Intelligent pick-and-place system for file box and pick-and-place method of intelligent pick-and-place system

Abstract

The invention discloses an intelligent taking and placing system for file boxes and a taking and placing method of the intelligent taking and placing system. The intelligent taking and placing system comprises a file cabinet, a plurality of storage units are installed on the file cabinet, a plurality of storage clips are installed in each storage unit, and one file box is stored in each storage clip; the pick-and-place vehicle comprises a pick-and-place module, the pick-and-place module comprises a plurality of pick-and-place clamp assemblies and a clamping mechanism, the pick-and-place clamp assemblies are installed in the pick-and-place module, and each pick-and-place clamp assembly comprises a pick-and-place clamp and a pick-and-place seat; a first pick-and-place seat plate and a second pick-and-place seat plate are mounted on the pick-and-place seat, and the first pick-and-place seat plate and the second pick-and-place seat plate are assembled with the pick-and-place screw rod in a circumferential rotation and non-axial movement manner; the pick-and-place clamp comprises two pick-and-place clamping plates, a pick-and-place groove is formed between the two pick-and-place clamping plates, a pick-and-place clamp seat is further mounted on the pick-and-place clamp, and the pick-and-place screw rod is sleeved with the pick-and-place clamp seat; the file box can be placed in the pick-and-place groove; two clamping plates are installed on the clamping mechanism, a clamping groove is formed between the two clamping plates, and the clamping groove can clamp or loosen the file box.

Description

Technical Field

[0001] The present invention relates to file management technology, in particular to an intelligent taking and placing system for file boxes and a taking and placing method thereof. Background Art

[0002] Archives management is a key focus of clerical work in enterprises and institutions. Currently, the main focus is on classifying files into different file boxes, which are then placed in filing cabinets for storage. To save space, these boxes are currently arranged densely in rows within the filing cabinets, and are manually retrieved and placed when needed. However, as the number of files increases annually, the number of file boxes also increases significantly. Whenever files are added or removed, the corresponding file boxes need to be removed for processing. This not only takes a considerable amount of time to locate and retrieve the corresponding file boxes, but also requires them to be returned to the corresponding boxes after sorting. The entire process is time-consuming, and the densely arranged array of file boxes poses a safety risk to the files in other file boxes.

[0003] In response to this, the applicant has designed an intelligent retrieval system and method for file boxes, which can automatically find and identify the corresponding file box or the file box placement location, and automatically retrieve and place the corresponding file box. Summary of the Invention

[0004] In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is to provide an intelligent retrieval and placement system for file boxes and a retrieval and placement method thereof.

[0005] To achieve the above objectives, the present invention provides an intelligent retrieval and placement system for file boxes, comprising: The filing cabinet is equipped with multiple storage units, each of which is equipped with several storage folders. Each storage folder stores a file box. The file box is provided with an electronic tag or identification code. The file box is assigned an ID through the electronic tag or identification code. The ID is used to associate with the file placed in the file box. The identified ID is used to determine which storage folder the file box is placed in, thereby realizing the positioning of each file box. The pick-and-place vehicle includes a tractor, a scissor lift mechanism, and a pick-and-place module. The bottom of the scissor lift mechanism is mounted on the tractor, and the top is mounted on the bottom of the pick-and-place shell of the pick-and-place module. The pick-and-place module includes a plurality of pick-and-place clamp assemblies and a clamping mechanism. The pick-and-place clamp assemblies are all installed in the pick-and-place module, and the pick-and-place clamp assembly includes a pick-and-place clamp and a pick-and-place seat. The pick-and-place seat is installed on the electrical shell, and the electrical shell is installed in the pick-and-place shell; the pick-and-place seat is respectively installed with a first pick-and-place seat plate, a second pick-and-place seat plate, and a pick-and-place seat guide rail, and the first pick-and-place seat plate and the second pick-and-place seat plate are respectively assembled with the pick-and-place screw to be rotatable in a circular manner and not axially movable; the pick-and-place clamp includes two pick-and-place clamping plates, and a pick-and-place slot is formed between the two pick-and-place clamping plates. The pick-and-place clamp is also installed with a pick-and-place clamp seat, which is sleeved on the pick-and-place screw and assembled with the pick-and-place screw through a thread; the pick-and-place clamp seat is also engaged with the pick-and-place seat guide rail and can be slidably assembled; the file box can be loaded into the pick-and-place slot; The clamping mechanism is provided with two clamping plates, between which there is a clamping slot, which can clamp or release the file box; when in use, the clamping slot clamps the file box, and then carries the file box to the retrieval clamp and the storage clamp for direct transportation, thereby completing the retrieval and placement of the file box.

[0006] The present invention also discloses a pick-and-place method of an intelligent pick-and-place system, comprising the following steps: S1. According to the requirements, quickly determine the location where the file box needs to be taken and placed, that is, the location of the storage folder, including the location of the storage unit and the location of the filing cabinet where the storage unit is located; S2. The position signal is input into the pick-and-place vehicle, and the pick-and-place vehicle moves to the corresponding filing cabinet according to the position information and moves toward the filing cabinet until the fourth collision switch is triggered; S3, the opening and closing electric cylinder of the template storage unit is started, thereby driving its cover mechanism to expand 90 degrees. At this time, the end surface of the cover with the top positioning slot is in a horizontal state; S4. The scissor lift mechanism starts, driving the pick-and-place module to move upward until the microswitch outputs a signal or the ammeter outputs a preset threshold signal. The microswitch output signal indicates that the positioning wheel is not completely installed in the positioning slot. At this time, the position of the pick-and-place module is adjusted by the tractor until the signals of each microswitch disappear. At this time, the first positioning is completed. If the microswitch does not output a signal but the ammeter outputs a preset threshold signal, it is determined that the first positioning is completed. S5. The lock plate of the selected positioning hole assembly is pulled out to a position where it does not block the third collision switch. The tractor drives the pick-and-place module to slide along the positioning slot until the selected third collision switch outputs a signal and the ammeter outputs another preset threshold signal. At this point, it is determined that the second positioning is completed; the pick-and-place clips correspond to the corresponding storage clips one by one; S6. Move the pick-and-place mechanism to the selected pick-and-place clamp according to the selected storage clamp and pick-and-place clamp, and then cut off the power to the clutch electromagnet, so that the clutch wheel and the corresponding friction wheel are pressed and transmitted; S7, start the side shift motor, the side shift motor drives the side shift frame and the pick-and-place clamp to move toward the pick-and-place unit until the clutch push wheel is pressed against the end surface of the storage shell bottom plate. At this time, the clutch push wheel can no longer move toward the storage, and the pick-and-place clamp continues to move toward the storage clamp, thereby causing the clutch push rod to move toward one end of the clutch push ring, which in turn causes the clutch push ring to push the clutch plunger into the second clutch shaft hole. During this process, the third spring is squeezed, and the third spring and the clutch shaft are integrated, so it will directly push the clutch shaft to overcome the elastic force of the fourth spring and move in the direction of the principle friction wheel, so that the friction wheel and the clutch wheel are separated. At this time, the pick-and-place clamp can no longer move and the sensing shell is pressed against the end surface of the storage shell bottom plate, and the corresponding reed switch is closed and outputs a signal; in this process, a gap will be generated between the side shift frame and the clutch fork, and the top of the clutch fork will tilt toward the side shift frame; S8, the side shift frame continues to move toward the storage folder until it moves into position, and the clamping electromagnet is activated, which drives the two clamping plates to clamp the file box; S9, move the side shift frame in the reverse direction, so that the file box is pulled from the storage folder to the access folder until the file box is completely loaded into the access folder. At this time, the side shift frame pushes the clutch fork to reverse so that the clutch wheel and the friction wheel are pressed and transmitted; S10, the pick-and-place clamp and the side shift rack move synchronously into the pick-and-place shell until the movement is reset, and the file box is taken out; when the file box needs to be placed in the storage clamp, it is only necessary to clamp the file box in the storage clamp, and then put the file box into the storage clamp, release the file box, and then drive the pick-and-place clamp and the side shift rack to reset.

[0007] The beneficial effects of the present invention are: 1. The present invention's access system utilizes independent access carts and filing cabinets. The filing cabinets can be retrofitted with existing dense array filing cabinets, reducing both modification and procurement costs. A single access cart, combined with the filing cabinet, allows for rapid access to and placement of file boxes. Its simple structure and relatively low cost make it well-suited to current demands for intelligent filing systems.

[0008] 2. The present invention utilizes independently installed storage clips, cover mechanisms, and opening and closing mechanisms on the filing cabinet, so that the file boxes correspond to different storage clips for storage. The opening and closing mechanism can drive the cover mechanism to rotate 90 degrees to open and close, and utilizes the positioning slots and positioning holes on the cover to achieve positioning of the pick-and-place module, thereby achieving two-axis positioning of the pick-and-place module relative to the storage clip. The pick-and-place clip is then moved toward the storage clip and finally abuts against the outer wall of the storage unit to achieve third-axis positioning. This can greatly improve the positioning accuracy of the file box, and has low cost and high reliability. In addition, two clamping plates are used to clamp the file box for transportation, thereby achieving the file box's transportation between the storage clip and the pick-and-place clip. The structure is simple, the performance is reliable, and it is not easy to cause damage to the file box. Therefore, it is very suitable for automatic file management. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1-Figure 2 It is a structural schematic diagram of the present invention.

[0010] Figure 3 It is a structural diagram of a filing cabinet.

[0011] Figure 4-Figure 5 It is a structural diagram of the positioning plate mechanism, where Figure 5 It is a cross-sectional view of the center plane where the axis of the second positioning plate shaft 320 is located.

[0012] Figures 6-11 It is a structural diagram of the storage unit A and the pick-and-place module B200, where Figure 9 This is a cross-sectional view of the center plane where the clutch shaft A750 axis is located. Figure 10 yes Figure 9 The enlarged image at F1 in the middle, Figure 11 yes Figure 9 Enlarged view of F2 in the middle.

[0013] Figure 12 It is a cross-sectional view of the cover mechanism A200, the positioning rod assembly B300, and the positioning head assembly B400 located at the center plane where the axis of the positioning hole axis A610 is located.

[0014] Figure 13 It is a schematic diagram of the structure of the cover mechanism A200 after removing the cover shell A230.

[0015] Figure 14 This is a structural diagram of the positioning hole component A500.

[0016] Figures 15-20 It is a structural diagram of the pick-and-place module B200.

[0017] Figure 21-23 It is a structural diagram of the pick-and-place mechanism B600.

[0018] Figure 24-25 It is a structural diagram of the pick-and-place clamp assembly.

[0019] Figure 26 It is a partial structural diagram of the pick-and-place clamp assembly at the stop member B250 after clamping the file box 900. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0021] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0022] See also Figure 1-Figure 26 , an intelligent retrieval and placement system for file boxes, comprising: The filing cabinet 110 is equipped with multiple storage units A. Each storage unit A contains several storage folders A150, each storing a file box 900. The file box 900 is provided with an electronic tag or identification code. The electronic tag or identification code assigns an ID to each file box 900, which is then associated with the file stored in the file box 900. The identified ID is then used to determine which storage folder A150 the file box is placed in, thereby locating each file box 900. In this embodiment, each filing cabinet 110 is individually numbered, each storage unit A on the filing cabinet is individually numbered, and the storage folders A150 within each storage unit A are individually numbered. The folder numbers are used to locate the folders, and the folder numbers are then associated with the file box IDs to locate the file boxes. This method allows for quick identification of the file list within the file box and its location on the filing cabinet based on the file box ID, facilitating quick retrieval and placement during subsequent retrieval.

[0023] Pick-and-place vehicle B is equipped with a tractor B110, a scissor lift mechanism B120, and a pick-and-place module B200. The tractor B110 utilizes a self-guided automated guided vehicle (AGV), leveraging existing high-precision AGV technology to achieve automated navigation, positioning, and high repeatability. The scissor lift mechanism B120 is mounted on the tractor B110 at its base and on the bottom of the pick-and-place housing B210 of the pick-and-place module B200 at its top. During operation, the scissor lift mechanism B120 can be used to raise and lower the pick-and-place module B200 relative to the tractor B110, accommodating storage units A at varying heights.

[0024] The pick-and-place module B200 includes a plurality of pick-and-place clamp components and a clamping mechanism B600. The pick-and-place clamp components are all installed in the pick-and-place module B200, and the pick-and-place clamp components include a pick-and-place clamp B240 and a pick-and-place seat B670. The pick-and-place seat B670 is installed on the electrical shell B222, and the electrical shell B222 is installed in the pick-and-place shell B210; the pick-and-place seat B670 is respectively installed with a first pick-and-place seat plate B671, a second pick-and-place seat plate B672, and a pick-and-place seat guide rail B673. The first pick-and-place seat plate The pick-and-place clamp B240 comprises two pick-and-place clamping plates B241, a pick-and-place slot B242 between the two plates, and a pick-and-place clamp seat B243 mounted on the pick-and-place screw B740. The pick-and-place clamp seat B243 is threadably mounted on the pick-and-place screw B740 and slidably engages with the pick-and-place guide rail B673. The file box 900 can be loaded into the pick-and-place slot B242, allowing it to be transported by the pick-and-place vehicle B. The electrical housing B222 houses the electrical box B510, which houses electrical equipment such as batteries, a controller (PLC), circuit boards, and a wireless communication module, providing computing, power supply, control, and signal transmission and acquisition support for the entire pick-and-place module.

[0025] The clamping mechanism B600 is equipped with two clamping plates B910, between which there is a clamping slot B901. Each clamping plate B910 is hinged to one end of two first connecting rods B920 and one end of two second connecting rods B930 respectively. The other ends of the two first connecting rods B920 are hinged to the clamping hinge plate B645. The clamping hinge plate B645 is installed on the second side shift frame plate B642. The second side shift frame plate B642 is installed on the side shift frame B640. The side shift frame B640 is mounted on the clamping mechanism B600. The other ends of the two second connecting rods B930 are respectively hinged to the clamping push block B950. The clamping push block B950 is assembled with one end of the clamping telescopic rod B591. The other end of the clamping telescopic rod B591 passes through the clamping axis plate B644 and is installed in the clamping electromagnet B590. The clamping axis plate B644 is mounted on the second side shift frame plate B642, and the clamping telescopic rod B591 and the clamping axis plate B644 are axially slidable. When the clamping electromagnet B590 is activated, it can drive the clamping telescopic rod B591 to move axially, thereby driving the clamping push block B950 to move synchronously. When the clamp push block B950 moves toward the clamp hinge plate B645, the two second connecting rods B930 drive the two clamp plates B910 to move away from each other, thereby increasing the width of the clamp slot B901, thereby releasing the file box 900 or allowing the clamp slot B901 to be inserted outside the file box 900. When the clamp push block B950 moves away from the clamp hinge plate B645, the two second connecting rods B930 drive the two clamp plates B910 to move toward each other, thereby decreasing the width of the clamp slot B901, thereby allowing the file box 900 to be inserted quickly.

[0026] During use, the two clamping plates B910 move toward the target storage folder A150, allowing the clamping slot B901 to fit over the target file box 900. The clamping slot B901 then narrows to clamp the file box 900. The two clamping plates B910 then move toward the access clip B240, pulling the file box 900 from the storage folder A150 and inserting it into the storage slot B242, completing the removal of the file box 900. To insert the file box from the storage slot B242 into the storage folder A150, the two clamping plates B910 first clamp the target file box, then move the file box toward the target storage folder A150, carrying it until the file box 900 is inserted into the target storage folder A150.

[0027] Preferably, a top positioning plate B643 is further installed on the end of the second side shifting frame B642 facing the storage clip A150, and the bottom surface of the top positioning plate B643 is in contact with the top surface of the file box 900, thereby achieving positioning and clamping of the top surface of the file box 900.

[0028] Preferably, the two ends of the first connecting rod B920 are hinged to the clamping plate B910 and the clamping hinge plate B645 respectively through the first pin shaft B941 and the second pin shaft B942; the two ends of the second connecting rod B930 are hinged to the clamping plate B910 and the clamping push block B950 through the third pin shaft B943 and the fourth pin shaft B944.

[0029] Preferably, the clamp telescopic rod B591 is provided with a fifth spring B805 on the part between the clamp push block B950 and the clamp axis plate B644. The fifth spring B805 is used to apply an elastic force to the clamp push block B950 to push the clamp hinge plate B645, so that when the clamp electromagnet B590 is not started, the clamp push block B950 remains away from the clamp axis plate B644, that is, the distance between the two clamp plates B910 is the largest. At this time, the clamp slot B901 can be installed outside the file box 900 or release the file box 900.

[0030] See also Figure 9 、 Figure 16-Figure 23 Preferably, the pick-and-place mechanism B600 further includes a pick-and-place rack B610, a lifting rack B620, and a side shift rack B640. The pick-and-place rack B610 includes a first storage rack plate B611, a second storage rack plate B612, a third storage rack plate B613, and a fourth storage rack plate B616. The second storage rack plate B612 is assembled with the first storage rack plate B611, the third storage rack plate B613, and the fourth storage rack plate B616 respectively. The third storage rack plate B613 A pick-and-place guide plate B630 is also mounted on the pick-and-place guide plate B630, which is provided with a pick-and-place chute B631. The fourth storage rack plate B616 and the first storage rack plate B611 are respectively assembled to the ends of the lifting screw B710, allowing circular rotation but not axial movement. The lifting screw B710 is connected to the output shaft of the lifting motor B530, which is mounted on the pick-and-place rack B610 and, when activated, drives the lifting screw B710 to rotate circumferentially. The lifting screw B710 passes through the first screw sleeve B601 and is screwed therewith. The first screw sleeve B601 is mounted on the lifting rack B620, so that when the lifting screw B710 rotates circumferentially, it can drive the lifting rack B620 to move axially (elevate) along the lifting screw B710.

[0031] At least two movable seats B615 are installed on the fourth storage rack plate B616, one of which is mounted on the outside of the transverse guide shaft B701 and can be axially slidably assembled therewith, and the other movable seat B615 is mounted on the outside of the transverse screw B702 and is screwed therewith by means of a thread; the two ends of the transverse guide shaft B701 and the transverse screw B702 are respectively assembled with the pick-and-place shell B210 so as to be rotatable in the circle but not movable in the axial direction, and the transverse screw B702 is also connected to the motor shaft of the transverse motor B580 via a transverse belt B840 to form a belt transmission mechanism, and the transverse motor B580 is installed in the electrical shell B222. After the transverse motor B580 is started, it can drive the transverse screw B702 to rotate, thereby driving the entire pick-and-place mechanism B600 to move axially along the transverse screw B702 to switch the pick-and-place mechanism B600 to correspond to different pick-and-place clamps B240. A protective cover B230 is installed outside the transverse belt B840 and on the pick-and-place shell B210. The protective cover B230 is used to cover the transverse belt B840, thereby eliminating safety hazards.

[0032] The lifting frame B620 is provided with a first lifting frame plate B621, a third lifting frame plate B623, a fourth lifting frame plate B624, and a fifth lifting frame plate B625, and the two ends of the fourth lifting frame plate B624 and the fifth lifting frame plate B625 are respectively installed on the first lifting frame plate B621 and the third lifting frame plate B623; the third lifting frame plate B623 is installed with a sixth lifting frame plate B626, and the sixth lifting frame plate B626 is engaged with the pick-up and placement slide groove B631 and can be slidably assembled; the fourth lifting frame plate B624, the fifth lifting frame plate B625, and the sixth lifting frame plate B626 are respectively assembled with the side shift screw B702 so as to be rotatable in a circular manner but not to be movable axially, and the side shift screw B702 is assembled with the output shaft of the side shift motor B550, and the side shift motor B550 is installed on the fourth lifting frame plate B624. After the side shift motor B550 is started, it can drive the side shift screw B702 to rotate in a circular manner.

[0033] The side shift screw B702 is fitted with a second screw sleeve B602, which is screwed together with the side shift screw B702. The second screw sleeve B602 is mounted on the side shift frame B640. The side shift frame B640 includes a first side shift frame plate B641, which is assembled with a second side shift frame plate B642 and a clamping hinge plate B645. The end surface of the side shift frame B640 adjacent to the clutch fork B650 is in close contact with the clutch fork B650, preventing the clutch fork B650 from rotating toward the side shift frame B640, thereby maintaining a tight transmission between the clutch wheel and the friction wheel. When the side shift screw B702 rotates, it can drive the side shift frame B640 to move axially along the side shift screw B702, that is, drive the side shift frame B640 and the two clamping plates B910 to move relative to the storage clip A150. At this time, the file box can be carried and moved by clamping the two clamping plates B910.

[0034] The side shift screw B702 is connected to the clutch sleeve B780 through a linkage belt B810 to form a belt transmission mechanism. The clutch sleeve B780 is assembled with the fourth lifting frame plate B624 and the fifth lifting frame plate B625 so as to be rotatable in the circle but not movable in the axial direction. The interior of the clutch sleeve B780 is assembled with the clutch shaft B760 so as to be axially slidable but not rotatable relative to the circle (assembled by splines and spline grooves in this embodiment). One end of the clutch shaft B760 passes through the clutch sleeve B780 and is connected to the first thrust shaft. The shaft ring of the ball bearing B764 is assembled, and the seat ring of the first thrust ball bearing B764 faces the fourth lifting frame plate B624; the other end of the clutch shaft B760 passes through the clutch shaft sleeve B780 and is assembled with the clutch wheel B830, and a fourth spring B804 is mounted on the portion of the clutch shaft B760 located between the fifth lifting frame plate B625 and the clutch wheel B830. The fourth spring B804 is used to apply an elastic force to the clutch wheel B830 to press the friction wheel B802, thereby compressing the clutch wheel and the friction wheel for transmission. The clutch wheel B830 is provided with a clutch friction portion B831, a clutch thrust portion B832, and a clutch wheel groove B833. The clutch thrust portion B832 is pressed against one end of the shaft ring of the second thrust ball bearing B834. The shaft ring of the second thrust ball bearing B834 is mounted on the clutch shaft B760, and the seat ring of the second thrust ball bearing B834 is assembled or pressed against the fourth spring B804. This design primarily prevents the clutch wheel's rotational energy from being transferred to the fourth spring, thereby affecting the fourth spring B804. The clutch friction portion B831 is pressed against the end surface of the friction wheel B820, thereby achieving transmission through friction. Of course, interengaging protrusions and grooves can be provided on the end surfaces where the clutch friction portion B831 and the friction wheel B820 are pressed against each other. These protrusions and grooves can be used to prevent the clutch friction portion B831 and the friction wheel B820 from rotating relative to each other in the circumferential direction, thereby achieving stable transmission.

[0035] A first clutch shaft hole B761 and a second clutch shaft hole B762 are provided inside the clutch shaft B760. The first clutch shaft hole B761 and the second clutch shaft hole B762 are connected to each other, and the first clutch shaft hole B761 and the clutch plunger B771 can be assembled for axial sliding and circumferential rotation. The clutch plunger B771 can be installed at one end of the clutch plunger shaft B770, and the other end of the clutch plunger shaft B770 is fitted with a third spring B803, passes through the clutch plug B763, and is assembled with the clutch limit ring B772. The clutch plug B763 is installed in the first clutch shaft hole B761, and the third spring B803 is used to apply a thrust to the clutch plunger B771 away from the clutch limit ring B772. The second clutch shaft hole B762 allows the clutch push rod ring B752 to be installed and assembled with it for axial sliding and circumferential rotation. The clutch push rod ring B752 is installed on one end of the clutch push rod B750. The other end of the clutch push rod B750 passes through the first and second pick-and-place screw holes B741 and B742 and is assembled with the clutch push wheel B751. The clutch push rod ring B752 is installed in the second pick-and-place screw hole B742. The first and second pick-and-place screw holes B741 and B742 are interconnected and both are located in the pick-and-place screw B740. A second spring B802 is mounted on the portion of the clutch push rod B750 located between the clutch push wheel B751 and the second pick-and-place seat plate B672. The second spring B802 applies an elastic force to push the clutch push wheel B751 away from the second pick-and-place seat plate B672. Therefore, in the initial state, the clutch push rod ring B752 does not pass through the second pick-up and placement screw hole B742.

[0036] The friction wheel B820 is mounted on the pick-and-place screw B740, so that when the clutch wheel rotates, it can drive the friction wheel B820 to rotate, which in turn drives the pick-and-place screw B740 to rotate. The pick-and-place screw B740 drives the pick-and-place clamp B240 to move along the pick-and-place seat guide rail B670, thereby realizing the extension and retraction of the pick-and-place clamp B240.

[0037] A second lifting frame plate B622 is also installed on the fourth lifting frame plate B624, and a clutch electromagnet B560 is installed on the second lifting frame plate B622. A clutch push plate B561 is installed on the telescopic shaft of the clutch electromagnet B560. The clutch push plate B561 is pressed and slidably matched with one side of the clutch sleeve B680. The clutch sleeve B680 is sleeved on the outside of the fourth lifting frame plate B624 and the fifth lifting frame plate B625, and its end away from the clutch push plate B561 is assembled with one end of the clutch fork B650. A fork groove B651 is provided on the end of the clutch fork B650 away from the clutch sleeve B680, and the fork groove B651 is clamped in the clutch wheel groove B833; the middle part of the clutch fork B650 is hinged to the fork cover B660 through the fork pin B730, and the fork cover B660 is installed on the fifth lifting frame plate B625. The portion of the clutch fork B650 located between the fork pin B730 and the fork slot B651 is also assembled with one end of a first spring B801, the other end of which is assembled with a fork cover B660. The first spring B801 is used to apply an elastic force to the clutch fork B650, causing the fork slot B651 to push toward the pick-and-place clamp B240. During use, the first spring B801 maintains the fork slot B651, driving the clutch wheel B830 to maintain a tight transmission with the friction wheel B820. When the clutch electromagnet B560 is not activated, its telescopic shaft can freely extend and retract. At this time, the clutch cover B680 drives the fork slot B651 to drive the clutch wheel B830 away from the friction wheel B820, thereby separating the clutch wheel B830 from the friction wheel B820, thereby cutting off the transmission and allowing the pick-and-place mechanism B600 to move. Of course, after the clutch electromagnet B560 is started, it can drive the fork cover B660 to move, thereby driving the clutch fork B650 to carry the clutch wheel B830 to achieve the compression and separation of the clutch wheel B830 and the friction wheel B820.

[0038] See also Figure 11 Preferably, an induction housing B244 is mounted on the bottom end of the access clip B240 facing the storage unit A. A magnet B260 is mounted on the induction housing B244. The magnet B260 is magnetic. Reed switches are mounted on the storage unit A at locations corresponding to each storage clip A150 and magnet B260. When the magnet B260 approaches the reed switch, the reed switch closes, allowing the industrial computer to receive a signal. The industrial computer then determines the storage clip corresponding to the access clip based on the closed reed switch, and can retrieve the information of the file box within the storage clip. This allows the computer to determine whether the file box is correct and confirm that the induction housing B244 is in contact with the storage unit A, facilitating access to the file box.

[0039] See also Figure 11 、 Figure 24-26Preferably, a stopper B250 is further installed at the end of the access clamp B241 facing the storage unit A. The stopper B250 includes an elastic sheet B251 with a stopper protrusion B252. The elastic sheet B251 is elastic, and the stopper protrusion B252 protrudes into the access slot B242. When the file box 900 moves between the two stopper protrusions B252 of the stopper B250, the file box gradually presses the stopper protrusion B252, causing the stopper protrusion B252 to move outward, overcoming the elastic force of the elastic sheet B251, until the file box passes through the stopper protrusion B252. The stopper protrusion B252 then returns to its original position under the action of the elastic sheet B251. At this time, the stopper protrusion B252 can apply resistance to the removal of the file box, thereby firmly locking the file box in the access slot. When the file box moves outward with a greater force, it can be taken out through the stop protrusion B252, making it very convenient to use.

[0040] Preferably, a first collision switch B541 is installed on the first pick-up and placement rack plate B611, and the trigger end of the first collision switch B541 is facing the first lifting rack plate B621. When the lifting rack B620 moves down to the maximum displacement point, the first collision switch B541 will be triggered. The first collision switch B541 transmits a signal to the industrial computer, and the industrial computer determines that the lifting rack B620 has moved down to the maximum displacement point. At this time, the pick-up and placement mechanism B600 is in a normal working state.

[0041] A second collision switch B542 is installed on the fourth pick-up and placement rack plate B616, and the third lifting rack plate B623 is directly opposite to the trigger end of the second collision switch B542. When the lifting rack B620 moves up to the maximum displacement point, the second collision switch B542 will be triggered. The second collision switch B542 transmits an electrical signal to the industrial computer. The industrial computer determines that the lifting rack B620 has moved up to the maximum displacement point, and this is the moving state of the pick-up and placement mechanism B600.

[0042] Preferably, the bottom surface of the pick-and-place rack B610 is in contact with and slidably assembled with the top surfaces of the electrical shell B222 and the support shell B221, and the support shell B221 is installed in the pick-and-place shell B210. This design is mainly to support the pick-and-place mechanism B600.

[0043] Preferably, the pick-and-place rack B610 is also equipped with a sensor sheet B614 that can be installed in a photoelectric sensor B520, causing the photoelectric sensor to send a signal to the industrial computer, which determines that the two clamping plates B910 are aligned with the pick-and-place slot corresponding to the photoelectric sensor. Each pick-and-place clamp B240 corresponds to a photoelectric sensor, so the photoelectric sensor detects whether the pick-and-place rack B610 is aligned with the target pick-and-place clamp B240.

[0044] See also Figure 6-Figure 7 、 Figure 12、 Figure 15 Preferably, two positioning rod assemblies B300 and a positioning head assembly B400 are respectively installed on both sides of the pick-and-place shell B in the length direction of the storage unit A, and the positioning rod assembly B300 includes a positioning rod B330 and a positioning rod seat B310. The positioning rod seat B310 is installed on the pick-and-place shell B210 and a positioning slip ring hole B311 is provided inside the positioning rod seat B310. The bottom of the positioning slip ring hole B311 is open and the open end is closed by the positioning rod end plate B320; the positioning slip ring hole B311 is engaged with the positioning slip ring B331 and can be axially slidably assembled. The positioning slip ring B331 is mounted on one end of the positioning rod B330, and a positioning rod spring B301 is installed on the part of the positioning slip ring hole B311 between the positioning slip ring B331 and the positioning rod end plate B320. The positioning rod spring B301 is used to apply a thrust to the positioning rod B330 away from the positioning rod end plate B320. The end of the positioning rod B330 away from the positioning slip ring B331 passes through the positioning rod seat B310 and enters the top of the pick-and-place shell B210 and is assembled with the positioning wheel B350 so that it can rotate circumferentially but cannot move axially. A first ball B360 is installed on the positioning wheel B350, and the first ball B360 and the positioning wheel B350 can be assembled in a spherical rolling manner. A switch spring B340 is also mounted on the sidewall of the positioning slip ring hole B311. This spring is equipped with a resilient switch trigger piece B341, which aligns with the trigger end of the microswitch B302. When the positioning wheel B350 is not fully inserted into the positioning slot A212, the positioning rod B330 is squeezed and cannot be fully extended. At this time, the positioning slip ring B331 applies pressure to the switch trigger piece B341, causing it to trigger the microswitch. The microswitch B302 then inputs a signal to the industrial computer, which determines that the corresponding positioning wheel B350 is not fully inserted into the positioning slot A212. When the microswitch B302 is no longer triggered, the positioning wheel B350 is fully inserted into the positioning slot A212, at which point the industrial computer determines that the corresponding positioning wheel B350 has been positioned. In this embodiment, there are four positioning wheels. When all four positioning wheels complete positioning, the pick-and-place module B200 completes the first positioning with the storage unit.

[0045] During use, the positioning wheel B350 can be snapped into the positioning chute A212, thereby positioning the pick-and-place module B200 and the storage unit A in the direction of movement for file box placement. The first ball bearing B340 is used to press and roll against the end surface of the cover plate A210 when the positioning wheel B350 is not fully inserted into the positioning chute A212, thereby guiding the positioning wheel B350 into the positioning chute A212 for initial positioning. Once the positioning wheel B350 is in the positioning chute A212, the rotation of the positioning wheel B350 reduces friction between the positioning wheel B350 and the positioning chute A212. At this point, the positioning chute A212 serves as a positioning guide for the entire pick-and-place vehicle B.

[0046] The positioning head assembly B400 includes a positioning plug B410, which is mounted on one end of a plug shaft B420. A second ball bearing B430 is spherically mounted on the positioning plug B410. The other end of the plug shaft B420 passes through the damping seat hole B471 of the damping seat B470 and the positioning head electromagnet B440, and is then installed into the sensing cavity B451 of the sensing seat B450 and assembled with the insulating ring B460. The damping seat B470, the positioning head electromagnet B440, and the sensing seat B450 are all mounted on the pick-and-place shell B210. The positioning head electromagnet B440 uses a hollow shaft, and the plug shaft B420 passes through the hollow shaft and is assembled with it so as to be non-movable axially relative to it. When the positioning head electromagnet B440 is not activated, its hollow shaft can move axially. When the positioning head electromagnet B440 is activated, it can drive the hollow shaft to move toward the insulating ring B460, thereby driving the positioning head B410 to move toward the insulating ring. A plug collar B421 is provided on the portion of the plug shaft B420 located within the damping seat hole B471. A positioning head spring B401 is mounted on the portion of the plug shaft B420 located between the collar B421 and the positioning head electromagnet B440. The positioning head spring B401 applies a thrust force to push the plug shaft B420 away from the positioning head electromagnet B440. A conductive slider B403 is mounted on the insulating ring B460. A resistor bar B402 is mounted on the inner wall of the sensing cavity B451. One end of the resistor bar B402 is electrically connected to the positive terminal of a DC constant voltage source (battery). The conductive slider B403 is electrically connected to the first electrical terminal of an ammeter via a wire, and the second electrical terminal of the ammeter is electrically connected to the negative terminal of the DC constant voltage source. The conductive slider B403 is made of a conductive material and is pressed and slidably assembled with the resistor bar B402. This forms a sliding rheostat between the resistor bar B402 and the conductive slider B403, and the current will change under the premise that the resistance changes and the voltage remains unchanged. The ammeter collects the change in current and inputs the signal into the industrial computer. The industrial computer determines the current position of the conductive slider B403 (positioning head) based on the preset current, the position relationship between the conductive slider B403 and the resistor bar B402, and thus can roughly determine whether the positioning head is about to be installed or has been installed or pulled out of the positioning hole A211, so as to position the pick-and-place module B200 in the length direction of the storage unit A.

[0047] Before the positioning head B410 is fully inserted into the positioning hole A211, the second ball bearing B430 is pressed against the cover plate A210 to reduce the resistance and friction of the positioning head B410. Once the current signal changes, it is determined that the positioning head is close to the positioning hole A211. At this time, the tractor B110 reduces its speed and improves the moving accuracy until the positioning head is fully inserted into the positioning hole to complete the second positioning. When the second positioning needs to be released, it is only necessary to start the positioning head electromagnet to pull the positioning head B410 out of the positioning hole A211. At this time, if the corresponding storage unit A does not need to be operated, the scissor lift mechanism B120 is activated to retract, driving the pick-and-place module to move downward, so that the positioning wheel exits the positioning slot A212.

[0048] See also Figures 1-14 The storage unit A includes a storage shell A100, a cover mechanism A200, and an opening and closing mechanism A300. The storage shell A100 includes a storage shell top plate A120, a storage shell bottom plate A110, two storage shell side plates A130, and a storage shell back plate A140. The two storage shell side plates A130 and the storage shell back plate A140 are respectively assembled with the storage shell top plate A120 and the storage shell bottom plate A110, so that the storage shell A100 is in an open state facing the side of the cover mechanism A200; the cover mechanism A200 closes the open side of the storage shell A100 and the cover mechanism A200 is assembled with the storage shell A100 through the opening and closing mechanism A300, so that the cover mechanism A200 can be closed relative to the storage shell A100 and unfolded 90°. The storage housing A100 is arrayed with several storage clips A150. Inside these clips are slots for accommodating file boxes 900. A detection slot A151 extends through the clips A150 on the side facing the housing backplate A140. This slot aligns with the detection end of a laser sensor A410 mounted on the housing backplate A140. During operation, the laser sensor A410 uses the laser signal emitted by the laser sensor A410 and the return signal to determine whether a file box 900 is present in the corresponding slot, thereby determining whether the slot is free and whether a file box has been removed or inserted. In this embodiment, a reed switch is mounted on the housing bottomplate A110.

[0049] The opening and closing mechanism A300 includes a first opening and closing plate A310 and a second opening and closing plate A340, and the first opening and closing plate A310 and the second opening and closing plate A340 are respectively installed in the storage shell A100 and the cover box A220, and the cover box A220 is installed on the cover A210; the first opening and closing plate A310 is hinged to one end of the first opening and closing rod A331 and one end of the second opening and closing rod A332, respectively, the other end of the first opening and closing rod A331 and the other end of the second opening and closing rod A332 are respectively hinged to one end of the fourth opening and closing rod A334 and one end of the third opening and closing rod A333, the other end of the fourth opening and closing rod A334 and the other end of the third opening and closing rod A333 are respectively hinged to the second opening and closing plate A340, and the middle part of the fourth opening and closing rod A334 and the middle part of the first opening and closing rod A331 are hinged. This design allows the cover mechanism A200 to have a larger amplitude when unfolded, thereby providing space for positioning the subsequent pick-and-place modules.

[0050] Preferably, the first opening and closing rod A331 is also hinged to the opening and closing cylinder shaft A321 of the opening and closing cylinder A320, and the housing of the opening and closing cylinder A320 is hinged to the first opening and closing plate A310. When in use, the opening and closing cylinder A320 drives the opening and closing cylinder shaft A321 to retract and extend to drive the cover mechanism A200 to retract and extend.

[0051] Preferably, see Figure 7 The housing of the opening and closing electric cylinder A320 is hinged to the first opening and closing plate A310 through the first opening and closing pin A351. The first opening and closing plate A310 is hinged to one end of the first opening and closing rod A331 and one end of the second opening and closing rod A332 through the third opening and closing pin A353 and the fourth opening and closing pin A354 respectively. The other end of the first opening and closing rod A331 and the other end of the second opening and closing rod A332 are hinged to the fourth opening and closing rod A331 and the sixth opening and closing pin A356 respectively. 4 and one end of the third opening and closing rod A333 are hinged, the other end of the fourth opening and closing rod A334 and the other end of the third opening and closing rod A333 are hinged to the second opening and closing plate A340 through the eighth opening and closing pin A358 and the seventh opening and closing pin A357 respectively, the middle part of the fourth opening and closing rod A334 and the middle part of the first opening and closing rod A331 are hinged through the fifth opening and closing pin A355, and the opening and closing electric cylinder shaft A321 and the second opening and closing pin A352 can be assembled (hinged) for circular rotation.

[0052] The cover mechanism A200 includes a cover A210, with a cover box A220 installed at the end of the cover A210. A cover shell A230 is installed on the end of the cover A210 and the cover box A220 away from the positioning slot A212. The cover shell A230 is used to protect the device installed on the cover A210. A plurality of positioning holes A211 are provided on the cover A210 along its length. Two positioning slots A212 are also provided on the cover A210. The positioning holes A211 are used to guide the positioning head B410 to be installed, thereby achieving a second positioning of the pick-up and placement module and the storage unit. In this embodiment, the design of multiple positioning holes A211 can enable the positioning module to complete positioning with any storage folder A150, so that the file box can be taken and placed in any storage folder.

[0053] Preferably, in order to avoid the positioning head B410 being assembled with the positioning hole A211 of a non-selected target, thereby affecting the positioning efficiency, this embodiment also installs a positioning hole assembly A500 at each positioning hole A211, and the positioning hole assembly A500 includes a positioning hole frame A510, and the positioning hole frame A510 includes a first positioning hole frame plate A511 and a second positioning hole frame plate A512. The first positioning hole frame plate A511 is installed on the cover plate A210, and the second positioning hole frame plate A512 is installed with a third collision switch A420. The trigger end of the third collision switch A420 is opposite to the end face of the positioning hole axis A610. After the positioning hole axis A610 moves to the third collision switch A420, it can trigger the third collision switch A420. The third collision switch A420 transmits a signal to the industrial computer, so that the industrial computer determines that the positioning head B410 is completely inserted into the positioning hole A211. The positioning hole shaft A610 is located on one end of the first positioning hole frame plate A511 and the second positioning hole frame plate A512, and a nut A611 is installed. The nut cannot pass through the first positioning hole frame plate A511; the other end of the positioning hole shaft A610 passes through the first positioning hole frame plate A511, and is fitted with the positioning hole spring A710 and assembled with the positioning hole plug A612. The positioning hole plug A612 is engaged with the positioning hole A211 and can be axially slidably assembled. The two ends of the positioning hole spring A710 are respectively pressed against the first positioning hole frame plate A511 and the positioning hole plug A612, thereby applying an elastic force to push the positioning hole shaft A610 into the positioning hole.

[0054] The positioning hole frame A510 is located between the end face of the positioning hole shaft A610 and the third collision switch A420. A lock plate A251 is also installed at the portion. One end of the lock plate A251 is located between the end face of the positioning hole shaft A610 and the third collision switch A420, and the other end passes through the positioning hole frame A510 and is assembled with the lock plate seat A250. The lock plate seat A250 is assembled with the telescopic shaft of the positioning hole electromagnet A430. The telescopic shaft of the positioning hole electromagnet A430 is away from one end of the lock plate seat A250. The end passes through the positioning hole axis plate A240 and is installed in the positioning hole electromagnet A430. The positioning hole axis plate A240 is installed on the cover plate A210. The positioning hole axis plate A240 and the telescopic axis of the positioning hole electromagnet A430 can be axially slidably assembled. The telescopic axis of the positioning hole electromagnet A430 is located between the positioning hole axis plate A240 and the lock plate seat A250, and a lock plate spring A720 is installed on the lock plate seat A250. The lock plate spring A720 applies a thrust to the lock plate seat A250 away from the positioning hole axis plate A240. After the positioning hole electromagnet A430 is started, it can drive the lock plate A251 to overcome the elastic force of the lock plate spring A720 and pull it out between the third collision switch A420 and the positioning hole axis A610. At this time, the corresponding positioning hole A211 is the positioning hole at the selected positioning position ( Figure 12 state), other positioning hole components are in the initial state ( Figure 14 State), at this time, the end face of the positioning hole plug A612 is flush with the end face of the positioning slide groove A212 set on the cover plate A210, so that the positioning head can pass through without being installed, so as to facilitate quick positioning.

[0055] Preferably, there is a spacing of no more than 2 mm between the lock plate A251 and the positioning hole axis A610. This design allows the positioning head to push the positioning hole plug A612 to move a certain distance when passing through an unselected positioning hole, but does not affect the passage of the positioning head. At this time, the plug shaft B420 will produce axial displacement fluctuations. The signal change of the ammeter can be used to determine whether the positioning head has passed through the positioning hole. This can provide a reference for subsequent positioning, that is, provide a reference for the movement amount and speed of the tractor, thereby achieving precise control.

[0056] See also Figure 1-Figure 5Preferably, a first positioning plate shaft 310 and a second positioning plate shaft 320 are also axially slidably mounted on the filing cabinet 110. One end of the first positioning plate shaft 310 and one end of the second positioning plate shaft 320 are respectively assembled with the positioning plate 210. The other end of the first positioning plate shaft 310 is fitted with a positioning plate spring 410 and then installed into the filing cabinet 110. The positioning plate spring 410 is used to apply an elastic force to the positioning plate 210 to prevent it from moving toward the filing cabinet 110. After the other end of the second positioning plate shaft 320 is installed in the filing cabinet 110, it is assembled with a trigger plate 321. The trigger plate 321 directly faces the trigger end of the fourth collision switch 610. The fourth collision switch 610 is mounted on the switch frame 500, which is in turn mounted on the filing cabinet 110. During operation, the pick-and-place module first presses against positioning plate 210, forcing it to overcome the elastic force of positioning plate spring 410 and move toward the filing cabinet. At this point, second positioning plate shaft 320 simultaneously moves toward fourth collision switch 610 until it triggers. This triggers a signal from the industrial computer, which determines that initial positioning is complete. The pick-and-place module can then be driven upward, creating a gap between the scissor lift mechanism and the positioning plate. The gap between the pick-and-place module and the filing cabinet can now be adjusted, providing the basis for the initial positioning (positioning along the width of the cover plate).

[0057] The operation process of this embodiment is as follows: S1. According to the requirements, quickly determine the location where the file box needs to be taken and placed, that is, the location of the storage folder, including the location of the storage unit A and the location of the filing cabinet where the storage unit A is located; S2: The position signal is input into the pick-and-place vehicle B. The pick-and-place vehicle moves to the corresponding filing cabinet 110 according to the position information and moves toward the filing cabinet 100 until the fourth collision switch 610 is triggered. S3, the opening and closing electric cylinder A320 of the template storage unit A is started, thereby driving its cover mechanism A200 to unfold 90 degrees, at which time the cover A210 is parallel to the ground; S4. The scissor lift mechanism starts, driving the pick-and-place module to move upward until the microswitch B302 outputs a signal or the ammeter outputs a preset threshold signal. The output signal of microswitch B302 indicates that the positioning wheel is not completely installed in the positioning chute. At this time, the position of the pick-and-place module is adjusted by the tractor until the signals of each microswitch disappear. At this time, the first positioning is completed. If the microswitch B302 does not output a signal but the ammeter outputs a preset threshold signal, it is determined that the first positioning is completed. S5. Pull the lock plate A251 of the selected positioning hole assembly A500 out to a position where it does not block the third collision switch. The tractor drives the pick-and-place module to slide along the positioning slot A212 until the selected third collision switch outputs a signal and the ammeter outputs another preset threshold signal. At this point, it is determined that the second positioning is completed. The pick-and-place clips correspond to the corresponding storage clips one by one. S6. Move the pick-and-place mechanism B600 to the selected pick-and-place clip according to the selected storage clip and pick-and-place clip, and then de-energize the clutch electromagnet B560, causing the clutch wheel B830 and the corresponding friction wheel B820 to press and drive. In this embodiment, an identification code can be affixed to the end surface of the storage shell bottom plate A110 corresponding to each storage clip, and a scanner can be installed on the pick-and-place shell to select the target storage clip A150 based on the ID information of the identification code. S7. Start the side shift motor B550, which drives the side shift frame B640 and the pick-and-place clamp B240 to move toward the pick-and-place unit until the clutch push wheel B751 is pressed against the end surface of the storage shell A100 (storage shell bottom plate A110). At this time, the clutch push wheel B751 cannot continue to move toward the storage shell A100, while the pick-and-place clamp B240 continues to move toward the storage clamp, causing the clutch push rod B750 to move toward one end of the clutch push ring B752, which in turn causes the clutch push ring B752 to push the clutch plunger B771 into the second clutch shaft hole B762. In this process, the third spring B830 is squeezed The clutch shaft B760 is pressed, and the third spring B830 is integrated with the clutch shaft B760, so it will directly push the clutch shaft B760 to overcome the elastic force of the fourth spring B804 and move toward the principle friction wheel B820, so that the friction wheel B820 is separated from the clutch wheel. At this time, the pick-and-place clamp B240 cannot move further and the end face of the sensing shell B244 and the storage shell bottom plate A110 are pressed tightly, and the corresponding reed switch is closed and outputs a signal; in this process, a gap will be generated between the side shift frame B640 and the gradual clutch fork B650, which will not affect the subsequent rotation of the clutch fork B650, and the top of the clutch fork is tilted toward the side shift frame B640.

[0058] S8, the side shift frame B640 continues to move toward the storage folder A150 until it moves into position, and the clamping electromagnet B590 is activated, and the clamping electromagnet B590 drives the two clamping plates B910 to clamp the file box 900; S9. Move the side shift frame B640 in the opposite direction, pulling the file box from the storage folder toward the access folder until the file box is completely loaded into the access folder. At this time, the side shift frame B640 pushes the clutch fork to reverse, so that the clutch wheel and the friction wheel are pressed and transmitted. Since the clutch push rod cannot move toward the storage housing, the clutch shaft B760 moves axially by squeezing the third spring B803. S10, the pick-and-place clamp B240 and the side shifter B640 move synchronously into the pick-and-place housing until they return to their original position, completing the removal of the file box. To place the file box into the storage folder, simply clamp the file box in the storage folder and then follow the above procedure to place the file box into the storage folder. After releasing the file box, the pick-and-place clamp and side shifter are driven to return to their original position.

[0059] S11. If the clamping plate B910 needs to pass through a pick-and-place folder containing a file box, since the clamping plate is lower than the top of the file box by default, it needs to be raised above the file box. At this time, the lifting motor is activated, which drives the lifting frame and side shift frame upward until the second collision switch is triggered. The transverse motor B580 is then activated, driving the pick-and-place mechanism B600 to the target pick-and-place folder, and the next step can be carried out.

[0060] Anything not described in detail in the present invention is well known to those skilled in the art.

[0061] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. An intelligent pick-and-place system for file boxes, characterized in that: include: The filing cabinet is equipped with multiple storage units, each storage unit is equipped with several storage folders, and each storage folder stores a file box; The pick-and-place vehicle includes a tractor, a scissor lift mechanism, and a pick-and-place module. The bottom of the scissor lift mechanism is mounted on the tractor, and the top is mounted on the bottom of the pick-and-place shell of the pick-and-place module. The pick-and-place module includes a plurality of pick-and-place clamp assemblies and a clamping mechanism. The pick-and-place clamp assemblies are all installed in the pick-and-place module, and the pick-and-place clamp assembly includes a pick-and-place clamp and a pick-and-place seat. The pick-and-place seat is installed on the electrical housing, and the electrical housing is installed in the pick-and-place housing; the pick-and-place seat is respectively installed with a first pick-and-place seat plate and a second pick-and-place seat plate, and the first pick-and-place seat plate and the second pick-and-place seat plate are respectively assembled with the pick-and-place screw to be rotatable in a circular manner and not axially movable; the pick-and-place clamp includes two pick-and-place clamping plates, and a pick-and-place slot is formed between the two pick-and-place clamping plates. The pick-and-place clamp is also installed with a pick-and-place clamp seat, which is sleeved on the pick-and-place screw and screwed therewith by means of a thread; the file box can be loaded into the pick-and-place slot; The clamping mechanism is provided with two clamping plates, between which there is a clamping slot, which can clamp or release the file box; when in use, the clamping slot clamps the file box, and then carries the file box to the retrieval clamp and the storage clamp for direct transportation, thereby completing the retrieval and placement of the file box.

2. The intelligent pick-and-place system according to claim 1, wherein: The two lever of the second cam is connected with the link lever of the second cam and the link lever of the second cam is connected with the link lever of the second cam respectively.

3. The intelligent pick-and-place system according to claim 1, wherein: The pick-and-place module also includes a pick-and-place mechanism, which includes a pick-and-place rack, a lifting rack, and a side shift rack. The pick-and-place rack includes a first storage rack plate, a second storage rack plate, a third storage rack plate, and a fourth storage rack plate. The second storage rack plate is assembled with the first storage rack plate, the third storage rack plate, and the fourth storage rack plate respectively. The third storage rack plate is also equipped with a pick-and-place guide plate, and a pick-and-place slide groove is provided on the pick-and-place guide plate; the fourth storage rack plate and the first storage rack plate are respectively assembled with the two ends of the lifting screw so as to be circumferentially rotatable and not axially movable. The lifting screw is connected to the output shaft of the lifting motor, and the lifting motor is installed on the pick-and-place rack; The lifting frame is provided with a first lifting frame plate, a third lifting frame plate, a fourth lifting frame plate, and a fifth lifting frame plate, wherein the ends of the fourth lifting frame plate and the fifth lifting frame plate are respectively mounted on the first lifting frame plate and the third lifting frame plate; the sixth lifting frame plate is mounted on the third lifting frame plate, and the sixth lifting frame plate is engaged with the pick-up and place slide slot and can be slidably assembled; The fourth lifting frame plate, the fifth lifting frame plate, and the sixth lifting frame plate are respectively assembled with the side shift screw so as to be rotatable in a circular manner but not movable in an axial direction. The side shift screw is assembled with the output shaft of the side shift motor, and the side shift motor is mounted on the fourth lifting frame plate. The side shift screw is sleeved with a second screw sleeve and the second screw sleeve is assembled with the side shift screw by threaded engagement. The second screw sleeve is installed on the side shift frame. The side shift frame includes a first side shift frame plate, which is assembled with the second side shift frame plate and a clamp hinge plate.

4. The intelligent pick-and-place system according to claim 3, wherein: At least two movable seats are installed on the fourth storage rack plate, one of which is mounted outside the transverse guide shaft and can be axially slidably assembled with it, and the other movable seat is mounted outside the transverse screw and is screwed together with it by a thread; the two ends of the transverse guide shaft and the transverse screw are respectively assembled with the pick-and-place shell so that they can rotate circumferentially but cannot move axially, and the transverse screw is also connected to the motor shaft of the transverse motor through a transverse belt to form a belt transmission mechanism, and the transverse motor is installed in the electrical shell.

5. The intelligent pick-and-place system according to claim 3, wherein: The side shift screw is connected to the clutch sleeve through a linkage belt to form a belt transmission mechanism. The clutch sleeve and the fourth lifting frame plate and the fifth lifting frame plate can be circumferentially rotated but cannot be axially moved. The interior of the clutch sleeve and the clutch shaft can slide axially but cannot be relatively circumferentially rotated. One end of the clutch shaft passes through the clutch sleeve and is assembled with the shaft ring of the first thrust ball bearing. The seat ring of the first thrust ball bearing faces the fourth lifting frame plate; the other end of the clutch shaft passes through the clutch sleeve and is assembled with the clutch wheel, and the clutch shaft position A fourth spring is mounted on the portion between the fifth lifting frame plate and the clutch wheel, and is used to apply an elastic force to the clutch wheel to press the friction wheel. The clutch wheel is respectively provided with a clutch friction portion, a clutch thrust portion, and a clutch wheel groove. The clutch thrust portion is pressed against one end of the shaft ring of the second thrust ball bearing. The shaft ring of the second thrust ball bearing is mounted on the clutch shaft, and the seat ring of the second thrust ball bearing is assembled or pressed against the fourth spring. The clutch friction portion is pressed against the end face of the friction wheel, and the friction wheel is mounted on the pick-and-place screw.

6. The intelligent pick-and-place system according to claim 5, wherein: The clutch shaft is provided with a first clutch shaft hole and a second clutch shaft hole, the first clutch shaft hole and the second clutch shaft hole are connected to each other, and the first clutch shaft hole and the clutch plunger can be assembled axially slidingly and circumferentially rotatingly. The clutch plunger can be installed at one end of the clutch plunger shaft, and the other end of the clutch plunger shaft is covered with a third spring, which passes through the clutch plug and is assembled with the clutch limiting ring. The clutch plug is installed in the first clutch shaft hole, and the third spring is used to apply a thrust to the clutch plunger away from the clutch limiting ring; the second clutch shaft hole allows the clutch push rod ring to be installed The clutch push rod ring is installed on one end of the clutch push rod, and the other end of the clutch push rod passes through the first pick-up and placement screw hole and the second pick-up and placement screw hole and is assembled with the clutch push wheel; the clutch push rod ring is installed in the second pick-up and placement screw hole, and the first pick-up and placement screw hole and the second pick-up and placement screw hole are connected to each other and are both arranged in the pick-up and placement screw; the clutch push rod is located between the clutch push wheel and the second pick-up and placement seat plate. A second spring is mounted on the part of the clutch push rod located between the clutch push wheel and the second pick-up and placement seat plate, and the second spring applies an elastic force to push the clutch push wheel away from the second pick-up and placement seat plate.

7. The intelligent pick-and-place system according to claim 6, wherein: A second lifting frame plate is also mounted on the fourth lifting frame plate, a clutch electromagnet is mounted on the second lifting frame plate, a clutch push plate is mounted on the telescopic shaft of the clutch electromagnet, the clutch push plate is pressed against and slidably engaged with one side surface of the clutch sleeve, the clutch sleeve is sleeved outside the fourth lifting frame plate and the fifth lifting frame plate, and an end thereof away from the clutch push plate is assembled with one end of the clutch fork, a fork groove is provided on the end of the clutch fork away from the clutch sleeve, and the fork groove is clamped in the clutch wheel groove; the middle portion of the clutch fork is hinged to the fork cover via a fork pin, and the fork cover is mounted on the fifth lifting frame plate; The part of the clutch fork located between the fork pin and the fork slot is also assembled with one end of the first spring, and the other end of the first spring is assembled with the fork cover, and the first spring is used to apply an elastic force to the clutch fork to push the fork slot toward the pick-and-place clamp; the end face of one end of the side shift frame close to the clutch fork is in close contact with the clutch fork, so that this end of the clutch fork cannot rotate toward the side shift frame.

8. The intelligent pick-and-place system according to claim 1, wherein: At least two positioning rod assemblies are installed on both sides of the pick-and-place shell in the length direction of the storage unit, and the positioning rod assembly includes a positioning rod and a positioning rod seat. The positioning rod seat is installed on the pick-and-place shell and a positioning slip ring hole is provided inside the positioning rod seat. The bottom of the positioning slip ring hole is open and the open end is closed by the positioning rod end plate; the positioning slip ring hole is engaged with the positioning slip ring and can be axially slidably assembled, the positioning slip ring is sleeved on one end of the positioning rod, and a positioning rod spring is installed on the part of the positioning slip ring hole between the positioning slip ring and the positioning rod end plate, and the positioning rod spring is used to apply a thrust to the positioning rod away from the positioning rod end plate; the positioning rod is away from the positioning slip ring One end of the ring passes through the positioning rod seat and enters the top of the pick-and-place shell and is assembled with the positioning wheel so that it can rotate in a circular manner but cannot move axially. The positioning wheel is equipped with a first ball, and the first ball and the positioning wheel can be spherically rolled together; a switch spring is also installed on the side wall of the positioning slip ring hole, and an elastic switch trigger piece is provided on the switch spring, and the switch trigger piece is aligned with the trigger end of the micro switch. When the positioning wheel is not completely installed in the positioning slot, the micro switch inputs a signal to the industrial computer; and when the trigger state of the micro switch disappears, the industrial computer determines that the corresponding positioning wheel has completed positioning; the positioning slot is provided on the cover plate, and the cover plate is installed on the storage unit; The pick-and-place shell is further provided with positioning head assemblies on both sides of the storage unit in the length direction. The positioning head assembly includes a positioning plug, which is installed on one end of the plug shaft, and a second ball is spherically mounted on the positioning plug. The other end of the plug shaft passes through the damping seat hole of the damping seat and the positioning head electromagnet, and is then installed in the induction cavity of the induction seat and assembled with the insulating ring; the damping seat, the positioning head electromagnet, and the induction seat are all installed on the pick-and-place shell; the positioning head electromagnet adopts a hollow shaft, and the plug shaft passes through the hollow shaft and is assembled with it so as to be non-axially movable relative to it; A plug collar is provided on the portion of the plug shaft located in the damping seat hole, and a positioning head spring is mounted on the portion of the plug shaft located between the plug collar and the positioning head electromagnet. The positioning head spring applies a thrust to the plug shaft away from the positioning head electromagnet.

9. The intelligent pick-and-place system according to claim 1, wherein: The storage unit includes a storage shell, a cover mechanism, and an opening and closing mechanism. The storage shell includes a storage shell top plate, a storage shell bottom plate, two storage shell side plates, and a storage shell back plate. The two storage shell side plates and the storage shell back plate are respectively assembled with the storage shell top plate and the storage shell bottom plate, so that the storage shell is in a state of being open to the side of the cover mechanism. The cover mechanism closes the open side of the storage shell and is assembled with the storage shell via the opening and closing mechanism. A plurality of storage clips are installed in an array in the storage shell, and the inner side of the storage clips is a storage clip slot capable of accommodating a file box. The opening and closing mechanism includes a first opening and closing plate and a second opening and closing plate, the first opening and closing plate and the second opening and closing plate are respectively installed in the storage shell and the cover box, and the cover box is installed on the cover; the first opening and closing plate is hinged to one end of the first opening and closing rod and one end of the second opening and closing rod, respectively, the other end of the first opening and closing rod and the other end of the second opening and closing rod are respectively hinged to one end of the fourth opening and closing rod and one end of the third opening and closing rod, the other end of the fourth opening and closing rod and the other end of the third opening and closing rod are respectively hinged to the second opening and closing plate, and the middle part of the fourth opening and closing rod and the middle part of the first opening and closing rod are hinged; the first opening and closing rod is also hinged to the opening and closing electric cylinder shaft of the opening and closing electric cylinder, and the housing of the opening and closing electric cylinder is hinged to the first opening and closing plate; The cover mechanism includes a cover, a cover box is installed at the end of the cover, and a cover shell is installed on the end of the cover and the cover box away from the positioning slide groove, and the cover shell is used to protect the device installed on the cover; a plurality of positioning holes are provided on the cover along its length direction, and the positioning holes are used to guide the positioning head to be installed so as to realize the second positioning of the pick-up and placement module and the storage unit.

10. A pick-and-place method for an intelligent pick-and-place system, characterized in that: The following steps are involved: S1. According to the requirements, quickly determine the location where the file box needs to be taken and placed, that is, the location of the storage folder, including the location of the storage unit and the location of the filing cabinet where the storage unit is located; S2. The position signal is input into the pick-and-place vehicle, and the pick-and-place vehicle moves to the corresponding filing cabinet according to the position information and moves toward the filing cabinet until the fourth collision switch is triggered; S3, the opening and closing electric cylinder of the template storage unit is started, thereby driving its cover mechanism to expand 90 degrees. At this time, the end surface of the cover with the top positioning slot is in a horizontal state; S4. The scissor lift mechanism starts, driving the pick-and-place module to move upward until the microswitch outputs a signal or the ammeter outputs a preset threshold signal. The microswitch output signal indicates that the positioning wheel is not completely installed in the positioning slot. At this time, the position of the pick-and-place module is adjusted by the tractor until the signals of each microswitch disappear. At this time, the first positioning is completed. If the microswitch does not output a signal but the ammeter outputs a preset threshold signal, it is determined that the first positioning is completed. S5. The lock plate of the selected positioning hole assembly is pulled out to a position where it does not block the third collision switch. The tractor drives the pick-and-place module to slide along the positioning slot until the selected third collision switch outputs a signal and the ammeter outputs another preset threshold signal. At this point, it is determined that the second positioning is completed; the pick-and-place clips correspond to the corresponding storage clips one by one; S6. Move the pick-and-place mechanism to the selected pick-and-place clamp according to the selected storage clamp and pick-and-place clamp, and then cut off the power to the clutch electromagnet, so that the clutch wheel and the corresponding friction wheel are pressed and transmitted; S7, start the side shift motor, the side shift motor drives the side shift frame and the pick-and-place clamp to move toward the pick-and-place unit until the clutch push wheel is pressed against the end surface of the storage shell bottom plate. At this time, the clutch push wheel can no longer move toward the storage, and the pick-and-place clamp continues to move toward the storage clamp, thereby causing the clutch push rod to move toward one end of the clutch push ring, which in turn causes the clutch push ring to push the clutch plunger into the second clutch shaft hole. During this process, the third spring is squeezed, and the third spring and the clutch shaft are integrated, so it will directly push the clutch shaft to overcome the elastic force of the fourth spring and move in the direction of the principle friction wheel, so that the friction wheel and the clutch wheel are separated. At this time, the pick-and-place clamp can no longer move and the sensing shell is pressed against the end surface of the storage shell bottom plate, and the corresponding reed switch is closed and outputs a signal; in this process, a gap will be generated between the side shift frame and the clutch fork, and the top of the clutch fork will tilt toward the side shift frame; S8, the side shift frame continues to move toward the storage folder until it moves into position, and the clamping electromagnet is activated, which drives the two clamping plates to clamp the file box; S9, move the side shift frame in the reverse direction, so that the file box is pulled from the storage folder to the access folder until the file box is completely loaded into the access folder. At this time, the side shift frame pushes the clutch fork to reverse so that the clutch wheel and the friction wheel are pressed and transmitted; S10, the pick-and-place clamp and the side shift rack move synchronously into the pick-and-place shell until the movement is reset, and the file box is taken out; when the file box needs to be placed in the storage clamp, it is only necessary to clamp the file box in the storage clamp, and then put the file box into the storage clamp, release the file box, and then drive the pick-and-place clamp and the side shift rack to reset.

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