Mobile robot capable of autonomously completing file box taking and placing operation

Abstract

The utility model discloses a mobile robot capable of autonomously completing file box taking and placing operation, an operation platform is arranged above the robot, a storage groove is formed in the operation platform, and the storage groove is used for storing a file box; the robot comprises a storing and taking assembly used for storing the file box in the storage groove or taking the file box out of the storage groove; the storing and taking assembly comprises a mechanical arm installed on the work platform. The positioning frame is mounted at the swinging end of the mechanical arm; the vertical grabbing plate is movably installed at the bottom of the positioning frame, the vertical grabbing plate can move in the width direction of the file box, and a bottom supporting plate is installed at the bottom of the vertical grabbing plate; the gripper is movably mounted on the side edge of the positioning frame and can move in the length direction of the file box, and the gripper can grab or loosen the file box.

Description

Technical Field

[0001] The utility model relates to the technical field of file management, in particular to a mobile robot capable of autonomously completing file box taking and placing operations. Background Art

[0002] The archive management robot is designed to achieve perfect docking with unmanned warehouses. It receives archive information issued by the business system, automatically coordinates the opening and closing of corresponding archive cabinets, moves autonomously to the corresponding archives, calculates high-precision archive location information through visual recognition of archive features, controls the robotic arm to move to the archives, and realizes the operation of loading and unloading archives. It has one-click operation access, one-keyboard click in designated areas, intelligent planning tasks and other functions, realizing automatic storage and access of information in large archive warehouses.

[0003] However, the current file management robot's grasping device adopts a suction cup form, and the suction cup structure requires a matching air compressor, which has a complex structure and is noisy. Utility Model Content

[0004] The purpose of the utility model is to solve the above problems and provide a mobile robot that can autonomously complete the operation of taking and placing file boxes.

[0005] The technical solution of the present utility model is achieved as follows:

[0006] The utility model provides a mobile robot capable of autonomously completing the operation of taking and placing file boxes. The robot is provided with a working platform on top, and a storage slot is provided on the working platform for storing file boxes.

[0007] The robot comprises:

[0008] A storage and access component, used to store the file box in the storage slot or take the file box out of the storage slot;

[0009] The access component includes:

[0010] a robotic arm, mounted on the working platform;

[0011] A positioning frame, mounted on the swing end of the robotic arm;

[0012] A vertical grab plate is movably mounted on the bottom of the positioning frame, the vertical grab plate can move along the width direction of the file box, and a bottom supporting plate is mounted on the bottom of the vertical grab plate;

[0013] The gripper is movably mounted on the side of the positioning frame and can move along the length of the file box. The gripper can grab or release the file box.

[0014] The advantages or beneficial effects of the above technical solution include at least:

[0015] The vertical grabbing plate and grabber installed on the positioning frame on the robotic arm realize the storage and retrieval operation of the file box. Compared with the existing suction cup grabbing method, this method has a simple structure, low noise, easy maintenance and low manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, are used to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention, and the drawings are included in and constitute a part of this specification.

[0017] Figure 1 A first structural schematic diagram of a robot according to an embodiment of the present utility model is shown;

[0018] Figure 2 A second structural schematic diagram of the robot according to an embodiment of the present utility model is shown;

[0019] Figure 3 A schematic diagram of a storage tank according to an embodiment of the present invention is shown;

[0020] Figure 4 A schematic diagram of the access component of an embodiment of the present utility model is shown, wherein the dotted rectangular box is a file box;

[0021] Figure 5 A schematic diagram showing the position of the gap in an embodiment of the present utility model is shown;

[0022] Figure 6 A schematic diagram showing a storage assembly according to an embodiment of the present invention placing a file box in a storage slot;

[0023] Figure 7 A schematic structural diagram of a positioning frame according to an embodiment of the present invention is shown;

[0024] Figure 8 A schematic diagram showing the use state of the gripper of an embodiment of the utility model is shown;

[0025] Figure 9 A schematic diagram showing a schematic diagram of the connection relationship between the control unit and other components of an embodiment of the utility model;

[0026] Figure numerals: 10, working platform; 11, storage slot; 111, moving slot; 112, support plate; 1121, gap; 12, positioning frame; 20, storage and retrieval component; 21, robotic arm; 22, positioning frame; 221, vertical grab plate; 2211, bottom support plate; 2212, guide block; 222, gripper; 223, cylinder; 224, guide plate; 2241, motor; 2242, screw; 30, file box; 40, control unit. DETAILED DESCRIPTION

[0027] The following describes embodiments of the present invention in more detail with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0028] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] It should be understood that the term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in this utility model are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0030] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0031] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0032] Reference Figure 1 A mobile robot capable of autonomously performing file box retrieval operations has a work platform 10 above the robot, with a storage slot 11 provided on the work platform 10 for storing file boxes 30. The robot includes a storage and retrieval component 20 for storing the file boxes 30 in the storage slot 11 or taking the file boxes 30 out of the storage slot 11. Furthermore, the storage slots 11 are symmetrically distributed on both sides of the robot in the longitudinal direction, and a positioning frame 12 is installed above the storage slots 11. In addition, the storage slots 11 are provided on both sides of the longitudinal direction of the work platform 10, so that the robot can access file boxes 30 in the file cabinets on both sides when shuttling between the file cabinets.

[0033] The access assembly 20 includes: a mechanical arm 21, a positioning frame 22, a vertical grab plate 221 and a gripper 222. The mechanical arm 21 is installed on the working platform 10; the positioning frame 22 is installed on the swing end of the mechanical arm 21, such as Figure 2 As shown, the vertical grab plate 221 is movably mounted on the bottom of the positioning frame 22. The vertical grab plate 221 can move along the width direction of the file box 30. A bottom support plate 2211 is mounted on the bottom of the vertical grab plate 221. Figure 4 As shown, when the two vertical grabbing plates 221 are close to each other to the limit distance, the bottom supporting plate 2211 can support the bottom of the file box 30, so that the vertical grabbing plates 221 can grab the file box 30, and then the file box 30 is lifted up by the robot arm 21. When the two vertical grabbing plates 221 are away from each other to the limit distance, the bottom supporting plate 221 will leave the bottom of the file box 30, making it impossible for the vertical grabbing plates 221 to grab the file box 30; the gripper 222 is movably mounted on the side of the positioning frame 22 and can move along the length direction of the file box 30. The gripper 222 can grab or release the file box 30.

[0034] like Figure 8 As shown, when the file box 30 needs to be placed on the filing cabinet, the vertical grab plates 221 need to be moved close to each other to the maximum distance. The bottom support plate 2211 and the vertical grab plates 221 form a rectangular space that allows the file box 30 to move forward and backward. When the file box 30 is moved forward from the space, the gripper 222 grabs the file box 30 and moves forward a distance, but cannot completely make the file box 30 leave the space. At this time, it is necessary to control the gripper 222 to release the file box 30 and move it backward to the maximum position, and then grab the file box 30 and move it forward, so that the file box 30 can be placed on the filing cabinet.

[0035] When it is necessary to take the file box 30 from the file cabinet to the rectangular space, just repeat Figure 8 The file box 30 can be moved from the filing cabinet to the access mechanism by grasping the gripper 222 into the space, and then repeatedly grasping forward and pulling backward. The specific method is to perform the reverse operation of the above steps. Figure 8 Just follow the reverse order of the arrows.

[0036] As a further improvement of the above structure, a cylinder 223 is also installed on the positioning frame 22. The cylinder barrel of the cylinder 223 is installed on the positioning frame 22. The telescopic end of the cylinder 223 is fixed to the transversely movable gripper 222. The cylinder 223 can realize the forward and backward extension of the gripper 222.

[0037] As a further improvement of the above structure, a movable groove 111 is further provided at the bottom of the storage tank 11, and the bottom end of the vertical grab plate 221 can be embedded in the movable groove 111 and move in the movable groove 111. Of course, the bottom support plate 2211 can also move in the movable groove 111. Figure 5 As shown, the depth of the movable groove 111 is consistent with the height of the bottom support plate 2211; and a pallet plate 112 is installed at the bottom of the storage groove 11, and the bottom of the file box 30 is placed on the upper surface of the pallet plate 112. There is a gap 1121 between the pallet plates 112, and the pallet plates 112 can be moved from the movable groove 111 to the gap 1121 so that the pallet plates 112 are located at the bottom of the file box 30, as shown in FIG. Figure 5 As shown in the lower part;

[0038] When the support plate 112 is located at the bottom of the file box 30, the file box 30 can be taken out of the storage slot 11. Similarly, the file box 30 can also be stored in the storage slot 11. When the two vertical grab plates 221 move away from each other to the limit distance, the bottom support plate 2211 will leave the bottom of the file box 30, and the bottom support plate 2211 will be located in the moving slot 111 and completely leave the gap 1121. Figure 5 shown in the upper part; and, Figure 3 and Figure 5 As shown, the gap 1121 and the moving groove 111 are connected to each other.

[0039] Based on the further improvement of the above structure, the positioning frame 22 is also equipped with a guide plate 224; a guide block 2212 is installed on the vertical grabbing plate 221, and the guide block 2212 is movably connected to the guide plate 224, and the end of the guide block 2212 extends outward from the guide plate 224; a motor 2241 is installed on the outside of the guide plate 224, and the motor 2241 has coaxial output shafts on both sides, and the output shafts are respectively connected to screw rods 2242 with different rotation directions; the guide block 2212 is threadedly matched with the screw rod 2242, and the screw rod 2242 is rotated by the motor 2241, and the vertical grabbing plates 221 can be moved closer to or away from each other by moving the guide block 2212, such as Figure 4 shown.

[0040] Furthermore, the robot also includes a control unit 40, and the robotic arm 21, cylinder 223, motor 2241 and gripper 222 are all electrically connected to the control unit 40. The control unit 40 is used to control the execution or movement operations of the robotic arm 21, cylinder 223 and gripper 222, so that the robot can autonomously complete the picking and placing operations of the file box 30.

[0041] In summary, when the file box 30 needs to be taken out of the file cabinet and placed in the storage slot 11, the control unit 40 controls the motor 2241 to drive the two vertical grab plates 221 to move closer to each other to form a rectangular space. The control unit 40 controls the cylinder 223 to move the gripper 222 forward to grab the end of the file box 30 located on the file cabinet closest to the outside. The cylinder 223 moves the gripper 222 backward to move the file box 30 into the rectangular space. The control unit 40 controls the gripper 222 to release the file box 30. The control unit 40 controls the cylinder 223 to move the gripper 222 forward to grab the file box 30. The cylinder 223 moves the gripper 222 backward to move the file box 30. 22, the file box 30 can be completely moved into the space. At this time, the control unit 40 controls the robotic arm 21 to move above the storage slot 11, and then move downward to place the file box 30 in the storage slot 11. Of course, at this time, the vertical grabbing plate 221 moves to the moving slot 111, and the file box 30 is placed on the support plate 112. The bottom support plate 2211 is located in the gap 1121. The motor 2241 drives the two vertical grabbing plates 221 away from each other, so that the bottom support plate 2211 leaves the bottom of the file box 30. The robotic arm 21 then moves the positioning frame 22 upward to complete the operation of taking the file box 30 out of the filing cabinet and placing it in the storage slot 11.

[0042] Next, when the file box 30 in the storage slot 11 needs to be placed in the filing cabinet, the control unit 40 controls the robotic arm 21 to control the vertical grab plate 221 to move to the bottom of the movable slot 111, and the control unit 40 controls the motor 2241 to control the vertical grab plates 221 to approach each other, so that the bottom support plate 2211 moves to the gap 1121 to form a rectangular space, and the robotic arm 21 can move the file box 30 upward and take the file box 30 out of the storage slot 11. Then the control unit 40 controls the robotic arm 21 to move the file box 30 to the corresponding position of the filing cabinet, the gripper 222 grabs the file box 30, and the cylinder 223 repeatedly moves the gripper 222 back and forth (the specific steps have been clearly stated above and will not be repeated here), and the file box 30 can be moved to the filing cabinet.

[0043] It should be noted that the mobile robot that can autonomously complete the operation of taking and placing the file box 30 is applicable to the file cabinet commonly sold on the market, that is, the opening for storing the file box 30 is open forward, and the file box 30 can be directly taken out or pushed forward.

[0044] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0045] Those skilled in the art will appreciate that the above embodiments are merely for the purpose of illustrating the present invention and are not intended to limit the scope of the present invention. Other variations or modifications may be made based on the above disclosure, and such variations or modifications are still within the scope of the present invention.

Claims

1. A mobile robot capable of autonomously completing file box pick-up and placement operations, characterized by: A work platform (10) is provided above the robot, and a storage slot (11) is provided on the work platform (10), and the storage slot (11) is used to store the file box (30); The robot comprises: A storage and access component (20) is used to store the file box (30) in the storage slot (11) or to take the file box (30) out of the storage slot (11); The access component (20) comprises: A mechanical arm (21) is installed on the working platform (10); A positioning frame (22) is mounted on the swing end of the mechanical arm (21); A vertical grabbing plate (221) is movably mounted on the bottom of the positioning frame (22), the vertical grabbing plate (221) being movable along the width direction of the file box (30), and a bottom supporting plate (2211) being mounted on the bottom of the vertical grabbing plate (221); A gripper (222) is movably mounted on a side of the positioning frame (22) and can move along the length direction of the file box (30). The gripper (222) can grab or release the file box (30).

2. The mobile robot capable of autonomously completing file box picking and placing operations according to claim 1, characterized in that: A cylinder (223) is also installed on the positioning frame (22), the cylinder barrel of the cylinder (223) is installed on the positioning frame (22), and the telescopic end of the cylinder (223) is fixed to the gripper (222).

3. The mobile robot capable of autonomously completing file box picking and placing operations according to claim 2, characterized in that: The bottom of the storage tank (11) is also provided with a movable groove (111), the bottom end of the vertical grab plate (221) can be embedded in the movable groove (111) and move in the movable groove (111), and the depth of the movable groove (111) is consistent with the height of the bottom support plate (2211); A support plate (112) is installed at the bottom of the storage slot (11), and the bottom of the file box (30) is placed on the upper surface of the support plate (112). There is a gap (1121) between the support plates (112), and the support plates (112) can be moved from the movable slot (111) to the gap (1121) so that the support plate (112) is located at the bottom of the file box (30).

4. The mobile robot capable of autonomously completing file box picking and placing operations according to claim 3, characterized in that: The positioning frame (22) is also equipped with a guide plate (224); A guide block (2212) is mounted on the vertical grabbing plate (221), and the guide block (2212) is movably connected to the guide plate (224).

5. The mobile robot capable of autonomously completing file box picking and placing operations according to claim 4, characterized in that: The end of the guide block (2212) extends outward from the guide plate (224); A motor (2241) is installed on the outside of the guide plate (224), and the motor (2241) has coaxial output shafts on both sides, and the output shafts are respectively connected to screw rods (2242) with different rotation directions; The guide block (2212) is threadably engaged with the screw rod (2242).

6. The mobile robot capable of autonomously completing file box picking and placing operations according to claim 1, characterized in that: The storage slots (11) are symmetrically distributed on both sides of the length direction of the robot, and a positioning frame (12) is also installed above the storage slots (11).

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