to move to the fixed-point file storage cabinet D. The file clamping mechanism C clamps the file in the fixed-point file storage cabinet D. After clamping, the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the access position of the collaborative compact rack B. The file clamping mechanism C places the file on the collaborative compact rack B.

[0069] Fixed-point file retrieval methods include:

[0070] B1: The customer authenticates his / her information through the fixed-point file storage cabinet D;

[0071] B2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet D;

[0072] B3: The collaborative compact shelving B moves the file to the outermost side, and the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the access position of the file on the collaborative compact shelving B. The file clamping mechanism C clamps the file. After clamping, the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the fixed-point file storage cabinet D. The file clamping mechanism C places the file in the fixed-point file storage cabinet D.

[0073] B4: The customer takes out files from the fixed-point file storage cabinet D;

[0074] The methods for storing user location files include:

[0075] C1: The customer performs remote information authentication through the fixed-point file storage cabinet D;

[0076] C2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet D;

[0077] C3: The mobile file storage cabinet E moves to the customer's location. After the customer puts the file into the mobile file storage cabinet E, the mobile file storage cabinet E moves to the designated access position of the mobile file storage cabinet E;

[0078] C4: The four-axis skyhook truss structure A controls the file clamping mechanism C to move to the mobile file storage cabinet E. The file clamping mechanism C clamps the file in the mobile file storage cabinet E. After clamping, the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the access position of the collaborative compact rack B. The file clamping mechanism C places the file on the collaborative compact rack B;

[0079] The method for retrieving the user location file includes:

[0080] D1: The customer performs remote information authentication through the fixed-point file storage cabinet D;

[0081] D2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet D;

[0082] D3: The collaborative compact shelving B moves the file to the outermost side, and the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the access position of the file on the collaborative compact shelving B. The file clamping mechanism C clamps the file. After clamping, the four-axis skyhook truss structure A controls the file clamping mechanism C to move to the fixed-point file storage cabinet D, and the file clamping mechanism C places the file in the mobile file storage cabinet E;

[0083] D4: The mobile file storage cabinet E moves to the customer's positioning position. After the customer takes out the files from the mobile file storage cabinet E, the mobile file storage cabinet E moves to the designated access position of the mobile file storage cabinet E.

[0084] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation and protection scope of the present invention.

[0085] The present invention also has the following implementation modes based on the above:

[0086] In a further embodiment of the present invention, the present invention proposes a novel automated storage method for archives, which can effectively replace manpower with automated mechanisms and improve work efficiency.

[0087] In a further embodiment of the present invention, the main structure mainly includes several parts such as a four-axis skyhook truss mechanism, a collaborative compact shelving mechanism, a file clamping mechanism, a fixed-point file storage and retrieval cabinet, and a mobile file storage and retrieval cabinet.

[0088] In a further embodiment of the present invention, the four-axis skyhook truss mechanism is a four-axis mechanical structure constructed in the form of a gantry truss, which is used for grabbing and transporting archives. The gantry truss is supported by columns, which are fixed by positioning pieces between the columns, and provides the robot arm with X-axis and Y-axis two-way module operation functions from the top, ensuring the omnidirectional operation range of the robot arm and realizing high-speed movement on the X and Y axes. At the same time, the robot arm has the functions of Z-axis lifting and A-axis rotation, which effectively guarantees the flexibility of the grab arm in the vertical direction and around the front, back, left and right. The four-axis mechanism design of the truss fully considers the requirements of truss heavy load and high-precision positioning of archives, and can match various standard archive room warehouse specifications to extend the length of the structure.

[0089] In a further embodiment of the present invention, the coordinated compact shelving mechanism is composed of multiple columns of intelligent compact file racks, which can be increased or decreased according to the specifications of the archive room. The single-column frame of the intelligent compact file rack has 6 layers and 6 sections, with a total of 792 cells on both sides. The cell separator is designed and configured on the frame for accurate positioning of the archives. It can also automatically realize the functions of opening, locking, unlocking, and closing the designated column, the distance detection and position calculation of the compact shelving opening and closing position, and the calculation of the position information when the manipulator picks up the compact shelving archives, with a positioning accuracy of ±0.5mm.

[0090] In a further embodiment of the present invention, the file grabbing mechanism is configured on the mechanical arm and is equipped with a rich precision actuator sensor detection system, including positioning detection, RFID detection, torque detection, etc. The overall design ensures the accuracy of the positioning during the grabbing process and meets the torque control requirements, and can ensure compatibility with certain degree of variation factors such as deformation, weight, internal file thickness, etc. of different file boxes. At the same time, anti-collision protection is installed in multiple directions to prevent the files and mechanisms from being damaged due to unexpected factors.

[0091] In a further embodiment of the present invention, a fixed-point file storage cabinet is arranged on the wall of the warehouse as a docking window between the archive warehouse and the user, connecting the inside and outside of the warehouse. The cabinet includes an archive access window and a human-computer interaction panel, and the operation screen has confidentiality measures. Only after passing the identity verification of the personnel through fingerprint, card swiping, and face recognition, the user can place the file in the partition plate in the archive access window, and realize automatic storage and archiving by operating the touch screen. The partition plate is equipped with an optical sensor, and multiple files can be freely placed in a single operation, which has high work efficiency.

[0092] In a further embodiment of the present invention, the mobile file storage cabinet has similar functions to the above-mentioned fixed-point storage cabinet. The difference is that it is used as a user docking window, the cabinet is mounted on an AGV car, and a communication system is installed in the cabinet. After receiving the user's use request remotely, it can actively go to the user's location to collect files, and automatically transport the files to the warehouse to complete the storage of files when the robot arm is idle.

[0093] In a further embodiment of the present invention, the overall structure and layout of the device of the present invention are as follows Figure 1 As shown. It includes a four-axis skyhook truss mechanism A, a coordinated compact shelving mechanism B, a file clamping mechanism C, a fixed-point file storage cabinet D, and a mobile file storage cabinet E. The file clamping mechanism C is mounted on the mechanical arm of the four-axis skyhook truss mechanism A and can move in a plane space. The mobile file storage cabinet E can move in the loaded map, and the position in the figure is only for reference.

[0094] In a further embodiment of the present invention, the four-axis skyhook truss mechanism A is as follows: Figure 3 As shown, the columns 3 are connected by an auxiliary positioning connecting rod 2, and the combination of the two constitutes a truss base, which is used to ensure the relative accuracy of the overall mechanism, and at the same time can stably support the top various motion axis units X-axis mechanism 1, Y-axis mechanism 4, and Z-axis mechanism 5.

[0095] In a further embodiment of the present invention, the column 3 is welded from a square tube and an iron plate, and then processed on multiple surfaces in a large gantry milling machine to ensure the overall installation accuracy. The column is composed of a top shaft module support platform, a middle support rod, a connector positioning surface, and a bottom load-bearing support. As it is the main force-bearing mechanism, the base is thickened inward to improve the bearing capacity, and the support is opened. After the project is debugged, it can be fixed to the ground by chemical bolts, and the overall surface is sprayed with paint.

[0096] In a further embodiment of the present invention, the auxiliary positioning connecting rod 2 is divided into two types: long distance and short distance, which are used to match the design specifications of the archive room and improve the relative accuracy. The auxiliary positioning connecting rod is realized by welding the side plate of the square tube, and then the end surface is processed by the gantry milling machine for secondary processing, and the overall surface is sprayed with paint. The connecting rod can connect the truss base into a closed unit, and the installation positioning error of the entire frame is constrained by the processing accuracy.

[0097] In a further embodiment of the present invention, both the X-axis mechanism 1 and the Y-axis mechanism 4 are driven by a rack guide module. The two sides of the X-axis mechanism 1 are symmetrical structures, and the X-axis motor 10 is mounted on the X-axis motor bracket 11 mechanism to drive the transmission rod 12 positioned by the X-axis bearing plate 16. The transmission rod 12 drives the X-axis rack 14 through the reducer 15. The X-axis rack 14 drives the truss main body mechanism including the Y-axis and Z-axis mechanisms to move on the X-axis direction guide 17. The rack 14 adopts helical teeth, which can meet the long-distance and large-load operation mode, and can effectively reduce the gap and operation noise. The electrical circuit follows the movement of the truss through the X-axis drag chain 13, and the movement mode of the Y-axis mechanism 4 is similar to that of the X-axis mechanism 1. The difference is that the Y-axis mechanism 4 is directly driven by the Y-axis motor 7 to drive the Y-axis rack 8 to drive the pulley group to move on the Y-axis guide 9.

[0098] In a further embodiment of the present invention, the Z-axis mechanism 5 has a short stroke. Since it needs to carry a file gripping mechanism, the structural space is required to be compact, the precision is required to be high, and the bearing capacity is not required to be large. Therefore, the file gripping mechanism 20 is driven by a driving method in which the lead screw 18 and the guide rail 19 cooperate, and the overall positioning accuracy and stability are higher. An anti-collision shield 21 and a plurality of optical sensors 22 are installed on the lower side of the Z-axis mechanism 5 to cope with various emergencies during the movement of the robot arm.

[0099] In a further embodiment of the present invention, because the grab arm needs to complete the rotation and positioning in multiple directions, it is used for the connection between the storage of double-sided compact shelves and the external storage cabinet files. The four-axis skyhook truss structure is designed with an A-axis motion mechanism. Figure 7 For the rotation of the grab arm, the A-axis motion mechanism is protected by a cover plate 23 and an A-axis motor shield 25 and mounted on a Z-axis slide rail base 26. The motor is placed inside the A-axis motor shield 25 and driven by a special harmonic reducer 24, which has high stability and small clearance, and can achieve precise positioning in the A-axis direction. The file gripping mechanism C is mounted on the A-axis rotating base plate 27.

[0100] In a further embodiment of the present invention, the collaborative compact rack B is as follows Figure 8 As shown, the compact shelving is mainly composed of a frame, internal layers, bottom drive wheels and drive motors, and is divided into fixed columns and mobile columns. The independent frame is equipped with a variable speed motor and an intelligent controller. The independent frame can move, and the frames can be opened in coordination with each other. The opening range is 800-1000mm. The size of the single-sided compact shelving is 5190mm long * 2585mm high * 550mm wide. The interior is divided into 6 layers and 6 columns. The internal space of a single column is 740mm long * 575mm, and is equipped with file partitions. Fig. 9 As shown. There is no partition on the outside of the compact shelving, which can achieve double-sided archiving. The archive partition is used to locate the archive in the compact shelving. Due to the large number of archives, it is required to meet the requirements of small footprint, low cost, high positioning accuracy and easy installation. Therefore, the plastic partition made of ABS material is made by injection molding through mold opening. The partition is designed as a structure of side panels 28 and bottom panels 29. The mold is designed to achieve batch injection molding production. 11 groups are spliced ​​and fixed on the inner partition of the compact shelving.

[0101] In a further embodiment of the present invention, the file clipping mechanism C is as follows: Fig.10As shown, the side support 34 is driven by the motor to open and close on the horizontal slide rail 31 to complete the file clamping action. The edge of the slide rail 31 is equipped with a torque detector, which can adapt to the clamping operation of files of different specifications and weights. An optical distance sensor 30 is installed on the top to cooperate with the partition plate in the collaborative compact rack B. Through real-time measurement of the distance, the bottom support 35 is extended under the file to be taken, so as to realize the lifting and removal of the file. An RFID antenna 32 is installed at the bottom of the mechanism, which can read the information of the clamped file and send it to the RFID reader 33 to realize the intelligent storage and access of the file. At the same time, the entire mechanism is equipped with all-round anti-collision protection, which fully considers safety and ensures the stability of equipment operation.

[0102] In a further embodiment of the present invention, the fixed-point file storage cabinet D is as follows: Fig.11 As shown, the main mechanism consists of an archive access window 38, a human-computer interaction touch screen 40, and an electric control mechanism 43. When using it, the user first needs to pass identity authentication. The present invention provides three different ways: face recognition 39; fingerprint recognition 41; ID card recognition 42. After completing the authentication, the lifting door 37 of the archive access window 38 opens, and the user initiates the archive access work through the touch screen 40, and accesses the archive in the partition of the archive access window 38. The archive access window 38 adopts the screw motor 36 drive mode, and has a built-in optical sensor, which can monitor the archive position in real time. The overall mechanism and communication are completed by the electric control mechanism 43 arranged below, and the automatic archive storage and retrieval operation is realized through the instructions from the human-computer interaction touch screen 40 or the host computer.

[0103] In a further embodiment of the present invention, the mobile file storage cabinet E is as follows: Fig.12 As shown, the main mechanism is composed of a mobile file access cabinet file access window 44, a mobile file access cabinet electric control mechanism 45, and an AGV trolley 46. The mobile file access cabinet file access window 44 has the same structural principle as the file access window 38 in the fixed-point file access cabinet D. The mobile file access cabinet electric control mechanism 45 realizes communication with the electric control mechanism of the fixed-point file access cabinet D, and controls the AGV trolley 46 according to the received instructions to complete the automated process of going to the user to locate and access files.

[0104] In a further embodiment of the present invention, the present invention is carried out one by one in terms of mechanism, and the overall automatic operation is realized by electric control. The main electric components include motors and sensors, and the overall process can also be manually operated or controlled by a host computer. After the user puts the file in the fixed-point file storage cabinet D or the mobile file storage cabinet E, he enters the file storage / retrieval instruction in the human-computer interaction interface. In conjunction with the optical sensor in the file partition plate, the four-axis skyhook truss structure A drives the file clamping mechanism C to the corresponding position of the collaborative compact shelf B to complete the file storage and retrieval.

[0105] In a further embodiment of the present invention, the present invention not only realizes the automated access process of the archive room, but also enables the user to remotely call the trolley to complete the archive access. The overall structure is simple and compact, with excellent confidentiality, and improves the automation efficiency of archive room management.

[0106] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-precision positioning device for unmanned archive warehouse, characterized in that: include: A four-axis skyhook truss structure (A), a collaborative compact rack (B), a file clamping mechanism (C), a fixed-point file storage cabinet (D) and a mobile file storage cabinet (E), wherein the four-axis skyhook truss structure (A) is arranged around the collaborative compact rack (B), the file clamping mechanism (C) is installed on the four-axis skyhook truss structure (A), and the relative position of the file clamping mechanism (C) and the collaborative compact rack (B) is adjusted by the four-axis skyhook truss structure (A). The fixed-point file storage cabinet (D) and The mobile file storage cabinets (E) are all arranged on the outside of the four-axis skyhook truss structure (A), and the files on the collaborative compact rack (B) are grabbed by the file clamping mechanism (C) and transferred to the fixed-point file storage cabinet (D) and / or the mobile file storage cabinet (E), or the files in the fixed-point file storage cabinet (D) and / or the mobile file storage cabinet (E) are grabbed by the file clamping mechanism (C) and transferred to the collaborative compact rack (B); The four-axis skyhook truss structure (A) comprises: an X-axis mechanism (1), an auxiliary positioning connecting rod (2), a column (3), a Y-axis mechanism (4) and a Z-axis mechanism (5), wherein a truss base is formed by connecting a plurality of the columns (3) and a plurality of the auxiliary positioning connecting rods (2), two parallel X-axis mechanisms (1) are mounted on the truss base, two ends of a Y-axis mechanism (4) are respectively connected to the two X-axis mechanisms (1), the Y-axis mechanism (4) is mounted on the truss base, and the Y-axis mechanism (4) is connected to the Z-axis mechanism (5); The four-axis skyhook truss structure (A) comprises: a file clamping claw mechanism (20), an A-axis motor, a harmonic reducer (24), an A-axis motor shield (25), a Z-axis slide rail base (26) and an A-axis rotating base plate (27); the Z-axis mechanism (5) is provided with a lead screw (18) and a Z-axis guide rail (19); the file clamping claw mechanism (20) is installed on the lead screw (18); the lead screw (18) is driven by the Z-axis motor (7) to drive the file clamping claw mechanism (20) along the Z-axis The guide rail (19) moves; the A-axis motor shield (25) is connected to the file clamp mechanism (20), the A-axis motor is installed in the A-axis motor shield (25), the A-axis rotating base plate (27) and the A-axis motor are connected through the harmonic reducer (24), the Z-axis slide rail base (26) is installed on the A-axis rotating base plate (27), and the A-axis motor drives the harmonic reducer (24) to drive the A-axis rotating base plate (27) to rotate in the horizontal direction; The fixed-point file storage and access cabinet (D) is provided with a file access window (38), a human-machine interactive touch screen (40) and a fixed-point file storage and access cabinet electric control mechanism (43); the fixed-point file storage and access cabinet (D) is equipped with the lead screw motor (36) and the lifting door (37); the opening and closing of the lifting door (37) is controlled by the lead screw motor (36); and the fixed-point file storage and access cabinet (D) is also provided with face recognition (39), fingerprint recognition (41) and ID card recognition (42); The file clamping mechanism (C) comprises: an optical distance measuring sensor (30), a clamping jaw motor, a clamping jaw slide rail (31), an RFID antenna (32), an RFID reader / writer (33), a side support (34) and a bottom support (35), wherein the RFID antenna (32) is mounted on the A-axis motor shield (25), the clamping jaw slide rail (31) is connected to the Z-axis slide rail base (26), two side supports (34) and one bottom support (35) are both mounted on the clamping jaw slide rail (31), the optical distance measuring sensor (30) and the RFID reader / writer (33) are both mounted on the file clamping jaw mechanism (20), the clamping jaw motor is mounted and connected to the clamping jaw slide rail (31), and the two side supports (34) are driven by the clamping jaw motor to move along the clamping jaw slide rail (31).

2. The high-precision positioning device for unmanned archive warehouse according to claim 1 is characterized in that: The four-axis skyhook truss structure (A) further comprises: a Y-axis motor (6), a Z-axis motor (7), an X-axis motor (10), an X-axis motor bracket (11) and a transmission rod (12); the Y-axis mechanism (4) is provided with a Y-axis rack (8) and a Y-axis guide rail (9); the Y-axis motor (6) and the Z-axis motor (7) are both mounted on the Y-axis mechanism (4); the X-axis motor bracket (11) is mounted on the Y-axis mechanism (4); the X-axis motor (10) is mounted on the X-axis motor bracket (11); the transmission rod (12) is connected to the X-axis motor (10); the Y-axis mechanism (4) and the Z-axis mechanism (5) are controlled to move along the X-axis mechanism (1) by the X-axis motor (10); the Y-axis motor (6) drives the Y-axis rack (8) to drive the Z-axis mechanism (5) to move along the Y-axis guide rail (9).

3. The high-precision positioning device for unmanned archive warehouse according to claim 2 is characterized in that: The four-axis skyhook truss structure (A) further comprises: an X-axis drag chain (13), a reducer (15) and an X-axis bearing connecting plate (16); the X-axis mechanism (1) is provided with an X-axis rack (14) and an X-axis guide rail (17); each of the X-axis mechanisms (1) and the Y-axis mechanism (4) is connected via an X-axis bearing connecting plate (16); a reducer (15) is installed on the X-bearing connecting plate (16); the X-axis drag chain (13) is installed on the Y-axis mechanism (4); each end of the transmission rod (12) is connected to a reducer (15); the X-axis motor (10) drives the reducer (15) via the transmission rod (12) to drive the Y-axis mechanism (4) to move along the X-axis guide rail (17).

4. The high-precision positioning device for unmanned archive warehouse according to claim 3 is characterized in that: The four-axis skyhook truss structure (A) further comprises: an anti-collision shield (21) and an optical sensor (22), and the anti-collision shield (21) and the optical sensor (22) are installed at the lower end of the Z-axis mechanism (5).

5. The high-precision positioning device for unmanned archive warehouse according to claim 4 is characterized in that: The four-axis skyhook truss structure (A) also includes: a cover plate (23), and the cover plate (23) is installed on the A-axis motor shield (25).

6. The high-precision positioning device for unmanned archive warehouse according to claim 5 is characterized in that: The collaborative compact shelving (B) includes: a frame body, internal layers, bottom driving wheels, a driving motor and a partition plate. Each of the frame bodies is equipped with multiple rows of internal layers. The bottom driving wheels are installed on the lower surface of each frame body. Each of the frame bodies is equipped with a driving motor, and the driving motor is used to drive the bottom driving wheels connected thereto. Each internal layer is equipped with a partition plate, and the partition plate includes: a side plate (28) and a bottom plate (29). Each bottom plate (29) is installed on an internal layer, and each bottom plate (29) is equipped with multiple side plates (28) arranged at equal intervals.

7. The high-precision positioning device for unmanned archive warehouse according to claim 6 is characterized in that: The mobile file storage cabinet (E) is provided with a mobile file storage cabinet file access window (44), the mobile file storage cabinet electric control mechanism (45) is installed in the mobile file storage cabinet (E), and an AGV trolley (46) is installed below the mobile file storage cabinet (E).

8. A high-precision positioning method for an unmanned archive warehouse, applicable to the high-precision positioning device for an unmanned archive warehouse as claimed in any one of claims 1 to 7, characterized in that: include: Fixed-point file storage method, fixed-point file retrieval method, user-positioned file storage method and user-positioned file retrieval method; The fixed-point file storage method comprises: A1: The customer authenticates the information through the fixed-point file storage cabinet (D); A2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet (D); A3: The customer puts the file into the fixed-point file storage cabinet (D); A4: The four-axis skyhook truss structure (A) controls the file clamping mechanism (C) to move to the fixed-point file storage cabinet (D), and the file clamping mechanism (C) clamps the file in the fixed-point file storage cabinet (D). After clamping, the four-axis skyhook truss structure (A) controls the file clamping mechanism (C) to move to the access position of the collaborative compact rack (B), and the file clamping mechanism (C) places the file on the collaborative compact rack (B); The fixed-point file retrieval method comprises: B1: The customer authenticates his information through the fixed-point file storage cabinet (D); B2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet (D); B3: The collaborative compact shelving (B) moves the file to the outermost side, the four-axis skyhook truss structure (A) controls the file clamping mechanism (C) to move to the access position of the file on the collaborative compact shelving (B), and the file clamping mechanism (C) clamps the file. After clamping, the four-axis skyhook truss structure (A) controls the file clamping mechanism (C) to move to the fixed-point file storage cabinet (D), and the file clamping mechanism (C) places the file in the fixed-point file storage cabinet (D); B4: The customer takes out files from the fixed-point file storage cabinet (D); The method for storing the user location file comprises: C1: The customer performs remote information authentication through a fixed-point file storage cabinet (D); C2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet (D); C3: The mobile file storage cabinet (E) moves to the customer's location. After the customer puts the file into the mobile file storage cabinet (E), the mobile file storage cabinet (E) moves to the designated storage and access position of the mobile file storage cabinet (E); C4: The four-axis skyhook truss structure (A) controls the file clamping mechanism (C) to move to the mobile file storage cabinet (E), and the file clamping mechanism (C) clamps the file in the mobile file storage cabinet (E). After clamping, the four-axis skyhook truss structure (A) controls the file clamping mechanism (C) to move to the access position of the collaborative compact rack (B), and the file clamping mechanism (C) places the file on the collaborative compact rack (B); The method for retrieving the user location file comprises: D1: The customer performs remote information authentication through a fixed-point file storage cabinet (D); D2: After completing the authentication, the customer initiates the file access work through the fixed-point file access cabinet (D); D3: The collaborative compact shelving (B) moves the file to the outermost side, the four-axis skyhook truss structure (A) controls the file clamping mechanism (C) to move to the access position of the file on the collaborative compact shelving (B), and the file clamping mechanism (C) clamps the file. After clamping, the four-axis skyhook truss structure (A) controls the file clamping mechanism (C) to move to the fixed-point file storage cabinet (D), and the file clamping mechanism (C) places the file in the mobile file storage cabinet (E); D4: The mobile file storage cabinet (E) moves to the customer's positioning position. After the customer takes out the files from the mobile file storage cabinet (E), the mobile file storage cabinet (E) moves to the designated access position of the mobile file storage cabinet (E).

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