Pick-and-place mechanism and archive management robot

Abstract

The utility model describes a pick-and-place mechanism and an archive management robot, the pick-and-place mechanism is used for being installed on a mechanical arm of the archive management robot, and the pick-and-place mechanism comprises a clamping mechanism used for clamping an archive box; the moving mechanism comprises a first driving assembly, a first gear, a second gear and a belt, the belt surrounds the first gear and the second gear, the first driving assembly is connected to the first gear, and the first driving assembly is used for driving the first gear to drive the second gear and the belt to rotate; the clamping mechanism is connected with the belt, so that the first driving assembly can drive the clamping mechanism to move; and the positioning frame can play a role in positioning the file box clamped by the clamping mechanism. Therefore, the file box taking and placing mechanism is more stable and reliable in the file box taking and placing process, noise is low in the operation process, and the working environment is not affected.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a taking and placing mechanism and a file management robot. Background Art

[0002] Paper archives have the advantages of being difficult to change, confidential, and unique, and are still widely used in various units. With the development of society, the number of archives is also increasing, and achieving efficient management of archives has become the direction of development of the archives industry.

[0003] Some existing archives use robots for archive management, but these robots usually adopt negative pressure suction when taking and placing file boxes. This method of taking and placing lacks stability. If the suction is unstable, there is a risk of falling. In addition, the air pump makes a lot of noise, affecting the working environment. Utility Model Content

[0004] In view of the above existing situation, the present invention provides a picking and placing mechanism and a file management robot, which are more stable and reliable in the process of picking and placing file boxes, and have less noise during operation, and do not affect the working environment.

[0005] To this end, the first aspect of the utility model provides a pick-and-place mechanism for installation on a mechanical arm of a file management robot, comprising: a clamping mechanism for clamping the file box; a moving mechanism, comprising a first drive component, a first gear, a second gear and a belt, the first gear and the second gear are arranged at an interval, and the belt is wrapped around the first gear and the second gear, the first drive component is connected to the first gear, the first drive component is used to drive the first gear to drive the second gear and the belt to rotate, the clamping mechanism is connected to the belt so that the first drive component can drive the clamping mechanism to move; a positioning frame, connected to the mechanical arm, and the moving mechanism is connected to the positioning frame, the moving mechanism drives the clamping mechanism to move into the positioning frame, so that the positioning frame can position the file box clamped by the clamping mechanism.

[0006] In the pick-and-place mechanism involved in the utility model, optionally, the pick-and-place mechanism also includes a plurality of auxiliary positioning components, and the plurality of auxiliary positioning components are connected to the positioning frame; at least two of the auxiliary positioning components are arranged opposite to each other to clamp the opposite sides of the file box located in the positioning frame.

[0007] In the pick-and-place mechanism involved in the utility model, optionally, the auxiliary positioning component includes: an elastic member, one end of which is connected to the positioning frame; a positioning member, connected to one end of the elastic member facing away from the positioning frame, and the elastic reset force of the elastic member is used to push the positioning member to the outside of the file box.

[0008] In the pick-and-place mechanism involved in the utility model, optionally, the auxiliary positioning assembly also includes a guide member, which is connected to the positioning frame; the guide member and / or the positioning frame is provided with a groove, and the elastic member is located in the groove; the guide member is also provided with a guide groove that passes through the groove, the positioning member partially passes through the guide groove, and the positioning member is partially located between the guide member and the positioning frame; the positioning member can be flexibly extended and retracted in the guide groove under the action of the elastic member or external force.

[0009] In the pick-and-place mechanism involved in the utility model, optionally, the moving mechanism includes a mounting plate connected to the positioning frame, and the first driving assembly, the first gear and the second gear are mounted on the mounting plate.

[0010] In the pick-and-place mechanism involved in the utility model, optionally, the positioning frame includes a connecting surface, and the connecting surface is connected to the robotic arm; the belt wrapped around the first gear and the second gear forms a first section and a second section parallel to each other, the first section is close to the connecting surface, and the clamping mechanism is connected to the first section.

[0011] In the pick-and-place mechanism involved in the utility model, optionally, the moving mechanism also includes a plurality of tensioning wheels installed on the mounting plate; the plurality of tensioning wheels are located on the outside of the second section, and the tensioning wheels are used to support the second section of the belt.

[0012] In the pick-and-place mechanism involved in the utility model, optionally, the pick-and-place mechanism also includes a slide rail and a slider; the slider is fixedly connected to the mounting plate, the slider is slidably connected to the slide rail, and the slider is fixedly connected to the clamping mechanism; the slide rail is parallel to the movement direction of the clamping mechanism.

[0013] In the pick-and-place mechanism involved in the utility model, optionally, the clamping mechanism moves between a first position and a second position driven by the moving mechanism; the moving mechanism also includes a first sensor and a second sensor arranged at intervals, the first sensor being used to obtain a position signal when the clamping mechanism moves to the first position, and the second sensor being used to obtain a position signal when the clamping mechanism moves to the second position.

[0014] In the pick-and-place mechanism involved in the utility model, optionally, the moving mechanism further includes a first limit member and a second limit member arranged at intervals, and the first limit member and the second limit member are used to limit the movement of the clamping mechanism between the first position and the second position.

[0015] In the picking and placing mechanism involved in the utility model, optionally, the clamping mechanism includes a first clamping member, a second clamping member, a second driving assembly and a mounting seat, and the second driving assembly is installed in the mounting seat; the first clamping member and the second clamping member are respectively connected to the second driving assembly, and the second driving member is used to drive the first clamping member and the second clamping member to move closer to or away from each other, so as to clamp or release the file box.

[0016] In the pick-and-place mechanism involved in the utility model, optionally, the first clamping member is provided with a first protective pad on the side of the second clamping member relative to the first clamping member, and the second clamping member is provided with a second protective pad on the side of the first clamping member relative to the first clamping member.

[0017] In the pick-and-place mechanism involved in the utility model, optionally, the clamping mechanism also includes a first connecting member and a second connecting member, the first connecting member is connected to the mounting seat, and the second connecting member is connected to the first connecting member; the first connecting member is at least partially opposite to the second connecting member, the belt is clamped between the first connecting member and the second connecting member, and the first connecting member and / or the second connecting member are provided with teeth that engage with the belt.

[0018] In the pick-and-place mechanism involved in the utility model, optionally, the pick-and-place mechanism also includes a visual positioning component and a third sensor; the visual positioning component is connected to the positioning frame, and the visual positioning component is used to find the specific position of the target file box; the third sensor is connected to the positioning frame, and the third sensor is used to determine whether there is a target file box

[0019] A second aspect of the utility model provides a file management robot, comprising the pick-and-place mechanism as described above.

[0020] The pick-and-place mechanism involved in the utility model includes a clamping mechanism, a moving mechanism and a positioning frame, wherein the clamping mechanism adopts a clamping method to pick up and place the file box. On the one hand, after the clamping mechanism clamps the file box, the file box is transferred to the positioning frame through the moving mechanism, which can further position the clamped file box, making the clamping more stable. On the other hand, the clamping method can reduce noise compared with the traditional negative pressure adsorption method. In addition, the moving mechanism includes a first drive assembly, a first gear, a second gear and a belt. Since the belt has good elasticity, the utility model adopts a belt transmission method to mitigate impact and absorb vibration, making the process of picking up and placing the file box run more smoothly. Therefore, the pick-and-place mechanism involved in the utility model is more stable and reliable in the process of picking up and placing the file box, and the noise during operation is small, which does not affect the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Embodiments of the present invention will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:

[0022] Figure 1 It is a schematic diagram showing the overall structure of the file management robot involved in the present application when gripping a file box.

[0023] Figure 2 It is another overall structural schematic diagram showing the file management robot involved in the present application when gripping a file box.

[0024] Figure 3 It is a schematic diagram showing the overall structure of the pick-and-place mechanism involved in the present application.

[0025] Figure 4 It is another overall structural schematic diagram showing the pick-and-place mechanism involved in the present application.

[0026] Figure 5 is an exploded view showing the pick-and-place mechanism involved in the present application.

[0027] Figure 6 is another exploded view showing the pick-and-place mechanism involved in the present application.

[0028] Figure 7 It is a partial exploded view showing the pick-and-place mechanism involved in the present application.

[0029] Figure 8 It is a schematic diagram showing the partial structure of the moving mechanism involved in the present application.

[0030] Fig. 9 It is a schematic diagram showing the overall structure of the clamping mechanism involved in the present application.

[0031] Fig.10 It is a schematic diagram showing the overall structure of the positioning frame involved in the present application.

[0032] Fig.11 It is a partial exploded view showing the auxiliary positioning assembly involved in the present application.

[0033] Reference numerals: 100, file management robot; 200, mechanical arm; 300, file box; 400, pick-and-place mechanism; 10, clamping mechanism; 101, first clamping member; 102, second clamping member; 103, mounting seat; 104, first protective pad; 105, second protective pad; 106, first connecting member; 107, second connecting member; 108, induction sheet; 20, moving mechanism; 201, first driving assembly; 202, first gear; 203, second gear; 204, Belt; 2041, first section; 2042, second section; 205, mounting plate; 206, tensioning wheel; 207, first sensor; 208, second sensor; 209, first limit member; 2010, second limit member; 30, positioning frame; 301, connecting surface; 40, auxiliary positioning assembly; 401, elastic member; 402, positioning member; 403, guide member; 4031, guide groove; 60, slide rail; 70, slider; 80, visual positioning assembly; 90, third sensor. DETAILED DESCRIPTION

[0034] Hereinafter, with reference to the accompanying drawings, the preferred embodiments of the present invention are described in detail. In the following description, the same symbols are assigned to the same components, and repeated descriptions are omitted. In addition, the accompanying drawings are only schematic diagrams, and the ratio of the dimensions of the components to each other or the shapes of the components may be different from the actual ones. It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0035] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0036] In addition, the descriptions of "first", "second", etc. in the present utility model are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0037] Reference Figures 1 to 3The first aspect of the utility model provides a pick-and-place mechanism 400, which is used to be installed on the mechanical arm 200 of the file management robot 100, and the pick-and-place mechanism 400 includes: a clamping mechanism 10, which is used to clamp the file box 300; a moving mechanism 20, which includes a first driving component 201, a first gear 202, a second gear 203 and a belt 204, the first gear 202 and the second gear 203 are arranged at intervals, and the belt 204 is wrapped around the first gear 202 and the second gear 203, and the first driving component 201 is connected to the second gear 203. On the first gear 202, the first driving component 201 is used to drive the first gear 202 to drive the second gear 203 and the belt 204 to rotate, and the clamping mechanism 10 is connected to the belt 204 so that the first driving component 201 can drive the clamping mechanism 10 to move; the positioning frame 30 is connected to the mechanical arm 200, and the moving mechanism 20 is connected to the positioning frame 30. The moving mechanism 20 drives the clamping mechanism 10 to move into the positioning frame 30, so that the positioning frame 30 can position the file box 300 clamped by the clamping mechanism 10.

[0038] The pick-and-place mechanism 400 involved in the utility model includes a clamping mechanism 10, a moving mechanism 20 and a positioning frame 30, wherein the clamping mechanism 10 adopts a clamping method to pick up and place the file box 300. On the one hand, after the clamping mechanism 10 clamps the file box 300, the file box 300 is transferred to the positioning frame 30 through the moving mechanism 20, which can further position the clamped file box 300, making the clamping more stable. On the other hand, the clamping method can reduce noise compared with the traditional negative pressure adsorption method. In addition, the moving mechanism 20 includes a first driving component 201, a first gear 202, a second gear 203 and a belt 204. Since the belt 204 has good elasticity, the transmission method of the belt 204 used in the utility model can mitigate impact and absorb vibration, making the process of picking up and placing the file box 300 run more smoothly. Therefore, the pick-and-place mechanism 400 involved in the utility model is more stable and reliable in the process of picking up and placing the file box 300, and the noise during operation is small, which does not affect the working environment.

[0039] Reference Figure 4 and Figure 6As an embodiment, the pick-and-place mechanism 400 further includes a plurality of auxiliary positioning components 40, and the plurality of auxiliary positioning components 40 are connected to the positioning frame 30; at least two auxiliary positioning components 40 are arranged opposite to each other, so as to clamp the two opposite sides of the file box 300 located in the positioning frame 30. In some examples, four auxiliary positioning components 40 may be provided, and when clamping the file box 300, two auxiliary positioning components 40 are located on one side of the file box 300, and the other two auxiliary positioning components 40 are located on the other side of the file box 300. Specifically, in some examples, the four auxiliary positioning components 40 may also be respectively close to the corners of the file box 300. Thus, the auxiliary positioning components 40 can play a role in clamping and positioning the file box 300, and can also make the file box 300 entering the positioning frame 30 be centered, so as to facilitate pick-and-place.

[0040] Reference Fig.10 As an embodiment, the auxiliary positioning assembly 40 includes: an elastic member 401, one end of which is connected to the positioning frame 30; a positioning member 402, which is connected to the end of the elastic member 401 away from the positioning frame 30, and the elastic restoring force of the elastic member 401 is used to push the positioning member 402 to abut against the outside of the file box 300. In some examples, the elastic member 401 can be a spring. Specifically, in the initial state of the elastic member 401, the distance between the two opposite positioning members 402 is less than the thickness of the file box 300. When the file box 300 enters the positioning frame 30, the file box 300 pushes the positioning member 402 toward the direction of the elastic member 401, and the elastic member 401 is compressed. At this time, the elastic member 401 has an elastic restoring force, which also enables the positioning member 402 to abut against the outside of the file box 300 more closely, and the abutting effect is better.

[0041] Reference Fig.10 and Fig.11 As an embodiment, the auxiliary positioning assembly 40 also includes a guide member 403, which is connected to the positioning frame 30; the guide member 403 and / or the positioning frame 30 are provided with a groove, and the elastic member 401 is located in the groove; the guide member 403 is also provided with a guide groove 4031 that penetrates the groove, and the positioning member 402 partially penetrates the guide groove 4031, and the positioning member 402 is partially located between the guide member 403 and the positioning frame 30; the positioning member 402 is movable and retracted in the guide groove 4031 under the action of the elastic member 401 or an external force. Specifically, the elastic member 401 is located in the groove, so that the elastic member 401 can have space for elastic deformation. In addition, the setting of the guide groove 4031 can guide and limit the movement of the positioning member 402, so that the positioning member 402 can always move along the direction in which the elastic member 401 is compressed or reset, and avoid the positioning member 402 being pressed and distorted.

[0042] Reference Figure 7 and Figure 8As an embodiment, the moving mechanism 20 includes a mounting plate 205 connected to the positioning frame 30, and the first driving component 201, the first gear 202 and the second gear 203 are mounted on the mounting plate 205. Figure 6 , the first drive assembly 201, the first gear 202, and the second gear 203 can all be located on the same side of the mounting plate 205. In some examples, the first drive assembly 201 can be a worm gear motor.

[0043] Reference Fig.10 As an embodiment, the positioning frame 30 includes a connecting surface 301, and the connecting surface 301 is connected to the robot arm 200; the belt 204 surrounding the first gear 202 and the second gear 203 forms a first section 2041 and a second section 2042 that are parallel to each other, the first section 2041 is close to the connecting surface 301, and the clamping mechanism 10 is connected to the first section 2041. Specifically, the connecting surface 301 can be a surface that is always facing upward, so that the whole pick-and-place mechanism 400 can be rotated on the horizontal plane under the control of the robot arm 200 to rotate to a desired angle. In addition, the first section 2041 and the second section 2042 can also be parallel to the horizontal plane. It should be noted that this is an ideal situation without considering the deformation of the belt 204.

[0044] Reference Figure 8 As an embodiment, the moving mechanism 20 further includes a plurality of tensioning wheels 206 mounted on the mounting plate 205; the plurality of tensioning wheels 206 are all located outside the second section 2042, and the tensioning wheels 206 are used to support the second section 2042 of the belt 204. It is understandable that when the belt 204 has a certain elasticity, it is easy to produce slight deformation, especially after long-term use. Under the action of gravity, the belt 204 bends downward. Therefore, referring to Figure 8 A tensioning wheel 206 may be provided below the second section 2042 to support the belt 204 upwards and prevent the belt 204 from bending downwards as much as possible. In some examples, two or three tensioning wheels 206 may be provided, or more tensioning wheels 206 may be provided.

[0045] Reference Figures 6 to 8 As an embodiment, the pick-and-place mechanism 400 further includes a slide rail 60 and a slider 70; the slider 70 is fixedly connected to the mounting plate 205, the slider 70 is slidably connected to the slide rail 60, and the slider 70 is fixedly connected to the clamping mechanism 10; the slide rail 60 is parallel to the movement direction of the clamping mechanism 10. Therefore, when the moving mechanism 20 drives the clamping mechanism 10 to move, the clamping mechanism 10 will also drive the slider 70 to slide on the slide rail 60, and the slider 70 and the slider 70 support and guide the movement of the clamping mechanism 10, so that the clamping mechanism 10 is more stable when moving.

[0046] Reference Figure 7and Figure 8 As an embodiment, the clamping mechanism 10 moves between the first position and the second position driven by the moving mechanism 20; the moving mechanism 20 also includes a first sensor 207 and a second sensor 208 arranged at intervals, the first sensor 207 is used to obtain a position signal when the clamping mechanism 10 moves to the first position, and the second sensor 208 is used to obtain a position signal when the clamping mechanism 10 moves to the second position. Specifically, refer to Fig. 9 The gripping mechanism 10 is provided with a sensing sheet 108. When the gripping mechanism 10 moves to the first position, the first sensor 207 contacts the sensing sheet 108 and sends a signal to the control module of the archive management robot 100, and then the control module sends a stop signal to control the moving mechanism 20 to stop moving. The working principle of the second sensor 208 is the same. Therefore, the setting of the first sensor 207 and the second sensor 208 can enable the gripping mechanism 10 to move between the first position and the second position, avoiding collision and deviation from the preset motion trajectory of the gripping mechanism 10 during movement, thereby ensuring the safe operation of the pick-and-place mechanism 400.

[0047] Reference Figure 7 and Figure 8 As an embodiment, the moving mechanism 20 further includes a first stopper 209 and a second stopper 2010 which are arranged at intervals, and the first stopper 209 and the second stopper 2010 are used to limit the movement of the clamping mechanism 10 between the first position and the second position. In some examples, the first stopper 209 and the second stopper 2010 can be arranged at positions close to both ends of the slide rail 60. Specifically, the clamping mechanism 10 slides along the direction of the slide rail 60 under the drive of the moving mechanism 20, and stops moving forward when the slider 70 contacts the first stopper 209 and the second stopper 2010. Therefore, when the clamping mechanism 10 is in operation, it can not only control the clamping mechanism 10 to move between the first position and the second position under the action of the first sensor 207 and the second sensor 208, but also move between the first position and the second position under the restriction of the first stopper 209 and the second stopper 2010, thereby further ensuring the safe operation of the pick-and-place mechanism 400.

[0048] Reference Fig. 9 The clamping mechanism 10 includes a first clamping member 101, a second clamping member 102, a second driving assembly and a mounting seat 103, wherein the second driving assembly is mounted in the mounting seat 103; the first clamping member 101 and the second clamping member 102 are respectively connected to the second driving assembly, and the second driving assembly is used to drive the first clamping member 101 and the second clamping member 102 to move closer to or away from each other, so as to clamp or release the file box 300. Specifically, the second driving assembly and the mounting seat 103 can adopt the structure of an existing electric clamp.

[0049] Reference Fig. 9 As an embodiment, a first protective pad 104 is provided on the side of the first clamping member 101 relative to the second clamping member 102, and a second protective pad 105 is provided on the side of the second clamping member 102 relative to the first clamping member 101. Therefore, the provision of the first protective pad 104 and the second protective pad 105 can prevent the first clamping member 101 and the second clamping member 102 from being scratched during clamping. In some examples, the first protective pad 104 and the second protective pad 105 can both be rubber pads, which can be fixed to the first clamping member 101 and the second clamping member 102 by gluing. The rubber pads can not only play a protective role, but also have a good anti-slip effect, which can improve the stability of clamping.

[0050] Reference Fig. 9 As an embodiment, the clamping mechanism 10 further includes a first connecting member 106 and a second connecting member 107, wherein the first connecting member 106 is connected to the mounting seat 103, and the second connecting member 107 is connected to the first connecting member 106; the first connecting member 106 is at least partially opposite to the second connecting member 107, the belt 204 is clamped between the first connecting member 106 and the second connecting member 107, and the first connecting member 106 and / or the second connecting member 107 are provided with teeth meshed with the belt 204. Specifically, the first connecting member 106 and the second connecting member 107 can be clamped at the first section 2041 of the belt 204, and the teeth can be provided at the first connecting member 106 or the second connecting member 107, or both the first connecting member 106 and the second connecting member 107 can be provided with teeth.

[0051] Reference Figure 3 As an embodiment, the pick-and-place mechanism 400 further includes a visual positioning component 80 and a third sensor 90; the visual positioning component 80 is connected to the positioning frame 30, and the visual positioning component 80 is used to find the specific position of the target file box 300; the third sensor 90 is connected to the positioning frame 30, and the third sensor 90 is used to determine whether there is a target file box 300. Specifically, the visual positioning component 80 can be a visual camera, and the third sensor 90 can be a photoelectric sensor. A marker can be attached to the file box 300, and the photoelectric sensor can identify whether there is a marker in the environment to determine whether the pick-and-place mechanism 400 is clamped.

[0052] The second aspect of the present invention provides a file management robot 100, comprising the above-mentioned pick-and-place mechanism 400. It can be understood that the file management robot 100 having the above-mentioned pick-and-place mechanism 400 also has all the technical effects thereof.

[0053] The archive management robot may include the following steps when in use:

[0054] Receive information of the target file box 300, and control the mechanical arm 200 of the file management robot 100 to move to a first position corresponding to the information according to the information;

[0055] Controlling the pick-and-place mechanism 400 of the file management robot 100 to align with the first position;

[0056] Determine whether there is a target file box 300 at the first position;

[0057] If the target file box 300 exists, the gripping mechanism 10 of the file management robot 100 is controlled to grip the target file box 300, move the target file box 300 to the second position in the positioning frame 30, and control the gripping mechanism 10 to release to place the target file box 300 at the second position.

[0058] Specifically, the visual positioning component 80 transmits the information of the target file box 300 to the control module of the file management robot. The first position is the current position of the target file box 300. The control module controls the mechanical arm 200 to move to the first position according to the information of the target file box 300, and fine-adjusts the position of the pick-and-place mechanism 400 according to the target file box 300, so that the pick-and-place mechanism 400 is accurately aligned to the first position. The third sensor 90 determines whether there is a target file box 300 at the first position. If there is a target file box 300, the information is sent to the control module. The control module controls the moving mechanism 20 to extend and controls the clamping mechanism 10 to clamp the target file box 300. The second position is the position where the target file box 300 is to be stored. The control module controls the file management robot 100 and the mechanical arm 200 to move, so as to place the target file box 300 at the second position.

[0059] In summary, the pick-and-place mechanism 400 of the present invention is more stable and reliable in the process of picking up and placing the file box 300, and has less noise during operation, and does not affect the working environment.

[0060] Although the utility model is specifically described above in conjunction with the accompanying drawings and embodiments, it is to be understood that the above description does not limit the utility model in any form. Those skilled in the art can modify and change the utility model as needed without departing from the essential spirit and scope of the utility model, and these modifications and changes all fall within the scope of the utility model.

Claims

1. A pick-and-place mechanism, used to be mounted on a mechanical arm of a file management robot, characterized in that: include: A clamping mechanism, used for clamping the file box; The moving mechanism comprises a first driving assembly, a first gear, a second gear and a belt, wherein the first gear and the second gear are spaced apart, and the belt is wrapped around the first gear and the second gear, the first driving assembly is connected to the first gear, the first driving assembly is used to drive the first gear to drive the second gear and the belt to rotate, and the clamping mechanism is connected to the belt so that the first driving assembly can drive the clamping mechanism to move; The positioning frame is connected to the mechanical arm, and the moving mechanism is connected to the positioning frame. The moving mechanism drives the clamping mechanism to move into the positioning frame, so that the positioning frame can position the file box clamped by the clamping mechanism.

2. The pick-and-place mechanism according to claim 1, characterized in that: The pick-and-place mechanism further comprises a plurality of auxiliary positioning components, wherein the plurality of auxiliary positioning components are connected to the positioning frame; At least two of the auxiliary positioning components are arranged opposite to each other to clamp two opposite sides of the file box located in the positioning frame.

3. The pick-and-place mechanism according to claim 2, characterized in that: The auxiliary positioning component comprises: An elastic member, one end of which is connected to the positioning frame; The positioning member is connected to one end of the elastic member away from the positioning frame, and the elastic restoring force of the elastic member is used to push the positioning member to abut against the outer side of the file box.

4. The pick-and-place mechanism according to claim 3, characterized in that: The auxiliary positioning assembly also includes a guide member, and the guide member is connected to the positioning frame; The guide member and / or the positioning frame is provided with a groove, and the elastic member is located in the groove; The guide member is further provided with a guide groove which is in communication with the groove, the positioning member partially passes through the guide groove, and the positioning member is partially located between the guide member and the positioning frame; The positioning member is movably retracted and contracted in the guide groove under the action of the elastic member or external force.

5. The pick-and-place mechanism according to claim 1, characterized in that: The moving mechanism comprises a mounting plate connected to the positioning frame, and the first driving assembly, the first gear and the second gear are mounted on the mounting plate.

6. The pick-and-place mechanism according to claim 5, characterized in that: The positioning frame includes a connecting surface, and the connecting surface is connected to the mechanical arm; The belt surrounding the first gear and the second gear forms a first section and a second section parallel to each other, the first section is close to the connecting surface, and the clamping mechanism is connected to the first section.

7. The pick-and-place mechanism according to claim 6, characterized in that: The moving mechanism also includes a plurality of tensioning wheels mounted on the mounting plate; The plurality of tension wheels are all located outside the second section, and the tension wheels are used to support the second section of the belt.

8. The pick-and-place mechanism according to claim 5, characterized in that: The pick-and-place mechanism also includes a slide rail and a slider; The slider is fixedly connected to the mounting plate, the slider is slidably connected to the slide rail, and the slider is fixedly connected to the clamping mechanism; The slide rail is parallel to the moving direction of the clamping mechanism.

9. The pick-and-place mechanism according to claim 1, characterized in that: The clamping mechanism moves between the first position and the second position driven by the moving mechanism; The moving mechanism further comprises a first sensor and a second sensor arranged at an interval, wherein the first sensor is used to obtain a position signal when the clamping mechanism moves to a first position, and the second sensor is used to obtain a position signal when the clamping mechanism moves to a second position.

10. The pick-and-place mechanism according to claim 9, characterized in that: The moving mechanism further includes a first limiting member and a second limiting member that are spaced apart from each other, and the first limiting member and the second limiting member are used to limit the movement of the clamping mechanism between the first position and the second position.

11. The pick-and-place mechanism according to claim 1, characterized in that: The clamping mechanism comprises a first clamping member, a second clamping member, a second driving assembly and a mounting seat, wherein the second driving assembly is mounted in the mounting seat; The first clamping member and the second clamping member are respectively connected to the second driving assembly, and the second driving assembly is used to drive the first clamping member and the second clamping member to move closer to or away from each other so as to clamp or release the file box.

12. The pick-and-place mechanism according to claim 11, characterized in that: A first protective pad is provided on a side of the first clamping member opposite to the second clamping member, and a second protective pad is provided on a side of the second clamping member opposite to the first clamping member.

13. The pick-and-place mechanism according to claim 11, characterized in that: The clamping mechanism further includes a first connecting member and a second connecting member, wherein the first connecting member is connected to the mounting seat, and the second connecting member is connected to the first connecting member; The first connecting member is at least partially located opposite to the second connecting member, the belt is clamped between the first connecting member and the second connecting member, and the first connecting member and / or the second connecting member are provided with teeth meshing with the belt.

14. The pick-and-place mechanism according to claim 1, characterized in that: The pick-and-place mechanism also includes a visual positioning component and a third sensor; The visual positioning component is connected to the positioning frame, and the visual positioning component is used to find the specific position of the target file box; The third sensor is connected to the positioning frame, and the third sensor is used to determine whether there is a target file box.

15. A file management robot, characterized in that: It comprises a pick-and-place mechanism as described in any one of claims 1-14.

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