CN102794761A - Automatic file accessing mechanical arm with force protection function - Google Patents
Automatic file accessing mechanical arm with force protection function Download PDFInfo
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- CN102794761A CN102794761A CN2012102155101A CN201210215510A CN102794761A CN 102794761 A CN102794761 A CN 102794761A CN 2012102155101 A CN2012102155101 A CN 2012102155101A CN 201210215510 A CN201210215510 A CN 201210215510A CN 102794761 A CN102794761 A CN 102794761A
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Abstract
An automatic file accessing mechanical arm with a force protection function relates to a file accessing device, belongs to the technical field of robots, and aims at achieving automatic accessing of classified or strictly confidential files. Fingers clamp an electric motor to drive an elliptic wheel to rotate; two driven wheels are arranged at two sides of the elliptic wheel and contact with the elliptic wheel respectively; centers of the two driven wheels are connected together through clamping of springs by the fingers; and the two fingers are adjusted to be close to or away from each other through change of center distance of the two driven wheels. A photoelectric sensor is used for detecting whether files exist in the two fingers, arranged between the two fingers, and mounted on a finger shell. A radio frequency identification device (RFID) reader-writer is arranged on the finger shell and used for reading RFID code carrying body information at spine positions of file boxes, and a tray is arranged under the two fingers in extensible mode and used for supporting the file boxes. The automatic file accessing mechanical arm with the force protection function is simple in structure, accurate to operate and suitable for remote manipulation, and is mainly used for automatic accessing of classified or strictly confidential files.
Description
Technical field
The present invention relates to a kind of file accessing device, belong to the Robotics field.
Background technology
The papery archives generally are placed in the filing container and exist on the bookshelf of archive office, but the access procedure of master files or top-secret archives generally adopts secrecy provision and strict management.In order to maintain secrecy, managerial demands secret or top-secret archives are realized robot automation's access, and this has become a kind of development trend.Yet, a kind of automation equipment that is specifically designed to file accessing also is not provided in the prior art at present.
Summary of the invention
The purpose of this invention is to provide a kind of archives banding machine tool hand that has the protective function of trying hard to keep, to realize the automation access of secret or top-secret archives.
The present invention solves the problems of the technologies described above the technical scheme of taking to be:
The archives banding machine tool hand that has the protective function of trying hard to keep of the present invention comprises two fingers, finger actuation mechanism, finger push-pull effort sensor buffer structure, photoelectric sensor, rfid interrogator and pallet, and said finger actuation mechanism comprises finger shell, finger rotating shaft, fingers motor, elliptic wheel, two supporting rollers, fingers springs and finger rotary electric machines; Said finger push-pull effort sensor buffer structure comprises buffer spring, sliding sleeve guide pillar, push-pull effort sensor, two sliding sleeves, finger block, two guide rods, four linear bearings, outer sleeve and end cap of the spring; Fingers motor-driven elliptic wheel rotates; Two supporting rollers are arranged on the both sides of elliptic wheel and contact with elliptic wheel respectively; The center of two supporting rollers links together through the fingers spring, the variation of the centre-to-centre spacing through two supporting rollers adjust two fingers each other near or away from; Two fingers are installed on the finger shell, point shell and are installed in the finger rotating shaft through bearing, and the finger rotary electric machine is used for driving two fingers of finger shell drive and rotates along the finger rotating shaft; The upper end of finger rotating shaft is provided with the structure that has two bearing blocks, and every guide rod is installed in the corresponding bearing block through two linear bearings; Said two sliding sleeves and the buffer spring between the two are sleeved on the sliding sleeve guide pillar; The sliding sleeve guide pillar is installed in the outer sleeve together with two sliding sleeves, buffer springs on the sliding sleeve guide pillar; End cap of the spring keeps off on the end face of sleeve outside and with the respective ends of sliding sleeve guide pillar and being fixedly connected; The sliding sleeve guide pillar stretches out outer sleeve and is connected with the push-pull effort sensor, and the push-pull effort sensor is installed on the finger block; Photoelectric sensor is used to detect in two fingers whether archives are arranged, photoelectric sensor between two fingers and be installed in the finger shell on; Rfid interrogator is installed on the finger shell; Rfid interrogator is used to read the filing container spine RFID of place and carries a yard body information; Said pallet telescopically is arranged on the below of two fingers, and pallet is used for the support filing container.
The invention has the beneficial effects as follows: the present invention has realized the automation access of archives.Under the rotation through the driven by motor elliptic wheel and the acting in conjunction of spring force, can realize two supporting rollers near with separate, realizing the closed and closed of finger, and then be implemented in the document handling process extracting and release to document.The present invention adopts the RFID sensor that the filing container spine RFID of place is carried yard body to carry out read-write operation, to read and to write the archives relevant information.The present invention simultaneously also is provided with electric transducer and detects in the present invention's (paw) whether archives are arranged, and realizes the accuracy of operation.It is comparatively simple that the present invention has structure, and operation accurately is suitable for operated from a distance.The present invention is mainly used in the automation access of secret or top-secret archives.
Description of drawings
Fig. 1 is a stereogram of the present invention; Fig. 2 is the stereogram that the present invention removes the another kind of structure of finger shell 2 and finger block 13; Fig. 3 is that master of the present invention looks cutaway view, and Fig. 4 is the vertical view of Fig. 3, and Fig. 5 is the A-A profile (paw push-pull effort sensor buffer structure) of Fig. 3; Fig. 6 is the stereogram of filing container, and among the figure: 23-word tag, 24-RFID carry a yard body (being affixed on inside); Fig. 7 is the stereogram of filing container open mode; Fig. 8 is the reduced graph of paw holding function, and Fig. 9 is the reduced graph of the paw holding function of another state; Figure 10 is paw pallet body operation principle process sketch map (among the figure: 20-2 indicating panel sliding seat, 25 expression bookshelves); Figure 11 is the sketch map of another width of cloth paw push-pull effort sensor buffer structure.
The specific embodiment
The specific embodiment one: shown in Fig. 1～10; The described archives banding machine tool hand that has the protective function of trying hard to keep of this embodiment comprises two fingers 1, finger actuation mechanism, finger push-pull effort sensor buffer structure, photoelectric sensor 18, rfid interrogator 19 and pallet 20, and said finger actuation mechanism comprises finger shell 2, finger rotating shaft 3, fingers motor 7, elliptic wheel 8, two supporting rollers 9, fingers spring 10 and finger rotary electric machines 11; Said finger push-pull effort sensor buffer structure comprises buffer spring 4, sliding sleeve guide pillar 5, push-pull effort sensor 6, two sliding sleeves 12, finger block 13, two guide rods 14, four linear bearings 15, outer sleeve 16 and end cap of the spring 17; Fingers motor 7 drives elliptic wheel 8 and rotates; Two supporting rollers 9 are arranged on the both sides of elliptic wheel 8 and contact with elliptic wheel 8 respectively; The center of two supporting rollers 9 links together through fingers spring 10, the variation of the centre-to-centre spacing through two supporting rollers 9 adjust two fingers 1 each other near or away from; Two fingers 1 are installed on the finger shell 2, point shell 2 and are installed in the finger rotating shaft 3 through bearing, and finger rotary electric machine 11 is used for driving two fingers 1 of finger shell 2 drives and rotates along finger rotating shaft 3; The upper end of finger rotating shaft 3 is provided with the structure that has two bearing block 3-1, and every guide rod 14 is installed in the corresponding bearing block 3-1 through two linear bearings 15; Said two sliding sleeves 12 and the buffer spring between the two 4 are sleeved on the sliding sleeve guide pillar 5; Sliding sleeve guide pillar 5 is installed in the outer sleeve 16 together with two sliding sleeves 12, the buffer spring 4 on the sliding sleeve guide pillar 5; End cap of the spring 17 keeps off on the end face of sleeve 16 outside and with the respective ends of sliding sleeve guide pillar 5 and being fixedly connected; Sliding sleeve guide pillar 5 stretches out outer sleeve 16 and is connected with push-pull effort sensor 6, and push-pull effort sensor 6 is installed on the finger block 13; Whether photoelectric sensor 18 is used to detect two fingers has archives in 1, and photoelectric sensor 18 is between two fingers 1 and be installed on the finger shell 2; Rfid interrogator is installed on the finger shell 2; Rfid interrogator is used to read the filing container spine RFID of place and carries a yard body information; Said pallet 20 telescopicallies are arranged on the below of two fingers 1, and pallet 20 is used for the support filing container.
The specific embodiment two: the said driving finger of this embodiment shell 2 edge finger rotating shaft 3 rotational angles are-90 °～+ 90 °.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: shown in Fig. 1～10; The said pallet 20 of this embodiment is provided with pallet guide pillar 20-1; Said pallet 20 is installed in the bottom of finger shell 2 through constant force springs 21; Make said pallet 20 under normal shape, be in the state of stretching out, when the external part end face of pallet 20 touches barrier, can indentation point in the bottom of shell 2.Other composition and annexation are identical with the specific embodiment one or two.
The elaboration of the operation principle of the present invention and the course of work:
The course of work: at first paw (the present invention) moves to filing container place bookshelf; The both sides of earlier two fingers 1 being inserted the filing container of erectting on the bookshelf 22 simultaneously; Read the filing container spine RFID of place then and carry a yard body information, confirm that errorless back clamps filing container 22 and it is extracted, and places on the pallet 20; After confirming filing container have been pressed from both sides out through photoelectric sensor 18, carry out subsequent action.Adopt photoelectric sensor inspection 18 to survey in the paw whether archives are arranged, paw employing rfid interrogator (RFID sensor) carries yard body to the filing container spine RFID of place and carries out read-write operation, to read and to write the archives relevant information.
Since paw to document class article carrying process in, need earlier two fingers 1 to be inserted filing container 22 both sides of erectting on the bookshelf simultaneously, clamp file box then and extract; In this process,, then need carry out the power protection of transfiniting to this process if there is any obstruction to cause damage to document box or paw; The present invention adopts push-pull effort sensor 6 to carry out the power detection of transfiniting, if but directly will point shell 2 and link to each other with finger block 13 through push-pull effort sensor 6, then when stressed, can't stop rapidly owing to system; Will certainly cause unnecessary harm to sensor 6; Said design paw push-pull effort sensor buffer structure because spring 4 has compressed in advance, can not influence operate as normal; Do not influence function when being implemented in normal use, when power transfinites, can protect yet the power sensor.
Since paw to document class article carrying process in; Need earlier two fingers 1 to be inserted the filing container both sides of erectting on the bookshelf simultaneously; Clamp file box then and extract,, lean on the mode of motor overload to clamp if according to traditional approach; Then can cause damage and shorten electrical machinery life, in case and motor cuts off the power supply then the clipped object article lose chucking power and drop motor and mechanical connection place.Can realize the constant force chucking power through elliptic wheel mechanism, and under powering-off state, not be affected.Under the rotation through the driven by motor elliptic wheel and the acting in conjunction of spring force, can realize two supporting rollers near with separate, realizing the closed and closed of finger, and then be implemented in the document handling process extracting and release to document.
Since paw to document class article carrying process in; Need earlier two fingers to be inserted the filing container both sides of erectting on the bookshelf simultaneously; Clamp file box then and extract, the iff armrest refers to that clamping is difficult to guarantee reliability, then designs a kind of like graph structure pallet 20.Because paw gets into bookshelf under the driving of motor, if adopt general spring, then motor load will increase gradually in this process, cause the waste of motor load, so constant force spring 21 is adopted in design, be implemented in paw and will get into the bookshelf process, and motor load is constant.
Claims (3)
1. archives banding machine tool hand that has the protective function of trying hard to keep; It is characterized in that: said manipulator comprises two fingers (1), finger actuation mechanism, finger push-pull effort sensor buffer structure, photoelectric sensor (18), rfid interrogator (19) and pallet (20), and said finger actuation mechanism comprises finger shell (2), finger rotating shaft (3), fingers motor (7), elliptic wheel (8), two supporting rollers (9), fingers spring (10) and points rotary electric machine (11); Said finger push-pull effort sensor buffer structure comprises buffer spring (4), sliding sleeve guide pillar (5), push-pull effort sensor (6), two sliding sleeves (12), finger block (13), two guide rods (14), four linear bearings (15), outer sleeve (16) and end cap of the spring (17); Fingers motor (7) drives elliptic wheel (8) and rotates; Two supporting rollers (9) are arranged on the both sides of elliptic wheel (8) and contact with elliptic wheel (8) respectively; The center of two supporting rollers (9) links together through fingers spring (10), the variation of the centre-to-centre spacing through two supporting rollers (9) adjust two fingers (1) each other near or away from; Two fingers (1) are installed on the finger shell (2), and finger shell (2) is installed in the finger rotating shaft (3) through bearing, and finger rotary electric machine (11) is used for driving finger shell (2) and drives two fingers (1) along finger rotating shaft (3) rotation; The upper end of finger rotating shaft (3) is provided with the structure that has two bearing blocks (3-1), and every guide rod (14) is installed in the corresponding bearing block (3-1) through two linear bearings (15); Said two sliding sleeves (12) and the buffer spring between the two (4) are sleeved on the sliding sleeve guide pillar (5); Sliding sleeve guide pillar (5) is installed in the outer sleeve (16) together with two sliding sleeves (12) on the sliding sleeve guide pillar (5), buffer spring (4); End cap of the spring (17) keeps off on the end face of sleeve (16) outside and with the respective ends of sliding sleeve guide pillar (5) and being fixedly connected; Sliding sleeve guide pillar (5) stretches out outer sleeve (16) and is connected with push-pull effort sensor (6), and push-pull effort sensor (6) is installed on the finger block (13); Photoelectric sensor (18) is used to detect in two fingers (1) whether archives are arranged, and photoelectric sensor (18) is positioned between two fingers (1) and is installed on the finger shell (2); Rfid interrogator is installed on the finger shell (2); Rfid interrogator is used to read the filing container spine RFID of place and carries a yard body information; Said pallet (20) telescopically is arranged on the below of two fingers (1), and pallet (20) is used for the support filing container.
2. a kind of archives banding machine tool hand that has the protective function of trying hard to keep according to claim 1 is characterized in that: said driving finger shell (2) is-90 °～+ 90 ° along finger rotating shaft (3) rotational angle.
3. a kind of archives banding machine tool hand that has the protective function of trying hard to keep according to claim 1 and 2; It is characterized in that: said pallet (20) is provided with pallet guide pillar (20-1); Said pallet (20) is installed in the bottom of finger shell (2) through constant force springs (21); Make said pallet (20) under normal shape, be in the state of stretching out, when the external part end face of pallet (20) touches barrier, can indentation point in the bottom of shell (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210215510.1A CN102794761B (en) | 2012-06-27 | 2012-06-27 | Automatic file accessing mechanical arm with force protection function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210215510.1A CN102794761B (en) | 2012-06-27 | 2012-06-27 | Automatic file accessing mechanical arm with force protection function |
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| CN102794761A true CN102794761A (en) | 2012-11-28 |
| CN102794761B CN102794761B (en) | 2014-09-10 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103158149A (en) * | 2013-03-29 | 2013-06-19 | 朱汝庆 | Robot hand used for organizing archives based on programmable logic controller (PLC) control |
| CN103223665A (en) * | 2013-04-28 | 2013-07-31 | 哈尔滨工业大学 | Full-automatic transport robot for physical files |
| CN104329639A (en) * | 2014-09-24 | 2015-02-04 | 无锡启晖光电科技有限公司 | Stage lamp and projection lamp focusing and quick clamping mechanism |
| CN104972476A (en) * | 2014-04-02 | 2015-10-14 | 宁夏巨能机器人系统有限公司 | Mechanical arm clamping device |
| CN105127991A (en) * | 2015-09-07 | 2015-12-09 | 上海交通大学 | Automatic book taking and placing mechanism |
| CN111003406A (en) * | 2020-01-07 | 2020-04-14 | 江苏迅捷装具科技有限公司 | Method for automatically taking file box and manipulator for automatically taking file box |
| CN111532497A (en) * | 2020-05-07 | 2020-08-14 | 荣文龙 | Automatic processing system for rubber manufacturing |
| CN113208661A (en) * | 2021-05-28 | 2021-08-06 | 湘潭大学 | Cotton swab holder based on torsion spring |
| CN114589674A (en) * | 2020-12-04 | 2022-06-07 | 国网智能科技股份有限公司 | File robot, automatic file management and control system and method |
| CN114589720A (en) * | 2020-12-04 | 2022-06-07 | 国网智能科技股份有限公司 | Intelligent paw, method and robot capable of automatically identifying and positioning files |
| CN115649711A (en) * | 2022-10-31 | 2023-01-31 | 厦门大学 | High-precision positioning device and positioning method for unmanned archive storehouse |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103158149A (en) * | 2013-03-29 | 2013-06-19 | 朱汝庆 | Robot hand used for organizing archives based on programmable logic controller (PLC) control |
| CN103223665A (en) * | 2013-04-28 | 2013-07-31 | 哈尔滨工业大学 | Full-automatic transport robot for physical files |
| CN104972476B (en) * | 2014-04-02 | 2017-02-08 | 宁夏巨能机器人系统有限公司 | Mechanical arm clamping device |
| CN104972476A (en) * | 2014-04-02 | 2015-10-14 | 宁夏巨能机器人系统有限公司 | Mechanical arm clamping device |
| CN104329639B (en) * | 2014-09-24 | 2018-05-08 | 江苏宜达新材料科技股份有限公司 | A kind of stage lighting and projection lamp focusing quick clamping mechanism |
| CN104329639A (en) * | 2014-09-24 | 2015-02-04 | 无锡启晖光电科技有限公司 | Stage lamp and projection lamp focusing and quick clamping mechanism |
| CN105127991A (en) * | 2015-09-07 | 2015-12-09 | 上海交通大学 | Automatic book taking and placing mechanism |
| CN111003406A (en) * | 2020-01-07 | 2020-04-14 | 江苏迅捷装具科技有限公司 | Method for automatically taking file box and manipulator for automatically taking file box |
| CN111532497A (en) * | 2020-05-07 | 2020-08-14 | 荣文龙 | Automatic processing system for rubber manufacturing |
| CN114589674A (en) * | 2020-12-04 | 2022-06-07 | 国网智能科技股份有限公司 | File robot, automatic file management and control system and method |
| CN114589720A (en) * | 2020-12-04 | 2022-06-07 | 国网智能科技股份有限公司 | Intelligent paw, method and robot capable of automatically identifying and positioning files |
| CN114589720B (en) * | 2020-12-04 | 2023-10-10 | 国网智能科技股份有限公司 | Intelligent paw capable of automatically identifying and positioning files, method and robot |
| CN113208661A (en) * | 2021-05-28 | 2021-08-06 | 湘潭大学 | Cotton swab holder based on torsion spring |
| CN113208661B (en) * | 2021-05-28 | 2022-04-19 | 湘潭大学 | Cotton swab holder based on torsion spring |
| CN115649711A (en) * | 2022-10-31 | 2023-01-31 | 厦门大学 | High-precision positioning device and positioning method for unmanned archive storehouse |
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| CN102794761B (en) | 2014-09-10 |
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Effective date of registration: 20160112 Address after: 241000 Anhui city of Wuhu province Jiujiang District Electronic Industrial Park building E Patentee after: Wuhu company limited of Hart Robot industry Institute for Research and Technology Address before: 150001 Harbin, Nangang, West District, large straight street, No. 92 Patentee before: Harbin Institute of Technology |