File grabbing, collecting and conveying device of file robot equipment

Abstract

The invention belongs to the technical field of archive collecting and conveying, and particularly relates to an archive grabbing, collecting and conveying device of archive robot equipment, which comprises an archive conveying line, the archive conveying line comprises a plurality of rows of archives, manipulator channels formed among the archives, a collecting channel track frame, archive trays and a transfer bin; an intelligent suspension conveying system is arranged in the manipulator channel, the intelligent suspension conveying system comprises a suspension track, a driving motor, a lead screw, a ball nut, a sliding block, a sleeve, a connecting column, a connecting plate and a file manipulator, the driving motor and the lead screw are both installed in the suspension track, and the lead screw is fixedly connected with the output end of the driving motor; the ball nut is connected to the lead screw, the sliding block is fixed to the ball nut and connected to the hanging rail in a sliding mode, and the device solves the problems that when archives are transmitted at present, the archives need to be rearranged due to falling, and time and labor are consumed.

Description

Technical Field

[0001] This invention belongs to the technical field of archive collection and transportation, specifically relating to an archive grabbing, collection and transportation device of an archive robot. Background Technology

[0002] The document retrieval, collection, and transport of robotic archive equipment constitutes an automated workflow in unmanned archive management. It enables fully unmanned operation, from document retrieval at a designated location and temporary storage to precise transport. Specifically, it can be divided into three core steps: precise retrieval, centralized collection, and directional transport. During centralized collection, documents need to be transported. Often, due to the high transport speed, documents fall off the robot due to inertia when the transport suddenly stops, requiring reassembly, which is time-consuming and labor-intensive. This phenomenon has become a problem that urgently needs to be solved by researchers in this field. Summary of the Invention

[0003] The purpose of this invention is to provide a file-grabbing, collecting, and conveying device for a file robot, in order to solve the problems mentioned in the background art.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a file grasping, collecting, and conveying device for a file robot, comprising a file conveying line, the file conveying line including several rows of file storage units, a robotic arm channel formed between the file storage units, a collecting channel track frame, file trays, and a transfer compartment; the robotic arm channel is internally equipped with an intelligent suspended conveying system, the intelligent suspended conveying system including a suspension track, a drive motor, a lead screw, ball bearing nuts, a slider, a sleeve, a connecting column, a connecting plate, and a file robot arm, the drive motor and the lead screw are both installed in the suspension track, and the lead screw is fixedly connected to the output end of the drive motor, the ball bearing nut... The nut is connected to the lead screw, the slider is fixed to the ball nut and slidably connected to the suspension track, the file robot is installed on the slider through the connecting assembly, the file is placed inside the file robot, the sleeve is integrally formed on the slider, the file robot is fixed to the connecting plate by bolts, the connecting column is rotatably connected to the sleeve and one end is fixedly connected to the connecting plate, one side of the connecting column is connected to the undulating connecting rod, and the undulating connecting rod shaft is connected to the slider, the lower end of the undulating connecting rod is integrally formed with a top shaft, and several protrusions are evenly arranged above the suspension track, and after the undulating connecting rod moves, the lower end contacts the protrusions.

[0005] This invention further explains that the conveying steps of the document conveying line include: Step S1, document loading stage, where the operator neatly places the documents to be stored inside the document robotic arm, and the document robotic arm confirms the documents are in place and in compliance with the correct posture through vision / sensors; Step S2, the document robotic arm, according to a preset program, places the documents one by one into the designated compartments of the document tray with a precise motion trajectory; Step S3, tray conveying stage, after the document tray is loaded, the gear and rack transmission system starts, driving the document tray to move linearly along the collection channel track frame, conveying it towards the retrieval port. After the document tray is conveyed to the designated stopping position near the retrieval port, the gear and rack transmission system stops working, and the document tray completes the initial positioning; Step S4, tray positioning and rotation stage, after the system detects that the tray has reached the stopping position, the document tray rotates, and according to the orientation of the document channel of the retrieval port, the document tray rotates around the central axis to a preset angle. During the rotation, it ensures that the document compartments on the document tray are precisely aligned with the document channel of the retrieval port; Step S5, document delivery and retrieval stage.

[0006] The present invention further explains that step S4 includes: step S4.1, after the file tray is positioned, the system sends a signal to the transfer compartment door to open automatically, revealing the internal file pushing channel; step S4.2, the file tray pushes the files aligned with the channel along the channel direction until the file storage end extends to the file retrieval surface; step S4.3, after the operator completes the file retrieval / replacement operation on the file retrieval surface, the remaining files are returned to the file tray, and the transfer compartment door closes automatically.

[0007] The present invention further explains that in step S4.3, the file storage task is that after the file is stored, the file tray returns to the robotic arm channel side via the original route through the gear and rack transmission, waiting for the next round of file loading. The file retrieval task is that the file tray returns to the designated compartment of the file shelf and completes the return.

[0008] The present invention further describes that the left and right sides of the connecting column are connected with snap-fit ​​plates, the surface of the snap-fit ​​plates is provided with movable grooves, and one end of the undulating connecting rod is inserted into the movable groove. One end of the undulating connecting rod is integrally formed with a limiting block at the bottom, and the limiting block is located at the bottom of the movable groove. The bottom end of the top shaft is arc-shaped.

[0009] The present invention further illustrates that the left and right sides of the connecting column are integrally formed with resistance plates, the inner wall of the sleeve is provided with a limiting plate, the resistance plate is limited by the limiting plate, a movable plate is embedded inside the resistance plate, a pressure relief groove is formed between the movable plate and the resistance plate, the connecting column is rotatably connected to the sleeve through the resistance plate, and the front and rear ends of the resistance plate are in contact with the inner wall of the sleeve.

[0010] The present invention further illustrates that the interior of the sleeve is filled with a viscous liquid.

[0011] The present invention further illustrates that the movable plate is slidably connected to the connecting column, and a spring is provided between the two movable plates. One of the movable plates is magnetic after being energized, and the magnitude of the magnetic field is controlled by controlling the magnitude of the electric current. The other movable plate is magnetic, and the magnetic poles of the two movable plates are opposite.

[0012] The present invention further illustrates that the snap-fit ​​plate is slidably connected to the inside of the connecting post, and a spring is also provided at the slidable connection.

[0013] The present invention further illustrates that a sliding rod is slidably connected inside the connecting column. The inner sides of the movable plate and the inner sides of the snap-fit ​​plate are both rounded. The two ends of the sliding rod are arc-shaped, and the sliding rod contacts the snap-fit ​​plate after it moves. The other end of the sliding rod is located between the two movable plates. The rounded part of the snap-fit ​​plate is provided with a snap-fit ​​groove. After the sliding rod moves, the arc part is embedded in the snap-fit ​​groove and pushes the snap-fit ​​plate to rotate slightly.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention completes the file retrieval work through the file conveyor line, and the automated and integrated transmission of files greatly improves the file retrieval speed and efficiency. Moreover, when the intelligent suspension conveyor system transmits files, the top shaft at the front end of the undulating link continuously contacts the upper surface of the suspension track and is then lifted by the protrusion, causing the undulating link to jump up and down continuously. After the undulating link jumps, the connecting column rotates slightly and then resets, thereby driving one side of the file robot arm to tilt up and then reset through the connecting plate, so as to overcome the influence of inertia and prevent the files from falling during the transmission process. When transferring files, the opening of the file robot arm is raised to prevent the files from falling due to inertia if the intelligent suspension conveyor system suddenly stops during transport. At the same time, the file robot arm may need to stop multiple times during its movement to place files in different areas. Therefore, by raising the files, the accumulated files are prevented from falling, thus protecting the files. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the file transport line of the present invention; Figure 2 This is a schematic diagram of the archival robotic arm of the present invention; Figure 3 This is a schematic diagram of the intelligent overhead conveyor system of the present invention; Figure 4 This is a schematic diagram of the internal structure of the sleeve of the present invention; Figure 5This is an exploded view of the internal structure of the sleeve of the present invention; Figure 6 This is a schematic diagram of the internal structure of the connecting column of the present invention; Figure 7 This is an exploded view of the internal structure of the connecting column of the present invention; In the diagram: 2. Gathering channel track frame; 3. File tray; 4. Transfer compartment; 5. Slider; 6. Sleeve; 7. Connecting column; 71. Elevating connecting rod; 72. Top shaft; 73. Clip plate; 74. Resistance plate; 75. Movable plate; 76. Slide rod; 8. Connecting plate. Detailed Implementation

[0016] The following detailed, non-limiting description of the technical solution of the present invention, in conjunction with preferred embodiments and accompanying drawings, is provided. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0017] Please see Figures 1-7 The present invention provides a technical solution: an archive grabbing, collection and conveying device for an archive robot, including an archive conveying line, which includes several rows of archives, a robotic arm channel formed between the archives, a collection channel track frame 2, an archive tray 3 and a transfer compartment 4; The robotic arm channel is equipped with an intelligent suspension conveying system, which includes a suspension track, a drive motor, a lead screw, a ball nut, a slider 5, a sleeve 6, a connecting column 7, a connecting plate 8, and a file robot. The drive motor and lead screw are installed inside the suspension track, and the lead screw is fixedly connected to the output end of the drive motor. The ball nut is connected to the lead screw. The slider 5 is fixed to the ball nut and slidably connected to the suspension track. The file robot is installed on the slider 5 through a connecting assembly. The file is placed inside the file robot. The sleeve 6 is integrally formed on the slider 5. The file robot is fixed to the connecting plate 8 by bolts. The connecting column 7 is rotatably connected to the sleeve 6, and one end is fixedly connected to the connecting plate 8. One side of the connecting column 7 is connected to an undulating connecting rod 71, and the undulating connecting rod 71 is shaft-connected to the slider 5. A top shaft 72 is integrally formed below the front end of the undulating connecting rod 71. Several protrusions are evenly arranged above the suspension track, and after the undulating connecting rod 71 moves, the lower end contacts the protrusions. The operator places the file into the robotic arm within the robotic arm channel. The intelligent suspension conveying system operates, with the drive motor rotating the lead screw, which in turn moves the ball nut, thereby moving the slider 5. The slider 5, through the sleeve 6, moves the connecting column 7, which in turn moves the robotic arm through the connecting plate 8, thus conveying the file. The operator controls the speed of the drive motor to control the speed of the robotic arm, thereby controlling the conveying speed of the file. This not only improves the efficiency of file conveying but also prevents the file from falling out of the robotic arm due to inertia caused by a sudden stop at excessive speed. The file tray 3 moves to the position of the robotic arm via a gear and rack transmission. The robotic arm pushes the file onto the file tray 3. The file tray 3 rotates to align the file with the retrieval port of the transfer compartment 4 and carries the file to the transfer compartment 4, completing the file retrieval process. This automated and integrated file transfer significantly improves the speed of file retrieval and greatly enhances efficiency. Furthermore, during the transmission of files in the intelligent suspension conveyor system, the top shaft 72 at the front end of the undulating link 71 continuously contacts the upper surface of the suspension track and is then lifted by the protrusion, causing the undulating link 71 to continuously bounce up and down. The undulating link 71 bounces up and down during the contact between the top shaft 72 and the protrusion. This bounce is transmitted to the snap-fit ​​plate 73 through the limit block, causing the connecting column 7 to rotate slightly clockwise around the central axis of the sleeve 6. When the top shaft 72 disengages from the protrusion, the connecting column 7 slowly resets under the damping action of the resistance plate 74 and the viscous liquid, driving the connecting plate 8 and the opening end of the file robot to simultaneously complete the 'tilt-down' action, effectively offsetting the inertial impact during the transmission process, overcoming the influence of inertia, and preventing the files from falling during transmission.

[0018] The conveying steps of the document conveyor line include: Step S1, document loading stage: The operator neatly places the documents to be stored inside the document robotic arm. The document robotic arm confirms that the documents are in place and in compliance with the requirements through vision / sensors. Step S2: The robotic arm, following a preset program, places the files one by one into the designated compartments of the file tray 3 with a precise movement trajectory. Step S3, Pallet conveying stage: After the file pallet 3 is loaded, the gear and rack transmission system is started, driving the file pallet 3 to move in a straight line along the collection channel track frame 2 and convey it towards the pick-up port. After the file pallet 3 is conveyed to the designated stopping position near the pick-up port, the gear and rack transmission system stops working, and the file pallet 3 completes the initial positioning. Step S4, Pallet Positioning and Rotation Stage: After the system detects that the pallet has reached the docking position, the file pallet 3 rotates. According to the orientation of the file channel of the file retrieval port, the file pallet 3 is rotated around the central axis to a preset angle. During the rotation, it is ensured that the file compartment on the file pallet 3 is precisely aligned with the file channel of the file retrieval port. Step S5: File delivery and retrieval stage.

[0019] Step S4 includes: Step S4.1: After the file tray 3 is positioned, the system sends a signal to the transfer compartment 4 so that the door opens automatically, revealing the internal file pushing channel. Step S4.2: The file tray 3 pushes the file aligned with the channel along the channel direction until the file's access end extends to the retrieval surface; Step S4.3: After the operator completes the file retrieval / replacement operation on the file retrieval surface, the remaining files are returned to the file tray 3, and the transfer compartment 4 door closes automatically.

[0020] In step S4.3, the file storage task is that after the file tray 3 is stored, it returns to the robotic arm channel side via the original route through the gear and rack transmission, waiting for the next round of file loading. The file retrieval task is that the file tray 3 returns to the designated compartment of the file shelf and completes the return. By driving the joint movement of the file robot arm, and in conjunction with visual positioning / limit sensors, it can achieve precise gripping, posture adjustment and placement of files in the file tray 3 compartment. Following the robot motion control principle of "point control + trajectory planning", it uses the meshing transmission characteristics of gear rack to convert the rotational motion of the motor into the linear motion of the file tray 3. The rotation of the file tray 3 is achieved by a rotation mechanism driven by a worm gear / stepper motor, and the rotation angle is calibrated in a closed loop by an angle sensor. The transfer compartment 4 is linked with the retrieval port. Based on the signal interaction logic of PLC (Programmable Logic Controller), after the file tray 3 is positioned, the pneumatic / electric opening and closing mechanism of the transfer compartment 4 door is triggered. Then, through the pushing principle of push rod / conveyor belt, the file is sent to the retrieval surface along the preset channel, realizing the time-series linkage of "mechanical positioning - door action - file transportation". To avoid damage, misalignment, and loss of files during manual access, the mechanical precision operation ensures the physical integrity of the files, realizes digital recording of file access, and allows each step of the operation to be traced through the system, improving the standardization and traceability of file management. The rigid meshing and closed-loop positioning of the gear and rack drive reduces the failure rate of the file tray 3 conveyor and extends the service life of the equipment. Automated processes reduce the frequency of manual movement in the file rack area, lower the risk of collisions between personnel and machinery, and improve operational safety. The centralized retrieval port design makes the file storage and retrieval area more organized, optimizes the space utilization efficiency of the warehouse, and the file robotic arm can continuously and quickly complete the file loading. The gear and rack transmission speed is much higher than that of manual handling. The storage and retrieval cycle of a single file is shortened from several minutes to tens of seconds, which greatly improves the processing efficiency of large batches of files. Operators only need to complete simple picking and placing operations at the retrieval surface, without having to enter the file rack area to climb and carry files, reducing the intensity of physical labor. It is especially suitable for storage and retrieval scenarios of high-rise and dense file racks.

[0021] Both sides of the connecting column 7 are connected to snap-fit ​​plates 73. The surface of the snap-fit ​​plate 73 is provided with a movable groove, and one end of the undulating connecting rod 71 is inserted into the movable groove. One end of the undulating connecting rod 71 is integrally formed with a limit block at the bottom, and the limit block is located at the bottom of the movable groove. The bottom end of the top shaft 72 is arc-shaped. When the connecting column 7 moves, it drives the undulating connecting rod 71 to move via the snap-fit ​​plate 73, which in turn drives the top shaft 72 to move. The top shaft 72 first contacts the surface of the suspension track, then contacts the protrusion and is lifted by the protrusion. At this time, the undulating connecting rod 71 is lifted, and the snap-fit ​​plate 73 is driven to rise via the limit block. The snap-fit ​​plate 73 drives the connecting column 7 to rotate slightly clockwise, thereby causing the opening of the file robot arm to tilt up. This prevents the file from falling due to inertia if the intelligent suspension conveying system suddenly stops during the file transport process. At the same time, the file robot arm may need to stop multiple times during its movement to place files in different areas. Therefore, by tilting the files up, it prevents the accumulated files from falling and protects the files.

[0022] The connecting column 7 has a resistance plate 74 integrally formed on both the left and right sides. The inner wall of the sleeve 6 is provided with a limit plate, which limits the resistance plate 74. A movable plate 75 is embedded inside the resistance plate 74, and a pressure relief groove is formed between the movable plate 75 and the resistance plate 74. The connecting column 7 is rotatably connected to the sleeve 6 through the resistance plate 74, and the front and rear ends of the resistance plate 74 are in contact with the inner wall of the sleeve 6.

[0023] The interior of sleeve 6 is filled with a viscous liquid; After the file is lifted, the top shaft 72 disengages from the protrusion, and the connecting post 7 resets. When the connecting post 7 rotates, it drives the resistance plate 74 to rotate. The resistance plate 74 and the viscous liquid generate an interaction force, thereby generating resistance to prevent the file robot arm from resetting too quickly after lifting, which would cause vibration and prevent the file from being shaken off, thus further protecting the file. Meanwhile, the pressure relief groove formed between the movable plate 75 and the resistance plate 74 can relatively reduce the resistance, which can effectively buffer the reset speed and avoid the low reset efficiency affecting the placement of the file and the efficiency of the file when it is sent into the file tray 3, thus playing a role in stable reset.

[0024] The movable plate 75 is slidably connected to the connecting column 7, and a spring is provided between the two movable plates 75. One of the movable plates 75 becomes magnetic after being energized, and the magnitude of the magnetism is controlled by controlling the magnitude of the power. The other movable plate 75 is magnetic, and the magnetic poles of the two movable plates 75 are opposite. The control system dynamically adjusts the current intensity supplied to the movable plate 75 according to the type of file transport task (single direct arrival or multiple stops), thereby changing the magnitude of the magnetic attraction between the two movable plates, regulating the effective flow area of ​​the pressure relief groove, and ultimately achieving precise control of the reset rate of the connecting column 7. That is, adjusting the vibration intensity when the file robot arm resets. When only one file is transported, the file robot arm directly reaches the position of the file tray 3 without stopping in between, and the reset speed of the file robot arm is relatively fast, so as to quickly dock with the file tray 3. When there are many stops during the file transport process, the current of one of the movable plates 75 is reduced, thereby reducing the magnetic force and increasing the resistance to fully prevent the file from falling, while also further improving the stability of the file transport process.

[0025] The snap-fit ​​plate 73 is slidably connected to the inside of the connecting post 7, and a spring is also provided at the sliding connection.

[0026] The connecting column 7 is internally slidably connected to a slide rod 76. The inner sides of the movable plate 75 and the inner sides of the snap-fit ​​plate 73 are rounded. The two ends of the slide rod 76 are arc-shaped, and the slide rod 76 contacts the snap-fit ​​plate 73 after it moves. The other end of the slide rod 76 is located between the two movable plates 75. The rounded part of the snap-fit ​​plate 73 is provided with a snap-fit ​​groove. After the slide rod 76 moves, the arc part is embedded in the snap-fit ​​groove and pushes the snap-fit ​​plate 73 to rotate slightly. As the resistance decreases, the intensity of the shaking increases. To prevent the file from falling, the movable plates 75 are brought closer together, which squeezes one end of the slide rod 76. The slide rod 76 is under force, and the other end is embedded in the locking groove of the locking plate 73, pushing the locking plate 73 outward. At this time, the locking plate 73 is under force, which drives the top shaft 72 to tilt slightly through the undulating connecting rod 71. The undulating connecting rod 71 tilts through the shaft rotation, thereby reducing the intensity of shaking when the top shaft 72 is lifted by the protrusion and then reset, and further improving stability.

[0027] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features, and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A file-grabbing, collecting, and conveying device for a file robot, comprising a file conveying line, characterized in that: The archive conveying line includes several rows of archive storage rooms, robotic arm channels formed between the archive storage rooms, a collection channel track frame (2), archive trays (3), and a transfer warehouse (4). The robotic arm channel is equipped with an intelligent suspension conveying system, which includes a suspension track, a drive motor, a lead screw, a ball nut, a slider (5), a sleeve (6), a connecting column (7), a connecting plate (8), and a file robot. The drive motor and the lead screw are installed inside the suspension track, and the lead screw is fixedly connected to the output end of the drive motor. The ball nut is connected to the lead screw, and the slider (5) is fixed to the ball nut and slidably connected to the suspension track. The file robot is installed on the slider (5) through a connecting assembly, and the file is placed in the file... Inside the robotic arm, the sleeve (6) is integrally formed on the slider (5), the archival robotic arm is fixed to the connecting plate (8) by bolts, the connecting column (7) is rotatably connected inside the sleeve (6), and one end is fixedly connected to the connecting plate (8), one side of the connecting column (7) is connected to the undulating connecting rod (71), and the undulating connecting rod (71) is axially connected to the slider (5), the front end of the undulating connecting rod (71) is integrally formed with a top shaft (72), several protrusions are evenly arranged above the suspension track, and after the undulating connecting rod (71) moves, the lower end contacts the protrusions.

2. The file grasping, collecting, and conveying device of the file robot equipment according to claim 1, characterized in that: The conveying steps of the document conveyor line include: Step S1, document loading stage: The operator neatly places the documents to be stored inside the document robotic arm. The document robotic arm confirms that the documents are in place and in compliance with the requirements through vision / sensors. Step S2: The robotic arm places the files one by one into the designated compartment of the file tray (3) according to the preset program and with a precise movement trajectory; Step S3, Pallet conveying stage: After the file pallet (3) is loaded, the gear and rack transmission system is started, driving the file pallet (3) to move in a straight line along the collection channel track frame (2) and convey it towards the pick-up port. After the file pallet (3) is conveyed to the designated stop position near the pick-up port, the gear and rack transmission system stops working, and the file pallet (3) completes the initial positioning. Step S4, Pallet Positioning and Rotation Stage: After the system detects that the pallet has reached the docking position, the file pallet (3) rotates. According to the orientation of the file channel of the file retrieval port, the file pallet (3) is rotated around the central axis to a preset angle. During the rotation, the file compartment on the file pallet (3) is precisely aligned with the file channel of the file retrieval port. Step S5: File delivery and retrieval stage.

3. The file grasping, collecting, and conveying device of the file robot equipment according to claim 2, characterized in that: Step S4 includes: Step S4.1: After the file tray (3) is positioned, the system sends a signal to the door of the transfer compartment (4) to open automatically, revealing the internal file pushing channel; Step S4.2: The file tray (3) pushes the file aligned with the channel along the channel direction until the file's access end extends to the file retrieval surface; Step S4.3: After the operator completes the file retrieval / replacement operation on the file retrieval surface, the remaining files are returned to the file tray (3), and the transfer compartment (4) door closes automatically.

4. The file grasping, collecting, and conveying device of the file robot equipment according to claim 3, characterized in that: In step S4.3, the file storage task is that after the file is stored, the file tray (3) returns to the robot arm channel side via the original route through the gear and rack transmission, waiting for the next round of file loading. The file retrieval task is that the file tray (3) returns to the designated compartment of the file shelf and completes the return.

5. The file grasping, collecting, and conveying device of the file robot equipment according to claim 4, characterized in that: Both sides of the connecting column (7) are connected to snap-fit ​​plates (73). The surface of the snap-fit ​​plate (73) is provided with a movable groove, and one end of the undulating connecting rod (71) is inserted into the movable groove. One end of the undulating connecting rod (71) is integrally formed with a limit block at the bottom, and the limit block is located at the bottom of the movable groove. The bottom end of the top shaft (72) is arc-shaped.

6. The file grasping, collecting, and conveying device of the file robot equipment according to claim 5, characterized in that: The connecting column (7) has a resistance plate (74) integrally formed on both the left and right sides. The inner wall of the sleeve (6) is provided with a limiting plate, which limits the resistance plate (74). A movable plate (75) is embedded inside the resistance plate (74). A pressure relief groove is formed between the movable plate (75) and the resistance plate (74). The connecting column (7) is rotatably connected to the sleeve (6) through the resistance plate (74), and the front and rear ends of the resistance plate (74) are in contact with the inner wall of the sleeve (6).

7. The file grasping, collecting, and conveying device of the file robot equipment according to claim 6, characterized in that: The sleeve (6) is filled with a viscous liquid.

8. The file grasping, collecting, and conveying device of the file robot equipment according to claim 7, characterized in that: The movable plate (75) is slidably connected to the connecting column (7), and a spring is provided between the two movable plates (75). One of the movable plates (75) is magnetic after being energized, and the magnetic magnitude is controlled by controlling the magnitude of the power. The other movable plate (75) is magnetic, and the magnetic poles of the two movable plates (75) are opposite.

9. The file grasping, collecting, and conveying device of the file robot equipment according to claim 8, characterized in that: The snap-fit ​​plate (73) is slidably connected to the inside of the connecting post (7), and a spring is also provided at the slidable connection.

10. The file grasping, collecting, and conveying device of the file robot equipment according to claim 9, characterized in that: The connecting column (7) is internally slidably connected to a slide rod (76). The inner side of the movable plate (75) and the inner side of the snap-fit ​​plate (73) are both rounded. The two ends of the slide rod (76) are arc-shaped, and the slide rod (76) contacts the snap-fit ​​plate (73) after it moves. The other end of the slide rod (76) is located between the two movable plates (75). The rounded part of the snap-fit ​​plate (73) is provided with a snap-fit ​​groove. After the slide rod (76) moves, the arc part is embedded in the snap-fit ​​groove and pushes the snap-fit ​​plate (73) to rotate slightly.

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