CN108584265A - A kind of file accessing system and file access method - Google Patents

A kind of file accessing system and file access method Download PDF

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Publication number
CN108584265A
CN108584265A CN201810449755.8A CN201810449755A CN108584265A CN 108584265 A CN108584265 A CN 108584265A CN 201810449755 A CN201810449755 A CN 201810449755A CN 108584265 A CN108584265 A CN 108584265A
Authority
CN
China
Prior art keywords
file
driving
crossbeam
archives
portal frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810449755.8A
Other languages
Chinese (zh)
Inventor
刘芳华
贡仲林
束金伟
吴新军
王永志
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu swift Intelligent Technology Co., Ltd.
Jiangsu Xunjie Cabinet Technology Co Ltd
Original Assignee
贡仲林
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 贡仲林 filed Critical 贡仲林
Priority to CN201810449755.8A priority Critical patent/CN108584265A/en
Publication of CN108584265A publication Critical patent/CN108584265A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/902Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements

Abstract

The present invention provides a kind of file accessing system and file access method, which includes:Translation track is relatively set with two, spacing between two translation tracks is suitable for installation compression file rack, and its length direction is arranged in X direction, portal frame is arranged on two translation tracks, and it can be translated along two translation tracks under the driving of the first driving mechanism, lifting gear is mounted on portal frame, the length direction of crossbeam is mounted on along Y direction on lifting gear, and under the drive of lifting gear, it is moved along Z-direction, file accessing device is set on crossbeam, manipulator including gripping archives, access terminal and the first driving mechanism, lifting gear, haulage gear and the communication connection of file accessing device.File accessing system through the invention, realization automatically accesses archives, and file accessing device can be realized in tri- directions X, Y, Z and be moved freely, and structure design is simple, and manipulator setting is flexible, and practicability is high.

Description

A kind of file accessing system and file access method
Technical field
The present invention relates to archival automation administrative skill fields, and in particular to a kind of file accessing system and file accessing Method.
Background technology
Intensive posture file cabinet is since its overall structure is huge, and dense arrangement is arranged between each sub-file cabinet, this is to management Personnel access archives and increase many inconvenience, and file accessing efficiency is low.
In order to solve the above-mentioned technical problem, Chinese patent literature CN205891847U discloses a kind of archives automatic access system It unites, including moveable file cabinet is arranged side by side in several, the side of file cabinet is provided with the control device for controlling access, Automatic access device for the accessing archives archives automatic access systems are installed above file cabinet and pass through movable mechanical Being used cooperatively for hand and file cabinet, can realize the automatic access of file box, pass through the easy retrieval stream of bar code or Quick Response Code Journey can be quickly found out corresponding archives, convenient for finding, simultaneously automatic access can be accurately positioned, reduce the pressure of staff, contract It the short working time, improves work efficiency.
But the archives automatic access system first has to file cabinet being moved to corresponding position, then when accessing archives Manipulator grips archives from temporary tank, and driving mechanism driving manipulator is moved to the position of file cabinet, and manipulator has two-stage can Stretching structure, after accessing archives, manipulator returns to original position, and continuation grips archives from temporary tank, then is placed on archives In cabinet.The archives automatic access system complex structural designs, manipulator need reciprocal back and forth in archives temporary tank and file cabinet Movement, therefore, file accessing working efficiency is low, in addition, manipulator can only be flexible along the length direction and two level of moving guide rail The telescopic direction of bar moves, and therefore, not only must be provided with two symmetrical manipulators, but also file cabinet is two moving direction The size of vertical third direction is also limited, meanwhile, two-stage telescopic rod it is complicated, therefore, manufacturing cost is high, practicability It is low.
Invention content
In view of this, the present invention provides a kind of file accessing system and file access method, to solve existing shelves Case automatic access system must be provided with two symmetrical manipulators, and file cabinet is in the third direction vertical with two moving direction It is size-constrained caused by system cost it is high, the low problem of practicability.
For this purpose, the present invention provides following technical solutions:
The present invention provides a kind of file accessing systems, including:Translation track is relatively set with two, and two described flat The spacing moved between track is suitable for installation compression file rack, and the length direction of the translation track is arranged in X direction;Gantry Frame is arranged on two translation tracks, and can be along the two translation track translations under the driving of the first driving mechanism;Lifting Device is mounted on the portal frame;Crossbeam, length direction are mounted on the lifting gear, and along Y direction in institute Under the drive for stating lifting gear, moved along Z-direction;File accessing device, includes the manipulator of gripping archives, and the archives are deposited Device is taken to be set on the crossbeam, the length direction of the crossbeam described in the traction lower edge of haulage gear moves;Access terminal, with First driving mechanism, the lifting gear, the haulage gear and file accessing device communication connection;According to access When instruction is transferred in terminal input, by controlling first driving mechanism, the lifting gear, the haulage gear and the shelves Case access device works, and the file accessing device is made to be moved to target folder placement location by consulting the window's position, and by mesh Archives are marked after being gripped in the compression file rack, are back to access the window's position;When inputting storage instruction according to access terminal, By controlling first driving mechanism, the lifting gear, the haulage gear and file accessing device work, make institute It states file accessing device and is moved to target folder placement location by consulting the window's position, and target folder is stored to described intensive After in document shelf, it is back to access the window's position.
Optionally, further include the archives pallet being mounted on the file accessing device, the archives pallet is used for The archives of the temporary manipulator gripping.
Optionally, the lifting gear includes:Second driving mechanism is mounted on the portal frame;Guide rail, along Z axis side To in the vertical frame body mounted on the portal frame;Sliding block is set on the guide rail, and the crossbeam is mounted on the sliding block, The sliding block can move under the driving of second driving mechanism along the length direction of the guide rail, drive the crossbeam or more It is mobile.
Optionally, second driving mechanism includes:Second motor, shaft end are mounted on the portal frame along Z-direction In the vertical frame body of side, drive bevel gear is installed on output shaft;Active synchronization wheel is mounted on the left and right of the portal frame In the vertical frame body of both sides, shaft end is along the Y direction;First driven wheel of differential is set to the shaft end of the active synchronization wheel, Gu It is scheduled on the portal frame, is engaged with the drive bevel gear;Driven synchronizing wheel is fixed on the vertical frame body of the left and right sides On, when second motor action, the drive bevel gear rotation, first driven wheel of differential is nibbled with the drive bevel gear Resultant motion makes the active synchronization wheel rotate, and the active synchronization wheel drives the driven synchronizing wheel to rotate by synchronous belt; The linear module of synchronous belt type is mounted in the vertical frame body of the portal frame (3), and internal upper end position is equipped with actively Wheel, lower end position are equipped with driven wheel, and the driving wheel and the driven wheel pass through the synchronous band connection of module, the driven synchronization Wheel (515) connects with the drive sprocket axle so that and drive the driving wheel to rotate when driven synchronizing wheel (515) rotation, it is described Driving wheel drives the driven wheel to rotate by the module synchronous belt, and the bottom of the sliding block (53) is same mounted on the module Step takes, and the module synchronous belt moved up and down drives the sliding block (53) to be moved along the length direction of the guide rail (52); Transmission mechanism, the active synchronization wheel being set on the output shaft of second motor and the frame body of the other side of the portal frame Between, the active synchronization wheel of the other side for the action of second motor to be transferred to the portal frame.
Optionally, the transmission mechanism includes:Second driven wheel of differential is fixed on the portal frame, with described first Driven wheel of differential is axially opposing, can be engaged with the drive bevel gear;Drive link, one end are fixed on second driven wheel of differential Output shaft on, the other end is fixed on the shaft end for the active synchronization wheel installed on the frame body of the other side of the portal frame.
Optionally, first driving mechanism includes:First motor, body are fixed on at least side of the portal frame Vertical frame body lower end position;Rack is set to the side of the translation track;Gear is mounted on the defeated of the first motor On shaft, when the first motor acts, pass through engaging for the gear and the rack so that the portal frame is described in Translation track moves.
Optionally, the file accessing device includes:Rack is suitable for moving along crossbeam under the traction of the haulage gear It is dynamic;Mechanical arm drive mechanism is mounted in the rack;Clamp system, for archives to be clamped, and in the robot drives machine It under the driving of structure, sets in folder fetch bit and is moved back and forth between the archives pallet, and be moved to the archives pallet When place, the archives are placed on the archives pallet.
Optionally, it is provided with traction rack on the crossbeam.
Optionally, the haulage gear includes:Connecting plate is drawn, is mounted in the rack, upper and lower both sides are pacified respectively Equipped with upper guide roller and lower guide roller, the upper guide roller and lower guide roller can respectively along the upside of the crossbeam and Lower side roll;Traction electric machine is mounted on the traction connecting plate, and output shaft is equipped with traction gear;The traction electric machine When action, the file accessing device engaged by the traction gear with the traction rack, the upper guide roller and institute Lower guide roller is stated, is moved along the crossbeam.
An embodiment of the present invention provides a kind of file access methods, including:Access terminal sends the tune for transferring target folder Instruction fetch;First driving mechanism transfers instruction described in obtaining, and is put down along two translation tracks according to the order-driven portal frame of transferring Move to heavy dense targets document shelf position, wherein the translation track is relatively set with two, two translation tracks it Between spacing be suitable for installation compression file rack, and the length direction of the translation track is arranged in X direction;Lifting gear is according to institute Stating to transfer to instruct drives the crossbeam installed thereon to drop to precalculated position, and the lifting gear is mounted on the portal frame;Shelves Case access device transfers instruction according to and grips target folder from the compression file rack, and the file accessing device is set to On the crossbeam, the cross beam movement described in the traction lower edge of haulage gear;The access terminal sends return instruction;It is described to lead Draw mechanism and obtain the return instruction, draws the file accessing device and be back to the first initial position;Lifting gear is according to institute Stating return instruction drives the crossbeam installed thereon to rise to the second initial position;First driving mechanism is driven according to the return instruction Driven portal frame moves to access the window's position along the translation track;Or, the storage that target folder is put back in access terminal transmission refers to It enables;First driving mechanism obtains the storage instruction, is moved to along two translation tracks according to the order-driven portal frame of putting back to Heavy dense targets document shelf position;Wherein, the translation track is relatively set with two, between two translation tracks Spacing is suitable for installation compression file rack, and the length direction of the translation track is arranged in X direction;Lifting gear is deposited according to Putting instruction drives the crossbeam installed thereon to drop to precalculated position, and the lifting gear is mounted on the portal frame;Archives are deposited It takes device to be instructed according to the storage target folder is placed in compression file rack, the file accessing device is set to institute It states on crossbeam, the cross beam movement described in the traction lower edge of haulage gear;The access terminal sends return instruction;The traction Mechanism obtains the return instruction, draws the file accessing device and is back to the first initial position;Lifting gear is according to Return instruction drives the crossbeam installed thereon to rise to the second initial position;First driving mechanism drives according to the return instruction Portal frame moves to access the window's position along the translation track.
Technical solution of the embodiment of the present invention has the following advantages that:
1. an embodiment of the present invention provides a kind of file accessing system, including translation track, portal frame, lifting gear, cross Beam, file accessing device, access terminal, translation track are relatively set with two, and the spacing between two translation tracks is suitable for peace Compression file rack is filled, and the length direction of translation track is arranged in X direction, and portal frame is arranged on two translation tracks, and the It can be translated along two translation tracks under the driving of one driving mechanism, lifting gear is mounted on portal frame, and the length direction of crossbeam is along Y Axis direction is mounted on lifting gear, and under the drive of lifting gear, is moved along Z-direction, and file accessing device includes folder It takes the manipulator of archives, file accessing device to be set on crossbeam, can be moved along the length direction of crossbeam under the traction of haulage gear Dynamic, access terminal is connected with the first driving mechanism, lifting gear, haulage gear and the communication of file accessing device, eventually according to access When instruction is transferred in end input, is worked, made by controlling the first driving mechanism, lifting gear, haulage gear and file accessing device File accessing device is moved to target folder placement location by consulting the window's position, and target folder is pressed from both sides from compression file rack After taking, it is back to access the window's position, when inputting storage instruction according to access terminal, by controlling the first driving mechanism, lifting Device, haulage gear and the work of file accessing device, make file accessing device be moved to target folder by consulting the window's position and put Seated position, and after target folder is stored into concentrated archive shelf, it is back to access the window's position.Through the embodiment of the present invention File accessing system, access terminal are connected with the first driving mechanism, lifting gear, haulage gear and the communication of file accessing device, It drives file accessing device first to be moved along translation track by portal frame, so that the realization of file accessing device is moved in X direction, archives are deposited It takes device to be set on the crossbeam of lifting gear, can be moved along the crossbeam, that is, Y direction, lifting gear is mounted on portal frame On, therefore, file accessing device can move up and down under the drive of lifting gear along Z-direction, the machine in file accessing device Tool hand grips archives, and then file accessing device, which returns, consults window.By the file accessing system, realization automatically accesses Archives, and file accessing device can be realized in tri- directions X, Y, Z and be moved freely, and structure design is simple, manipulator setting Flexibly, practicability is high, solves existing archives automatic access system and must be provided with two symmetrical manipulators, and file cabinet exists The third direction vertical with two moving direction it is size-constrained caused by system cost it is high, the low problem of practicability.
Include that archives on file accessing device are temporary 2. an embodiment of the present invention provides a kind of file accessing system Frame is deposited, archives pallet is used to keep in the archives of manipulator gripping.Archives pallet and manipulator are installed in file accessing On device so that archives can directly first be placed on archives pallet after gripping archives, continue to grip another by manipulator Part target folder, after having gripped all target folders, file accessing device is returned again to window is consulted, and is greatly saved The gripping time, improve file accessing working efficiency.
3. an embodiment of the present invention provides a kind of file access method, including access terminal sends the tune for transferring target folder Instruction fetch, the first driving mechanism obtain this and transfer instruction, and transfer order-driven portal frame according to this moves to along two translation tracks Heavy dense targets document shelf position, lifting gear drive the crossbeam installed thereon to drop to precalculated position according to instruction is transferred, File accessing device grips target folder according to instruction is transferred from compression file rack, and access terminal sends return instruction, traction Mechanism obtains the return instruction, and traction file accessing device is back to the first initial position, and lifting gear is according to the return instruction The crossbeam installed thereon is driven to rise to the second initial position, the first driving mechanism drives portal frame along flat according to the return instruction It moves track and moves to access the window's position;Or, access terminal sends the storage instruction for putting back to target folder, the first driving mechanism obtains It takes the storage to instruct, heavy dense targets document shelf institute is moved in place along two translation tracks according to the storage order-driven portal frame It sets;Lifting gear drives the crossbeam installed thereon to drop to precalculated position according to storage instruction, and file accessing device is according to this Target folder is placed in compression file rack by storage instruction, and access terminal sends return instruction, and haulage gear obtains the return Instruction, traction file accessing device are back to the first initial position, and lifting gear is installed thereon according to return instruction drive Crossbeam rises to the second initial position;First driving mechanism drives portal frame to be moved to along translation track and looks into according to the return instruction Read the window's position.By the file access method, file accessing device can realize moving freely in tri- directions Z, Y, Z, So that work efficiency is high for file accessing.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is the schematic diagram of file accessing system according to the ... of the embodiment of the present invention;
Fig. 2 is first schematic diagram of lifting gear according to the ... of the embodiment of the present invention;
Fig. 3 is second schematic diagram of lifting gear according to the ... of the embodiment of the present invention;
Fig. 4 is the schematic diagram of the first driving mechanism according to the ... of the embodiment of the present invention;
Fig. 5 is the schematic diagram of file accessing device according to the ... of the embodiment of the present invention;
Fig. 6 is the schematic diagram of the clamp system of file accessing device according to the ... of the embodiment of the present invention;
Reference numeral:1- translation tracks;2- compression file racks;3- portal frames;The first driving mechanisms of 4-, 41- first motors, 42- racks, 43- gears;5- lifting gears, the second driving mechanisms of 51-, the second motors of 511-, 512- drive bevel gears, 513- master Dynamic synchronizing wheel, the first driven wheel of differential of 514-, the driven synchronizing wheels of 515-, 516- synchronous belts, the second driven wheel of differential of 517-, 518- Drive link, 519- holders, 52- guide rails, 53- sliding blocks;6- crossbeams, 61- traction racks;7- file accessing devices, 71- draggers Structure, 711- draw connecting plate, the upper guide rollers of 712-, guide roller under 713-, 714- traction electric machines, 715- traction gears, 72- Archives pallet, 73- racks, 74- clamp systems, the second fixed plates of 741-, 742- manipulator clamping motors, 743- fixed blocks, 744- connecting plates, 745- axis pins, 746- third fixed plates, 747- manipulator clamping plates, 748- pressure sensors, the directions 751-Y Moving guide rail, the first sliding blocks of 752-, 753-Y is to motor, and 754-Y is to movement synchronous belt, and 755-Y is to driven synchronizing wheel, the side 761-X To moving guide rail, 762-X is moved to rack, the second sliding blocks of 764-, 765-X to carrier wheel, the directions 771-Z to motor, 763-X Guide rail, 772- third sliding blocks, the first fixed plates of 773-, 774-Z is to motor, 78- manipulator turning motors;8- access terminals.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation, With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ", " third " is used for description purposes only, and is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can Can also be electrical connection to be mechanical connection;It can be directly connected, can also indirectly connected through an intermediary, it can be with It is the connection inside two elements, can be wirelessly connected, can also be wired connection.For those of ordinary skill in the art For, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other It can be combined with each other at conflict.
Embodiment 1
A kind of file accessing system is provided in the present embodiment, as shown in Figure 1, the system includes translation track 1, gantry Frame 3, lifting gear 5, crossbeam 6, file accessing device 7 and access terminal 8, translation track 1 are relatively set with two, two translations Spacing between track 1 is suitable for installation compression file rack 2, and the length direction of translation track 1 is arranged in X direction, and portal frame 3 is set It sets on two translation tracks 1, and can be translated along two translation tracks 1 under the driving of the first driving mechanism 4, lifting gear 5 is installed On portal frame 3, the length direction of crossbeam 6 is mounted on along Y direction on lifting gear 5, and under the drive of lifting gear 5, It is moved along Z-direction, file accessing device 7 includes the manipulator of gripping archives, and file accessing device 7 is set on crossbeam 6, can be Length direction under the traction of haulage gear 71 along crossbeam 6 moves, and access terminal 8 and the first driving mechanism 4, are led lifting gear 5 Draw mechanism 71 and the communication connection of file accessing device 7, when transferring instruction according to the input of access terminal 7, passes through the first driving of control Mechanism 4, lifting gear 5, haulage gear 71 and file accessing device 7 work, and file accessing device 7 is made to be moved by consulting the window's position It moves to target folder placement location, and target folder is back to access the window's position after being gripped in compression file rack 2;Root When inputting storage instruction according to access terminal 8, deposited by controlling the first driving mechanism 4, lifting gear 5, haulage gear 71 and archives It takes device 7 to work, file accessing device 7 is made to be moved to target folder placement location by consulting the window's position, and by target folder After in storage to concentrated archive shelf 2, it is back to access the window's position.File accessing system through the embodiment of the present invention, access Terminal 8 and the first driving mechanism 4, lifting gear 5, haulage gear 71 and the communication of file accessing device 7 connect, by 3 band of portal frame Dynamic file accessing device 7 is first moved along translation track 1, so that the realization of file accessing device 7 is moved in X direction, file accessing device 7 Can be that Y direction is moved along the crossbeam 6, lifting gear 5 is mounted on portal frame on the crossbeam 6 on lifting gear 5 On 3, therefore, file accessing device 7 can move up and down under the drive of lifting gear 5 along Z-direction, in file accessing device 7 Manipulator grip archives, then file accessing device 7 return consult window.By the file accessing system, automation is realized Ground accesses archives, and file accessing device 7 can be realized in tri- directions X, Y, Z and be moved freely, and structure design is simple, machinery Hand setting is flexible, and practicability is high, solves existing archives automatic access system and must be provided with two symmetrical manipulators, and shelves Case cabinet the third direction vertical with two moving direction it is size-constrained caused by system cost it is high, practicability is low to ask Topic.
In a specific embodiment, as shown in figure 5, the file accessing system in above-mentioned specific implementation mode further includes Archives pallet 72 on file accessing device 7, the archives pallet 72 are used to keep in the archives of manipulator gripping.It will Archives pallet 72 and manipulator are installed on file accessing device 7 so that manipulator, can directly first after gripping archives Archives are placed on archives pallet 72, continue to grip another target folder, after having gripped all target folders, File accessing device 7 is returned again to window is consulted, and is dramatically saved the gripping time, is improved file accessing working efficiency.
Specifically, as shown in Figures 2 and 3, which includes the second driving mechanism 51, guide rail 52 and sliding block 53, Guide rail 52 is installed, sliding block 53 is set on the guide rail 52, and crossbeam 6 is mounted on the sliding block 53, peace in the vertical frame body of portal frame 3 The second driving mechanism 51 on portal frame 3 can drive sliding block 53 to be moved along the length direction of guide rail 52, to drive crossbeam 6 It moves up and down, since file accessing device 7 is set on the crossbeam 6, file accessing device 7 can be driven to move up and down.In this way Structure design so that file accessing device 7 is unrestricted in the movement of Z-direction, and structure design is simple, and flexibility is good.
In a specific embodiment, as shown in Figures 2 and 3, which includes the second motor 511, The shaft end of second motor 511 is mounted on along Z-direction in the vertical frame body of the side of portal frame 3, the output shaft of the second motor 511 On drive bevel gear 512 is installed, active synchronization wheel 513, shaft end are installed in the vertical frame body of the left and right sides of portal frame 3 Along Y direction and the first driven wheel of differential 514 is installed, the first driven wheel of differential 514 is mounted on portal frame 3 by holder 519 On, which engages with the drive bevel gear 512, and driven synchronizing wheel 515 is fixed on the vertical of the left and right sides On frame body, when the second motor 511 is made, first drive bevel gear 512 rotate, then the first driven wheel of differential 514 due to master The engagement of dynamic bevel gear 512 also rotates therewith so that active synchronization wheel 513 rotates, and active synchronization wheel 513 passes through 516 band of synchronous belt Dynamic driven synchronizing wheel 515 rotates.The linear module of synchronous belt type is mounted in the vertical frame body of portal frame 3, internal upper end position It sets and driving wheel is installed, lower end position is equipped with driven wheel, and the driving wheel and driven wheel are driven same by the synchronous band connection of module Step wheel 515 connects with drive sprocket axle so that driving wheel rotation, driving wheel is driven to be synchronized by module when driven synchronizing wheel 515 rotates Band drives driven wheel rotation, the bottom of sliding block 53 to be mounted on module synchronous belt, the module synchronous belt band movable slider moved up and down 53 move along the length direction of guide rail 52.In order to ensure that the driving mechanism of 3 both sides of portal frame moves together, in the second motor 511 Output shaft and portal frame 3 the other side frame body on active synchronization wheel 513 between be equipped with transmission mechanism, which can In the active synchronization wheel 513 for the other side that the action of second motor 511 is transferred to portal frame 3, to realize the sliding block of both sides 53 synchronization liftings drive crossbeam 6 and file accessing device 7 to realize elevating movement.
Specifically, above-mentioned transmission mechanism includes the second driven wheel of differential 517, which passes through holder 519 are fixed on portal frame 3, axially opposing with the first driven wheel of differential 514, can be engaged with drive bevel gear 512, second is driven Drive link 518 is fixed on the output shaft of bevel gear 517, the other end of drive link 518 is fixed on the frame of the other side of portal frame 3 The shaft end for the active synchronization wheel 513 installed on body.The drive bevel gear 512 installed when second motor 511 rotates, on output shaft Rotation, the second driven wheel of differential 517 is engaged with drive bevel gear 512 so that the rotation of the second driven wheel of differential 517, drives its shaft end Drive link 518 rotate, to drive the active synchronization wheel 513 installed in another side frame body to rotate, by the of 3 side of portal frame The movement of two driving mechanisms 51 is transmitted to 3 other side of portal frame, and the lifting action for realizing both sides is carried out at the same time.
Specifically, as shown in figure 4, above-mentioned first driving mechanism 4 includes first motor 41, which is fixed on dragon The vertical frame body lower end position of the side of door frame 3, is equipped with gear 43 on the output shaft of first motor 41, and the one of translation track 1 Side is provided with rack 42, which engages with rack 42, when first motor 41 acts, passes through nibbling for gear 43 and rack 42 It closing so that portal frame 3 is moved along translation track 1, in embodiments of the present invention, the vertical frame body lower end of the other side of portal frame 3 It is not provided with first motor 41, is directly installed on translation track 1, with the movement of side vertical frame body along translation track 1 movement can also be arranged first motor 41 in the vertical frame body lower end of the other side, be set at the edge of the translation track 1 of the other side Rack 42 is set, portal frame 3 is translated again by the gear 43 on 41 output shaft of first motor with the realization edge of engaging of the rack 42 Track 1 moves.
As shown in figure 5, the file accessing device 7 specifically include rack 73, archives pallet 72, mechanical arm drive mechanism and Clamp system 74, rack 73 can move under the traction of haulage gear 71 along crossbeam 6, archives pallet 72 and robot drives machine Structure is mounted in rack 73, and clamp system 74 is for being clamped archives, in folder fetch bit under the driving of mechanical arm drive mechanism When setting and moved back and forth between archives pallet 72, and being moved at archives pallet 72, archives are placed on archives pallet On 72.The file accessing device 7 of the embodiment of the present invention, when needing to take archives from compression file rack 2, haulage gear 71 is drawn File accessing device 7 moves to folder fetch bit and sets, since archives pallet 72 is also mounted in rack 73, clamp system 74 under the driving of mechanical arm drive mechanism, can first place it in rack after one archives of gripping are set in the folder fetch bit On archives pallet 72 on 73, then moves on gripping position and grip second archives, place it in archives again On pallet 72.In embodiments of the present invention, archives pallet 72 has five lattice, can keep in five archives, archives pallet 72 Lattice number can be set according to actual needs, after taking out all target folders, file accessing device 7 is back to along crossbeam 6 again Designated position.Therefore, the file accessing device 7 of the embodiment of the present invention, archives pallet 72 and clamp system 74 are installed in In same rack 73, more than one piece archives can be once accessed, making file accessing, work efficiency is high, and clamp system 74 and archives pallet 72 need not individually be arranged conveying track and driving mechanism, and low cost occupies little space.
In a specific embodiment, as shown in figure 5, mechanical arm drive mechanism packet in above-mentioned specific implementation mode It includes:
Y-direction moving guide rail 751 and the first slider-actuated mechanism, Y-direction moving guide rail 751 are mounted in rack 73, On the first sliding block 752 is installed, the first slider-actuated mechanism is connect with the first sliding block 752, and the first sliding block 752 can be driven along the side Y It is moved to moving guide rail 751.First slider-actuated mechanism includes the Y-direction motor 753 being mounted in rack 73, the Y-direction motor Y-direction active synchronization wheel is installed, Y-direction active synchronization wheel is equipped with Y-direction movement synchronous belt 754, which moves on 753 output shaft The other end of dynamic synchronous belt 754 is mounted in the driven synchronizing wheel of Y-direction 755, and the driven synchronizing wheel 755 of the Y-direction is set in rack 73, In, Y-direction movement synchronous belt 754 is parallel with the length direction of Y-direction moving guide rail 751, and close to the one of Y-direction moving guide rail 751 Side is connect with the first sliding block 752.When the rotation of the output shaft of Y-direction motor 753, the rotation of Y-direction active synchronization wheel, Y thereon are driven The driven synchronizing wheel 755 of Y-direction is driven to rotate to movement synchronous belt 754, therefore Y-direction movement synchronous belt 754 can be in Y-direction active synchronization It wheel and is translated between the driven synchronizing wheel of Y-direction 755, due to the length side of Y-direction movement synchronous belt 754 and Y-direction moving guide rail 751 It is connect with the first sliding block 752 to parallel, and close to the side of Y-direction moving guide rail 751, therefore the movement of Y-direction movement synchronous belt 754 The first sliding block 752 can be driven to be moved along Y-direction moving guide rail 751, to drive the mechanical mechanism edge installed on the first sliding block 752 Y-direction moving guide rail 751 moves, which makes full use of the space in rack 73, by the rotation of Y-direction motor 753 Movement is converted to the Y-direction movement of the first sliding block 752, simple in structure, highly practical;
To motor 762, X-direction moving guide rail 761 is mounted in above-mentioned specific implementation mode by X-direction moving guide rail 761 and X The first sliding block 752 on, one side is equipped with X to rack 763, and X is mounted on the installation of 761 bottom of X-direction moving guide rail to motor 762 The second sliding block 764 on, X is equipped with X on the output shaft of motor 762 to carrier wheel 765, which can be with to carrier wheel 765 The rotation for output shaft is moved along X to rack 763.Specifically, when X is rotated to the output shaft of motor 762, the X that installs thereon It is rotated to carrier wheel 765, X is engaged with the X of 761 side of X-direction moving guide rail to rack 763 to carrier wheel 765, to make Obtaining X, moving guide rail 761 moves along a straight line in X direction to carrier wheel 765, is led since the X is mounted on X-direction movement to motor 762 On second sliding block 764 of 761 bottom of rail, therefore, second sliding block 764 is also with X to the linear motion of carrier wheel 765 and band Dynamic X is moved in X direction to motor 762, and the mechanical mechanism installed on the second sliding block 764 also moves in X direction therewith;
Z-direction moving guide rail 771 is installed on the second sliding block 764 in the above-described embodiment, the Z-direction moving guide rail Third sliding block 772 is installed on 771, the first fixed plate 773 is installed on third sliding block 772, is installed in first fixed plate 773 There is rotating mechanism, clamp system 74 is installed on rotating mechanism, which connects with the output shaft of Z-direction motor 774 again It connects, Z-direction motor 774 is mounted on the second sliding block 764.Wherein, the output shaft of Z-direction motor 774 is thread spindle, can be made when rotating It is flexible to obtain the first fixed plate 773, the first fixed plate 773 is mounted on third sliding block 772, therefore can drive the first fixed plate 773 It is moved along Z-direction moving guide rail 771, since Z-direction moving guide rail 771 is mounted on the second sliding block 764, Z-direction moving guide rail The mechanism installed on 771 moving guide rail 771 can move in X direction, increase the flexibility of 74 all directions of clamp system movement.
Specifically, as shown in fig. 6, the clamp system 74 includes:The second fixed plate 741 being pivotally connected with the first fixed plate 773, Manipulator clamping motor 742 is installed in second fixed plate 741, the output shaft of the manipulator clamping motor 742 is thread spindle, Fixed block 743 is installed, the both sides of the fixed block 743 are respectively set that there are two connecting plate 744, each connecting plates on the thread spindle 744 one end is hinged by axis pin 745 with fixed block 743, and the other end is hinged by axis pin 745 and third fixed plate 746.It is shared Two third fixed plates 746, fixed in each third fixed plate 746 there are one manipulator clamping plates 747.Manipulator clamping motor 742 output shaft rotation can make the fixed block 743 installed thereon with respect to output shaft stretching motion, when fixed block 743 is to close When one end motion of manipulator clamping motor 742, connecting plate 744 and the axial angle of fixed block 743 become smaller so that two machines Tool hand grip block 747 clamps, to clamp archives;When manipulator clamping motor 742 acts so that fixed block 743 is to far from machinery When an end motion of motor 742 is clamped in hand, connecting plate 744 and the axial angle of fixed block 743 become larger so that two manipulators Grip block 747 unclamps, to put down archives.Pressure sensor 748 is installed in the bottom of fixed block 743, when connecting plate 744 with The axial angle of fixed block 743 becomes hour, and connecting plate 744 is expressed to pressure sensor 748, and pressure sensor 748 senses The pressure, to transmit pressure signal.
Rotating mechanism in above-mentioned specific implementation mode includes:Manipulator turning motor 78 is mounted on the first fixed plate 773 On, the output shaft of the manipulator turning motor 78 is connect with the second fixed plate 741 so that manipulator turning motor 78 can when acting The second fixed plate 741 is driven to rotate, it is entire to clamp since manipulator clamping motor 742 is mounted in the second fixed plate 741 Mechanism 74 is mounted in the second fixed plate 741, and the rotation of the second fixed plate 741 can drive clamp system 74 to rotate, so as to adjust folder The rotation angle of tight mechanism 74.In embodiments of the present invention, the reset condition of manipulator clamping plate 747 is to place vertically downward, When gripping archives, manipulator clamping plate 747 rotates up 90 ° of gripping archives under the action of manipulator turning motor 78.
As shown in figure 5, the haulage gear 71 in above-mentioned specific implementation mode includes traction connecting plate 711, traction electric machine 714, traction connecting plate 711 is mounted in rack 73, and upper and lower both sides are separately installed with guide roller 712 and lower guide roller 713, upper guide roller 712 and lower guide roller 713 can be rolled along the upper side and lower side of crossbeam 6 respectively, and the upside of crossbeam 6 is under Side is equipped with guide rail, and centre position is equipped with traction rack 61.Traction electric machine 714 is mounted on traction connecting plate 711, file accessing dress Set 7 by the engaging of the traction gear 715 installed on 714 output shaft of traction electric machine and traction rack 61, upper guide roller 712 and The scrolling realization of lower guide roller 713 on the cross beam 6 is moved left and right along crossbeam 6.
In conclusion file accessing system through the embodiment of the present invention, realization automatically accesses archives, and archives are deposited It takes device 7 that can realize in tri- directions X, Y, Z to move freely, and structure design is simple, manipulator setting is flexible, practicability Height solves existing archives automatic access system and must be provided with two symmetrical manipulators, and file cabinet with two movement The vertical third direction in direction it is size-constrained caused by system cost it is high, the low problem of practicability.
Embodiment 2
A kind of file access method is provided in embodiments of the present invention, including target folder is transferred in the transmission of access terminal 8 Transfer instruction;Instruction is transferred in the acquisition of first driving mechanism 4, and according to this, to transfer order-driven portal frame 3 flat along two translation tracks 1 Move to 2 position of heavy dense targets document shelf, wherein translation track 1 is relatively set with two, between two translation tracks 1 between Away from suitable for installing compression file rack 2, and the length direction of translation track 1 is arranged in X direction;Lifting gear 5 according to transfer instruction The crossbeam 6 installed thereon is driven to drop to precalculated position, lifting gear 5 is mounted on portal frame 3;7 basis of file accessing device It transfers instruction and grips target folder from the compression file rack 2, file accessing device 7 is set on crossbeam 6, can be in haulage gear It is moved along crossbeam 6 under 71 traction;Access terminal 8 sends return instruction;Haulage gear 71 obtains the return instruction, draws archives Access device 7 is back to the first initial position;Lifting gear 5 drives the crossbeam 6 installed thereon to rise to according to the return instruction Second initial position;First driving mechanism 4 drives portal frame 3 to be moved to along translation track 1 and consults window position according to return instruction It sets;
Or, access terminal 8 sends the storage instruction for putting back to target folder;First driving mechanism 4 obtains storage instruction, according to The storage order-driven portal frame 3 moves to 2 position of heavy dense targets document shelf along two translation tracks 1;Wherein translation track 1 Two are relatively set with, the spacing between two translation tracks 1 is suitable for installation compression file rack 2, and the length side of translation track 1 To being arranged in X direction;Lifting gear 5 drives the crossbeam 6 installed thereon to drop to precalculated position, lifting dress according to storage instruction 5 are set to be mounted on portal frame 3;File accessing device 7 instructs according to the storage and target folder is placed in compression file rack 2, File accessing device 7 is set on crossbeam 6, can be moved along crossbeam 6 under the traction of haulage gear 71;Access terminal 8, which is sent, to be returned Instruction;Haulage gear 71 obtains the return instruction, and traction file accessing device 7 is back to the first initial position;Lifting gear 5 The crossbeam 6 installed thereon is driven to rise to the second initial position according to return instruction;First driving mechanism 4 drives according to return instruction Portal frame 3 moves to access the window's position along translation track 1.File access method through the embodiment of the present invention, file accessing Device 7 can realize moving freely in tri- directions Z, Y, Z so that work efficiency is high for file accessing.
Obviously, the above embodiments are merely examples for clarifying the description, and does not limit the embodiments.It is right For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or It changes.There is no necessity and possibility to exhaust all the enbodiments.And it is extended from this it is obvious variation or It changes still within the protection scope of the invention.

Claims (10)

1. a kind of file accessing system, which is characterized in that including:
Translation track (1) is relatively set with two, and the spacing between two translation tracks (1) is suitable for installing intensive archives Frame (2), and the length direction of the translation track (1) is arranged in X direction;
Portal frame (3) is arranged on two translation tracks (1), and can be along described in two under the driving of the first driving mechanism (4) Translation track (1) translates;
Lifting gear (5) is mounted on the portal frame (3);
Crossbeam (6), length direction are mounted on the lifting gear (5), and along Y direction in the lifting gear (5) Under drive, moved along Z-direction;
File accessing device (7), includes the manipulator of gripping archives, and the file accessing device (7) is set to the crossbeam (6) On, the length direction of the crossbeam (6) described in the traction lower edge of haulage gear (71) moves;
Access terminal (8), with first driving mechanism (4), the lifting gear (5), the haulage gear (71) and described File accessing device (7) communication connection;
When transferring instruction according to access terminal (8) input, by controlling first driving mechanism (4), the lifting gear (5), the haulage gear (71) and the file accessing device (7) work, make the file accessing device (7) by access window Position is moved to target folder placement location, and target folder after gripping, is back to access from the compression file rack (2) The window's position;
When inputting storage instruction according to access terminal (8), by controlling first driving mechanism (4), the lifting gear (5), the haulage gear (71) and the file accessing device (7) work, make the file accessing device (7) by access window Position is moved to target folder placement location, and after target folder is stored into the compression file rack (2), is back to access The window's position.
2. file accessing system according to claim 1, which is characterized in that further include being mounted on the file accessing device (7) the archives pallet (72) on, the archives pallet (72) are used to keep in the archives of the manipulator gripping.
3. file accessing system according to claim 1, which is characterized in that the lifting gear (5) includes:
Second driving mechanism (51) is mounted on the portal frame (3);
Guide rail (52), in the vertical frame body that Z-direction is mounted on the portal frame (3);
Sliding block (53) is set on the guide rail (52), and the crossbeam (6) is mounted on the sliding block (53), and the sliding block is in institute Stating can move under the driving of the second driving mechanism (51) along the length direction of the guide rail (52), drive the crossbeam (6) up and down It is mobile.
4. file accessing system according to claim 3, which is characterized in that second driving mechanism (51) includes:
Second motor (511), shaft end are mounted on along Z-direction in the vertical frame body of the side of the portal frame (3), output shaft On drive bevel gear (512) is installed;
Active synchronization wheel (513) is mounted in the vertical frame body of the left and right sides of the portal frame (3), and shaft end is along the Y-axis side To;
First driven wheel of differential (514) is set to the shaft end of the active synchronization wheel (513), is fixed on the portal frame (3), It is engaged with the drive bevel gear (512);
Driven synchronizing wheel (515) is fixed in the vertical frame body of the left and right sides, when second motor (511) acts, institute Drive bevel gear (512) rotation is stated, first driven wheel of differential (514) makes with the drive bevel gear (512) gear motion Active synchronization wheel (513) rotation is obtained, the active synchronization wheel (513) passes through synchronous belt (516) and drives the driven synchronization Take turns (515) rotation;
The linear module of synchronous belt type is mounted in the vertical frame body of the portal frame (3), and internal upper end position is equipped with master Driving wheel, lower end position are equipped with driven wheel, and the driving wheel and the driven wheel are described driven same by the synchronous band connection of module Step wheel (515) connects with the drive sprocket axle so that drives the driving wheel to rotate when driven synchronizing wheel (515) rotation, institute State driving wheel drives the driven wheel to rotate by the module synchronous belt, and the bottom of the sliding block (53) is mounted on the module On synchronous belt, the module synchronous belt moved up and down drives the sliding block (53) to be moved along the length direction of the guide rail (52) It is dynamic;
Transmission mechanism, the institute being set on the output shaft of second motor (511) and the frame body of the other side of the portal frame (3) Between stating active synchronization wheel (513), for the action of second motor (511) to be transferred to the another of the portal frame (3) In the active synchronization wheel (513) of side.
5. according to the file accessing system described in claim 4, which is characterized in that the transmission mechanism includes:
Second driven wheel of differential (517) is fixed on the portal frame (3), with the axial phase of first driven wheel of differential (514) It is right, it can be engaged with the drive bevel gear (512);
Drive link (518), one end are fixed on the output shaft of second driven wheel of differential (517), and the other end is fixed on described The shaft end for the active synchronization wheel (513) installed in the vertical frame body of the other side of portal frame (3).
6. according to claim 1-5 any one of them file accessing systems, which is characterized in that first driving mechanism (4) Including:
First motor (41), body are fixed on the lower end position of the vertical frame body of at least side of the portal frame (3);
Rack (42) is set to the side of the translation track (1);
Gear (43) is mounted on the output shaft of the first motor (41), when the first motor (41) act, passes through institute State engaging for gear (43) and the rack (42) so that the portal frame (3) moves along the translation track (1).
7. according to claim 2-5 any one of them file accessing systems, which is characterized in that the file accessing device (7) Including:
Rack (73) is suitable for mobile along crossbeam (6) under the traction of the haulage gear (71);
Mechanical arm drive mechanism is mounted in the rack (73);
Clamp system (74), for archives to be clamped, and under the driving of the mechanical arm drive mechanism, folder fetch bit set with When moving back and forth, and be moved at the archives pallet (72) between the archives pallet (72), the archives are placed On the archives pallet (72).
8. file accessing system according to claim 1, which is characterized in that be provided with traction rack on the crossbeam (6) (61)。
9. file accessing system according to claim 8, which is characterized in that the haulage gear (71) includes:
Connecting plate (711) is drawn, is mounted in the rack (73), upper and lower both sides are separately installed with guide roller (712) With lower guide roller (713), the upper guide roller (712) and lower guide roller (713) can be respectively along the upper of the crossbeam (6) Side and lower side roll;
Traction electric machine (714) is mounted on the traction connecting plate (711), and output shaft is equipped with traction gear (715);Institute When stating traction electric machine (714) action, the file accessing device (7) passes through the traction gear (715) and the traction rack (61) engagement, the upper guide roller (712) and the lower guide roller (713) are moved along the crossbeam (6).
10. a kind of file access method, which is characterized in that including:
Access terminal (8) send transfer target folder transfer instruction;First driving mechanism (4) transfers instruction, root described in obtaining Heavy dense targets document shelf (2) position is moved to along two translation tracks (1) according to the order-driven portal frame (3) of transferring, In, the translation track (1) is relatively set with two, and the spacing between two translation tracks (1) is suitable for installing intensive shelves Case frame (2), and the length direction of the translation track (1) is arranged in X direction;
Lifting gear (5) transfers instruction according to and the crossbeam (6) installed thereon is driven to drop to precalculated position, the lifting dress (5) are set on the portal frame (3);
File accessing device (7) transfers instruction according to and grips target folder, the archives from the compression file rack (2) Access device (7) is set on the crossbeam (6), and the crossbeam (6) described in the traction lower edge of haulage gear (71) is mobile;
The access terminal (8) sends return instruction;The haulage gear (71) obtains the return instruction, draws the archives Access device (7) is back to the first initial position;Lifting gear (5) drives the crossbeam installed thereon according to the return instruction (6) the second initial position is risen to;First driving mechanism (4) drives portal frame (3) along the translation according to the return instruction Track (1) moves to access the window's position;
Or,
Access terminal (8) sends the storage instruction for putting back to target folder;First driving mechanism (4) obtains the storage instruction, root According to the storage order-driven portal frame (3) heavy dense targets document shelf (2) position is moved to along two translation tracks (1);Its In, the translation track (1) is relatively set with two, and the spacing between two translation tracks (1) is suitable for installing intensive shelves Case frame (2), and the length direction of the translation track (1) is arranged in X direction;
Lifting gear (5) drives the crossbeam (6) installed thereon to drop to precalculated position, the lifting dress according to the storage instruction (5) are set on the portal frame (3);
File accessing device (7) instructs according to the storage and the target folder is placed in compression file rack (2), the shelves Case access device (7) is set on the crossbeam (6), and the crossbeam (6) described in the traction lower edge of haulage gear (71) is mobile;
The access terminal (8) sends return instruction;The haulage gear (71) obtains the return instruction, draws the archives Access device (7) is back to the first initial position;Lifting gear (5) drives the crossbeam installed thereon according to the return instruction (6) the second initial position is risen to;First driving mechanism (4) drives portal frame (3) along the translation according to the return instruction Track (1) moves to access the window's position.
CN201810449755.8A 2018-05-11 2018-05-11 A kind of file accessing system and file access method Pending CN108584265A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109607009A (en) * 2018-11-02 2019-04-12 杭州电子科技大学 A kind of archives automatic access method
CN110395516A (en) * 2019-07-31 2019-11-01 苏州普耀光电材料有限公司 A kind of steel cylinder automated three-dimensional access system and its access method
CN111994541A (en) * 2020-09-16 2020-11-27 苏州星科智达智能科技有限公司 Six-dimensional driving medicine taking manipulator mechanism
CN113001524A (en) * 2021-04-13 2021-06-22 浙江仰天云信息技术有限公司 Based on electromagnetic type file grabbing device

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109607009A (en) * 2018-11-02 2019-04-12 杭州电子科技大学 A kind of archives automatic access method
CN109607009B (en) * 2018-11-02 2020-08-04 杭州电子科技大学 Automatic file access method
CN110395516A (en) * 2019-07-31 2019-11-01 苏州普耀光电材料有限公司 A kind of steel cylinder automated three-dimensional access system and its access method
CN111994541A (en) * 2020-09-16 2020-11-27 苏州星科智达智能科技有限公司 Six-dimensional driving medicine taking manipulator mechanism
CN111994541B (en) * 2020-09-16 2021-11-05 苏州星科智达智能科技有限公司 Six-dimensional driving medicine taking manipulator mechanism
CN113001524A (en) * 2021-04-13 2021-06-22 浙江仰天云信息技术有限公司 Based on electromagnetic type file grabbing device

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