A same-direction file box automatic connection control device

Abstract

The application provides a same-direction file box automatic connection control device, which comprises a support, one side of the support is provided with a buffer mechanism, the buffer mechanism is used for placing file boxes, the other side of the support is provided with a three-axis module, the three-axis module is connected with a material taking mechanism, the material taking mechanism comprises a fixed plate, a transfer box is fixed to the bottom end of the side surface of the fixed plate, and the surface of the fixed plate is connected with a limiting frame through a second moving assembly, the surface of the fixed plate is provided with a third limiting plate, the third limiting plate is slidably connected with the limiting frame, the second moving assembly is used for driving the limiting frame to slide on the third limiting plate, the end of the limiting frame is connected with a material fixing assembly through a first moving assembly, the first moving assembly is used for driving the material fixing assembly to move, and the material fixing assembly is used for adsorbing and fixing file boxes, the application solves the problem that manual intervention is required when file boxes are stored in a document library, reduces labor, and improves work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of file box storage, in particular to a same-direction file box automatic connection control device. BACKGROUND

[0002] With the development of society, the rise of labor cost, the rise of automation industry, and the widespread use of automation equipment, automation equipment has become an important tool that cannot be replaced. The widespread use of automation equipment can save a lot of manpower and material resources for various industries, improve product quality, and increase production value.

[0003] The file cabinet is the storage area of the file box. The file box is currently placed in the file cabinet by manual operation, which is low in efficiency and prone to misplacement. Since there are many file boxes, the appearance of each file box is similar, which leads to errors in subsequent use of the file box. Therefore, during the file box arrangement process, the file box needs to be archived, arranged and placed in the shelf for easy and timely searching. However, the current file cabinet shelf does not have any automatic modification space, and manual arrangement and placement are labor-intensive and prone to errors. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application aims to provide a same-direction file box automatic connection control device, which can solve the problem of the current file cabinet shelf without any automatic modification space and the problem of labor-intensive manual arrangement and placement.

[0005] In order to achieve the above-mentioned purpose, the technical scheme of the present application is as follows:

[0006] The present application is realized by the following technical scheme: a same-direction file box automatic connection control device, comprising a support, a buffer mechanism is arranged on one side of the support, and the buffer mechanism is used for placing file boxes; a three-axis module is arranged on the other side of the support, and the three-axis module is connected with a material taking mechanism; the three-axis module is used for driving the material taking mechanism to adjust the position in the X, Y and Z axes directions; the material taking mechanism comprises a fixed plate, a camera is arranged on the side of the fixed plate, a transfer box is fixed to the bottom end of the side of the fixed plate, and a limiting frame is connected to the surface of the fixed plate through a second moving assembly; a third limiting plate is arranged on the surface of the fixed plate, and the third limiting plate is slidably connected with the limiting frame; the second moving assembly is used for driving the limiting frame to slide on the third limiting plate; an anchoring assembly is connected to the end of the limiting frame through a first moving assembly, and the first moving assembly is used for driving the anchoring assembly to move; and the anchoring assembly is used for adsorbing and fixing the file box.

[0007] Further, the cross section of the limiting frame adopts a mouth-shaped structure, and the top end of the limiting frame is provided with a first moving assembly; the first moving assembly comprises a first motor, a fourth gear, a third guide rail and a bearing plate, the third guide rail is fixed to the top end of the limiting frame, and a plurality of plate teeth are formed in the side of the third guide rail; the plate teeth engage the fourth gear, and the fourth gear is connected with the first motor; the first motor is fixed to the surface of the bearing plate, and the bearing plate is slidingly connected with the limiting frame; a solid material assembly is fixed to the bottom end of the bearing plate.

[0008] Further, the side of the bearing plate is provided with a fourth sensing sheet, and two fourth slot photoelectric switches are fixed to the top of the limiting frame; the fourth slot photoelectric switches are connected with the fourth sensing sheet.

[0009] Further, the solid material assembly comprises a suction cup and a vertical plate, and the vertical plate is fixed to the bottom end of the bearing plate; a plurality of vacuum suction cups are fixed to the two sides of the vertical plate.

[0010] Further, the second moving assembly comprises a second motor, a fifth gear and a fourth guide rail, the second motor is fixed to the side of the limiting frame, and the end of the second motor is provided with a fifth gear; the side of the fixed plate is fixed with a fourth guide rail, and the side of the fourth guide rail is provided with a plate tooth; the plate tooth is engaged with the fifth gear; the fourth guide rail is parallel to the third limiting plate, and the two ends of the third limiting plate are fixed with blocking blocks.

[0011] Further, the transfer box adopts a box-shaped structure with open top and two sides, and the width of the opening at the two side openings of the transfer box is greater than the width of the middle part of the transfer box.

[0012] Further, the three-axis module comprises an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism; the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism are used to drive the material taking mechanism to adjust the position in the direction of X, Y and Z axes.

[0013] Further, the buffer mechanism comprises a supporting assembly, a bottom plate and a driving assembly, the supporting assembly is provided with two groups, and the bottom plate is connected between the two groups of supporting assemblies; the end of the two groups of supporting assemblies is provided with a driving assembly, and the driving assembly is used to drive the two supporting assemblies to move so that the bottom plate is inclined.

[0014] Further, the supporting assembly comprises a supporting plate and a connecting plate; the two supporting plates are vertically arranged and sleeved and slidably connected to the outer side of the support; a bottom plate is connected between the two supporting plates, and the side of the supporting plate is fixed with a connecting plate; the side of the connecting plate is provided with a plate tooth, and the plate tooth is connected with a driving assembly; the driving assembly comprises a worm gear motor, a connecting shaft and a first gear; the output shaft of the worm gear motor is connected with the connecting shaft, and the end of the connecting shaft is connected with the first gear; the first gear is engaged with the plate tooth; and the surface of the bottom plate is equidistantly provided with a plurality of partition plates.

[0015] Further, the partition plate adopts a rectangular structure with gradually decreasing width on both sides.

[0016] Compared with the prior art, the beneficial effects of the present application include:

[0017] The file box automatic connection control device of the present application can recognize the file box through a camera, use a three-axis module to cooperate with a material taking mechanism to adsorb the file box by using the principle of a suction cup, and move the file box to enter or exit the warehouse, thereby solving the problem that manual intervention is required when storing the file box in the document library and causing errors, reducing labor, and improving work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0018] The disclosure of the present application will be described with reference to the accompanying drawings. It should be understood that the drawings are only for illustrative purposes, and are not intended to limit the scope of protection of the present application. In the drawings, the same reference numerals are used to refer to the same components. Among them:

[0019] Figure 1 It is a whole structure schematic view of the same direction file box automatic connection control device of the present application;

[0020] Figure 2 It is a structure schematic view of the driving assembly of the embodiment of the present application;

[0021] Figure 3 It is a structure schematic view of the Z-axis moving mechanism of the embodiment of the present application;

[0022] Figure 4 It is a structure schematic view of the X-axis moving mechanism and the Y-axis moving mechanism of the embodiment of the present application;

[0023] Figure 5 It is a structure schematic view of the material taking mechanism of the embodiment of the present application;

[0024] Figure 6 It is a structure schematic view of the side of the material taking mechanism of the embodiment of the present application;

[0025] Figure 7 It is a structure schematic view of the partition plate of the embodiment of the present application;

[0026] Figure 8It is a structural schematic diagram of the transfer box in the embodiment of the application.

[0027] Figure 9 It is a business process block diagram of the embodiment of the application.

[0028] The figure is marked as follows: 1, support; 2, buffer mechanism; 21, partition; 22, bottom plate; 23, supporting plate; 24, connecting plate; 25, driving assembly; 251, worm gear motor; 252, connecting shaft; 253, first gear; 3, file box; 4, material taking mechanism; 41, fixed plate; 42, limiting frame; 43, detection assembly; 431, fourth slot photoelectric switch; 432, fourth sensing sheet; 44, transfer box; 45, first moving assembly; 451, first motor; 452, fourth gear; 453, third guide rail; 454, bearing plate; 46, third limiting plate; 461, blocking block; 47, material fixing assembly; 471, suction cup; 472, vertical plate; 48, camera; 49, second moving assembly; 491, second motor; 492, fifth gear; 493, fourth guide rail; 5, X-axis moving mechanism; 51, X-axis driving motor; 52, second gear; 53, first guide rail; 54, first slot photoelectric switch; 55, first sensing sheet; 56, first limiting plate; 6, Z-axis moving mechanism; 61, back plate; 62, third slot photoelectric switch; 63, third sensing sheet; 64, screw nut; 65, screw rod; 66, Z-axis driving motor; 7, Y-axis moving mechanism; 71, Y-axis driving motor; 72, sliding plate; 73, sliding block; 74, third gear; 75, second sensing sheet; 76, second guide rail; 77, second limiting plate; 78, second slot photoelectric switch; 79, sliding frame. DETAILED DESCRIPTION

[0029] It is easy to understand that, according to the technical scheme of the application, those skilled in the art can propose various structural modes and implementation modes which can be replaced with each other without changing the essential spirit of the application. Therefore, the following detailed description and the accompanying drawings are only exemplary descriptions of the technical scheme of the application, and should not be regarded as the whole or as the limitation or restriction of the technical scheme of the application.

[0030] A same-direction file box automatic connection control device, such as Figures 1-3As shown, it comprises a support 1, one side of the support 1 is provided with a buffer mechanism 2, wherein the buffer mechanism 2 is the buffer point of the docking station, and the buffer mechanism 2 is used for storing file boxes 3; the buffer mechanism 2 comprises a support assembly, a bottom plate 22 and a driving assembly 25, the support assembly is provided with two groups, and the two groups of support assemblies are connected with the bottom plate 22; and the bottom plate 22 is provided with a plurality of, and the plurality of bottom plates 22 are equidistantly distributed between the support assemblies; the end of the two groups of support assemblies is provided with the driving assembly 25, and the driving assembly 25 is used for driving the two support assemblies to move so that the bottom plate 22 is inclined; and the storage of the file box 3 is facilitated;

[0031] The support assembly comprises a supporting plate 23 and a connecting plate 24; the supporting plate 23 is provided with two vertical ones, and the two supporting plates 23 are sleeved and slidably connected to the outer side of the support 1; the bottom plate 22 is connected between the supporting plates 23, and the side of the supporting plate 23 is fixed with the connecting plate 24; the side of the connecting plate 24 is provided with a plate tooth, and the plate tooth is connected with the driving assembly 25; the driving assembly 25 comprises a worm gear motor 251, a connecting shaft 252 and a first gear 253; the output shaft of the worm gear motor 251 is connected with the connecting shaft 252, and the end of the connecting shaft 252 is connected with the first gear 253; the first gear 253 is engaged with the plate tooth; the surface of the bottom plate 22 is equidistantly provided with a plurality of partitions 21, and the positions between the partitions 21 are formed for storing the file boxes 3; as shown in the example, when the file boxes 3 are buffered, in order to facilitate the file boxes 3 to enter the positions, the worm gear motor 251 is driven to rotate the connecting shaft 252, and the connecting shaft 252 is rotated to drive the two connecting plates 24 to move on the support 1 through the first gear 253, such as Figure 1 As shown, the right connecting plate 24 moves downward, and the left connecting plate 24 moves upward, so that the bottom plate 22 is inclined to the right, so as to facilitate the file box 3 to be inserted between the partitions 21;

[0032] In order to facilitate the file box 3 to be inserted between the partitions 21 on the bottom plate 22, the partition 21 adopts a rectangular structure with gradually decreasing width on both sides, such as Figure 7 As shown, the partition 21 adopts this structure, which facilitates the file box 3 to enter the buffer mechanism 2 for buffering.

[0033] The other side of the support 1 is provided with a three-axis module, and the three-axis module is connected with a material taking mechanism 4; the three-axis module is used for driving the material taking mechanism 4 to adjust the position in the direction of X, Y and Z axes; the three-axis module comprises an X-axis moving mechanism 5, a Y-axis moving mechanism 7 and a Z-axis moving mechanism 6; the X-axis moving mechanism 5, the Y-axis moving mechanism 7 and the Z-axis moving mechanism 6 are used for driving the material taking mechanism 4 to adjust the position in the direction of X, Y and Z axes; specifically, as shown in the example, Figure 1 ,Figure 3 and Figure 4 As shown in the drawings, the X-axis moving mechanism 5 comprises an X-axis driving motor 51, a second gear 52, a first guide rail 53, a first slot photoelectric switch 54, a first sensing sheet 55, and a first limiting plate 56. The first guide rail 53 is fixed to the top end of the support 1, and the side of the first guide rail 53 is provided with a plate tooth. The plate tooth is engaged with the second gear 52. The second gear 52 is connected with the X-axis driving motor 51. The X-axis driving motor 51 is connected with the Y-axis moving mechanism 7. The side of the first guide rail 53 is provided with at least two first slot photoelectric switches 54. The side of the Y-axis moving mechanism 7 is fixed with the first sensing sheet 55. The first sensing sheet 55 is connected with the first slot photoelectric switch 54 in a matched mode. The first sensing sheet 55 and the first slot photoelectric switch 54 are electrically connected with the X-axis driving motor 51. The X-axis driving motor 51 is started and stopped through the cooperation of the first sensing sheet 55 and the first slot photoelectric switch 54. When the position of the material taking mechanism 4 in the X-axis direction is adjusted, the X-axis driving motor 51 is started. The second gear 52 is driven to rotate by the X-axis driving motor 51. The second gear 52 is moved when it rotates at the side of the first guide rail 53. The Y-axis moving mechanism 7 is driven to move to change the position of the material taking mechanism 4 in the X-axis direction. When the first sensing sheet 55 in the Y-axis moving mechanism 7 enters the first slot photoelectric switch 54, the X-axis driving motor 51 is stopped. The movement of the X-axis moving mechanism 5 is stopped.

[0034] The Y-axis moving mechanism 7 comprises a Y-axis driving motor 71, a sliding plate 72, a sliding block 73, a third gear 74, a second sensing sheet 75, a second guide rail 76, a second limiting plate 77, a second slot photoelectric switch 78, and a sliding frame 79. The sliding frame 79 is slidingly connected to the first guide rail 53, and the X-axis driving motor 51 is fixed to the side of the sliding frame 79. The surface of the sliding frame 79 is provided with the second guide rail 76, and the side of the second guide rail 76 is provided with a plate tooth. The plate tooth is engaged with the third gear 74, and the third gear 74 is connected with the Y-axis driving motor 71. The Y-axis driving motor 71 is fixed to the surface of the sliding plate 72. The side of the second guide rail 76 is fixed with the second limiting plate 77, and the side of the sliding plate 72 is fixed with the sliding block 73. The sliding block 73 is slidingly connected to the second limiting plate 77. The side of the second guide rail 76 is fixed with at least two second slot photoelectric switches 78. The side of the sliding plate 72 is fixed with the second sensing sheet 75. The second sensing sheet 75 is connected with the second slot photoelectric switch 78 in a matched mode, and the second sensing sheet 75 and the second slot photoelectric switch 78 are connected with the Y-axis driving motor 71 in a matched mode. The Z-axis moving mechanism 6 is fixed to the sliding plate 72. When the material taking mechanism 4 is adjusted in position on the Y-axis, the Y-axis driving motor 71 is started. When the Y-axis driving motor 71 is driven, the third gear 74 is rotated and moved, thereby driving the sliding plate 72 to move on the second guide rail 76 at the top end of the sliding frame 79. When the sliding plate 72 is moved to the position where the second sensing sheet 75 contacts with the second slot photoelectric switch 78, the Y-axis driving motor 71 is stopped.

[0035] The Z-axis moving mechanism 6 comprises a back plate 61, a third slot photoelectric switch 62, a third sensing sheet 63, a screw rod nut 64, a screw rod 65, and a Z-axis driving motor 66. The back plate 61 is fixed to the bottom end of the sliding plate 72, and the Z-axis driving motor 66 is installed on the back plate 61. The Z-axis driving motor 66 is connected with the screw rod 65. The screw rod 65 is rotationally connected with the back plate 61, and the surface of the screw rod 65 is connected with the screw rod nut 64. The side of the back plate 61 is fixed with at least two third slot photoelectric switches 62. The side of the screw rod nut 64 is fixed with the third sensing sheet 63. The third slot photoelectric switch 62 and the third sensing sheet 63 are electrically connected with the Z-axis driving motor 66. The side of the screw rod nut 64 is fixed with the material taking mechanism 4. When the material taking mechanism 4 is adjusted in position on the Z-axis, the Z-axis driving motor 66 is started. The screw rod 65 is rotated, thereby driving the screw rod nut 64 to move up and down, and driving the material taking mechanism 4 to adjust the position in the Z-axis direction. When the screw rod nut 64 moves to the end, i.e., the third sensing sheet 63 enters into the third slot photoelectric switch 62, the Z-axis driving motor 66 is stopped working.

[0036] The taking mechanism 4 comprises a fixed plate 41, the fixed plate 41 is connected with the screw nut 64, as shown in the drawings, the side bottom end of the fixed plate 41 is fixed with a transfer box 44, and the surface of the fixed plate 41 is connected with a limiting frame 42 through a second moving assembly 49; the surface of the fixed plate 41 is provided with a third limiting plate 46, the third limiting plate 46 is slidingly connected with the limiting frame 42; the second moving assembly 49 is used to drive the limiting frame 42 to slide on the third limiting plate 46; the end of the limiting frame 42 is connected with a solid material assembly 47 through a first moving assembly 45, the first moving assembly 45 is used to drive the solid material assembly 47 to move; the solid material assembly 47 is used to adsorb and fix the file box 3. Figure 5 and Figure 6 As shown in the drawings, the side bottom end of the fixed plate 41 is fixed with a transfer box 44, and the surface of the fixed plate 41 is connected with a limiting frame 42 through a second moving assembly 49; the surface of the fixed plate 41 is provided with a third limiting plate 46, the third limiting plate 46 is slidingly connected with the limiting frame 42; the second moving assembly 49 is used to drive the limiting frame 42 to slide on the third limiting plate 46; the end of the limiting frame 42 is connected with a solid material assembly 47 through a first moving assembly 45, the first moving assembly 45 is used to drive the solid material assembly 47 to move; the solid material assembly 47 is used to adsorb and fix the file box 3.

[0037] The cross section of the limiting frame 42 adopts a mouth-shaped structure, and the top end of the limiting frame 42 is provided with a first moving assembly 45; the first moving assembly 45 comprises a first motor 451, a fourth gear 452, a third guide rail 453 and a receiving plate 454, the third guide rail 453 is fixed to the top end of the limiting frame 42, and a plurality of plate teeth are formed in the side of the third guide rail 453; the plate teeth are engaged with the fourth gear 452, and the fourth gear 452 is connected with the first motor 451; the first motor 451 is fixed to the surface of the receiving plate 454, and the receiving plate 454 is slidingly connected with the limiting frame 42; the bottom end of the receiving plate 454 is fixed with the solid material assembly 47; through the starting of the electric first motor 451, the fourth gear 452 is driven to rotate, and the receiving plate 454 is driven to move on the limiting frame 42.

[0038] In order to accurately take the file box 3 in the file box buffer area inside the robot and accurately control the solid material assembly 47 to fix the file box 3, the side of the back plate 61 is fixed with a camera 48, the position of the file box 3 is identified through the camera 48, so as to accurately pick up the file box 3.

[0039] The taking mechanism 4 further comprises a detection assembly 43, the detection assembly 43 comprises a fourth slot photoelectric switch 431 and a fourth sensing sheet 432, the side of the receiving plate 454 is provided with the fourth sensing sheet 432, and the top of the limiting frame 42 is fixed with two fourth slot photoelectric switches 431; the fourth slot photoelectric switch 431 is matchedly connected with the fourth sensing sheet 432, and the fourth slot photoelectric switch 431 and the fourth sensing sheet 432 are electrically connected with the first motor 451.

[0040] The solid material assembly 47 comprises a suction cup 471 and a vertical plate 472, the vertical plate 472 is fixed to the bottom end of the receiving plate 454; a plurality of vacuum suction cups 471 are fixed to the two sides of the vertical plate 472.

[0041] The second moving assembly 49 comprises a second motor 491, a fifth gear 492 and a fourth guide rail 493, the second motor 491 is fixed to the side of the limiting frame 42, and the end of the second motor 491 is provided with the fifth gear 492; the side of the fixed plate 41 is fixed with the fourth guide rail 493, and the side of the fourth guide rail 493 is provided with a plate tooth; the plate tooth is engaged with the fifth gear 492; the fourth guide rail 493 is parallel to the third limiting plate 46, and the both ends of the third limiting plate 46 are fixed with a blocking block 461; when the movement of the limiting frame 42 is carried out, the second motor 491 is started, the second motor 491 drives the fifth gear 492 to rotate, and then the limiting frame 42 moves at the side of the fourth guide rail 493.

[0042] As shown in Figure 8 The transfer box 44 adopts a box-shaped structure with an open top end and two sides, and the width of the opening at the two side openings of the transfer box 44 is greater than the width of the middle part of the transfer box 44, which facilitates the transfer of the file box 3 into and out of the transfer box 44.

[0043] When the file box 3 is taken and stored in the buffer mechanism 2, the second moving assembly 49 is started, the second moving assembly 49 drives the fixed material assembly 47 to move to the end of the target file box 3, the position of the taking mechanism 4 is adjusted through the three-axis module, whether the taking mechanism 4 is beside the target file box 3 is judged through the camera 48, if yes, the suction cup 471 is started to be adsorbed and fixed on the left side of the file box 3, the second moving assembly 49 is started again, the second motor 491 is reversed, the suction cup 471 fixes the file box 3 and pulls the file box 3 into the transfer box 44, at the same time, the suction cup 471 is disconnected with the file box 3, the first moving assembly 45 is started, the suction cup 471 is moved to the side of the file box 3, and the suction cup 471 is moved to the right side of the file box 3 through the second moving assembly 49, the suction cup 471 on the other side of the vertical plate 472 is adsorbed and fixed on the right side of the file box 3, and the file box 3 is pushed into the space between each partition plate 21 on the surface of the bottom plate 22 through the cooperation of the second moving assembly 49 and the three-axis module.

[0044] The file box automatic connection control device of the application can recognize through a camera, adsorb a file box through a three-axis module cooperating with a taking mechanism by using the principle of a suction cup, and move the file box to enter and exit a warehouse, so as to solve the problem that manual intervention is needed when a file box is stored in a document library and thus errors are caused, reduce labor, and improve work efficiency.

[0045] Figure 9The service flow chart of the present application, through the docking mechanism composed of the three-axis module and the taking mechanism 4, realizes the service of the file box 3 from the file box buffer mechanism 2 of the docking station into the file box buffer area inside the mobile robot (warehousing) or from the file box buffer area inside the robot to the file box buffer mechanism 2 of the docking station (outbound);

[0046] The warehousing function, grabbing the file box from the file box buffer area inside the mobile robot, and then placing the file box to the buffer mechanism 2 of the docking station; specifically,

[0047] The preparation action of the warehousing function of grabbing the file box 3 from the buffer area of the mobile robot; first, the air pump of the suction cup 471 is closed, and the air pump is controlled to be powered off; the second moving assembly 49 is controlled to start, so that the suction cup 471 moves to the buffer area; then the three-axis module is controlled to move to the position where the camera 48 can capture the two-dimensional code of the file box 3 inside the buffer area of the mobile robot, and the preparation action is completed.

[0048] The deviation of the two-dimensional code captured by the camera 48 is used to capture the deviation, and a more accurate deviation position is obtained; according to the data obtained by the camera 48, the three-axis module is controlled to accurately move to the position where the suction cup 471 is in front of the target file box 3; the second moving assembly 49 is controlled to move towards the target file box 3, the air pump is opened, and the electromagnetic valve is controlled, so that the suction cup 471 facing the robot is sucked, and the file box 3 is sucked; then the second motor 491 of the second moving assembly 49 is controlled to reverse, so that the file box 3 is dragged onto the transfer box 44; then the air pump is powered off, so that the suction cup 471 releases the file box 3; then the first motor 451 of the first moving assembly 45 is controlled to rotate forward, so that the suction cup 471 comes to the side of the file box 3; then the second motor 491 of the second moving assembly 49 is controlled to rotate forward, so that the suction cup 471 moves towards the direction of the robot buffer area; then the first motor 451 of the first moving assembly 45 is controlled to reverse, so that the suction cup 471 bypasses the file box 3 from one side of the file box 3 to the other side; then the three-axis module is controlled to drive the file box 3 to move to the placing preparation position of the buffer mechanism 2; the three-axis module moves to the accurate position, so that the transfer box 44 is opposite to and close to the target compartment 21 formed by the partition plate 21; the air pump is opened, and the electromagnetic valve is controlled, so that the suction cup 471 facing the buffer mechanism 2 is sucked, and the second motor 491 of the second moving assembly 49 is controlled to reverse, so that the file box 3 is pushed into the target compartment of the buffer mechanism 2; the air pump is powered off, and the suction cup 471 is released; the second motor 491 of the second moving assembly 49 is controlled to rotate forward, so that the suction cup 471 exits, and the entire warehousing action flow is completed.

[0049] The function of the outbound, grabbing the file box 3 from the buffer mechanism 2 of the docking station, and then placing it to the buffer area inside the mobile robot;

[0050] The preparation action of taking the file box 3 from the cache mechanism 2, the air pump of the suction cup 471 is closed, the control air pump is powered off, the second motor 491 of the second moving assembly 49 is controlled to rotate forward, the suction cup 471 is moved to the direction of the robot, and the three-axis module is controlled to move to the preparation position of the cache mechanism 2, and the preparation action is completed.

[0051] The action of taking the file box 3 from the cache mechanism 2 and placing in the internal cache area of the mobile robot, the three-axis module is moved to the accurate position, so that the transfer box 44 is opposite and close to the target partition plate 21 warehouse position, the second motor 491 of the second moving assembly 49 is controlled to rotate reversely, the suction cup 471 is moved to the direction of the cache mechanism 2, the air pump is opened and the electromagnetic valve is controlled, the suction cup 471 facing the cache mechanism 2 is inhaled, and the file box 3 is sucked, the second motor 491 of the second moving assembly 49 is controlled to rotate forward, and the file box 3 is dragged to the transfer box 44, the air pump is powered off, so that the suction cup 471 releases the file box 3, the first motor 451 of the first moving assembly 45 is reversely rotated, so that the suction cup 471 comes to the side of the file box 3, the second motor 491 of the second moving assembly 49 is reversely rotated, and the suction cup 471 is moved to the direction of the cache mechanism 2, the first motor 451 of the first moving assembly 45 is controlled to rotate forward, so that the suction cup 471 is controlled to bypass the file box 3 and come to the other side, the three-axis module is controlled to move to the position where the camera 48 can capture the two-dimensional code of the internal storage area warehouse position of the mobile robot, the deviation of the two-dimensional code is captured by photographing, and a more accurate deviation position is obtained, according to the data obtained by the camera 48, the three-axis module is accurately controlled to move to the front of the target warehouse position, the air pump is opened and the electromagnetic valve is controlled, the suction cup 471 facing the robot inhales, and the second motor 491 of the second moving assembly 49 is controlled to rotate forward, so that the file box 3 is pushed into the target warehouse position in the internal robot, the air pump is powered off, and the suction cup 471 is released, the second motor 491 of the second moving assembly 49 is controlled to rotate reversely and move to the direction of the cache mechanism 2, the suction cup 471 is driven to exit, and the whole out-of-warehouse action flow is completed.

[0052] The technical scope of the present application is not limited to the above description, and those skilled in the art can make various modifications and modifications to the above embodiments without departing from the technical idea of the present application, and these modifications and modifications should belong to the protection scope of the present application.

Claims

1. A same-direction file box automatic docking control device, characterized in that, Include: Support (1), one side of the support (1) is provided with a buffer mechanism (2), the buffer mechanism (2) is used for storing file box (3); the other side of the support (1) is provided with three axis module, the three axis module is connected with material taking mechanism (4); the three axis module is used for driving the material taking mechanism (4) to carry out position adjustment in the direction of X, Y, Z axis; The material taking mechanism (4) includes a fixed plate (41), the side of the fixed plate (41) is provided with a camera (48), the bottom end of the side of the fixed plate (41) is fixed with a transfer box (44), and the surface of the fixed plate (41) is connected with a limiting frame (42) through a second moving assembly (49); the surface of the fixed plate (41) is provided with a third limiting plate (46), the third limiting plate (46) is slidably connected with the limiting frame (42); the second moving assembly (49) is used for driving the limiting frame (42) to slide on the third limiting plate (46); the end of the limiting frame (42) is connected with a fixed material assembly (47) through a first moving assembly (45), the first moving assembly (45) is used for driving the fixed material assembly (47) to move; the fixed material assembly (47) is used for adsorbing and fixing the file box (3); The cross section of the limiting frame (42) adopts a mouth-shaped structure, and the top end of the limiting frame (42) is provided with a first moving assembly (45); the first moving assembly (45) includes a first motor (451), a fourth gear (452), a third guide rail (453) and a receiving plate (454), the third guide rail (453) is fixed to the top end of the limiting frame (42), and a plurality of plate teeth are formed in the side of the third guide rail (453); the plate teeth are engaged with the fourth gear (452), and the fourth gear (452) is connected with the first motor (451); the first motor (451) is fixed to the surface of the receiving plate (454), and the receiving plate (454) is slidably connected with the limiting frame (42); the bottom end of the receiving plate (454) is fixed with the fixed material assembly (47); The fixed material assembly (47) includes a suction cup (471) and a vertical plate (472), and the vertical plate (472) is fixed to the bottom end of the receiving plate (454); a plurality of vacuum suction cups (471) are fixed to the two sides of the vertical plate (472); The second moving assembly (49) includes a second motor (491), a fifth gear (492) and a fourth guide rail (493), the second motor (491) is fixed to the side of the limiting frame (42), and the end of the second motor (491) is provided with the fifth gear (492); the side of the fixed plate (41) is fixed with the fourth guide rail (493), and the side of the fourth guide rail (493) is provided with a plate tooth; the plate tooth is engaged with the fifth gear (492); the fourth guide rail (493) is parallel to the third limiting plate (46), and the two ends of the third limiting plate (46) are fixed with a blocking block (461).

2. The same direction file box automatic docking control device according to claim 1, characterized in that, The side of the receiving plate (454) is provided with a fourth sensing sheet (432), and the top of the limiting frame (42) is fixed with two fourth slot photoelectric switches (431); the fourth slot photoelectric switches (431) are matched with the fourth sensing sheet (432).

3. The same direction file box automatic docking control device according to claim 1, characterized in that, The transfer box (44) adopts a box-shaped structure with an open top and two open sides, and the width of the openings at the two open sides of the transfer box (44) is greater than the width of the middle part of the transfer box (44).

4. The same direction file box automatic docking control device according to claim 1, characterized in that, The three-axis module includes an X-axis moving mechanism (5), a Y-axis moving mechanism (7), and a Z-axis moving mechanism (6); the X-axis moving mechanism (5), the Y-axis moving mechanism (7), and the Z-axis moving mechanism (6) are used to drive the material taking mechanism (4) to adjust the position in the X, Y, and Z axial directions.

5. The co-processor cartridge automatic docking control apparatus of claim 1 wherein, The buffer mechanism (2) includes a support assembly, a bottom plate (22), and a driving assembly (25), the support assembly is provided with two groups, and the bottom plate (22) is connected between the two groups of support assemblies; the end of the two groups of support assemblies is provided with the driving assembly (25), and the driving assembly (25) is used to drive the two support assemblies to move to incline the bottom plate (22).

6. A same-direction file box automatic docking control device according to claim 5, wherein, The support assembly includes a supporting plate (23) and a connecting plate (24); the supporting plate (23) is provided with two vertical ones, and the two supporting plates (23) are sleeved and slidingly connected to the outer side of the support (1); the bottom plate (22) is connected between the supporting plates (23), and the side of the supporting plate (23) is fixed with the connecting plate (24); the side of the connecting plate (24) is provided with a plate tooth, and the plate tooth is connected with the driving assembly (25); the driving assembly (25) includes a worm gear motor (251), a connecting shaft (252), and a first gear (253); the output shaft of the worm gear motor (251) is connected with the connecting shaft (252), and the end of the connecting shaft (252) is connected with the first gear (253); the first gear (253) is engaged with the plate tooth; the surface of the bottom plate (22) is equidistantly distributed with a plurality of partition plates (21).

7. A same-direction file box automatic docking control device according to claim 6, characterized in that, The partition plate (21) adopts a rectangular structure with gradually decreasing widths on both sides.

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