CN210307790U - Automatic addressing archives robot - Google Patents
Automatic addressing archives robot Download PDFInfo
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- CN210307790U CN210307790U CN201920605122.1U CN201920605122U CN210307790U CN 210307790 U CN210307790 U CN 210307790U CN 201920605122 U CN201920605122 U CN 201920605122U CN 210307790 U CN210307790 U CN 210307790U
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- 230000007246 mechanism Effects 0.000 claims description 14
- 230000033001 locomotion Effects 0.000 claims description 7
- 239000000779 smoke Substances 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract description 8
- 230000003139 buffering effect Effects 0.000 abstract description 7
- 238000007726 management method Methods 0.000 description 7
- 210000003141 lower extremity Anatomy 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000003112 inhibitor Substances 0.000 description 1
- 239000000077 insect repellent Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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- 239000010902 straw Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The application provides an automatic addressing archives robot, including automobile body, manipulator, radio frequency identification scanning equipment and location navigation head, the district is put to the inside buffering that is equipped with of automobile body, and the bottom is equipped with the chassis, and the chassis bottom is connected with the wheel through the connecting seat, and the wheel includes differential steering wheel and universal driven wheel, and the manipulator bottom is connected on the automobile body, and radio frequency identification scanning equipment sets up at the manipulator end, and location navigation head sets up on the automobile body. This application accurate location archives box position can put up and down, put down and check in batches to archives box to be applicable to higher intensive, it has automatic addressing, work efficiency is high, saves time, uses manpower sparingly and keeps away the barrier characteristics.
Description
Technical Field
The application relates to the technical field of archive management, in particular to an automatic archive addressing robot.
Background
In the aspect of entity file management, including work such as the upper and lower frame of archives, the frame falls, check, borrow and make statistics of, archives managers still will carry out conventional humiture inspection every day, archives storehouse patrol, archives storehouse air conditioner, the opening and the regulation of dehumidifier etc., the nursing of filing cabinet, the placing and changing of mould inhibitor and insect repellent etc. archives management work load is great, work is very loaded down with trivial details, need consume a large amount of manpowers, manual management archives is not only inefficient, and still make mistakes easily.
The robot is used for managing the warehouse files in the prior art, so that labor is saved, the robot achieves an automatic addressing function through indoor positioning and path planning, and the operation of loading and unloading the files, rewinding and checking the files and the like is performed through the manipulator. A sensor unit, a main control unit and a driving unit which are mutually electrically controlled and matched are arranged in the robot; the positioning addressing method comprises the following steps: the sensor detects the serial number of a searched file sent by a user, and the main control unit calculates corresponding position information according to the serial number of the file and generates a route map; the driving unit drives the robot to the corresponding address position. The command value of each joint servo drive is calculated by the main control unit. And the main control unit converts the data into command values of joints through kinematic inverse operation according to the space position and the direction of the coordinates and the speed of the robot. And finally, the driving unit realizes position movement through a wheel type, crawler type and foot-leg type structure.
The robot management archives can not make mistakes, can work 24 hours, the condition in real-time detection archives storehouse, however, utilize the shortcoming of robot management archives among the prior art to have: firstly, the robot does not have the bearing space, can't realize large batch put on shelf or off-shelf, secondly, if the robot is at the in-process of getting archives, need place the archives that take off before in a place, and another archives of going on again gets, and robot itself does not have the storage space, and the robot need move to the assigned position and put down after the archives, gets back to the position of getting the archives again and carries out archives management, inefficiency, waste time. Second, the robot cannot accurately identify and locate the position of the archive. Thirdly, the robot is difficult to operate at a higher archive layer, and fourthly, the robot cannot realize a good obstacle avoidance function or a function of avoiding people.
SUMMERY OF THE UTILITY MODEL
An object of this application provides an automatic addressing archives robot, its accurate location archives box position can put on and off the shelf, fall the shelf and check in batches to the archives box to be applicable to higher intensive, it has automatic addressing, work efficiency is high, saves time, uses manpower sparingly and keeps away barrier characteristics.
The utility model provides an automatic addressing archives robot, includes automobile body, manipulator, radio frequency identification scanning equipment and location navigation head, the inside buffering thing district of putting that is equipped with of automobile body, the bottom is equipped with the chassis, the chassis bottom is connected with the wheel through the connecting seat, the wheel includes differential steering wheel and universal driven wheel, the manipulator bottom is connected on the automobile body, radio frequency identification scanning equipment sets up the manipulator is terminal, location navigation head sets up on the automobile body.
As above, the manipulator includes a base, a first arm, a second arm and a hand, the base is mounted on the top end of the vehicle body, the base is connected with a rotation motor, the first arm is rotatably connected to the base through a first servo drive motor, the second arm is rotatably connected to one end of the first arm far away from the base through a second servo drive motor, and the hand is rotatably connected to one end of the second arm far away from the first arm through a third servo drive motor.
As above, wherein the first arm or the second arm is a telescopic arm, the telescopic arm includes a first half arm, a second half arm and a cylinder, the first half arm is fixedly connected with the cylinder barrel of the cylinder, and the second half arm is fixedly connected with the end of the telescopic rod of the cylinder.
The positioning and navigation device comprises a laser for emitting laser, a laser scanner for rotating 360 degrees and detecting the laser, and an on-board computer for receiving laser information detected by the laser scanner, processing the information and analyzing the position and the movement direction of the vehicle body, wherein the on-board computer is in communication connection with the laser scanner.
The differential steering wheel comprises two driving wheels and two motors, wherein the two driving wheels are connected to the chassis through connecting pieces, the two driving wheels are symmetrically arranged at two ends of the chassis, and output shafts of the two motors are respectively connected with the two driving wheels through speed reducers.
As above, the end of the manipulator is provided with a clamping device, and the clamping device comprises a clamping jaw driving mechanism connected with the hand and a clamping jaw connected with the clamping jaw driving mechanism.
The vacuum suction device comprises a suction cup, a suction pipe and a negative pressure generating device, wherein the suction cup is arranged at the tail end of the manipulator, and comprises a disc fixed at the tail end of the manipulator, suction nozzles uniformly arranged on the disc, and the negative pressure generating device is connected with the suction nozzles through suction pipes.
As above, wherein the vehicle body is provided with the buffer storage area, the bottom of the buffer storage area is provided with the lifting platform, and the lifting platform is connected to the chassis through the lifting mechanism.
As above, the vehicle body is provided with an obstacle-avoiding distance-measuring sensor, a safety protection device, a temperature and humidity sensor, a camera, a smoke sensor and/or a human body infrared sensor.
As above, wherein the vehicle body is provided with an electric storage unit therein.
The beneficial effect that this application realized is as follows:
(1) this application automobile body is equipped with buffering and puts the district, when the robot need go up the lower limb in batches to archives, puts the district with archives in buffering temporarily on, the robot need not to take off archives at every turn and all moves the position of putting archives to the appointed, but moves the position of appointed archives of putting after the task of putting the lower limb in batches is all done once and places archives, has improved work efficiency.
(2) The arm of this application robot can freely angle regulation and terminal position, and arm joint department adopts servo motor control, and control accuracy is higher, has improved the terminal positioning accuracy of robot arm, and the arm has scalable function, and the terminal height-adjustable of arm conveniently operates the archives of higher intensive eminence.
(3) This application robot location navigation head is including the laser scanner that can 360 degrees rotations and send laser, be arranged with the reflecting plate in the archives storehouse, laser scanner launches laser to the reflecting plate on, the direction of the laser is launched back according to the reflecting plate, laser scanner can detect the reflecting plate and obtain information such as laser light's angle, the on-vehicle computer is handled received information, can calculate the position and the direction of motion of automobile body, positioning accuracy is higher.
(4) Be equipped with on this application automobile body and keep away barrier range sensor, safety arrangement and/or human infrared sensor, keep away barrier range sensor and guaranteed that the automobile body can avoid automatically when meetting the barrier, walk in the preceding certain distance of robot as the people, human infrared sensor can sense the people and exist, makes the robot obtain the someone signal in the place ahead to stop walking forward.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic perspective view of an automatic file addressing robot-1 according to the present application.
Fig. 2 is a schematic perspective view of an automatic file addressing robot-2 according to the present application.
Fig. 3 is a schematic view of a wheel structure of an automatic file addressing robot according to the present application.
Reference numerals: 1-a vehicle body, 2-a manipulator, 3-a radio frequency identification scanning device, 4-an air cylinder, 5-a buffer object placing area, 6-a lifting platform, 7-a chassis, 8-a driving wheel, 9-a motor, 10-a universal driven wheel, 11-a safety protection device, 12-an obstacle avoidance distance measuring sensor, 13-a positioning navigation device, 20-a base, 21-a self-rotating motor, 22-a first servo driving motor, 23-a first arm, 24-a second servo driving motor, 25-a second arm, 26-a third servo driving motor, 27-a hand part, 28-a clamping jaw driving mechanism and 29-a clamping jaw.
Detailed Description
The technical solutions in the embodiments of the present application are clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in figure 1, an automatic addressing archives robot, including automobile body 1, manipulator 2, radio frequency identification scanning device 3 and location navigation head 13, automobile body 1 is inside to be equipped with buffering thing district 5, the bottom is equipped with chassis 7, chassis 7 bottom is equipped with the wheel, the wheel passes through the connecting seat and connects the bottom on chassis 7, the wheel includes differential steering wheel and universal driven wheel 10, 2 bottoms of manipulator are connected on automobile body 1, radio frequency identification scanning device 3 sets up at manipulator 2 end, location navigation head 13 sets up on automobile body 1.
Compact shelving in the file storeroom is a plurality of shelves, is used for placing the archives box on the compact shelving, has placed archives in the archives box, when carrying out archives location check, the robot need continuous its gesture of adjusting realize terminal positioning control and accomplish the archives check of different shelves.
The archives box of archives storehouse all pastes RFID (radio frequency identification) label on the surface of the outside orientation and the corresponding position of storehouse, and the RFID label is used for the concrete position of sign archives box and position, row number, number of piles and column number on intensive promptly, and after radio frequency identification scanning equipment 3 scanned the RFID label, can learn the concrete position of this archives box to with this positional information input in the controlling means. Specifically, the radio frequency identification scanning device 3 sends out a radio frequency signal with a certain frequency through the antenna, when the RFID tag enters the magnetic field of the radio frequency identification scanning device 3, an induced current is generated to obtain energy, the antenna sends the encoded information of the radio frequency identification scanning device 3, and the radio frequency identification scanning device 3 acquires the information and performs decoding operation on the information to obtain the position information of the RFID tag.
As shown in fig. 1, the manipulator 2 includes a base 20, a first arm 23, a second arm 25, and a hand 27, the base 20 is mounted on the top end of the vehicle body 1, the base 20 is connected to a spin motor 21, the first arm 23 is rotatably connected to the base 20 by a first servo drive motor 22, the second arm 25 is rotatably connected to one end of the first arm 23 away from the base 20 by a second servo drive motor 24, and the hand 27 is rotatably connected to one end of the second arm 25 away from the first arm 23 by a third servo drive motor 26. The base 20 is rotationally connected with the vehicle body 1 through a rotation motor 21, and the rotation motor 21 drives the base 20 to rotate relative to the vehicle body 1 after running, so as to drive the manipulator 2 to rotate for a certain angle; the first servo drive motor 22 is arranged perpendicular to the axial direction of the base 20, the first arm 23 is arranged perpendicular to the first servo drive motor 22, and the first servo drive motor 22 drives the first arm 23 to rotate for a certain angle around the axial direction of the first servo drive motor 22 relative to the base after operation; the second servo driving motor 24 is arranged perpendicular to the first arm 23, the second arm 25 is arranged perpendicular to the second servo driving motor 24, the second servo driving motor 24 is fixedly connected with the first arm 23, an output shaft of the second servo driving motor 24 is fixedly connected with the second arm 25, and the second servo driving motor 24 drives the second arm 25 to rotate for a certain angle relative to the first arm 23 after operation; the third servo motor 26 is vertically and fixedly connected to one end, far away from the first arm 23, of the second arm 25, an output shaft of the third servo motor 26 is fixedly connected with the hand 27, the third servo motor 26 drives the hand 27 to rotate for a certain angle relative to the second arm 25 after operation, the controller controls the base 20, the first arm 23, the rotating angles of the second arm 25 and the hand 27 and further controls the position of the hand 27 by controlling the rotating turns of the rotation motor 21, the first servo driving motor 22, the second servo driving motor 24 and the third servo driving motor 26, so that the precise positioning of the hand 27 is realized, and further the positioning of the radio frequency identification scanning device 3 and the clamping jaw 29 connected with the hand 27 is realized.
As shown in fig. 2, the first arm 23 or the second arm 25 is a telescopic arm, the telescopic arm includes a first half arm, a second half arm and a cylinder 4, the first half arm is fixedly connected to the cylinder of the cylinder 4, the second half arm is fixedly connected to the end of the telescopic rod of the cylinder 4, after the telescopic rod of the cylinder 4 extends, the first half arm and the second half arm are spaced apart by a certain distance, and the first half arm and the second half arm are connected by the telescopic rod, so that the length of the arm 23 is increased, the height of the hand 27 is increased, and the hand 27 can operate a higher compact shelf.
The positioning and navigation device 13 comprises a laser for emitting laser, a laser scanner capable of rotating 360 degrees and detecting laser, and an on-board computer for receiving laser information detected by the laser scanner, processing the information and analyzing the position and the moving direction of the vehicle body 1, wherein the on-board computer is in communication connection with the laser scanner, a plurality of reflecting plates are fixed in the area to be monitored, the coordinates of the reflecting plates arranged in the area to be monitored are stored in a control device of the on-board computer, when the robot moves, the laser is emitted by the laser, the reflecting plates reflect the laser back, the laser scanner detects the emitting plates and obtains information such as angles of laser rays, the laser scanner continuously receives laser beams reflected from three known positions, the on-board computer receives and processes information obtained by scanning of the laser scanner, and an unknown point is determined according to the principle of the three known points, the position and the movement direction of the vehicle body 1 are calculated, the movement direction of the vehicle body 1 is corrected by comparing with parameters built in a control device, the vehicle body 1 is guided to walk according to a preset route, the preset route is a guide route from a starting point to a terminal point, the guide route is arranged in the control device, the control device controls the vehicle body 1 to move along the guide route, the position of the vehicle body 1 is monitored in real time by a positioning navigation device 13, and position information is fed back to the control device, so that whether the vehicle body 1 moves along the guide route or not is judged, and the robot is guaranteed to reach a specified position. The laser guide mode driving path can be flexible and changeable, and the laser guide device can be suitable for various field environments.
A certain number of the reflection plates should be strategically installed in a designated area, and in the working area of the robot, all the reflection plate data (including X, Y coordinates of the reflection plates) and the facing direction (i.e., the reflection angle) of the reflection plates are accurately identified in the control device.
According to the utility model discloses an in addition, the guide mode of robot can also be vision guide or magnetic stripe guide, wherein, the magnetic stripe guide mode is treating the subaerial magnetic stripe of arranging of monitoring area, 1 bottom of automobile body is provided with magnetic navigation sensor, the magnetic stripe produces magnetic field around, the intensity that is close to magnetic stripe magnetic field more is big more, magnetic navigation sensor can sense the position of magnetic stripe according to the magnetic induction principle, it is not under magnetic navigation sensor not to detect the magnetic stripe when magnetic navigation sensor, but left side or right side partially, automobile body 1 just can carry out the direction of advance adjustment through turning left or turning right, until magnetic navigation sensor detects the magnetic stripe and is located magnetic navigation sensor under. A planned route from a certain starting point to a certain terminal point of the whole area to be monitored is preset in the control device, and the control device can control the robot to move along the planned route. The magnetic navigation sensor monitors the position of the vehicle body 1 in real time and feeds back the position information to the control device, so that whether the vehicle body 1 moves along a route guided by the magnetic stripes or not is judged, and the robot is guaranteed to reach the designated position.
As shown in fig. 3, the differential steering wheel includes two driving wheels 8 and two motors 9 connected to the chassis 7 through connecting members, the two driving wheels 8 are symmetrically disposed at two ends of the chassis 7, output shafts of the two motors 9 are respectively connected to the two driving wheels 8 through speed reducers, the universal driven wheels 10 include four, the four universal driven wheels 10 are respectively disposed at four corners of the chassis 7, and the two driving wheels 8 are disposed in the middle of the four universal driven wheels 10. The motor 9 is connected with a speed controller, the speed controller is used for controlling the rotating speed of the motor 9, and the speed controller can be a frequency converter. The speed controller controls the rotating speeds of the two motors 9 to be different so that the rotating speeds of the two driving wheels 8 are different, therefore, the steering of the vehicle body 1 is realized, the driving wheels 8 rotate to drive the vehicle body 1 to move, the universal driven wheels 10 move along with the vehicle body 1, and the universal driven wheels 10 support the vehicle body 1.
As shown in fig. 1, the end of the manipulator 2 is provided with a clamping device, the clamping device comprises a clamping jaw driving mechanism 28 connected with the hand 27 and a clamping jaw 29 connected with the clamping jaw driving mechanism 28, the clamping jaw 29 comprises two symmetrically arranged jaws, and the clamping jaw driving mechanism 28 drives the two jaws to move in opposite or opposite directions after being started, so as to clamp or release the file box, and thus, the file box is taken or placed.
According to the utility model discloses a further embodiment, manipulator 2's end is equipped with the sucking disc, the sucking disc is including fixing the disc at manipulator 2 end, evenly set up the suction nozzle on the disc and the air compressor machine of being connected with the suction nozzle through the straw, manipulator 2 drives the suction nozzle and removes the archives box department of treating absorption, start the air compressor machine, produce the negative pressure in the suction nozzle, the archives box is adsorbed to the suction nozzle, manipulator 2 drives the archives box and removes the assigned position, stop the operation of air compressor machine, the negative pressure is eliminated between suction nozzle and the archives box, remove manipulator 2 and make suction nozzle and archives box separation, thereby realize getting of archives.
As shown in fig. 1, a buffer object placing area 5 is arranged in a vehicle body 1, a lifting platform 6 is arranged at the bottom of the buffer object placing area 5, the lifting platform 6 is connected to a chassis 7 through a lifting mechanism, the lifting mechanism can be a lifting cylinder, a hydraulic cylinder or a lifting connecting rod mechanism, the lifting mechanism is started, and the lifting platform 6 ascends or descends, so that objects in the buffer object placing area 5 can be lifted or lowered by a certain height.
As shown in fig. 1, an obstacle avoidance distance measuring sensor 12, a safety protection device 11, a temperature and humidity sensor, a camera, a smoke sensor and/or a human body infrared sensor are arranged on a vehicle body 1, the obstacle avoidance distance measuring sensor 12 can enable a robot to sense obstacles around the robot within a certain distance range, the robot is prevented from being impacted on the obstacles, and the safety protection device 11 is a rubber shock absorption block and prevents the edge of the vehicle body 1 from being damaged; the temperature and humidity sensor is used for detecting the temperature and humidity of the surrounding environment to realize temperature and humidity monitoring of the surrounding environment; the camera is used for collecting images of the surrounding environment, the smoke sensor is used for detecting the smoke concentration of the surrounding environment, and when the smoke concentration exceeds a certain concentration, the alarm device can give an alarm to realize the smoke monitoring of the surrounding environment; the human body infrared sensor can sense whether people exist in a certain distance away from the robot, and the robot is prevented from colliding with workers.
According to the utility model discloses a concrete embodiment, this robot includes total controlling means, and total controlling means is through the start-up, stop and the rotational speed of two motor 9 that initiative wheel 8 links to each other of current control program control, still is used for controlling the rotation of 2 each arms of manipulator, the lift of lift platform 6, the start-up of cylinder 4 and the centre gripping action of clamping jaw 29 in addition.
According to a specific embodiment of the utility model, be equipped with the electric power storage unit in the automobile body 1. When the electric quantity of the equipment is about to be exhausted, the master control device controls the robot to move to a charging place to wait for charging.
The robot can realize the following functions: first, the robot can remove safely in the file storehouse, behind the RFID label on scanning position in storehouse and the archives box, places the archives box and accomplishes the putting on the shelf in the position in the storehouse, takes off the archives box through the robot and realizes the function of putting off the shelf. Secondly, the robot can realize the function of falling shelves, if some archives have been increased again in certain row's intensive later stage, the archives that increase are not put in the space that should arrange intensive reservation, and the archives behind this row of intensive are moved backward in proper order to the robot this moment, and the position of wholly adjusting the frame leaves sufficient space to place the archives, puts on the shelf with archives reordering. Third, when carrying out the during operation that archives intelligence was checked through the robot, the robot at first reachs the row intensive of judging, it scans the archives box through the RFID label on the radio frequency identification scanning equipment 3 scanning archives box to be the S type from high to low, ensure that the scanning does not omit arbitrary archives box, treat the archives scanning completion back on this row intensive, the robot is automatic to be walked to next row intensive and carries out archives checking according to the same principle, controlling means compares the archives box information that scans and the file information that this storehouse was preserved, if not corresponding, then the mistake has been placed to the archives box, can also scan out the condition of lacking few archives box.
The beneficial effect that this application realized is as follows:
(1) this application automobile body is equipped with buffering and puts the district, when the robot need go up the lower limb in batches to archives, puts the district with archives in buffering temporarily on, the robot need not to take off archives at every turn and all moves the position of putting archives to the appointed, but moves the position of appointed archives of putting after the task of putting the lower limb in batches is all done once and places archives, has improved work efficiency.
(2) The arm of this application robot can freely angle regulation and terminal position, and arm joint department adopts servo motor control, and control accuracy is higher, has improved the terminal positioning accuracy of robot arm, and the arm has scalable function, and the terminal height-adjustable of arm conveniently operates the archives of higher intensive eminence.
(3) This application robot location navigation head is including the laser scanner that can 360 degrees rotations and send laser, be arranged with the reflecting plate in the archives storehouse, laser scanner launches laser to the reflecting plate on, the direction of the laser is launched back according to the reflecting plate, laser scanner can detect the reflecting plate and obtain information such as laser light's angle, the on-vehicle computer is handled received information, can calculate the position and the direction of motion of automobile body, positioning accuracy is higher.
(4) Be equipped with on this application automobile body and keep away barrier range sensor, safety arrangement and/or human infrared sensor, keep away barrier range sensor and guaranteed that the automobile body can avoid automatically when meetting the barrier, walk in the preceding certain distance of robot as the people, human infrared sensor can sense the people and exist, makes the robot obtain the someone signal in the place ahead to stop walking forward.
Claims (10)
1. An automatic addressing file robot is characterized by comprising a vehicle body, a mechanical arm, a radio frequency identification scanning device and a positioning navigation device,
the vehicle body is internally provided with a buffer object placing area, the bottom of the vehicle body is provided with a chassis, the bottom of the chassis is connected with wheels through a connecting seat, the wheels comprise differential steering wheels and universal driven wheels,
the bottom of the manipulator is connected with the vehicle body,
the radio frequency identification scanning device is arranged at the tail end of the manipulator,
the positioning navigation device is arranged on the vehicle body.
2. The file robot of claim 1, wherein the manipulator comprises a base, a first arm, a second arm and a hand, the base is mounted on the top end of the vehicle body, the base is connected with a rotation motor, the first arm is rotatably connected to the base through a first servo drive motor, the second arm is rotatably connected to one end of the first arm far away from the base through a second servo drive motor, and the hand is rotatably connected to one end of the second arm far away from the first arm through a third servo drive motor.
3. The automatic addressing file robot of claim 2, wherein the first arm or the second arm is a telescopic arm, the telescopic arm comprises a first half arm, a second half arm and a cylinder, the first half arm is fixedly connected with a cylinder barrel of the cylinder, and the second half arm is fixedly connected with a tail end of a telescopic rod of the cylinder.
4. An automatically addressable file robot as claimed in claim 1, characterized in that said positioning and navigation device comprises a laser emitting laser, a laser scanner rotating 360 degrees and detecting laser, and an on-board computer receiving laser information detected by the laser scanner and processing it for analyzing the position and direction of movement of said vehicle body, said on-board computer being in communication with said laser scanner.
5. The automatic addressing file robot of claim 1, wherein the differential steering wheel comprises two driving wheels and two motors, the two driving wheels are symmetrically arranged at two ends of the chassis, and the output shafts of the two motors are respectively connected with the two driving wheels through speed reducers.
6. An automatically addressable file robot as claimed in claim 2, characterized in that the end of the robot arm is provided with a gripper device comprising a gripper driving mechanism connected to the hand and a gripper connected to the gripper driving mechanism.
7. An automatic addressing file robot as claimed in claim 1, wherein the end of the manipulator is provided with a suction cup, the suction cup comprises a disc fixed at the end of the manipulator, suction nozzles uniformly arranged on the disc, and a negative pressure generating device connected with the suction nozzles through suction pipes.
8. The robot for automatically addressing files of claim 1, wherein a lifting platform is disposed at the bottom of the buffer storage area, and the lifting platform is connected to the chassis through a lifting mechanism.
9. The automatic addressing archive robot as claimed in claim 1, wherein the vehicle body is provided with an obstacle avoidance distance measuring sensor, a safety protection device, a temperature and humidity sensor, a camera, a smoke sensor and/or a human body infrared sensor.
10. An automatically addressable file robot as claimed in claim 1, wherein an electrical storage unit is provided in said vehicle body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920605122.1U CN210307790U (en) | 2019-04-28 | 2019-04-28 | Automatic addressing archives robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920605122.1U CN210307790U (en) | 2019-04-28 | 2019-04-28 | Automatic addressing archives robot |
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| CN210307790U true CN210307790U (en) | 2020-04-14 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112847357A (en) * | 2020-12-31 | 2021-05-28 | 宁波知行物联科技有限公司 | Gear-taking robot control method and system |
| CN113021339A (en) * | 2021-03-16 | 2021-06-25 | 广东威科质量检测有限公司 | Floating bacterium sampling robot |
| CN113446680A (en) * | 2021-05-12 | 2021-09-28 | 董红 | Storehouse temperature control management method |
| CN114794743A (en) * | 2022-03-17 | 2022-07-29 | 江西阳光安全设备集团有限公司 | Compact shelf with tilting prevention device |
-
2019
- 2019-04-28 CN CN201920605122.1U patent/CN210307790U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112847357A (en) * | 2020-12-31 | 2021-05-28 | 宁波知行物联科技有限公司 | Gear-taking robot control method and system |
| CN113021339A (en) * | 2021-03-16 | 2021-06-25 | 广东威科质量检测有限公司 | Floating bacterium sampling robot |
| CN113446680A (en) * | 2021-05-12 | 2021-09-28 | 董红 | Storehouse temperature control management method |
| CN114794743A (en) * | 2022-03-17 | 2022-07-29 | 江西阳光安全设备集团有限公司 | Compact shelf with tilting prevention device |
| CN114794743B (en) * | 2022-03-17 | 2023-08-22 | 江西阳光安全设备集团有限公司 | Compact shelf with anti-falling device |
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