Archive storing and grabbing device for unmanned archive library

Abstract

The archive storing and grabbing device comprises a driver which is installed at the end of a mechanical arm and used for adjusting the distance between two main clamps, auxiliary clamps are arranged on the main clamps in a sliding mode in the length direction of the main clamps through embedded electric sliding rails, and the thickness of the auxiliary clamps does not exceed one third of the thickness of the main clamps. The auxiliary clamp comprises a clamping piece which is in butt joint with the electric sliding rail in a notch formed in the clamping face of the main clamp, an extending piece is hinged to the end of the clamping piece through a rotating shaft, a gear groove is formed in the surface of the rotating shaft, and a rack meshed with the gear groove in a matched mode is arranged on the top face of the clamping piece in the length direction of the clamping piece. And a micro electric push rod connected with the rack is arranged on the clamping piece. The thin auxiliary clamp is easily inserted between two adjacent archives, so that insertion difficulty caused by the too thick clamp or thrust damage to other archives on the layer where the clamp is located is effectively avoided, the archives can be stably grabbed through the application of the main clamp, the auxiliary clamp and the suction cup set, and protection is increased in the transferring process in cooperation with the bottom support structure.

Description

Technical Field

[0001] This invention relates to the field of archive storage and retrieval technology, specifically to an archive storage and retrieval device for an unmanned archive repository. Background Technology

[0002] Traditional archives typically use specialized gripping devices to pick up and transfer documents during storage and retrieval operations. To ensure a stable and reliable gripping process, existing gripping devices are usually designed as rigid clamps with a certain thickness, relying on their structural strength to provide sufficient gripping force.

[0003] However, due to the spatial layout limitations of archives, archives are often arranged closely together with narrow gaps between adjacent archives, making it difficult for traditional, thicker clamps to be inserted smoothly between adjacent archives for proper alignment. To address this insertion difficulty, some existing technologies have narrowed the width of the clamp ends. While this allows for initial insertion into the gaps between archives, the overall shape of the clamp, which gradually thickens from the ends to the main body, creates a lateral pushing force on other archives on the same level during full insertion. This forces surrounding archives to shift, and over time, this can cause friction and wear on the bottom of the entire row of archives, affecting the neatness of the archives and their integrity. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide a file storage and grasping device for unmanned archives, so as to solve the problems mentioned in the background art, that traditional clamps are difficult to insert into the narrow gap between two adjacent files and are prone to squeezing other files on the same floor of the archive.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an unmanned archive storage and grasping device, including a driver installed on the end of a robotic arm for adjusting the distance between two main grippers, wherein a secondary gripper is slidably disposed on the main gripper along its length direction via an embedded electric slide rail, and the thickness of the secondary gripper does not exceed one-third of the main gripper. The auxiliary clamp includes a clamping piece that connects to an electric slide rail in a slot opened along the clamping surface of the main clamp. An extension piece is hinged to the end of the clamping piece via a rotating shaft. A gear groove is opened on the surface of the rotating shaft. A rack that meshes with the gear groove is provided on the top surface of the clamping piece along its length. A miniature electric push rod connected to the rack is provided on the clamping piece. The extension piece and the clamping piece are arranged in a straight line and move from front to back along the side of the file. When the extension piece moves to the rear side of the file, the extension piece rotates relative to the clamping piece and remains perpendicular to it.

[0006] Preferably, the rotating shaft is fixed to the extension piece, and the thickness of the extension piece gradually decreases from one end near the clamping piece to the other end.

[0007] Preferably, the clamping surfaces of both main clamps are embedded with suction cups, and the driver is equipped with a suction device. The input end of the suction device is connected to the suction cups via a ventilation pipe.

[0008] Preferably, the clamping surface of the auxiliary clamp and the adsorption surface of the suction cup assembly are both flush with the clamping surface of the main clamp.

[0009] Preferably, a base support structure consisting of a fixed hanging plate, a frame slide rail, and a movable hanging plate is provided between the two main clamps, and the number of base support structures is not less than two sets. The fixed hanging plate and the movable hanging plate are respectively installed at the bottom of the two main clamps, and the movable hanging plate is slidably connected along the front and rear sides of the frame slide rail, while the fixed hanging plate is fixedly connected to the frame slide rail.

[0010] Preferably, when the main clamp moves to the front of the file to be grasped, the top of the base structure is not higher than the bottom of the file.

[0011] Preferably, two rollers are rotatably connected between the inner walls of the two sides of the frame slide rail, and the top of the rollers is higher than the top surface of the frame slide rail.

[0012] Preferably, an airbag is provided between the two rollers along the inner edge of the frame slide rail. The air inlet of the airbag is connected to the output end of the suction device through an air guide tube. The cross-section of the inflated airbag is arranged in a T-shape, and its front and rear sides extend outward to cover the top surface of the roller.

[0013] By employing the above technical solution, the present invention provides a file storage and retrieval device for an unmanned archive repository, which has at least the following beneficial effects: 1. This invention uses a secondary clamp with a relatively small thickness to easily pass through the gap between adjacent files and the file to be clamped, thereby effectively avoiding insertion difficulties caused by excessively thick clamps or damage from the pushing force of other files in the same layer. Furthermore, when the extension piece of the secondary clamp moves to the rear side of the file, it can extend or retract via a miniature electric actuator, which can drive the rack to move along the length of the clamping piece. This, in turn, drives the rotating shaft to rotate via the gear groove, adjusting the extension piece to a state perpendicular to the clamping piece. Then, in conjunction with the electric slide rail, the secondary clamp is pulled forward to pull out the file to be gripped.

[0014] 2. This invention, by adding an embedded suction cup assembly and a bottom support structure to the main and auxiliary clamps for coordinated clamping, achieves an organic combination of mechanical clamping, vacuum adsorption and bottom lifting for triple fixation, significantly improving the stability and protection level of file grasping.

[0015] 3. By adding a bottom support structure to the bottom of the two main clamps, the present invention can provide bottom support for the file, which can distribute the weight of the file and prevent the file from tilting or flipping due to uneven force on the bottom during the gripping process. It is especially suitable for gripping thick and heavy files, ensuring the safety and stability of the gripping process.

[0016] 4. When the suction device draws air, a negative pressure is created on one side of the suction cup assembly, which, combined with the main clamp, increases the firmness of the grip on the file. At the same time, the same suction action also guides the drawn air and fills the airbag, causing the airbag to expand. It does not require additional power and only needs one suction to achieve the dual functions of vacuum adsorption and airbag protection. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the mounting structure of the driver and the main clamp of the present invention; Figure 3 This is a schematic diagram of the installation structure of the main clamp and the auxiliary clamp of the present invention; Figure 4 This is a schematic diagram showing the angle change of the extension piece of the present invention; Figure 5 This is a schematic diagram of the installation structure of the frame slide rail and roller of the present invention; Figure 6 This is a schematic diagram of the installation structure of the main clamp and the fixed hanging plate of the present invention.

[0018] In the diagram: 1. Robotic arm end; 2. Driver; 3. Main gripper; 4. Electric slide rail; 5. Secondary gripper; 501. Clamping plate; 502. Extension plate; 503. Rotary shaft; 504. Gear groove; 505. Rack; 506. Miniature electric actuator; 6. Suction cup assembly; 601. Suction device; 602. Air duct; 7. Fixed hanging plate; 701. Frame slide rail; 702. Movable hanging plate; 703. Roller; 704. Airbag; 705. Air guide tube. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," 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 the present invention and simplifying the description, 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 the present invention.

[0020] The present invention provides a file storage and grasping device for unmanned archives, which aims to solve the problem that traditional clamps are difficult to insert into the narrow gap between two adjacent files and are prone to squeezing other files on the same floor of the archive.

[0021] Example 1 Please see Figures 1-6 The file storage and gripping device includes a robotic arm end 1, which docks with a mobile robot in the prior art. The mobile robot controls the orientation and height of the robotic arm end 1. Its movement and adjustment are existing technologies and will not be described in detail here. A driver 2 is installed at the docking end of the robotic arm end 1. The working principle and structural composition of the driver 2 are consistent with the drive mechanism in existing electric clamps. It typically consists of a motor, transmission device, slide rail, linkage structure, limit device, control system, and sensing module. Its purpose is to adjust the distance between the two main clamps 3 according to a set program to accommodate file clamping requirements of different widths.

[0022] In the above description, the main clamp 3 serves as the load-bearing component for the file clamping operation. It retains sufficient thickness to ensure clamping strength and meet the basic clamping force requirements for the files. Based on this, an electric slide rail 4 is embedded along its length. A secondary clamp 5 is slidably mounted on the electric slide rail 4. The thickness of the secondary clamp 5 does not exceed one-third of that of the main clamp 3. Compared to traditional thick, integral clamps, the secondary clamp 5 in this embodiment occupies less space and can easily pass through the gap between adjacent files and the file to be clamped, thus effectively avoiding insertion difficulties or damage from the pushing force of other files in the same layer due to excessive clamp thickness.

[0023] In existing archives, to facilitate ventilation of the archives, a rectangular strip is usually added between the back wall and the bottom wall of the archive to form a step, so as to prevent the back of the archive from completely sticking to the back wall of the archive, thus leaving a channel for air circulation for the archive.

[0024] Following the above, the auxiliary clamp 5 includes a clamping piece 501 embedded in a slot on the clamping surface of the main clamp 3. The clamping piece 501 is fixedly connected to the electric slide rail 4. When the electric slide rail 4 is working, it can drive the clamping piece 501 to slide back and forth along the length of the main clamp 3, thereby causing the entire auxiliary clamp 5 to move in or out of the file gap. An extension piece 502 is hinged to the end of the clamping piece 501 via a rotating shaft 503. A gear groove 504 is formed on the surface of the rotating shaft 503. A rack 505, meshing with the gear groove 504, is provided on the top surface of the clamping piece 501 along its length. A miniature electric actuator 506 connected to the rack 505 is provided on the clamping piece 501. When the miniature electric actuator 506 extends or retracts, it can drive the rack 505 to move along the length of the clamping piece 501, thereby rotating the rotating shaft 503 through the gear groove 504, thus achieving the rotational adjustment of the extension piece 502.

[0025] In this embodiment, the extension piece 502 and the clamping piece 501 are arranged in a straight line and move from front to back along the side of the file to facilitate the smooth insertion of the auxiliary clamp 5 into the gap between two adjacent files. When the extension piece 502 moves to the rear of the file to be retrieved, the micro electric actuator 506 is activated to control the rack 505 to move in a set direction, thereby controlling the rotation of the shaft 503 that meshes with the rack 505 through the gear groove 504. This causes the extension piece 502 to rotate relative to the clamping piece 501 and remain perpendicular to it. At this time, the extension piece 502 is located behind the file to be retrieved. Based on this, the electric slide rail 4 controls the auxiliary clamp 5 to move forward as a whole. The extension piece 502 will generate a forward pulling force on the file to be retrieved, pulling the file towards the main clamp 3, so that the file fits tightly against the clamping surfaces of the two main clamps 3 that have been adjusted according to the set program, thus completing the initial fixation of the file.

[0026] Furthermore, traditional mechanical grippers use undulating, non-smooth gripping contact surfaces. When gripping lightweight, easily deformable objects like documents with paper labels, the contact is localized point or line contact rather than uniform surface contact. This causes the gripping pressure to be highly concentrated on the protruding parts, easily causing structural and cosmetic damage to the documents. In this embodiment, however, the gripping surfaces of both the main gripper 3 and the auxiliary gripper 5 remain smooth. Compared to traditional non-smooth gripping surfaces with patterns or protrusions, this reduces the likelihood of damaging the document's surface.

[0027] Furthermore, the thickness of the extension piece 502 gradually decreases from one end near the clamping piece 501 to the other end. This gradual thickness ensures the structural strength of the connection between the extension piece 502 and the rotating shaft 503, preventing breakage due to excessive thickness, and also reduces the difficulty of inserting the extension piece 502 into the gap between two adjacent files.

[0028] Furthermore, in this embodiment, the number of extension pieces 502 is not limited, and they can also be set to two as needed, and configured at the front and rear ends of the clamping piece 501, so as to generate a pushing force on the file towards the direction of the file when the file is inserted into the file library.

[0029] Example 2 In Embodiment 1, to avoid damaging the sides of the file when clamping it, the clamping surfaces of both the main clamp 3 and the auxiliary clamp 5 are designed to be smooth. However, this makes it easy for the file to slip off. To effectively solve this problem, such as... Figure 2 As shown, in this embodiment, suction cup assemblies 6 are embedded in the clamping surfaces of both main clamps 3. Each suction cup assembly 6 consists of several evenly arranged vacuum suction cups, enabling it to form a large-area contact with the side of the document. A suction device 601 is provided on the driver 2, and the input end of the suction device 601 is connected to the suction cup assembly 6 via a ventilation pipe 602. When the suction device 601 is working, it can extract air between the suction cup assembly 6 and the document surface through the ventilation pipe 602, creating a negative pressure inside the suction cup assembly 6, thereby firmly adhering the document to the clamping surface of the main clamp 3.

[0030] Meanwhile, the clamping surface of the auxiliary clamp 5 and the adsorption surface of the suction cup assembly 6 are both flat with the clamping surface of the main clamp 3, ensuring the smoothness of the entire jaw contact surface and preventing scratching or squeezing damage when the three come into contact with the file.

[0031] Example 3 This embodiment can replace Embodiment 2, or it can work in conjunction with Embodiment 2. For example... Figure 5 and Figure 6 As shown, this embodiment provides a base support structure between the two main clamps 3, consisting of a fixed hanging plate 7, a frame slide rail 701, and a movable hanging plate 702. There are at least two sets of these base support structures, evenly distributed at the bottom of the main clamps 3, forming a bottom support for the archives. The fixed hanging plate 7 and the movable hanging plate 702 are respectively installed at the bottom of the two main clamps 3. The movable hanging plate 702 is slidably connected along the front and rear sides of the frame slide rail 701. The fixed hanging plate 7 is fixedly connected to the frame slide rail 701, while the movable hanging plate 702 can be adjusted according to the distance between the two main clamps 3 and slide along the frame slide rail 701, allowing the base support structure to adapt to archives of different widths, thereby improving its versatility.

[0032] Specifically, when the main clamp 3 moves to the front of the file to be grasped, the top of the base structure is not higher than the bottom of the file. This prevents the base structure from interfering with or colliding with the bottom of the file when the auxiliary clamp 5 moves forward and drives the file forward, thus avoiding affecting the file's approach to the main clamp 3.

[0033] In the above, when the extension piece 502 of the secondary clamp 5, which is perpendicular to the clamping piece 501, pulls the file toward the main clamp 3, the bottom of the file will naturally fall on the top of the base structure. The base structure provides bottom support for the file, which can distribute the weight of the file and prevent the file from tilting or flipping due to uneven force on the bottom during the gripping process. It is especially suitable for gripping thick and heavy files, ensuring the safety and stability of the gripping process. At the same time, it can also prevent the file held by the main clamp 3 from sliding down.

[0034] Example 4 In the above embodiment three, during the process of the file being pulled by the extension piece 502 and moving towards the main clamp 3 and entering the clamping range, if only the traditional rigid planar frame slide rail 701 is used, the bottom of the file will directly form a large-area sliding contact with the top surface of the frame slide rail 701, resulting in significant frictional resistance and increasing the load on the extension piece 502 when pulling the file. To reduce the difficulty of the extension piece 502 pulling the file, such as... Figure 1 and Figure 5 As shown, two rollers 703 are rotatably connected between the inner walls of the frame slide rail 701 on both sides, and the top of the rollers 703 is higher than the top surface of the frame slide rail 701. The bottom of the file no longer directly contacts the rigid surface of the frame slide rail 701, but is supported by the top surface of the rollers 703. When the file moves forward, it drives the rollers 703 to rotate synchronously, changing the original sliding friction into rolling friction, which greatly reduces the resistance during the movement of the file. This allows the extension piece 502 to pull the file into the clamping range of the main clamp 3 more smoothly and effortlessly, avoiding the file not being pulled into place due to excessive resistance.

[0035] Example 5 In conjunction with Embodiments 2 to 4 above, in the normal state, the bottom of the outer pages on both sides of the document is lower than the inner pages, creating a height difference between the outer pages and the combined inner pages. The top support point of the roller 703 can only rest on the lower bottom of the outer pages on both sides of the document, failing to effectively reach the higher inner page area in the middle. To effectively solve this problem, such as... Figure 5As shown, an airbag 704 is provided inside the frame slide rail 701 between two rollers 703. The air inlet of the airbag 704 is connected to the output end of the suction device 601 through the air guide pipe 705. The cross section of the airbag 704 after expansion is arranged in a T shape, and its front and rear sides extend outward to cover the top surface of the rollers 703. Through the electric coordination of rollers 703 and airbags 704, while the suction device 601 draws air into the suction cup assembly 6 to create negative pressure, the extracted gas can be simultaneously introduced into the airbags 704 through the air guide tube 705. This causes the airbags 704 to expand rapidly and push upwards, filling the gap between the two rollers 703 and extending outwards to cover the top surface of the rollers 703. This transforms the originally intermittent, rolling support surface into a continuous, flat, and soft flexible support surface. This eliminates the uneven gaps caused by the two rollers 703 within the frame slide rail 701, ensuring that the bottom of the file is completely in contact with the continuous and uniform flexible support surface, avoiding localized stress concentration and rigid friction. At the same time, the flexible expansion characteristics of the airbags 704 can adapt to the shape of the bottom of the file, further improving the stability of the lifting process.

[0036] Additionally, when the suction device 601 draws air, a negative pressure is created on one side of the suction cup assembly 6, firmly adhering to the surface of the file. The same suction action guides the extracted air and fills the airbag 704, causing it to inflate. This process requires no additional power; a single suction operation simultaneously achieves the dual functions of vacuum adsorption and flexible protection.

[0037] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A file storage and retrieval device for an unmanned archive repository, comprising a driver (2) mounted on the end of a robotic arm (1) for adjusting the distance between two main grippers (3), characterized in that: The main clamp (3) is provided with a secondary clamp (5) which slides along its length via an embedded electric slide rail (4). The thickness of the secondary clamp (5) does not exceed one-third of the main clamp (3). The auxiliary clamp (5) includes a clamping piece (501) that is connected to the electric slide rail (4) in a slot opened along the clamping surface of the main clamp (3). The end of the clamping piece (501) is hinged to an extension piece (502) via a rotating shaft (503). A gear groove (504) is opened on the surface of the rotating shaft (503). A rack (505) that meshes with the gear groove (504) is provided on the top surface of the clamping piece (501) along its length direction. A miniature electric push rod (506) connected to the rack (505) is provided on the clamping piece (501). The extension piece (502) and the clamping piece (501) are arranged in a straight line and move from front to back along the side of the file. When the extension piece (502) moves to the rear side of the file, the extension piece (502) rotates relative to the clamping piece (501) and remains perpendicular.

2. The unmanned archive storage and retrieval device according to claim 1, characterized in that: The rotating shaft (503) is fixed to the extension piece (502), and the thickness of the extension piece (502) gradually decreases from one end near the clamping piece (501) to the other end.

3. The file storage and retrieval device for an unmanned archive repository according to claim 1, characterized in that: The clamping surfaces of the two main clamps (3) are each embedded with a suction cup assembly (6), and the driver (2) is equipped with a suction device (601). The input end of the suction device (601) is connected to the suction cup assembly (6) through a ventilation pipe (602).

4. The file storage and retrieval device for an unmanned archive repository according to claim 3, characterized in that: The clamping surface of the auxiliary clamp (5) and the adsorption surface of the suction cup assembly (6) are both flat with the clamping surface of the main clamp (3).

5. The file storage and retrieval device for an unmanned archive repository according to claim 3, characterized in that: Between the two main clamps (3), there is a base support structure formed by a fixed hanging plate (7), a frame slide rail (701) and a movable hanging plate (702), and the number of base support structures is not less than two sets. The fixed hanging plate (7) and the movable hanging plate (702) are respectively installed at the bottom of the two main clamps (3), and the movable hanging plate (702) is slidably connected along the front and rear sides of the frame slide rail (701), and the fixed hanging plate (702) is fixedly connected to the frame slide rail (701).

6. The file storage and retrieval device for an unmanned archive repository according to claim 5, characterized in that: When the main clamp (3) moves to the front of the file to be grasped, the top of the base structure is not higher than the bottom of the file.

7. The file storage and retrieval device for an unmanned archive repository according to claim 5, characterized in that: Two rollers (703) are rotatably connected between the inner walls of the two sides of the frame slide rail (701), and the top of the rollers (703) is higher than the top surface of the frame slide rail (701).

8. The file storage and retrieval device for an unmanned archive repository according to claim 7, characterized in that: An airbag (704) is provided between two rollers (703) inside the frame slide rail (701). The air inlet of the airbag (704) is connected to the output end of the suction device (601) through an air guide pipe (705). The cross section of the airbag (704) after expansion is arranged in a T-shape, and its front and rear sides extend outward to cover the top surface of the roller (703).

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