Printed document transport robot and method of printed document transport

Abstract

The embodiment of the application discloses a printing document conveying robot and a printing document conveying method. The robot comprises a movable robot body, a file storage mechanism, a paper taking execution mechanism and a control mechanism. The file storage mechanism and the paper taking execution mechanism are arranged on the robot body. The file storage mechanism comprises a carrier for carrying a printing document. The paper taking execution mechanism comprises a movable mechanical arm and a paper rolling structure arranged on the mechanical arm. The mechanical arm is used for driving the paper rolling structure to move, so that the paper rolling structure is in contact with the printing document on the paper outlet of the printing device. The paper rolling structure is used for rolling the printing document onto the carrier. The control mechanism is electrically connected with the robot body and the paper taking execution mechanism respectively, so as to control the robot to execute the moving and paper taking operations, thereby enabling the robot to automatically obtain the printing document from the paper outlet of the printer.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a robot for transporting printed documents and a method for transporting printed documents. Background Technology

[0002] Printers are essential document output devices in office environments. After completing a printing job, users go to the printer to retrieve the printed documents. When a user's workstation is far from the printer or when handling continuous work, frequent trips to retrieve documents can disrupt their workflow, waste time, and reduce work efficiency.

[0003] To reduce the inconvenience of users having to travel back and forth to pick up printed documents, related technologies have emerged that have developed robots capable of transporting printed documents from one location to another according to a preset path.

[0004] However, existing transport robots of this type cannot autonomously retrieve printed documents from the printer's paper output slot. In actual use, dedicated personnel still need to be stationed at the printer to manually place the printed documents onto the robot, which then handles the subsequent transport. This results in high labor costs and low document retrieval efficiency, making it difficult to meet the demand for efficient and automated document delivery in office environments. Summary of the Invention

[0005] To solve the above-mentioned technical problems, or at least partially solve them, embodiments of this application provide a document transport robot and a method for transporting documents, which can automatically obtain documents from the printer's paper output port and transport them.

[0006] In a first aspect, embodiments of this application provide a document transport robot, comprising: A mobile robot body; A document storage mechanism is located on the robot body, and the document storage mechanism includes a carrier for carrying printed documents; A paper-picking mechanism is provided on the robot body. The paper-picking mechanism includes a movable robotic arm and a paper-feeding structure provided on the robotic arm. The robotic arm is used to drive the paper-feeding structure to move so that the paper-feeding structure contacts the printed document on the paper output port of the printing device. The paper-feeding structure is used to rub the printed document onto the carrier. The control mechanism is electrically connected to the robot body and the paper-picking actuator, respectively, to control the robot to perform movement and paper-picking operations.

[0007] Optionally, the paper feeding structure includes a paper feeding wheel assembly, the paper feeding wheel assembly including at least one rotatable paper feeding wheel; The paper feed roller has a rolling surface for contacting the printed document on the paper outlet, the rolling surface for rubbing the printed document onto the carrier during the rotation of the paper feed roller.

[0008] Optionally, the paper feed roller assembly further includes a connecting member, and the paper feed rollers are disposed on the connecting member; The connector is connected to the robotic arm and can swing relative to the robotic arm to adjust the posture of the paper feed rollers relative to the printed document.

[0009] Optionally, the paper feeding structure further includes a recognizer, which is electrically connected to the control mechanism. The recognizer is used at least to identify the identification information of the printed document on the paper output port. The paper feeding roller assembly is used to feed the printed document onto the carrier when the recognizer identifies the printed document as the target printed document. And / or, the paper-feeding structure further includes an auxiliary light-emitting element for providing auxiliary illumination.

[0010] Optionally, the carrier can be detachably disposed on the robot body; The robotic arm is equipped with a picking mechanism, which is used to pick up the carrier so that the carrier moves with the robotic arm and docks with the paper output port.

[0011] Optionally, the picking mechanism is further configured to release the carrier carrying the printed document to a preset position on the robot body after the paper-feeding structure has rubbed the printed document onto the carrier.

[0012] Optionally, the robot body is provided with a receiving slot for accommodating the robotic arm, and the robotic arm can be moved into or removed from the receiving slot.

[0013] Optionally, the robotic arm is at least capable of moving up and down in a first direction to drive the paper feeding structure up and down, and is also capable of extending and retracting in a second direction to bring the paper feeding structure closer to or away from the paper outlet; the second direction is perpendicular to the first direction.

[0014] Optionally, the robotic arm can also move laterally along a third direction, which is orthogonal to the second direction and the first direction.

[0015] Optionally, the file storage mechanism is electrically connected to the control mechanism; The file storage mechanism includes a plurality of carrier components, which are arranged along a circular path within the robot body and are movable along the circular path. The circular path has an intersection area, and the robot body has a pick-and-place port that docks with the intersection area.

[0016] Optionally, the file storage mechanism includes a circular track, on which a transmission component electrically connected to the control mechanism is disposed, and the bearing component is disposed on the transmission component. The control mechanism is also used to control the transmission component to move circumferentially along the circular track, so as to drive the bearing component to move. And / or, the carrier can be detachably disposed within the robot body.

[0017] Optionally, the loading / unloading port is provided with an openable and closable door to open or close the loading / unloading port.

[0018] Optionally, the document printing transport robot also includes a user identification mechanism, which is located on the robot body; The user identification mechanism and the hatch are electrically connected to the control mechanism. The user identification mechanism is used to identify the user's identity. The control mechanism is also used to control the file storage mechanism to transfer the carrier corresponding to the user to the handover area after the user's identity is successfully identified, and to control the hatch to open.

[0019] Optionally, the robot body includes a movable base and a main frame disposed on the base; The base is provided with a walking drive component and a navigation and obstacle avoidance unit, and the walking drive component and the navigation and obstacle avoidance unit are electrically connected to the control mechanism respectively; Both the document storage mechanism and the paper retrieval mechanism are mounted on the main frame.

[0020] Secondly, embodiments of this application provide a method for transporting printed documents using the printed document transport robot described above, the method comprising: Receive printing completion notification and corresponding task information; Control the robot to move to the target printing device; Control the movement of the robotic arm so that the paper feeding structure comes into contact with the printed document on the paper output port of the printing device; The paper feeding structure is controlled to move the printed document onto the carrier. Control the robot to move to the target user's location.

[0021] Optionally, the step of controlling the movement of the robotic arm to bring the paper feeding structure into contact with the printed document at the paper output of the printing device includes: Control the robotic arm to pick up an empty carrier; The robotic arm is controlled to move the empty carrier and the paper feeding structure, so that the empty carrier moves to a position where it aligns with the paper output port, and the paper feeding structure comes into contact with the printed document on the paper output port of the printing device.

[0022] Optionally, before the step of controlling the paper feeding structure to feed the printed document onto the carrier, the method further includes: The system identifies whether the identification information of the printed document at the paper output port matches the task information. If they match, the system controls the paper feeding structure to feed the printed document onto the carrier.

[0023] Optionally, after the step of controlling the paper feeding structure to feed the printed document onto the carrier, the method further includes: Release the carrier containing the printed document to a preset position on the circular path; Establish and store the association between the document information of the printed document and the location information of the carrier; After the step of controlling the robot body to move to the target user's location, the method further includes: Verify the target user's identity information; After successful verification, the control file storage mechanism will transfer the carrier associated with the target user to the handover area; The control hatch opens, allowing the user to retrieve the item through the pick-up / drop-off port.

[0024] The document transport robot and method provided in this application embodiment, by setting a document storage mechanism and a paper-fetching execution mechanism on the robot body, wherein the document storage mechanism includes a carrier for carrying the printed document, and the paper-fetching execution mechanism includes a robotic arm and a paper-feeding structure provided on the robotic arm. The robotic arm drives the paper-feeding structure to move, bringing the paper-feeding structure into contact with the printed document at the paper output port of the printing device, and the paper-feeding structure agitates the printed document onto the carrier. That is, the paper-feeding structure acts on the printed document in a agitating manner, actively providing a driving force for the printed document to detach from the paper output port, causing the printed document to move from the paper output port to the carrier under the action of the agitating force. Simultaneously, since the robot body is movable, it can move the entire robot to the printing device to pick up the paper and then move it to the user to deliver the document. In other words, the document transport robot of this application embodiment can automatically retrieve printed documents from the paper output port of the printing device while transporting printed documents, without the need for manual placement of the printed documents from the paper output port onto the robot. This reduces labor costs, improves the efficiency of document retrieval, and thus improves the overall efficiency of document transport, meeting to a certain extent the demand for efficient and automated document delivery in office and other environments.

[0025] Moreover, picking up paper by rubbing can, to some extent, avoid problems such as paper wrinkling and tearing that may occur when grasping or pinching, effectively protecting the paper and improving the stability and reliability of paper picking.

[0026] In addition, the rubbing method is more adaptable to the shape of the paper. Whether it is a single sheet, multiple sheets, thin paper or thick paper, the rubbing structure can effectively drive the paper to move through the rubbing method. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a document transport robot according to an embodiment of this application; Figure 2 This is a schematic diagram of the extended robotic arm of a document transport robot according to an embodiment of this application. Figure 3 This is a schematic diagram of the base, document storage mechanism, and paper dispensing mechanism according to an embodiment of this application; Figure 4 This is a schematic diagram of the paper-making structure and part of the robotic arm according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure of the base according to an embodiment of this application; Figure 6 This is a schematic diagram of the structure of the document transport robot described in one embodiment of this application when a hatch is provided on the pick-up and drop-off port; Figure 7 This is a schematic diagram of the state of the document transport robot described in one embodiment of this application when it moves to the side of the printing device and the robotic arm has not yet been extended. Figure 8 This is a schematic diagram of the state of the document transport robot according to an embodiment of this application after the carrier is picked up by the picking mechanism on the robotic arm; Figure 9 This is a schematic diagram of the state of the document transport robot described in one embodiment of this application when the carrier moves with the robotic arm to the position where it docks with the paper outlet, and the paper-feeding structure rubs the printed document from the paper outlet onto the carrier.

[0028] Explanation of reference numerals in the attached figures: 1. Robot body; 11. Base; 111. Walking drive component; 112. Navigation and obstacle avoidance unit; 113. Power module; 12. Main frame; 121. Receiving slot; 122. Pick-up and drop-off port; 13. Door; 2. Document storage mechanism; 21. Bearing component; 211. Mating part; 22. Circular track; 221. Transfer area; 3. Paper picking execution mechanism; 31. Robotic arm; 310. Pick-up mechanism; 311. Lifting structure; 312. Telescopic arm; 313. Lateral movement component; 32. Paper feeding structure; 320. Paper feeding roller assembly; 321. Paper feeding roller; 3211. Rolling surface; 322. Connector; 323. Recognizer; 324. Auxiliary light-emitting component; 4. User identification mechanism; 41. Near-field communication module; 42. Interactive screen; 5. Printed document. Detailed Implementation

[0029] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present application, not the entire structure.

[0030] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The concepts of "first," "second," etc., used in this application are only used to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies. It should be noted that the modifications "a" or "a plurality of" used in this application are illustrative rather than restrictive, and those skilled in the art should understand that, unless explicitly stated in the context, they should be understood as "one or more".

[0031] The printing equipment involved in this application includes, but is not limited to, printers, multifunction printers, fax machines, or other devices with printing or image forming functions.

[0032] Printing equipment has a paper output slot, from which printed paper documents are output. After the document is printed, it usually remains at the paper output slot, waiting for the user to pick it up.

[0033] This application provides a document transport robot and a method for transporting printed documents. The document transport robot can move in office environments and automatically retrieve printed documents from the paper output port of the printing device and deliver the printed documents to the user, thus meeting the demand for efficient and automated delivery of printed documents in office environments.

[0034] The following detailed description, with reference to the accompanying drawings and specific embodiments, illustrates the printing document transport robot and printing document transport method provided in this application: Reference Figures 1 to 9 As shown in the figure, this application embodiment provides a document transport robot, which includes: robot body 1, document storage mechanism 2, paper picking execution mechanism 3 and control mechanism (not shown in the figure).

[0035] The robot body 1 is movable and serves as the basic load-bearing component of the entire document printing and transporting robot. For example, the robot body 1 has a walking drive component 111 at its bottom, which may include Mecanum wheels, enabling the robot to move omnidirectionally on the ground.

[0036] The robot body 1 can also be equipped with a navigation and obstacle avoidance unit 112. For example, the navigation and obstacle avoidance unit 112 may include: LiDAR, a vision camera, and a Global Positioning System (GPS). The navigation and obstacle avoidance unit 112 perceives the surrounding environment and realizes functions such as positioning, path planning, and obstacle avoidance.

[0037] In a practical implementation, a power module 113 can also be installed inside the robot body 1. For example, the power module 113 may be a built-in rechargeable battery, a wired power supply unit, or a wireless power supply unit.

[0038] The document storage mechanism 2 is located on the robot body 1, and includes a carrier 21 for holding the printed document 5. For example, the carrier 21 can be a tray, box, or other container capable of holding the printed document 5.

[0039] A paper-fetching mechanism 3 is located on the robot body 1. This mechanism actively retrieves the printed document 5 from the paper output port of the printing device. Specifically, the paper-fetching mechanism 3 includes a movable robotic arm 31 and a paper-feeding structure 32 mounted on the robotic arm 31. The robotic arm 31 drives the paper-feeding structure 32 to move, bringing it into contact with the printed document 5 at the paper output port of the printing device. The paper-feeding structure 32 then feeds the printed document 5 onto the carrier member 21.

[0040] In other words, the paper-feeding structure 32 rubs the printed document 5 at the paper outlet, providing a driving force for the printed document 5 to move away from the paper outlet, so that the printed document 5 moves from the paper outlet to the carrier 21 under the action of the rubbing force, thereby realizing paper picking.

[0041] The control mechanism is electrically connected to at least the robot body 1 and the paper-fetching mechanism 3 to control the robot to perform movement and paper-fetching operations. For example, the control mechanism can receive external instructions (such as a printing completion notification), plan the robot's movement route, control the movement of the robotic arm 31, and control the paper feeding structure 32 to perform paper-fetching operations.

[0042] In practice, the document transport robot communicates with the printing equipment and user terminals (mobile phones or computers, etc.).

[0043] For example, User A opens a meeting document on their computer at their workstation. The user clicks the "Print" button, and in the pop-up print settings interface, selects the option "Deliver by robot after printing," and the printer begins printing. Alternatively, the user's terminal might send a print job notification to the robot's control mechanism. For example, this notification could include the printer's location (e.g., a printing area on the first floor), document identification information (e.g., a QR code, barcode, page number, header text, username, document number, or any information that uniquely identifies the document), and User A's user information (e.g., User A's name and workstation number 8 in area A on the first floor).

[0044] After receiving the task notification, the control mechanism plans a movement path to the printing area on the first floor based on the printer's location information, and controls the robot body 1 to move towards the target printer. During the movement, the navigation and obstacle avoidance unit 112 can perceive the surrounding environment and achieve autonomous movement and obstacle avoidance.

[0045] After the robot moves to the printing equipment, the control mechanism controls the robotic arm 31 to move. The robotic arm 31 drives the paper-feeding structure 32 mounted on it to move precisely to the printer's paper output port, so that the paper-feeding structure 32 contacts the surface of the top page of the printed document 5 at the output port. Then, the control mechanism controls the paper-feeding structure 32 to start working, feeding the printed document 5 onto the carrier 21. When the printed document 5 consists of multiple pages, the multiple pages of the printed document 5 are stacked at the output port. After the first page of the printed document 5 is fed out, the paper-feeding structure 32 then contacts the second page and feeds it out, until the entire printed document 5 is fed onto the carrier 21. By feeding the paper in this way, problems such as paper wrinkling and tearing that may occur with grasping or pinching methods can be avoided, effectively protecting the paper and improving the stability and reliability of paper feeding.

[0046] Then, based on user A's workstation information, the control mechanism plans the delivery route and controls the robot to move from the printer to user A's workstation, where user A takes the printed document 5 from the carrier 21.

[0047] For example, a dedicated track can be set up in the office area, and a track recognition sensor can be set up on the bottom of the robot body 1 so that the robot body 1 can move between the printer and the user workstation along the dedicated track.

[0048] How the robot performs path planning and how the robot communicates with the printing equipment / user terminal are known technologies in this field and will not be elaborated here.

[0049] The document transport robot and method provided in this application embodiment, by setting a document storage mechanism 2 and a paper-fetching execution mechanism 3 on the robot body 1, makes the document storage mechanism 2 include a carrier 21 for carrying the printed document 5, and the paper-fetching execution mechanism 3 include a robotic arm 31 and a paper-feeding structure 32 provided on the robotic arm 31. The robotic arm 31 drives the paper-feeding structure 32 to move, so that the paper-feeding structure 32 contacts the printed document 5 on the paper output port of the printing device, and the paper-feeding structure 32 rubs the printed document 5 onto the carrier 21. That is, the paper-feeding structure 32 acts on the printed document 5 in a rubbing manner, and can actively provide the driving force for the printed document 5 to leave the paper output port, so that the printed document 5 moves from the paper output port to the carrier 21 under the action of the rubbing force. At the same time, since the robot body 1 is movable, it can drive the entire robot to move to the printing device to pick up the paper, and move to the user to deliver the document. In other words, the document transport robot of this application embodiment can automatically retrieve the document 5 from the paper output port of the printing device while transporting the document 5. There is no need for manual placement of the document 5 from the paper output port onto the robot, which reduces labor costs, improves the efficiency of document 5 retrieval, and thus improves the overall transport efficiency of the document 5. To a certain extent, it meets the demand for efficient and automated delivery of document 5 in office and other environments.

[0050] Moreover, picking up paper by rubbing can, to some extent, avoid problems such as paper wrinkling and tearing that may occur when grasping or pinching, effectively protecting the paper and improving the stability and reliability of paper picking.

[0051] In addition, the rubbing method is more adaptable to the shape of the paper. Whether it is a single sheet, multiple sheets, thin paper or thick paper, the paper rubbing structure 32 can effectively drive the paper to move through the rubbing method.

[0052] Reference Figures 2 to 4 As shown, in some embodiments, the paper feed structure 32 includes a paper feed roller assembly 320, which includes at least one rotatable paper feed roller 321. The paper feed roller 321 has a rolling surface 3211 for contacting the printed document 5 on the paper outlet, the rolling surface 3211 for rubbing the printed document 5 onto the carrier 21 during the rotation of the paper feed roller 321.

[0053] When the paper feed roller 321 rotates, rolling friction is generated between the rolling surface 3211 of the paper feed roller 321 and the paper surface of the printed document 5, so that the printed document 5 is rubbed out from the paper outlet under the action of friction, and the printed document 5 moves forward under the guidance of the paper feed roller and falls into the carrier 21.

[0054] For example, the paper feed roller 321 can be made of a material with an appropriate coefficient of friction, such as silicone or rubber. The rolling surface 3211 can be a smooth surface or a textured, non-smooth surface to increase friction.

[0055] In a specific implementation, the paper feed roller assembly 320 may further include a paper feed drive component. The paper feed roller 321 is connected to the paper feed drive component, which is electrically connected to a control mechanism. The control mechanism controls the operation of the paper feed drive component, causing the paper feed roller 321 to rotate under its drive. This paper feed drive component may be, for example, a micro motor. The control mechanism controls the start / stop and speed of the micro motor, thereby controlling the start / stop and speed of the paper feed roller 321.

[0056] By including a paper feed structure 32 with a paper feed roller assembly 320, the paper feed roller assembly 320 including at least one paper feed roller 321, when the paper feed roller 321 rotates, the rolling surface 3211 forms rolling friction contact with the document surface. This rolling friction generates a continuous and stable feeding force on the printed document 5, improving the uniformity of force distribution on the printed document 5. Furthermore, the feeding method of the paper feed roller 321 does not leave scratches or cause paper deformation. Simultaneously, the paper feed roller 321 can work continuously, feeding multiple sheets of paper sequentially, further improving paper handling efficiency.

[0057] Reference Figure 4 As shown, for example, the paper feed roller assembly 320 includes two paper feed rollers 321, which are coaxially arranged, thereby further improving the uniformity of force on the printed document 5 during the feeding process and further improving the stability and reliability of paper feeding.

[0058] Reference Figure 2 and Figure 4 As shown, in some embodiments, the paper feed roller assembly 320 further includes a connector 322, on which the paper feed rollers 321 are disposed. The connector 322 is connected to the robotic arm 31 and can swing relative to the robotic arm 31 to adjust the posture of the paper feed rollers 321 relative to the printed document 5.

[0059] By allowing the connector 322 to swing relative to the robotic arm 31, the posture of the paper feed roller 321 becomes adjustable to conform to paper surfaces with different postures. For example, when there is a deviation in the angle or position of the printed document 5, the swinging of the connector 322 allows the rolling surface 3211 of the paper feed roller 321 to actively adapt to the actual posture of the printed document 5, thereby ensuring that the rolling surface 3211 remains in contact with the document surface, achieving effective contact, and ensuring the effective contact area and uniform distribution of feeding force between the paper feed roller 321 and the printed document 5, further improving the success rate and stability of paper picking. Furthermore, different printer models may have different paper output angles; by swinging the connector 322, the paper feed roller 321 can adapt to various angles, improving the robot's versatility.

[0060] For example, one end of the connector 322 is connected to the end of the robotic arm 31 via a pivot, and the connector 322 can swing around the pivot within a certain angle range. The paper-feeding structure 32 is installed at the other end of the connector 322.

[0061] In a specific implementation, the paper feed roller assembly 320 may further include a swing drive component, which is connected to both the control mechanism and the connecting member 322. The control mechanism controls the swing drive component to drive the connecting member 322 to swing. This swing drive component can be, for example, a motor. The control mechanism precisely controls the swing angle of the connecting member 322 by controlling the rotation angle of the motor, ensuring that the paper feed rollers 321 contact the printed document 5.

[0062] Of course, in other embodiments, the swing drive may not be provided. Instead, the connector 322 rotates by its own gravity or by spring force, so that the paper feed roller 321 automatically fits the surface of the printed document 5.

[0063] Combination Figure 2 and Figure 4 As shown, in some embodiments, the paper feed structure 32 further includes an identifier 323, which is electrically connected to the control mechanism. The identifier 323 is used at least to identify the identification information of the printed document 5 on the paper feed nozzle. The paper feed roller assembly 320 is used to feed the printed document 5 onto the carrier 21 when the identifier 323 identifies the printed document 5 as the target printed document.

[0064] For example, the recognizer 323 may include a camera.

[0065] When the robotic arm 31 moves the paper feeding mechanism 32 to the paper output position, the identifier 323 first identifies the printed document 5 at the paper output position and obtains the identification information on the printed document 5. This identification information may be, for example, a QR code, barcode, page number, header text, username, document number, or any information that can uniquely identify the document.

[0066] In practice, after receiving the identification information collected by the identifier 323, the control mechanism compares it with the corresponding target document identification information in the task notification. If the comparison results match, the current document is confirmed as the target printing document, and the control mechanism controls the paper feed roller assembly 320 to perform the paper feed operation. If the comparison results do not match, the control mechanism does not perform the paper feeding operation, and at this time, the control mechanism can issue an alarm prompt or wait for manual handling.

[0067] In other words, by identifying the user before picking up the paper, the robot avoids mistakenly picking up documents from non-target users into the carrier 21, thus improving the accuracy of paper picking.

[0068] For example, in a scenario where multiple people share a printing device, different users' printed documents 5 may be output to the same paper output slot one after another. Through the above settings, it is ensured that the robot only takes the target document belonging to the current task, preventing document confusion or wrong take.

[0069] In addition, the recognizer 323 can also recognize the angle of the paper feed roller assembly 320 relative to the printed document 5 after the paper feed structure 32 moves to the paper output port with the robotic arm 31, so that the control mechanism can adjust the swing of the connector 322 according to the angle to adjust the posture of the paper feed roller assembly 320 so that the paper feed roller assembly 320 contacts the printed document 5.

[0070] Continue to refer to Figure 4 As shown, in some embodiments, the paper-feeding structure 32 further includes an auxiliary light-emitting element 324, which is used for auxiliary lighting.

[0071] Specifically, the auxiliary light-emitting element 324 can be electrically connected to the control mechanism, which controls the auxiliary light-emitting element 324 to turn on, off, and adjust its brightness. For example, when the light is dim at the printer or in a dark environment, the auxiliary light-emitting element 324 can be used for illumination, thereby improving the ambient brightness, increasing the reliability of document recognition, and improving the smoothness and safety of the robot's movement.

[0072] For example, the auxiliary light-emitting element 324 may be a light-emitting diode (LED) or an incandescent lamp.

[0073] Reference Figures 2 to 9 As shown, in some embodiments, the carrier 21 is detachably mounted on the robot body 1. A picking mechanism 310 is provided on the robotic arm 31, which is used to pick up the carrier 21 so that the carrier 21 moves with the robotic arm 31 and docks with the paper output port.

[0074] For example, the control mechanism first controls the robotic arm 31 to move to the position where the carrier 21 is stored on the document storage mechanism 2, so that the picking mechanism 310 picks up an empty carrier 21. Then, the robotic arm 31 moves the carrier 21 together to the front of the paper output slot (e.g., Figure 9 As shown, directly in front of the document 5 (to the right of the printed document 5), the carrier 21 aligns with the paper output port. The paper feeding mechanism 32 then starts working, feeding the printed document 5 out of the paper output port, where it falls directly into the carrier 21.

[0075] In other words, the pickup mechanism 310 picks up the carrier 21 and connects it with the paper outlet. When the rubbing structure rubs the printed document 5, the printed document 5 can directly enter the connected carrier 21 from the paper outlet, shortening the transfer path of the printed document 5. This avoids the risk of the printed document 5 falling or being misaligned during the transfer process to a certain extent, and further improves the paper picking efficiency and reliability.

[0076] In some embodiments, the picking mechanism 310 is also used to release the carrier 21 carrying the printed document 5 to a preset position on the robot body 1 after the paper-feeding structure 32 feeds the printed document 5 onto the carrier 21.

[0077] For example, after the paper is picked up, the robotic arm 31 moves and puts the carrier 21 carrying the printed document 5 back to its original position, thus improving the stability of the carrier 21 during the robot's movement.

[0078] For example, the pickup mechanism 310 includes an electromagnet, and the carrier 21 is provided with a mating part 211 that can cooperate with the electromagnet. When the electromagnet is energized, it generates magnetic force, which magnetically engages with the mating part 211, thus attracting the carrier 21 away. The mating part 211 can be, for example, a metal material that can be magnetically attracted to the electromagnet. When the electromagnet is de-energized, the force between the electromagnet and the mating part 211 disappears, releasing the carrier 21 to a preset position. Alternatively, the mating part 211 can be a magnetic body, and the attraction or disconnection between the electromagnet and the mating part 211 can be achieved by changing the direction of the current flowing through the electromagnet.

[0079] Of course, in other implementations, the picking mechanism 310 may also include a pneumatic suction cup to adsorb the carrier 21.

[0080] Reference Figures 1 to 3 , Figures 6 to 9 As shown, in some embodiments, the robotic arm 31 is at least capable of moving up and down in a first direction to drive the paper feeding structure 32 up and down, and is also capable of extending and retracting in a second direction to bring the paper feeding structure 32 closer to or further away from the paper outlet, the second direction being perpendicular to the first direction.

[0081] For ease of explanation, the first direction in this article can be... Figures 7 to 9 The Z direction in the figure can specifically refer to the height direction of the printing device, i.e., the vertical direction. The second direction can be... Figures 7 to 9 The X direction can specifically be the depth direction of the printing device, that is, the depth direction in the horizontal direction.

[0082] For example, by moving the robotic arm 31 along the first direction, the paper feeding structure 32 can be adjusted to the same height as the paper outlet, and then moved along the second direction towards the paper outlet to pick up paper. By coordinating the two directions, the position of the paper feeding structure 32 in the height and paper outlet depth directions can be flexibly adjusted, so that the paper feeding structure 32 can be adapted to the paper outlets of printing equipment with different heights and depths, improving the reliability of paper picking and the robot's adaptability to different printing equipment.

[0083] In some embodiments, the robotic arm 31 is also capable of lateral movement along a third direction. The third direction, the second direction, and the first direction are orthogonal.

[0084] For ease of explanation, the third party in this article can be... Figures 7 to 9 The Y direction shown can specifically be the width direction of the printer, that is, the width direction in the horizontal direction.

[0085] By enabling the robotic arm 31 to move along three mutually orthogonal directions (first, second, and third), it can conveniently and precisely position the paper feeding structure 32 in three-dimensional space. This means that regardless of changes in the height, depth, or lateral position of the paper outlet, compensation can be made through movement in three directions, ensuring optimal contact between the paper feeding structure 32 and the printed document 5. This further improves the stability and reliability of paper handling. Furthermore, it allows the robot to be used with different types of printing equipment, enhancing its versatility and flexibility.

[0086] For example, continue to combine Figures 1 to 9 As shown, the robotic arm 31 may include a lifting structure 311, a telescopic arm 312, and a lateral movement component 313. The lifting structure 311 is connected to the robot body 1 and can move up and down in a first direction. The lifting structure 311 may include a linear motor, or alternatively, a cylinder or a lead screw mechanism, as long as it can drive the paper-feeding structure 32 to move vertically. The lateral movement component 313 is connected to the lifting structure 311 and can move up and down synchronously with it. The lateral movement component 313 may include a lateral movement rod extending in a third direction, with one end connected to the lifting structure 311. The telescopic arm 312 is mounted on the lateral movement component 313 and can move relative to it in a third direction. The telescopic arm 312 can extend or retract in a second direction. The telescopic arm 312 may be slidably connected to the lateral movement rod. The telescopic arm 312 may include a telescopic drive component and an arm body. The telescopic drive component drives the arm body to extend and retract. The arm body may be a multi-stage arm, and the telescopic drive component may be a linear motor, cylinder, or other similar structure. The paper feeding structure 32 is provided, for example, at the end of the telescopic arm 312 (i.e., the end of the telescopic arm 312 away from the lateral movement member 313).

[0087] Specifically, the lifting structure 311 drives the horizontal moving member 313 and the telescopic arm 312 to rise and fall, thereby adjusting the height of the paper feeding structure 32 relative to the paper outlet; by moving the telescopic arm 312 along the horizontal moving member 313, the position of the paper feeding structure 32 relative to the paper outlet in the width direction is adjusted; by extending and retracting the telescopic arm 312 along the second direction, the position of the paper feeding structure 32 relative to the paper outlet in the depth direction is adjusted.

[0088] Reference Figures 2 to 4 , Figure 8 and Figure 9 As shown, the pickup mechanism 310 can be located at the bottom of the telescopic arm 312, away from the paper feed structure. The mating part 211 of the carrier 21 can be located at the end of the carrier 21 away from the paper feed port, so that the connection between the pickup mechanism 310 and the mating part 211 will not affect the entry of the printed document 5 into the carrier 21, thus improving the smoothness of paper feeding while ensuring the reliability of the connection.

[0089] Continue to refer to Figure 2 , Figures 7 to 9 As shown, in some embodiments, the robot body 1 is provided with a receiving slot 121 for accommodating the robotic arm 31, and the robotic arm 31 can be moved into or out of the receiving slot 121.

[0090] The receiving slot 121 provides storage space for the robotic arm 31. For example, before the robot moves to the printing device or after the paper picking operation is completed, the robotic arm 31 can be moved into the receiving slot 121 to avoid collisions with surrounding environmental components when the robotic arm 31 passes through narrow spaces or approaches obstacles. This not only effectively protects the robotic arm 31 and reduces the risk of collision, but also improves the structural safety of the robot during movement. In addition, it makes the robot's appearance simpler and reduces the overall space occupied by the robot.

[0091] For example, before the robot moves to the printing device, the robotic arm 31 is located within the receiving slot 121, such as... Figure 7 As shown in the diagram. After the robot moves to the printing device, the lifting structure 311 first rises, the telescopic arm 312 moves laterally along the lateral movement member 313 to the position where the picking mechanism 310 aligns with the carrier member 21, the lifting structure 311 descends, the picking mechanism 310 picks up the carrier member 21, and then the lifting structure 311 rises again, as shown in the diagram. Figure 8 As shown in the diagram. Next, the telescopic arm 312 extends toward the paper output port, aligning the carrier 21 with the paper output port, and the paper feed roller 321 contacts the printed document 5 on the paper output port, as shown. Figure 9 The state shown.

[0092] In some embodiments, the file storage mechanism 2 is electrically connected to the control mechanism.

[0093] The file storage mechanism 2 includes multiple carriers 21 arranged along a circular path within the robot body 1 and movable along the circular path. For example, the circular path may be, but is not limited to, a circular ring, an elliptical ring, etc.

[0094] The circular path has an intersection area 221, and the robot body 1 has a pick-and-place port 122 that docks with the intersection area 221.

[0095] By including multiple carriers 21 in the document storage mechanism 2, the robot can simultaneously carry multiple printed documents 5, enabling it to continuously perform multiple paper-fetching tasks without immediately delivering each document after it has been fetched. This improves the robot's task processing capability and meets the parallel storage requirements of multiple printing tasks. Furthermore, by arranging the multiple carriers 21 along a circular path, as many carriers 21 as possible can be accommodated within the limited space of the robot body 1, thus improving space utilization.

[0096] The aforementioned handover area 221 can be, for example, the handover area for the carrier 21 or the location where users hand over documents. For instance, after the paper-fetching mechanism 3 completes paper fetching, the carrier 21 carrying the document is received and stored by the document storage mechanism 2. At this time, the control mechanism can establish and store the document information of the currently fetched printed document 5 and the specific position of the carrier 21 it is placed on the circular track. For example, the carrier 21 for user A's printed document 5 is located at position 2 on the circular path. When a document needs to be fetched, the control mechanism controls the carrier 21 to move along the circular path, moving the carrier 21 at position 2 to the handover area 221, where the user can retrieve the document from the pick-up / placement port 122, improving the convenience of operation. After the user takes the document from the pick-up / placement port 122, the empty carrier 21 can continue to move along the circular path, preparing for the next paper fetching task.

[0097] When the carrier 21 is detachably located within the robot body 1, the picking mechanism 310 on the robotic arm 31 can directly pick up the empty carrier 21 from the junction area 221 of the circular track 22, so that the empty carrier 21 aligns with the paper output slot. After paper pickup is completed, the robotic arm 31 moves, causing the picking mechanism 310 to release the carrier 21 into the empty space on the circular track. That is, after completing one document delivery, the carrier 21 automatically enters the accurate state for the next paper pickup without manual intervention, realizing the closed-loop recycling of the carrier 21. No manual replenishment of the carrier 21 is required, enabling the robot to continuously and efficiently handle multiple printing tasks.

[0098] In some embodiments, the file storage mechanism 2 includes a ring track 22, on which a transmission component (not shown) electrically connected to a control mechanism is provided. The control mechanism is also used to control the transmission component to move circumferentially along the ring track 22 to drive the carrier 21 to move.

[0099] It is understood that the circular track 22 is a guide rail or path for the movement of the load-bearing component 21. The circular track 22 can be made of materials such as metal or plastic, and its shape is not limited to circular, elliptical, etc.

[0100] The transmission component can be a ring chain, ring belt, etc., set on the ring track 22, and multiple load-bearing components 21 are arranged at intervals on the transmission component.

[0101] When the control mechanism controls the transmission component to move along the circular track 22, the carrier component 21 installed on the transmission component also moves accordingly. By controlling the direction and distance of movement of the transmission component, the control mechanism can accurately move any carrier component 21 to any position on the circular track 22, including the aforementioned junction area 221.

[0102] Specifically, the carrier component 21 can be detachably mounted on the transmission component. For example, if the carrier component 21, the circular track 22, or the transmission component is damaged, the carrier component 21 can be separated from the transmission component, and only the damaged part can be replaced, thus avoiding the scrapping of the entire structure and reducing maintenance costs.

[0103] For example, the transmission component has an upward-facing insertion groove, and the bottom of the carrier 21 has an insertion protrusion. When the carrier 21 is placed on the transmission component, the insertion protrusion is inserted into the insertion groove, thus achieving rapid positioning and rapid separation between the carrier 21 and the transmission component.

[0104] In other embodiments, the transmission member may have a positioning hole and the carrier member 21 may have a hook. When the carrier member 21 is placed on the transmission member, the hook is engaged in the positioning hole. When the carrier member 21 is subjected to an external picking force, the hook is disengaged from the positioning hole.

[0105] Combination Figure 1 , Figure 2 and Figure 6 As shown, in some embodiments, the pick-up and drop-off port 122 is provided with an openable and closable hatch 13 to open or close the pick-up and drop-off port 122.

[0106] By providing a door 13 to the loading / unloading port 122, the loading / unloading port 122 is isolated from the outside when the door 13 is closed. For example, when not retrieving items, the door 13 closes the loading / unloading port 122, preventing external personnel from accessing the printed document 5 inside the robot. The door 13 only opens when the user retrieves the item, preventing the loading / unloading port 122 from being constantly open and causing the printed document inside to be exposed and viewed or taken away at will, thus improving the security of document storage. Moreover, when the door 13 is open and closed, it can also prevent dust, paper scraps, and other foreign objects from entering the robot's interior, ensuring the cleanliness and normal operation of the robot's internal mechanisms.

[0107] For example, the hatch 13 can be electrically driven, such as by a hatch motor mounted on the robot body 1, which is connected to both the hatch 13 and the control mechanism. The control mechanism controls the hatch motor to open or close the hatch 13. The hatch 13 can move by rotation or translation, etc.

[0108] Continue to refer to Figures 1 to 9 As shown, in some embodiments, the robot body 1 is also provided with a user identification mechanism 4, which is located on the robot body 1. The user identification mechanism 4 and the hatch 13 are electrically connected to the control mechanism, and the user identification mechanism 4 is used to identify the user's identity. After the user's identity is successfully identified, the control mechanism controls the file storage mechanism 2 to move the carrier 21 corresponding to the user to the handover area 221 and controls the hatch 13 to open.

[0109] For example, user identification mechanisms may include at least one of a facial recognition camera, a fingerprint recognition module, a near field communication (NFC) module, and a password input keyboard.

[0110] In addition, the user identification mechanism may also include an interactive screen 42, on which a face recognition camera, fingerprint recognition module, etc. can be installed.

[0111] In practice, the user identification agency 4 sends the collected user identification information to the control agency, which then compares the received user identification information with the user information in the task notification. If the comparison results match, the current user is confirmed as the legitimate recipient of the document, and the control agency opens the control hatch 13 to allow the user to retrieve the document from the pick-up / drop-off port 122.

[0112] When the file storage mechanism 2 includes multiple carriers 21, after user authentication is successful, the control mechanism first controls the file storage mechanism 2 to move the carrier 21 corresponding to the current user along a circular path to the handover area 221. After the target carrier 21 is in place, the control mechanism then controls the hatch 13 to open, allowing the user to retrieve the document from the pick-up / drop-off port 122. After the document is retrieved, the control mechanism controls the hatch 13 to close and controls the robot to perform the next delivery task or return to the standby area to wait for the next task.

[0113] As described above, before the hatch 13 is opened, the user identification mechanism 4 first identifies the current user's identity information. Only when the identification is successful will the hatch 13 be opened for the user to retrieve the document, thereby further ensuring the security of the document.

[0114] For example, the user identification mechanism 4 can be set on one side of the top of the robot body 1, the receiving slot 121 can be located on the other side of the top of the robot body 1, and the pick-up and drop-off port 122 can be located in the middle area of ​​the top of the robot body 1.

[0115] By setting up multiple carriers 21 arranged along a circular path, and setting up a door 13 and a user identification mechanism 4, the situation of easy document confusion and chaotic document retrieval order is avoided in the scenario where multiple people share a printer. At the same time, the user's printed document information is effectively protected, avoiding the leakage of sensitive information and the occurrence of information security incidents.

[0116] Reference Figures 1 to 6 As shown, in some embodiments, the robot body 1 includes a movable base 11 and a main frame 12 disposed on the base 11. Exemplarily, the main frame 12 can be fixedly connected to the base 11 by welding or other means. Alternatively, it can be detachably connected to the base 11 by clips, bolts, or other means.

[0117] The walking drive unit 111 and the navigation and obstacle avoidance unit 112 are specifically mounted on the base 11. The document storage mechanism 2, the paper retrieval mechanism 3, and the user identification mechanism 4 are all mounted on the main frame 12. For example, the control mechanism can be mounted inside the base 11.

[0118] This application also provides a method for transporting printed documents, which is performed by all or part of the printed document transport robot provided in the above embodiments.

[0119] The method for transporting printed documents according to embodiments of this application includes: S101. Receive the printing completion notification and the corresponding task information.

[0120] That is, receiving print job notifications, which include the printer's location, document identification information, user information, etc.

[0121] S102, Control the robot to move to the target printing device.

[0122] Based on the task notification, the control mechanism plans the path and controls the robot to move from its current position to the target printing device.

[0123] S103, control the robotic arm 31 to move so that the paper feeding structure 32 comes into contact with the printed document 5 on the paper output port of the printing device.

[0124] S104, Control the paper feeding structure 32 to feed the printed document 5 onto the carrier 21.

[0125] S105. Control the robot body 1 to move to the target user's location.

[0126] Optionally, step S103 may specifically include: First, the robotic arm 31 picks up the empty carrier 21, and then the robotic arm 31 moves the carrier 21 and the paper feeding structure 32, so that the carrier 21 moves to the position where it docks with the paper outlet, and the paper feeding structure 32 comes into contact with the printed document 5 on the paper outlet of the printing device.

[0127] Optionally, before step S104, the method may further include: identifying whether the identification information of the printed document 5 at the paper feed position matches the task information using the recognizer 323. If they match, then step S104 is executed.

[0128] When the file storage mechanism 2 includes multiple carriers 21, the multiple carriers 21 are arranged along a circular path and can move along the circular path, after step S104, the method may further include: placing the carrier 21 carrying the printed document 5 at a preset position on the circular path, establishing and storing the association between the document information of the printed document 5 and the position information of the carrier 21, and the association may be stored in the control mechanism.

[0129] Optionally, after step S105, the method may further include: After verifying the target user's identity information, the control file storage mechanism 2 moves the carrier 21 associated with the target user to the handover area 221. Then, the control hatch 13 opens, allowing the user to retrieve the item from the retrieval port 122.

[0130] The following is a detailed explanation of the document transport robot and its transport method through a specific example: 1) User A prints a confidential document on his computer and selects "Print and Send" in the print settings.

[0131] 2) After the printer finishes printing, it sends a notification to the robot's central server (the notification should include at least the file identifier, user A's information, and the printer's location).

[0132] 3) The idle robot receives the task and navigates to the target printer.

[0133] 4) The robot uses lidar and a camera to precisely locate the printer's paper output slot. It controls the paper-picking mechanism 3 to pick up an empty carrier 21, causing the carrier 21 to disengage from the circular track 22.

[0134] 5) Adjust the telescopic arm 312 so that the paper feeding structure 32 is close to the paper output port. The recognizer 323 recognizes the document header information at the paper output port and confirms that it matches the task information.

[0135] 6) Control the connector 322 to swing so that the rolling surface 3211 of the paper feed roller 321 contacts the topmost paper, and rotate the paper feed roller 321 to feed the entire document into the carrier 21.

[0136] 7) The robotic arm 31 places the carrier 21 containing the documents back into an empty slot on the circular track 22. The control mechanism records the position of the carrier 21 and binds it to user A.

[0137] 8) The robot navigates to user A's workstation based on the workstation information. Upon arrival, interactive screen 42 prompts user A to verify their identity.

[0138] 9) User A verifies the identity by swiping a card via NFC. After successful verification, the control mechanism drives the transmission component on the circular track 22 to move the carrier 21 bound to User A to the top transfer area 221.

[0139] 10) The hatch 13 opens, and user A takes the documents. The empty carrier 21 continues to cycle on the circular track 22. The robot completes its task and returns to the waiting area or performs the next task.

[0140] Other technical features and specific implementation principles are the same as those in the above embodiments, and can be referred to the description of the above embodiments, which will not be repeated here.

[0141] The document delivery robot and document delivery method provided in this application embodiment can replace the user in completing the entire process from picking up the document from the printing device, temporary storage to accurate delivery to the user's workstation. The user can receive the document without leaving the workstation. It is especially suitable for open office and multi-floor office scenarios, ensuring the continuity and focus of work, ensuring document security, improving office efficiency, and realizing intelligent and private document delivery.

[0142] The above description is merely an embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A document printing and transporting robot, characterized in that, include: A mobile robot body; A document storage mechanism is located on the robot body, and the document storage mechanism includes a carrier for carrying printed documents; A paper-picking mechanism is provided on the robot body. The paper-picking mechanism includes a movable robotic arm and a paper-feeding structure provided on the robotic arm. The robotic arm is used to drive the paper-feeding structure to move so that the paper-feeding structure contacts the printed document on the paper output port of the printing device. The paper-feeding structure is used to rub the printed document onto the carrier. The control mechanism is electrically connected to the robot body and the paper-picking actuator, respectively, to control the robot to perform movement and paper-picking operations.

2. The document transport robot according to claim 1, characterized in that, The paper feeding structure includes a paper feeding roller assembly, which includes at least one rotatable paper feeding roller. The paper feed roller has a rolling surface for contacting the printed document on the paper outlet, the rolling surface for rubbing the printed document onto the carrier during the rotation of the paper feed roller.

3. The document transport robot according to claim 2, characterized in that, The paper feed roller assembly also includes a connector, and the paper feed rollers are disposed on the connector; The connector is connected to the robotic arm and can swing relative to the robotic arm to adjust the posture of the paper feed rollers relative to the printed document.

4. The document transport robot according to claim 2, characterized in that, The paper feeding structure also includes a recognizer, which is electrically connected to the control mechanism. The recognizer is used to at least identify the identification information of the printed document on the paper output port. The paper feeding roller assembly is used to feed the printed document onto the carrier when the recognizer identifies the printed document as the target printed document. And / or, the paper-feeding structure further includes an auxiliary light-emitting element for providing auxiliary illumination.

5. The document transport robot according to claim 1, characterized in that, The carrier component is detachably disposed on the robot body; The robotic arm is equipped with a picking mechanism, which is used to pick up the carrier so that the carrier moves with the robotic arm and docks with the paper output port.

6. The document transport robot according to claim 5, characterized in that, The picking mechanism is also used to release the carrier carrying the printed document to a preset position on the robot body after the paper-feeding structure has rubbed the printed document onto the carrier.

7. The document transport robot according to any one of claims 1 to 6, characterized in that, The robot body is provided with a receiving slot for accommodating the robotic arm, and the robotic arm can be moved into or removed from the receiving slot.

8. The document transport robot according to any one of claims 1 to 6, characterized in that, The robotic arm is capable of lifting and lowering in at least a first direction to drive the paper feeding structure to lift and lower, and is capable of extending and retracting in a second direction to bring the paper feeding structure closer to or away from the paper outlet. The second direction is perpendicular to the first direction.

9. The document transport robot according to claim 8, characterized in that, The robotic arm is also capable of lateral movement along a third direction, which is orthogonal to the second direction and the first direction.

10. The document transport robot according to any one of claims 1 to 6, characterized in that, The file storage mechanism is electrically connected to the control mechanism; The file storage mechanism includes a plurality of carrier components, which are arranged along a circular path within the robot body and are movable along the circular path. The circular path has an intersection area, and the robot body has a pick-and-place port that docks with the intersection area.

11. The document transport robot according to claim 10, characterized in that, The file storage mechanism includes a circular track, on which a transmission component electrically connected to the control mechanism is provided. The support component is disposed on the transmission component. The control mechanism is used to control the transmission component to move circumferentially along the circular track, so as to drive the support component to move. And / or, the carrier can be detachably disposed within the robot body.

12. The document transport robot according to claim 10, characterized in that, The loading / unloading port is equipped with an openable and closable door to open or close the loading / unloading port.

13. The document transport robot according to claim 12, characterized in that, The document printing and transporting robot also includes a user identification mechanism, which is located on the robot body. The user identification mechanism and the hatch are electrically connected to the control mechanism. The user identification mechanism is used to identify the user's identity. The control mechanism is also used to control the file storage mechanism to transfer the carrier corresponding to the user to the handover area after the user's identity is successfully identified, and to control the hatch to open.

14. The document transport robot according to any one of claims 1 to 6, characterized in that, The robot body includes a movable base and a main frame disposed on the base; The base is provided with a walking drive component and a navigation and obstacle avoidance unit, and the walking drive component and the navigation and obstacle avoidance unit are electrically connected to the control mechanism respectively; Both the document storage mechanism and the paper retrieval mechanism are mounted on the main frame.

15. A method for transporting printed documents using a document transport robot as described in any one of claims 1 to 14, characterized in that, The method includes: Receive printing completion notification and corresponding task information; Control the robot to move to the target printing device; Control the movement of the robotic arm so that the paper feeding structure comes into contact with the printed document on the paper output port of the printing device; The paper feeding structure is controlled to move the printed document onto the carrier. Control the robot to move to the target user's location.

16. The method according to claim 15, characterized in that, The step of controlling the movement of the robotic arm to bring the paper feeding structure into contact with the printed document at the paper output port of the printing device includes: Control the robotic arm to pick up an empty carrier; The robotic arm is controlled to move the empty carrier and the paper feeding structure, so that the empty carrier moves to a position where it aligns with the paper output port, and the paper feeding structure comes into contact with the printed document on the paper output port of the printing device.

17. The method according to claim 15, characterized in that, Before the step of controlling the paper feed structure to feed the printed document onto the carrier, the method further includes: The system identifies whether the identification information of the printed document at the paper output port matches the task information. If they match, the system controls the paper feeding structure to feed the printed document onto the carrier.

18. The method according to claim 15, characterized in that, After the step of controlling the paper feed structure to feed the printed document onto the carrier, the method further includes: Release the carrier containing the printed document to a preset position on the circular path; Establish and store the association between the document information of the printed document and the location information of the carrier; After the step of controlling the robot to move to the target user's location, the method further includes: Verify the target user's identity information; After successful verification, the control file storage mechanism will transfer the carrier associated with the target user to the handover area; The control hatch opens, allowing the user to retrieve the item through the pick-up / drop-off port.

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