Multi-storage-position truss type file access robot, system and method

Abstract

According to the multi-storage-position truss type file storing and taking robot, system and method, during file storing and taking, according to storing and taking tasks, the positions of the truss and the robot body are adjusted, so that the robot body reaches a target area, the posture of the robot body is adjusted, and the target file is clamped and placed; when a plurality of target files exist in the storage / fetching task, the target files which are firstly clamped are placed in the file temporary storage cabinet, or the target files are sequentially clamped from the file temporary storage cabinet, and corresponding temporary storage positions are selected or adjusted according to the thicknesses of the target files. The file temporary storage cabinet can move along with the robot, multi-roll and different-thickness files can be cached when the robot accesses the files, the specification of the temporary storage position is adjustable, and the access efficiency of the files is improved.

Description

Technical Field

[0001] The present invention belongs to the field of file storage and retrieval robots, and in particular relates to a multi-storage-position truss-type file storage and retrieval robot, a system and a method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the development of Internet of Things and artificial intelligence technologies, the self-perception and autonomous handling capabilities of a large number of devices have provided a lot of convenience for people in their daily work, improved work efficiency, and reduced the occurrence of errors. At present, the application of intelligent technology on various equipment in archive warehouses is also widely reflected.

[0004] The use of information technology and the integration of intelligent technology to achieve unified collection, unified management, and organic linkage of the sensory data of all intelligent devices within the archive warehouse has also become the current development direction of intelligent warehouses. That is, to establish a unified software management and control platform within the intelligent warehouse, centrally manage all data that can be collected, and record, summarize and display the collected data to users in real time. Providing utilization and analysis when users need it has become another obvious feature of intelligent archive warehouses.

[0005] With the development of Internet of Things and artificial intelligence technologies, the self-perception and autonomous handling capabilities of a large number of devices have provided people with a lot of convenience in their daily work, improved work efficiency, and reduced the occurrence of errors. More and more intelligent robot equipment has been used in the management and inventory of archives in and out of the warehouse.

[0006] In the prior art, the general process includes identifying the files through QR codes and RFID technology. When storing the files, the file storage and retrieval robot accurately puts the stored files on the shelf of the target file shelf by identifying the QR code and RFID information of the files, thereby realizing automatic shelving of the files; when retrieving the files, the file storage and retrieval robot grabs the target files and places them at the retrieval port, and the staff takes the files from the retrieval port, thereby realizing automatic detachment of the files.

[0007] Currently, there are two main types of automatic archive storage and retrieval robots. One is the AGV-type archive storage and retrieval robot, which consists of a mobile chassis, a robotic arm and a gripper. However, this type of robot has low obstacle crossing ability and has high requirements for the flatness of the archive warehouse. It cannot cross the intelligent compact shelving track, and the robot has low docking accuracy and poor stability. The other is a truss-type archive storage and retrieval robot, which consists of a truss track, a robot and a gripper. This type of robot has high positioning accuracy and stability, but the robot can only grab one box of archives at a time. When there are multiple boxes of archives in and out of the warehouse, the robot has to travel back and forth from the compact shelving where the archives are stored to the entry and exit window many times, affecting the efficiency of entry and exit. Summary of the invention

[0008] In order to solve the above problems, the present invention proposes a multi-storage-position truss-type archive storage and retrieval robot, system and method. The archive temporary storage cabinet of the present invention can move with the robot, so that the robot can cache multiple volumes of archives of different thicknesses when accessing archives, and the specifications of the temporary storage positions are adjustable, thereby improving the access efficiency of archives.

[0009] According to some embodiments, the present invention adopts the following technical solutions:

[0010] A multi-storage truss file access robot, comprising a truss and a robot body, wherein the truss is arranged above a file cabinet and comprises slidably connected x and y motion axes, and the robot body is movably arranged on the x or y motion axis, and the position and posture of the robot body are adjustable;

[0011] The robot body is also provided with a temporary file storage cabinet, which includes several layers, each layer includes a plurality of temporary storage positions, and the temporary storage positions include at least fixed temporary storage positions and movable temporary storage positions;

[0012] When storing / retrieving files, the positions of the truss and the robot body are adjusted according to the storage / retrieval task, so that the robot body reaches the target area, the posture of the robot body is adjusted, and the target file is clamped and placed. When there are multiple target files in the storage / retrieval task, the first clamped target file is placed in the file temporary storage cabinet, or the target files are clamped from the file temporary storage cabinet in sequence, and the corresponding temporary storage position is selected or adjusted according to the thickness of the target file.

[0013] As an optional embodiment, each layer of the file temporary storage cabinet is provided with two storage partitions with a fixed distance to form a fixed temporary storage position, and a plurality of movable partitions are provided on one side or both sides of the above-mentioned storage partitions, and the distance between the movable partitions and the storage partitions is adjustable to form a movable temporary storage position.

[0014] As a further embodiment, the movable partitions are all arranged on a screw rod, a pulley is sleeved on the screw rod, and the pulley is connected to a driving mechanism.

[0015] As an optional embodiment, a rotation axis is provided at the connection between the robot body and the x or y motion axis to adjust the orientation of the robot body.

[0016] As an optional implementation, the robot body is provided with a hand clamp for clamping files, and the hand clamp is connected to a telescopic mechanism, and the position of the hand clamp in the vertical direction is adjusted by the telescopic mechanism.

[0017] The hand clamp is a multi-degree-of-freedom hand clamp, and the temporary file storage cabinet is arranged within the operable range of the hand clamp.

[0018] As an optional implementation, the robot body is further provided with a control system, and the control system is used to control the actions of various components of the robot body and the actions of the driving mechanism of the file temporary storage cabinet.

[0019] As an optional implementation, the robot body is provided with a sensor or a visual system, and the sensor or the visual system is used to measure the thickness of the target file and / or the position of the target storage location.

[0020] A multi-storage truss file storage and retrieval system, comprising the above-mentioned robot, a storage and retrieval integrated machine and a processing unit, wherein:

[0021] The robot is used to perform a storage / retrieval task. When there are multiple target files in the storage / retrieval task, the robot places the first target file to be clamped in the temporary file storage cabinet, or sequentially clamps the target files from the temporary file storage cabinet, and selects or adjusts the corresponding temporary storage position according to the thickness of the target file;

[0022] The storage and retrieval machine is used to perform identity authentication, manage file storage / retrieval tasks, and store files to be stored / retrieved by the robot;

[0023] The processing unit is used to generate a storage / retrieval task, and control the actions of the storage / retrieval machine and the robot, and determine whether to start the temporary storage cabinet according to the number of target files.

[0024] As an optional implementation, the storage and retrieval machine is set on the wall between the archive reading room and the warehouse, with one side in the archive reading room and the other side in the archive warehouse, for the archive retrieval robot to perform archive retrieval.

[0025] The working method based on the above system includes the following steps:

[0026] During the task of retrieving files, the positions of the truss and the robot body are controlled and adjusted so that the robot body reaches the target area. The hand clamp is adjusted to face the target area and the target file is clamped and placed within the operable range.

[0027] Determine whether there are multiple target files. If yes, start the temporary storage function, place the first target file to be clamped in the temporary storage cabinet, select a fixed temporary storage position or adjust the movable temporary storage position according to the thickness of the target file, so that the width of the temporary storage position and the thickness of the file are adapted, and perform the file retrieval task in sequence until all target files have been retrieved or the retrieved files reach the number that can be stored in all temporary storage positions and manual clamps, transport all target files to the storage and retrieval machine, and place each target file in the storage and retrieval grid of the storage and retrieval machine in sequence;

[0028] When performing an archiving task, the storage and retrieval machine is used to authenticate the identity of the management personnel, and the files to be stored in the warehouse are placed in the storage and retrieval slot of the storage and retrieval machine. The positions of the truss and the robot body are controlled and adjusted so that the robot body reaches the storage and retrieval slot. The rotating shaft, the telescopic mechanism and the hand clamp are adjusted so that the hand clamp faces the target area and the target files are clamped and placed within the operable range.

[0029] Determine whether there are multiple target files. If so, start the temporary storage function and place the first target file to be clamped in the temporary storage cabinet. According to the thickness of the target file, select a fixed temporary storage position or adjust the active temporary storage position to make the width of the temporary storage position match the thickness of the file. Perform archiving tasks in sequence until all target files have been taken or the number of files taken reaches all temporary storage positions and the number that can be stored by hand clamps. Transport all target files to the corresponding filing cabinets and place each target file in the filing cabinet in sequence.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention innovatively proposes a multi-storage-position truss-type archive storage and retrieval robot. In order to improve the archive access efficiency of the archive access robot during a single movement from the archive rack to the integrated archive storage and retrieval machine, a temporary archive storage position is added to the movement axis of the archive access robot to achieve caching of multiple volumes of archives during a single movement from the archive rack to the integrated archive storage and retrieval machine.

[0032] The present invention innovatively proposes a temporary storage location for archives, including a movable temporary storage location and a fixed temporary storage location. The size of the temporary storage location can be flexibly adjusted according to the thickness and quantity of the target archives to make it compatible with the target archives, thereby achieving compatibility with archives of different thicknesses. The archive access robot can also cache multiple volumes of archives of different thicknesses when accessing archives, thereby improving the access efficiency of archives.

[0033] The present invention innovatively proposes a multi-storage truss-type archive storage and retrieval system, which utilizes the cooperation of a robot, an integrated storage and retrieval machine, and a processing unit to determine whether to start a temporary archive storage cabinet according to the number of target archives in the storage / retrieval task, thereby realizing intelligent control.

[0034] The present invention innovatively proposes a multi-storage-position truss file access method. When storing / retrieving files, the positions of the truss and the robot body are adjusted according to the storage / retrieval task, so that the robot body reaches the target area, and the posture of the robot body is adjusted to clamp and place the target file. When there are multiple target files in the storage / retrieval task, the first clamped target file is placed in the file temporary storage cabinet, or the target files are clamped from the file temporary storage cabinet in sequence, and the corresponding temporary storage position is selected or adjusted according to the thickness of the target file. Multiple files can be stored / retrieved at one time, thereby realizing safe transportation and management of the files.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0037] Figure 1 is a schematic diagram of a multi-storage truss-type file storage and retrieval robot according to an embodiment;

[0038] Figure 2 is a front view of a temporary file storage cabinet of an embodiment;

[0039] Figure 3 is a side view of a temporary file storage cabinet of an embodiment;

[0040] Figure 4 The present invention is a schematic diagram of a multi-storage truss-type file storage and access system according to an embodiment. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0042] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0043] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0044] In the absence of conflict, the embodiments in this application and the features in the embodiments may be combined with each other.

[0045] Embodiment 1

[0046] A multi-storage truss file access robot, such as Figure 1 As shown, it includes a truss and a robot body, the truss is arranged above the filing cabinet, and includes slidably connected x and y motion axes, the robot body can be movably arranged on the x or y motion axis, and the position and posture of the robot body are adjustable;

[0047] The robot body is also provided with a temporary file storage cabinet, which includes several layers, each layer includes a plurality of temporary storage positions, and the temporary storage positions include at least fixed temporary storage positions and movable temporary storage positions;

[0048] When storing / retrieving files, the positions of the truss and the robot body are adjusted according to the storage / retrieval task, so that the robot body reaches the target area, the posture of the robot body is adjusted, and the target file is clamped and placed. When there are multiple target files in the storage / retrieval task, the first clamped target file is placed in the file temporary storage cabinet, or the target files are clamped from the file temporary storage cabinet in sequence, and the corresponding temporary storage position is selected or adjusted according to the thickness of the target file.

[0049] The file retrieval robot can grab files of different thicknesses of 2-6cm. Due to the large warehouse area, in order to improve the file retrieval efficiency of the file retrieval robot during a single movement from the file rack to the file retrieval machine, a file temporary storage cabinet is added to the movement axis of the file retrieval robot to achieve caching of multiple volumes of files during a single movement from the file rack to the file retrieval machine.

[0050] Each layer of the temporary storage cabinet is provided with two storage partitions with a fixed distance to form a fixed temporary storage position, and a plurality of movable partitions are arranged on one side or both sides of the storage partitions. The distance between the movable partitions and the storage partitions is adjustable to form a movable temporary storage position.

[0051] In this embodiment, Figure 2 , Figure 3 As shown, the archive temporary storage cabinet contains a total of 6 temporary storage positions, divided into 2 layers, each layer has 3 temporary storage positions, including 2 variable temporary storage positions and 1 fixed temporary storage position. The thickness specifications of the variable temporary storage positions on each layer are consistent and can be compatible with files of different thicknesses of 2-6cm. The fixed temporary storage position supports files with a thickness of 2cm.

[0052] The temporary storage positions are divided into three positions: left, middle and right. The left and right storage positions are variable temporary storage positions, and the middle one is a fixed temporary storage position.

[0053] In this embodiment, the movable partitions are all arranged on the screw rod, and the screw rod is sleeved with a pulley, and the pulley is connected to the driving mechanism. According to the thickness difference of the files, the same group of storage positions is controlled by a motor, and the screw rod is driven to move by the motor, and the file partitions are driven to move by the screw rod, so as to realize the change of the storage position specifications of the variable temporary storage position.

[0054] like Figure 1 As shown, a rotation axis is provided at the connection between the robot body and the x or y motion axis to adjust the orientation of the robot body. A hand clamp for clamping files is provided on the robot body, and the hand clamp is connected to a telescopic mechanism, and the position of the hand clamp in the vertical direction is adjusted by the telescopic mechanism.

[0055] In some embodiments, the robot body is further provided with a control system, and the control system is used to control the actions of various components of the robot body and the actions of the driving mechanism of the file temporary storage cabinet.

[0056] In some embodiments, a sensor or a visual system is disposed on the robot body, and the sensor or the visual system is used to measure the thickness of the target file and / or the position of the target storage location.

[0057] Embodiment 2

[0058] like Figure 4 As shown, a multi-storage truss-type file storage and retrieval system includes the robot, the storage and retrieval integrated machine and the processing unit of the first embodiment, wherein:

[0059] The robot is used to perform a storage / retrieval task. When there are multiple target files in the storage / retrieval task, the robot places the first target file to be clamped in the temporary file storage cabinet, or sequentially clamps the target files from the temporary file storage cabinet, and selects or adjusts the corresponding temporary storage position according to the thickness of the target file;

[0060] The storage and retrieval machine is used to perform identity authentication, manage file storage / retrieval tasks, and store files to be stored / retrieved by the robot;

[0061] The processing unit is used to generate a storage / retrieval task, and control the actions of the storage / retrieval machine and the robot, and determine whether to start the temporary storage cabinet according to the number of target files.

[0062] The storage and retrieval integrated machine is arranged on the wall between the archive reading room and the storehouse, with one side in the archive reading room and the other side in the archive storehouse, and is used for the archive retrieval robot to perform archive retrieval.

[0063] In this embodiment, the processing unit is a PLC system.

[0064] Embodiment 3

[0065] The working method of the system provided in the second embodiment includes:

[0066] File retrieval service:

[0067] After the upper computer issues the file retrieval task, the PLC controls the file retrieval robot to coordinate the movement of each axis to the designated file storage location to grab the file, and at the same time judge the number of files to be retrieved. If the number of files to be retrieved is 1 box of files, the system does not use the temporary storage function of the temporary storage location. The file retrieval robot directly grabs the file and puts it in the access port to complete the file retrieval operation.

[0068] If the number of file retrieval operations issued is greater than 1 box, the PLC system will enable the temporary storage function. The order of using the temporary storage is: fixed temporary storage - the first group of variable temporary storage - the second group of variable temporary storage.

[0069] The PLC system first selects the temporary storage location according to the thickness of the first file grabbed and the order in which the temporary storage locations are used. If the thickness meets the thickness specifications of the fixed temporary storage location, the file will be placed in the fixed temporary storage location first. If the thickness does not meet the thickness specifications of the fixed temporary storage location, the PLC system adjusts the motor on the first group of variable storage locations according to the thickness of the current file to rotate and adjust the thickness of the variable storage locations to match the thickness requirements of the currently grabbed file. After the adjustment is completed, the PLC sends a command to the file storage and retrieval robot to place the file in the file storage and retrieval robot's gripper into the first group of adjusted variable storage locations.

[0070] After placement is completed, the PLC system continues to execute the task of retrieving the second file, grabs the file at the designated storage location, and first determines whether the thickness of the file meets the thickness specifications of the fixed temporary storage location based on the thickness of the file. If it does, the file is placed in. If not, it determines whether the adjusted temporary storage location specifications of the first group meet the thickness requirements of the current grabbed file. If they do, they are placed in. If not, the PLC system controls the motor of the second group of variable storage locations to adjust the thickness specifications of the variable temporary storage locations according to the current file thickness requirements. After the adjustment is completed, the PLC sends a command to the storage and retrieval robot to place the file in the storage and retrieval robot's gripper into the second group of adjusted variable storage locations.

[0071] After the placement is completed, the PLC system continues to execute the task of retrieving the third file, grabs the file at the designated storage location, and first determines whether the thickness of the file meets the thickness specifications of the fixed temporary storage location based on the thickness of the file. If it meets the thickness specifications, the file is placed in. If not, it is determined whether the adjusted temporary storage location specifications of the first group meet the thickness requirements of the current grabbed file. If they meet the thickness requirements, they are placed in. If not, it is determined whether the adjusted temporary storage location specifications of the second group meet the thickness requirements of the current grabbed file. If they meet the thickness requirements, they are placed in. If not, the file remains in the hand clamp of the file storage and retrieval robot, and the PLC controls the file storage and retrieval robot to move to the storage and retrieval machine position, places the file in the hand clamp of the file storage and retrieval robot into the storage and retrieval grid of the storage and retrieval machine, and grabs the files in the temporary storage location into the storage and retrieval grid of the storage and retrieval machine in turn to complete this retrieval task.

[0072] If there are more files later, the process is the same and will not be repeated here.

[0073] Archive tasks:

[0074] After the upper computer issues the archiving task, the personnel go to the storage and retrieval machine for identity authentication, and then put the files to be stored in the warehouse into the access port of the storage and retrieval machine to start the archiving business.

[0075] After the archiving service starts, the system determines the number of archives. If the number of archives is 1 box, the temporary storage position is not used. If the number of archives is greater than 1 box, the system enables the temporary storage position function. The order of using temporary storage positions is the same as the order of using temporary storage positions for the retrieval service.

[0076] The PLC system first selects the temporary storage location according to the thickness of the first file grabbed and the order in which the temporary storage locations are used. If the thickness meets the thickness specifications of the fixed temporary storage location, the file will be placed in the fixed temporary storage location first. If the thickness does not meet the thickness specifications of the fixed temporary storage location, the PLC system adjusts the motor on the first group of variable storage locations according to the thickness of the current file to rotate and adjust the thickness of the variable storage locations to match the thickness requirements of the currently grabbed file. After the adjustment is completed, the PLC sends a command to the file storage and retrieval robot to place the file in the file storage and retrieval robot's gripper into the first group of adjusted variable storage locations.

[0077] After placement is completed, the PLC system continues to execute the task of retrieving the second file, grabs the file at the designated storage location, and first determines whether the thickness of the file meets the thickness specifications of the fixed temporary storage location based on the thickness of the file. If it does, the file is placed in. If not, it determines whether the adjusted temporary storage location specifications of the first group meet the thickness requirements of the current grabbed file. If they do, they are placed in. If not, the PLC system controls the motor of the second group of variable storage locations to adjust the thickness specifications of the variable temporary storage locations according to the current file thickness requirements. After the adjustment is completed, the PLC sends a command to the storage and retrieval robot to place the file in the storage and retrieval robot's gripper into the second group of adjusted variable storage locations.

[0078] After the placement is completed, the PLC system continues to execute the task of retrieving the third file, grabs the file at the designated storage location, and first determines whether the thickness of the file meets the thickness specifications of the fixed temporary storage location based on the thickness of the file. If it meets the thickness specifications, the file is placed in. If not, it is determined whether the adjusted temporary storage location specifications of the first group meet the thickness requirements of the current grabbed file. If they meet the thickness requirements, they are placed in. If not, it is determined whether the adjusted temporary storage location specifications of the second group meet the thickness requirements of the current grabbed file. If they meet the thickness requirements, they are placed in. If not, the file remains in the hand clamp of the file access robot, and the PLC controls the file access robot to move to the storage and access integrated machine position, places the file in the hand clamp of the file access robot into the designated storage location of the file rack, and grabs the files in the temporary storage location to the designated storage location of the file rack in turn to complete this archiving task.

[0079] If there are more files later, the process is the same and will not be repeated here.

[0080] It should be noted that, according to the thickness adjustment of the temporary storage position, the maximum number of files that can be accessed at a time is the number of temporary storage positions + 1, where 1 means that the file access robot gripper can hold one file.

[0081] The following is an example:

[0082] File retrieval service:

[0083] The file management system creates seven file retrieval tasks of files of different thicknesses (2cm, 3cm, 6cm, 6cm, 3cm, 2cm, 5cm). The PLC system determines that the thickness specification of the first 2cm file is consistent with the fixed temporary storage location. The robot and the temporary storage location of the file move along the X-axis and Y-axis to the position of the file to be grabbed. After visual calibration, the robot grabs the file and puts it directly into the fixed storage location 1 of the temporary storage location of the file.

[0084] The system continues to execute the task of retrieving the second 3cm file. The PLC system controls the robot and the temporary storage position of the file to be retrieved to move to the position of the file to be retrieved. At the same time, the storage width of the first group of variable temporary storage positions of the file temporary storage position is adjusted. The PLC controls the motor to drive the pulley and the screw rod to realize the movement of the storage partition of the variable temporary storage position, so that the variable temporary storage position is suitable for the storage of 3cm files. After the temporary storage position reaches the file storage position, the robot grabs the file and puts the file directly into the first group of storage position 1 of the file temporary storage position.

[0085] The system continues to execute the task of retrieving the third 6cm file. The PLC system controls the robot and the temporary storage position of the file to be retrieved to move to the position of the file to be retrieved. At the same time, the storage width of the second group of variable temporary storage positions is adjusted. The PLC controls the motor to drive the pulley and the screw rod to realize the movement of the storage partition of the variable temporary storage position, so that the variable temporary storage position can adapt to the storage of 6cm files. After the temporary storage position reaches the file storage position, the robot grabs the file and puts the file directly into the second group of storage position 1 of the file temporary storage position.

[0086] The system continues to execute the task of retrieving the fourth 6cm file. After the temporary storage location reaches the file storage location, the robot grabs the file and puts it directly into the second group storage location 2 of the temporary storage location.

[0087] The system continues to execute the task of retrieving the fifth 3cm file. After the temporary storage location reaches the file storage location, the robot grabs the file and puts it directly into the first group storage location 2 of the temporary storage location.

[0088] The system continues to execute the task of retrieving the sixth 2cm file. After the temporary storage position reaches the file storage position, the robot grabs the file and puts it directly into the fixed storage position 2 of the temporary storage position.

[0089] The system continues to execute the task of retrieving the seventh 5cm file. At this time, all storage locations for temporary storage are occupied. After the robot grabs the file, it places it in the hand clip.

[0090] After completing the retrieval of all the above files, the temporary storage location and the robot move to the storage and retrieval machine at the same time. The robot puts the files in the hand clamp into the temporary storage location, and then grabs the files from the fixed storage location 1, fixed storage location 2, 1 group of variable storage location 1, 1 group of variable storage location 2, 2 groups of variable storage location 1, and 2 groups of variable storage location 2 in the temporary storage location and puts them into the temporary storage location in turn to complete the retrieval business.

[0091] Archive tasks:

[0092] After the upper computer issues the archiving task (2cm, 3cm, 6cm, 6cm, 3cm, 2cm, 5cm), the personnel go to the storage and retrieval machine for identity authentication. After passing the identity authentication, the files to be stored in the warehouse are placed in the access port of the storage and retrieval machine to start the archiving business.

[0093] The temporary file storage location and the robot move to the storage and retrieval machine at the same time, grab two 2cm files from the storage and retrieval machine and put them into the two fixed temporary storage locations of the temporary file storage location.

[0094] When the system grabs 3cm thick files, the PLC controls the motor-driven pulley and screw of the temporary storage position of the files to move the storage partition of the first group of variable temporary storage positions, so that the variable temporary storage positions are suitable for the storage of 3cm files. The robot grabs two 3cm files from the storage and retrieval machine and puts them into storage positions 1 and 2 of the first group of variable temporary storage positions of the temporary storage position of the files.

[0095] When the system grabs 6cm thick files, the PLC controls the motor drive pulley and screw of the file temporary storage position to realize the movement of the storage partition of the second group of variable temporary storage positions, so that the variable temporary storage positions are adapted to the storage of 6cm files. The robot grabs two 6cm files from the storage and retrieval machine and puts them into storage positions 1 and 2 of the second group of variable temporary storage positions of the file temporary storage position.

[0096] When the system grabs a 5cm thick file, all the temporary storage locations are occupied. After the robot grabs the 5cm thick file, it places the file in the hand clamp.

[0097] After all the above files are grabbed, the temporary storage position and the robot move to the storage position where the 5cm file is located at the same time, and after visual calibration, the file is accurately placed on the compact shelf. The remaining 6 files in the temporary storage position are placed on the compact shelf one by one.

[0098] According to the thickness adjustment of the temporary file storage location, the maximum number of files that can be accessed at one time is 7 boxes, which are specifically allocated as follows:

[0099] 2 fixed temporary storage positions of 2 cm: each temporary storage position holds 1 box of 2 cm files, for a total of 2 boxes of 2 cm files;

[0100] The first variable temporary storage position: 2 boxes of files with the same thickness of 2-6cm are placed;

[0101] The second variable temporary storage position: for placing 2 boxes of files with the same thickness of 2-6cm;

[0102] In the file access robot mobile phone: place 1 box of files with a thickness of 2-6cm.

[0103] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made by those skilled in the art within the spirit and principle of the present invention without creative labor shall be included in the protection scope of the present invention.

Claims

1. A multi-storage truss file access robot, characterized in that: It includes a truss and a robot body, wherein the truss is arranged above the filing cabinet and includes slidably connected x and y motion axes, and the robot body can be movably arranged on the x or y motion axis, and the position and posture of the robot body can be adjusted; The robot body is also provided with a temporary file storage cabinet, which includes several layers, each layer includes a plurality of temporary storage positions, and the temporary storage positions include at least fixed temporary storage positions and movable temporary storage positions; When storing / retrieving files, the positions of the truss and the robot body are adjusted according to the storage / retrieval task, so that the robot body reaches the target area, the posture of the robot body is adjusted, and the target file is clamped and placed. When there are multiple target files in the storage / retrieval task, the first clamped target file is placed in the file temporary storage cabinet, or the target files are clamped from the file temporary storage cabinet in sequence, and the corresponding temporary storage position is selected or adjusted according to the thickness of the target file.

2. A multi-storage truss file storage and retrieval robot as claimed in claim 1, characterized in that: Each layer of the temporary storage cabinet is provided with two storage partitions with a fixed distance to form a fixed temporary storage position, and a plurality of movable partitions are arranged on one side or both sides of the storage partitions. The distance between the movable partitions and the storage partitions is adjustable to form a movable temporary storage position.

3. A multi-storage truss file storage and retrieval robot as claimed in claim 2, characterized in that: The movable partitions are all arranged on the screw rod, a pulley is sleeved on the screw rod, and the pulley is connected to the driving mechanism.

4. The multi-storage truss file storage and retrieval robot according to claim 1, characterized in that: A rotation axis is provided at the connection between the robot body and the x or y motion axis to adjust the orientation of the robot body.

5. The multi-storage truss file storage and retrieval robot according to claim 1, characterized in that: The robot body is provided with a hand clamp for clamping files, and the hand clamp is connected to a telescopic mechanism, and the position of the hand clamp in the vertical direction is adjusted by the telescopic mechanism.

6. The multi-storage truss file storage and retrieval robot according to claim 1, characterized in that: The robot body is also provided with a control system, which is used to control the actions of various components of the robot body and the actions of the driving mechanism of the temporary file storage cabinet.

7. The multi-storage truss file storage and retrieval robot according to claim 1, characterized in that: The robot body is provided with a sensor or a visual system, and the sensor or the visual system is used to measure the thickness of the target file and / or the position of the target storage location.

8. A multi-storage truss file storage and retrieval system, characterized in that: The robot, storage and retrieval machine and processing unit according to any one of claims 1 to 7 are included, wherein: The robot is used to perform a storage / retrieval task. When there are multiple target files in the storage / retrieval task, the robot places the first target file to be clamped in the temporary file storage cabinet, or sequentially clamps the target files from the temporary file storage cabinet, and selects or adjusts the corresponding temporary storage position according to the thickness of the target file; The storage and retrieval machine is used to perform identity authentication, manage file storage / retrieval tasks, and store files to be stored / retrieved by the robot; The processing unit is used to generate a storage / retrieval task, and control the actions of the storage / retrieval machine and the robot, and determine whether to start the temporary storage cabinet according to the number of target files.

9. A multi-storage truss file storage and retrieval system as claimed in claim 8, characterized in that: The storage and retrieval integrated machine is arranged on the wall between the archive reading room and the storehouse, with one side in the archive reading room and the other side in the archive storehouse, and is used for the archive retrieval robot to perform archive retrieval.

10. A working method based on the system according to claim 8 or 9, characterized in that: The following steps are involved: During the task of retrieving files, the positions of the truss and the robot body are controlled and adjusted so that the robot body reaches the target area. The hand clamp is adjusted to face the target area and the target file is clamped and placed within the operable range. Determine whether there are multiple target files. If yes, start the temporary storage function, place the first target file to be clamped in the temporary storage cabinet, select a fixed temporary storage position or adjust the movable temporary storage position according to the thickness of the target file, so that the width of the temporary storage position and the thickness of the file are adapted, and perform the file retrieval task in sequence until all target files have been retrieved or the retrieved files reach the number that can be stored in all temporary storage positions and manual clamps, transport all target files to the storage and retrieval machine, and place each target file in the storage and retrieval grid of the storage and retrieval machine in sequence; When performing an archiving task, the storage and retrieval machine is used to authenticate the identity of the management personnel, and the files to be stored in the warehouse are placed in the storage and retrieval slot of the storage and retrieval machine. The positions of the truss and the robot body are controlled and adjusted so that the robot body reaches the storage and retrieval slot. The rotating shaft, the telescopic mechanism and the hand clamp are adjusted so that the hand clamp faces the target area and the target files are clamped and placed within the operable range. Determine whether there are multiple target files. If so, start the temporary storage function and place the first target file to be clamped in the temporary storage cabinet. According to the thickness of the target file, select a fixed temporary storage position or adjust the active temporary storage position to make the width of the temporary storage position match the thickness of the file. Perform archiving tasks in sequence until all target files have been taken or the number of files taken reaches all temporary storage positions and the number that can be stored by hand clamps. Transport all target files to the corresponding filing cabinets and place each target file in the filing cabinet in sequence.

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