Archive management robot

Abstract

The utility model relates to the technical field of archive management, and discloses an archive management robot, which comprises a robot main body, a mechanical arm, a pick-and-place mechanism and a storage position module, one end of the mechanical arm is connected with the robot main body, the other end of the mechanical arm far away from the robot main body is connected with the pick-and-place mechanism, and the storage position module is connected with the pick-and-place mechanism. The storage position module is arranged on the robot main body; wherein the robot body is provided with a monitoring device used for monitoring the file box taking and placing process, the taking and placing mechanism is provided with a first detection device used for detecting whether the file box is clamped in place or not, and the storage position module is provided with a second detection device used for detecting whether the file box is placed in place or not. The archive management robot aims at solving the technical problems that an existing robot lacks a real-time dynamic management function on the state of an archive box in the grabbing process, and the grabbing state and the transportation state of the archive box cannot be judged.

Description

Technical Field

[0001] The utility model relates to the technical field of file management, and particularly to a file management robot. Background Art

[0002] With the continuous progress of society, the number of file documents accumulated in the archives has increased sharply. Currently, the sorting work of these documents mainly relies on the collaborative operation of manual labor and the file management software system. However, in this mode, the efficiency of manual sorting is insufficient, the cost is high, and under long-term high-intensity labor, personnel are prone to fatigue, resulting in a high error rate. To alleviate this dilemma, a series of robots specifically designed for file sorting tasks have gradually emerged in the market, aiming to reduce the manual labor burden and improve the overall work efficiency.

[0003] In the related art, the file management robot only has the basic function of grasping files, lacking the real-time dynamic management function of the file box state during the grasping process, and cannot judge whether the state of the file box is correct during the grasping and transportation processes. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a file management robot to solve the technical problems that the robot lacks the real-time dynamic management function of the file box state during the grasping process and cannot judge the grasping state and transportation state of the file box.

[0005] To achieve the above purpose, the utility model provides a file management robot, which includes a robot main body, a robotic arm, a picking and placing mechanism for clamping file boxes, and a storage module for storing the file boxes. One end of the robotic arm is connected to the robot main body, and the other end of the robotic arm far from the robot main body is connected to the picking and placing mechanism. The storage module is arranged on the robot main body;

[0006] Wherein, the robot main body is provided with a monitoring device for monitoring the picking and placing process of the file box, the picking and placing mechanism is provided with a first detection device for detecting whether the file box is clamped in place, and the storage module is provided with a second detection device for detecting whether the file box is placed in place.

[0007] In the file management robot of the present application, the picking and placing mechanism is provided with a first identification device for identifying the coding information of the file box.

[0008] In the file management robot of the present application, the picking and placing mechanism includes a clamping mechanism, a driving mechanism, and a positioning frame. The clamping mechanism is connected to the driving mechanism, the driving mechanism is connected to the positioning frame, the positioning frame is connected to the robotic arm, the first identification device is arranged on the positioning frame, and the first detection device is arranged inside the positioning frame;

[0009] Among them, the driving mechanism is used to drive the clamping mechanism to clamp the file box, and to drive the clamping mechanism to move into the positioning rack; when the driving mechanism drives the clamping mechanism to clamp the file box and move it into the positioning rack, the first detection device can detect the file box inside the positioning rack.

[0010] In the file management robot of the present application, the first detection device includes a laser emitter and a laser receiver. The laser emitter is used to emit laser to the laser receiver. When the file box moves into the positioning rack, the file box blocks the laser.

[0011] In the file management robot of the present application, the clamping mechanism moves between a first position and a second position under the drive of the driving mechanism;

[0012] The picking and placing mechanism further includes a first sensor and a second sensor arranged at intervals on the clamping mechanism. The first sensor is used to obtain a in-position signal when the clamping mechanism moves to the first position, and the second sensor is used to obtain a in-position signal when the clamping mechanism moves to the second position.

[0013] In the file management robot of the present application, the storage module is provided with a second identification device, and the second identification device is used to identify the coding information of the file box.

[0014] In the file management robot of the present application, the storage module includes a plurality of storage units, and each of the storage units is provided with the second detection device and the second identification device.

[0015] In the file management robot of the present application, the file management robot includes a driving camera, and the driving camera is arranged on the robot main body. The driving camera is used to monitor the front situation when the robot main body is moving.

[0016] In the file management robot of the present application, the file management robot includes an alarm device. The first detection device and the second detection device are electrically connected to the alarm device, and the alarm device is used to give an alarm when the file box is not clamped in place and / or the file box is not placed in place.

[0017] In the file management robot of the present application, the file management robot includes a mobile chassis, and the mobile chassis is used to carry the robot main body.

[0018] The present utility model provides a file management robot, and its beneficial effects are as follows:

[0019] The file management robot of the present utility model includes a robot main body, a robotic arm, a picking and placing mechanism, and a storage position module. When the file management robot receives the position information of the file box, it controls the robot main body to move to the first target position according to the position information; then controls the robotic arm to drive the picking and placing mechanism to clamp the file box, and judges whether the file box is clamped in place according to the first detection device; if the file box is not clamped in place, no further operation is performed, and manual intervention can be used to handle the fault; if the file box is clamped in place, it controls the robotic arm to drive the picking and placing mechanism to place the file box into the storage position module, and then judges whether the file box is placed in place according to the second detection device; if the file box is not placed in place, no further operation is performed, and manual intervention can be used to handle the fault; if the file box is placed in place, it controls the robot main body to move to the second target position; when the robot main body moves to the second target position, it controls the robotic arm to drive the picking and placing mechanism to clamp the file box from the storage position module and place the file box on the file cabinet, thus completing the handling and management process of the file box. The file management robot of the present utility model monitors the entire picking, placing, and handling process of the file box in real time through the monitoring device on the robot main body, and judges whether the file box is clamped in place and whether it is stored in place according to the first detection device and the second detection device respectively, so as to achieve dynamic management and information feedback, and accurately judge whether the state of the file box is correct during the grasping and transportation process. If the file box is not clamped or stored in place, the staff can monitor the working state in real time through the monitoring device in the background and intervene in time to handle it. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of the file management robot provided by an embodiment of the present utility model;

[0021] Figure 2 It is another schematic structural diagram of the file management robot provided by an embodiment of the present utility model;

[0022] Figure 3 It is an exploded view of the file management robot provided by an embodiment of the present utility model;

[0023] Figure 4 is Figure 2 a partial enlarged view of part A in

[0024] Figure 5 It is a schematic structural diagram of the storage position module provided by an embodiment of the present utility model;

[0025] Figure 6 It is a schematic structural diagram of the picking and placing mechanism provided by an embodiment of the present utility model;

[0026] Figure 7 It is another schematic structural diagram of the picking and placing mechanism provided by an embodiment of the present utility model;

[0027] Figure 8Another structural schematic diagram of the picking and placing mechanism provided by the embodiment of the present utility model.

[0028] The markings in the figure are as follows:

[0029] 1. Robot main body; 2. Robot arm; 3. Picking and placing mechanism; 301. Clamping mechanism; 302. Driving mechanism; 303. Positioning frame; 304. First sensor; 305. Second sensor; 4. Storage module; 401. Storage unit; 402. Storage housing; 403. Storage baffle; 5. File box; 6. Monitoring device; 7. First detection device; 701. Laser emitter; 702. Laser receiver; 8. Second detection device; 9. First identification device; 10. Second identification device; 11. Traveling camera; 12. Mobile chassis; 100. File management robot. Detailed implementation manners

[0030] The following combines the drawings and embodiments to further describe in detail the specific implementation manners of the present utility model. The following embodiments are used to illustrate the present utility model, but are not used to limit the scope of the present utility model.

[0031] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "inner", "outer", etc. in the present utility model is based on the positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the devices and elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0032] In the description of the present utility model, it should be understood that the terms "first", "second", etc. are used in the present utility model to describe various information, but these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present utility model, the "first" information can also be called the "second" information, and similarly, the "second" information can also be called the "first" information.

[0033] As Figures 1 to 5 shown, the embodiment of the present utility model provides a file management robot 100, which includes a robot main body 1, a robot arm 2, a picking and placing mechanism 3 for clamping a file box 5, and a storage module 4 for storing the file box 5. One end of the robot arm 2 is connected to the robot main body 1, and the other end of the robot arm 2 far from the robot main body 1 is connected to the picking and placing mechanism 3. The storage module 4 is arranged on the robot main body 1; wherein, the robot main body 1 is provided with a monitoring device 6 for monitoring the picking and placing process of the file box 5, the picking and placing mechanism 3 is provided with a first detection device 7 for detecting whether the file box 5 is clamped in place, and the storage module 4 is provided with a second detection device 8 for detecting whether the file box 5 is placed in place.

[0034] In this embodiment, the robot body 1 serves as the basic framework and control center of the robot, including a power system, a central processor (or controller), control system software, etc., which are used to coordinate the work of each component and execute preset file management tasks. At the same time, the robot body 1 provides a stable support platform for the robotic arm 2 and the storage module 4. The robotic arm 2 is a key component for the robot to perform physical operations and can move precisely according to a preset path or instruction; the robotic arm 2 is connected to the robot body 1, and through the rotation and telescoping of the joints, it realizes the precise positioning and movement of the picking and placing mechanism 3 in space, thereby completing the grasping and placing operations of the file box 5. The picking and placing mechanism 3 is a component of the robot for clamping the file box 5, and through precise clamping and releasing actions, it realizes the safe and stable grasping and placing of the file box 5. The first detection device 7 is used to detect whether the file box 5 is grasped in place, ensuring that the file box 5 is fixed on the picking and placing mechanism 3 before moving or placing, and preventing the file box 5 from falling or being damaged. The storage module 4 provides a storage space for the file box 5. The second detection device 8 is used to detect whether the file box 5 has been correctly placed in place, ensuring that the file box 5 is not misaligned or tilted during storage. The monitoring device 6 supports remote access, enabling the staff in the background to monitor and manage the working status of the robot in real time without being on-site.

[0035] Based on the above technical solution, when the file management robot 100 receives the position information of the file box 5, it controls the robot body 1 to move to the first target position according to the position information; then controls the robotic arm 2 to drive the picking and placing mechanism 3 to grasp the file box 5, and judges whether the file box 5 is grasped in place according to the first detection device 7; if the file box 5 is not grasped in place, no further operation is performed, and manual intervention can be carried out to handle the fault; if the file box 5 is grasped in place, then control the robotic arm 2 to drive the picking and placing mechanism 3 to place the file box 5 into the storage module 4, and then judge whether the file box 5 is placed in place according to the second detection device 8; if the file box 5 is not placed in place, no further operation is performed, and manual intervention can be carried out to handle the fault; if the file box 5 is placed in place, then control the robot body 1 to move to the second target position; when the robot body 1 moves to the second target position, control the robotic arm 2 to drive the picking and placing mechanism 3 to grasp the file box 5 from the storage module 4 and place the file box 5 on the file cabinet, thereby completing the handling and management process of the file box 5.

[0036] During handling, the entire process of picking up, transporting, and placing the file box 5 can be monitored in real time through the monitoring device 6 on the robot main body 1. According to the first detection device 7 and the second detection device 8, it is respectively determined whether the file box 5 is picked up in place and whether it is stored in place, so as to achieve dynamic management and information feedback, and accurately judge whether the state of the file box 5 during grasping and transportation is correct. If the file box 5 is not picked up or stored in place, the staff can monitor the working state in real time through the monitoring device 6 in the background and then intervene and handle it in time.

[0037] In this embodiment, before handling, the robot first completes initialization, including self-check of each component, power supply check, system calibration, etc., to ensure that it is in a normal working state. The robot receives instructions from the management system or the operator, and clarifies the position of the file to be picked up (the first target position) and the target position for placing the file (the second target position).

[0038] As an implementation method, the management system or the operator can set multiple handling instructions to handle multiple file boxes 5 at one time. Exemplarily, the staff can set handling instructions for five file boxes 5, control the robot main body 1 to move successively to five file positions to be picked up, pick up five file boxes 5 respectively and place them in the storage module 4, and then move to five target positions for placing files respectively to place the five file boxes 5, thus completing the handling process of the file boxes 5.

[0039] As an implementation method, as Figure 2 or Figure 3 shown, storage modules 4 are respectively arranged on both sides of the robot main body 1.

[0040] Specifically, in this embodiment, by symmetrically arranging the storage modules 4 on both sides of the robot main body 1, the robot can maintain a better center of gravity distribution, reduce the risk of tilting or tipping caused by uneven load or external environment changes (such as uneven ground), and enhance the overall stability of the robot main body 1.

[0041] As an implementation method, the picking and placing mechanism 3 is provided with a first identification device 9, and the first identification device 9 is used to identify the coding information of the file box 5.

[0042] Specifically, the robot first completes initialization and receives instructions from the management system or the operator, clarifying the coding information of the file box 5 to be clamped and the target placement location. The robot body 1 is controlled to move near the first target location to prepare for clamping the file box 5. Before clamping the file box 5, the first recognition device 9 on the picking and placing mechanism 3 scans the file box 5. The first recognition device 9 can use technologies such as barcode scanners or cameras to actively scan the coding information (such as barcodes, QR codes, etc.) on the file box 5, and compare the obtained coding information with the coding information in the task instructions for verification to ensure that the correct file box 5 is clamped. If the coding information matches, the picking and placing mechanism 3 continues to perform the clamping operation; if it does not match, the robot may send an error signal to prompt the operator to check or re-specify the file box 5. In this embodiment, by adding the first recognition device 9, the file management robot 100 not only realizes physical handling but also adds an intelligent recognition and verification function for the coding information of the file box 5, thereby improving the accuracy of file management.

[0043] As an implementation method, as Figures 6 to 8 shown, the picking and placing mechanism 3 includes a clamping mechanism 301, a driving mechanism 302, and a positioning frame 303. The clamping mechanism 301 is connected to the driving mechanism 302, the driving mechanism 302 is connected to the positioning frame 303, the positioning frame 303 is connected to the robotic arm 2, the first recognition device 9 is provided on the positioning frame 303, and the first detection device 7 is provided inside the positioning frame 303; wherein, the driving mechanism 302 is used to drive the clamping mechanism 301 to clamp the file box 5 and to drive the clamping mechanism 301 to move into the positioning frame 303; when the driving mechanism 302 drives the clamping mechanism 301 to clamp the file box 5 and move into the positioning frame 303, the first detection device 7 can detect the file box 5 inside the positioning frame 303.

[0044] Specifically, the clamping mechanism 301 is used to clamp and release the file box 5. The driving mechanism 302 provides power for the clamping mechanism 301 to drive it to complete the clamping and releasing actions, and drives the entire clamping mechanism 301 (including the clamped file box 5) to move inside the positioning frame 303. The positioning frame 303 serves as a support platform for the clamping mechanism 301 and the driving mechanism 302 and is directly connected to the robotic arm 2.

[0045] During use, the position of the picking and placing mechanism 3 is adjusted by the robotic arm 2 to align it with the file box 5. The first recognition device 9 inside the positioning frame 303 scans the coding information on the file box 5 and compares it with the coding information in the task instructions for verification. After verification, the driving mechanism 302 drives the clamping mechanism 301 to extend and clamp the file box 5. After successful clamping, the driving mechanism 302 continues to drive the clamping mechanism 301 and the file box 5 to move into the positioning frame 303 together. The first detection device 7 monitors the position state of the file box 5 in real time to ensure that it can be stably placed inside the positioning frame 303.

[0046] In this embodiment, the drive mechanism 302 adopts an electric drive mode. Electric drives usually have a relatively fast response speed, can quickly respond to control instructions and complete corresponding actions. Compared with other drive modes (such as hydraulic drive or pneumatic drive), the electric drive mechanism 302 generates less noise during operation, which helps to create a quieter and more comfortable working environment and achieve ultra-quiet file access and storage.

[0047] As an implementation, as Figure 7 shown, the first detection device 7 includes a laser emitter 701 and a laser receiver 702. The laser emitter 701 is used to emit laser light to the laser receiver 702. When the file box 5 moves into the positioning rack 303, the file box 5 blocks the laser light.

[0048] Specifically, the laser emitter 701 is a device that generates a laser beam, and the laser receiver 702 receives the laser beam from the laser emitter 701. When the laser beam reaches the laser receiver 702 without being blocked, the laser receiver 702 will detect the laser signal and convert this signal into an electrical signal for processing. When the file box 5 moves to a certain position within the positioning rack 303, it blocks the laser beam that originally shoots from the laser emitter 701 to the laser receiver 702, resulting in a weakening or disappearance of the laser signal received by the laser receiver 702, thereby triggering the detection mechanism.

[0049] In this embodiment, the position of the file box 5 is judged by monitoring the intensity of the laser signal received by the laser receiver 702. When the file box 5 does not block the laser, the signal intensity received by the laser receiver 702 remains stable; when the file box 5 blocks the laser, the signal intensity received by the laser receiver 702 will change. Once it is confirmed that the file box 5 has been clamped in place, the movement of the drive mechanism 302 is stopped, and the current position information is recorded, etc. Due to the characteristics of high speed and high precision of laser detection, this detection method can reflect the position state of the file box 5 within the positioning rack 303 in real time and accurately.

[0050] As an implementation, as Figure 8 shown, the clamping mechanism 301 moves between a first position and a second position under the drive of the drive mechanism 302; the picking and placing mechanism 3 further includes a first sensor 304 and a second sensor 305 that are spaced apart on the clamping mechanism 301. The first sensor 304 is used to obtain a in-place signal when the clamping mechanism 301 moves to the first position, and the second sensor 305 is used to obtain a in-place signal when the clamping mechanism 301 moves to the second position.

[0051] Specifically, the clamping mechanism 301 is provided with an induction sheet (not shown in the drawings). When the clamping mechanism 301 moves to the first position, the first sensor 304 contacts the induction sheet and sends a signal to the file management robot 100. Then, the file management robot 100 issues a stop signal to control the driving mechanism 302 to stop driving. The working principle of the second sensor 305 is the same. Thus, the settings of the first sensor 304 and the second sensor 305 enable the clamping mechanism 301 to move between the first position and the second position, avoiding situations such as collision and deviation from the preset movement trajectory when the clamping mechanism 301 is moving, and ensuring the safe operation of the picking and placing mechanism 3.

[0052] As an implementation manner, as Figure 5 shown, the storage module 4 is provided with a second identification device 10, and the second identification device 10 is used to identify the coding information of the file box 5.

[0053] Specifically, the second identification device 10 can accurately read the coding information on the file box 5. Among them, the second identification device 10 can be an RFID antenna. The RFID antenna is the transponder antenna of an RFID (Radio Frequency Identification) electronic tag, which is a communication induction antenna and is usually combined with a chip to form a complete RFID electronic tag transponder. In this embodiment, the RFID antenna is adopted. When the picking and placing mechanism 3 clamps the file box 5 and places it into the storage module 4, the RFID antenna automatically reads the coding information on the file box 5 to ensure that the file box 5 is correctly stored at the corresponding position in the storage module 4.

[0054] As an implementation manner, as Figure 5 shown, the storage module 4 includes a plurality of storage units 401, and each storage unit 401 is provided with a second detection device 8 and a second identification device 10.

[0055] Specifically, the storage module 4 includes a storage housing 402. A plurality of spaced storage baffles 403 are arranged in the storage housing 402. A storage unit 401 is formed between two adjacent storage baffles 403. Each storage unit 401 corresponds to placing a file box 5. The second identification device 10 in each storage unit 401 can correspondingly read the coding information on the file box 5 to ensure that the file boxes 5 are placed in each storage unit 401 in one-to-one correspondence.

[0056] Among them, the second detection device 8 can be a microswitch. The microswitch is mainly based on the principles of mechanical movement and electrical conduction. When an external mechanical force acts on the microswitch, it will compress the internal spring piece and move the contact. During this process, the contact state between the contacts will change, thus realizing the on-off of the circuit. Specifically, when no external force is applied, the contacts are in an open state; when sufficient external force is applied, the contacts will close, making the circuit energized; when the external force disappears, the spring piece will return to its original position, the contacts will open, and the circuit will be powered off. In this embodiment, the microswitch is applied to the storage unit 401. The file box 5 is placed in the storage unit 401, and the microswitch is touched to determine whether the file box 5 is placed in place.

[0057] As an implementation manner, as Figure 1 shown, the file management robot 100 includes a driving camera 11. The driving camera 11 is provided on the robot body 1, and the driving camera 11 is used to monitor the front situation when the robot body 1 is moving.

[0058] Specifically, the file management robot 100 includes a monitoring device 6 and a driving camera 11. The monitoring device 6 can be a fish-eye monitoring camera, which is set on the front of the robot body 1 (in the direction facing the file rack), and the driving camera 11 can be a driving recorder, which is set on the side of the robot body 1 (in the direction of the robot's movement). The driving camera 11 monitors the front situation when the robot body 1 is moving. By monitoring the front situation, the driving camera 11 can timely detect potential obstacles or dangerous areas, thereby triggering an early warning mechanism to avoid the robot body 1 from colliding with obstacles and improving the safety during the movement process.

[0059] In this embodiment, the driving camera 11 not only monitors the front situation, but also combines the data of other sensors (such as lidar, ultrasonic sensors, etc.) and the monitoring system outside the archive room to jointly construct a complete image of the environment where the file management robot 100 is located. Based on the result of environmental perception, the file management robot 100 can more accurately evaluate the feasibility and safety of different movement paths, thereby selecting the optimal path for movement and improving the movement efficiency.

[0060] As an implementation manner, the file management robot 100 includes an alarm device (not shown in the drawings). The first detection device 7 and the second detection device 8 are electrically connected to the alarm device. The alarm device is used to give an alarm when the file box 5 is not clamped in place and / or the file box 5 is not placed in place.

[0061] Specifically, the first detection device 7 and the second detection device 8 can determine whether the file box 5 is clamped in place and stored in place, so as to achieve dynamic management and information feedback, and accurately judge whether the state of the file box 5 during grasping and transportation is correct. When the file box 5 is not clamped in place or not placed in place, the alarm device will immediately send out an alarm signal to remind the operator to pay attention and take corresponding measures. Through the prompt of the alarm device in this embodiment, the operator can timely discover and correct the clamping or placement problems of the file box 5, thereby avoiding damage to the file box 5 or itself caused by improper operation of the robot.

[0062] As an implementation manner, as Figures 1 to 3 shown, the file management robot 100 further includes a mobile chassis 12, and the mobile chassis 12 is used to carry the robot main body 1.

[0063] Specifically, the file management robot 100 in this embodiment belongs to an AGV (Automated Guided Vehicle), and the mobile chassis 12 is the basic support and moving mechanism of the AGV vehicle to achieve autonomous movement and navigation of the AGV in various environments.

[0064] Among them, the mobile chassis 12 generally includes several main parts such as a drive system, a guidance system, a suspension and shock absorption system, and a power supply system. The drive system is the core part of the mobile chassis 12 and is used to provide power to enable the AGV to perform functions such as moving forward, backward, and turning. The drive system includes components such as motors, reducers, and drive wheels, and the movement of the AGV is achieved by controlling the rotation speed and direction of the motors. The guidance system is used to determine the traveling direction and position of the AGV, and the guidance system can be one or more of various methods such as magnetic stripe navigation, laser navigation, inertial navigation, visual navigation, or two-dimensional code navigation. The suspension and shock absorption system can reduce the impact of uneven ground on the driving of the AGV and protect the goods and equipment on the AGV from damage. The mobile chassis 12 is internally provided with a battery as a power source, and the power supply system is used to monitor the state of the battery, manage the power distribution, and ensure the safe use of the battery.

[0065] In this embodiment, the mobile chassis 12 enables the file management robot 100 to move freely in the archive room. Through the flexible movement of the mobile chassis 12, the file management robot 100 can access all corners of the archive storage, realizing the rapid access and efficient utilization of files.

[0066] The above are only the preferred implementation manners of the present utility model. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the technical principle of the present utility model, several improvements and substitutions can still be made, and these improvements and substitutions should also be regarded as the protection scope of the present utility model.

Claims

1. A file management robot, characterized in that: It comprises a robot body, a mechanical arm, a pick-and-place mechanism for clamping a file box, and a storage module for storing the file box, wherein one end of the mechanical arm is connected to the robot body, and the other end of the mechanical arm away from the robot body is connected to the pick-and-place mechanism, and the storage module is arranged on the robot body; Among them, the robot body is provided with a monitoring device for monitoring the process of taking and placing the file box, the taking and placing mechanism is provided with a first detection device for detecting whether the file box is clamped in place, and the storage module is provided with a second detection device for detecting whether the file box is placed in place.

2. The file management robot according to claim 1, characterized in that: The taking and placing mechanism is provided with a first identification device, and the first identification device is used to identify the coding information of the file box.

3. The file management robot according to claim 2, characterized in that: The pick-and-place mechanism comprises a clamping mechanism, a driving mechanism and a positioning frame, wherein the clamping mechanism is connected to the driving mechanism, the driving mechanism is connected to the positioning frame, the positioning frame is connected to the mechanical arm, the first identification device is arranged on the positioning frame, and the first detection device is arranged in the positioning frame; Wherein, the driving mechanism is used to drive the clamping mechanism to clamp the file box, and to drive the clamping mechanism to move into the positioning frame; when the driving mechanism drives the clamping mechanism to clamp the file box and move it into the positioning frame, the first detection device can detect that the file box is in the positioning frame.

4. The file management robot according to claim 3, characterized in that: The first detection device includes a laser transmitter and a laser receiver. The laser transmitter is used to transmit laser to the laser receiver. When the file box moves into the positioning frame, the file box blocks the laser.

5. The file management robot according to claim 4, characterized in that: The clamping mechanism moves between a first position and a second position under the drive of the driving mechanism; The pick-and-place mechanism also includes a first sensor and a second sensor spaced apart on the clamping mechanism, wherein the first sensor is used to obtain an in-position signal when the clamping mechanism moves to the first position, and the second sensor is used to obtain an in-position signal when the clamping mechanism moves to the second position.

6. The file management robot according to claim 1, characterized in that: The storage module is provided with a second identification device, and the second identification device is used to identify the coding information of the file box.

7. The file management robot according to claim 6, characterized in that: The storage module includes a plurality of storage units, and each of the storage units is provided with the second detection device and the second identification device.

8. The file management robot according to claim 1, characterized in that: The file management robot includes a driving camera, which is arranged on the robot body and is used to monitor the situation in front of the robot body when it moves.

9. The file management robot according to claim 1, characterized in that: The file management robot includes an alarm device, the first detection device and the second detection device are electrically connected to the alarm device, and the alarm device is used to issue an alarm when the file box is not clamped into place and / or the file box is not placed in place.

10. The file management robot according to claim 1, characterized in that: The file management robot comprises a mobile chassis, and the mobile chassis is used to carry the robot body.

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