CN109607009A - A kind of archives automatic access method - Google Patents

A kind of archives automatic access method Download PDF

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Publication number
CN109607009A
CN109607009A CN201811300326.0A CN201811300326A CN109607009A CN 109607009 A CN109607009 A CN 109607009A CN 201811300326 A CN201811300326 A CN 201811300326A CN 109607009 A CN109607009 A CN 109607009A
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CN
China
Prior art keywords
traversing
archives
line
release
cabinet
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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.)
Granted
Application number
CN201811300326.0A
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Chinese (zh)
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CN109607009B (en
Inventor
李娟�
邵来忠
胡新杭
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Hangzhou Taoyi Data Technology Co ltd
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Hangzhou Dianzi University
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Priority to CN201811300326.0A priority Critical patent/CN109607009B/en
Publication of CN109607009A publication Critical patent/CN109607009A/en
Application granted granted Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

A kind of archives automatic access method.Only have taking-up function mostly the invention discloses existing archives automatic access system but do not have deposit function, and needs using complicated manipulator.A kind of file accessing automatic access system of the present invention, including file accessing cabinet group, track track and floor truck.The file accessing cabinet group includes the xy file accessing cabinet composition being intervally arranged in x row y column.The track that tracks includes backbone line, Their First Branch main line, second level limb line and mark line in place.File accessing cabinet includes file accessing frame, elevating mechanism, transverse-moving mechanism and file accessing mechanism.File accessing mechanism includes the first square shaft, the second square shaft, encoder, the first servo-actuated square shaft set, the second servo-actuated square shaft set, accesses synchronous driving assembly, releases component, gripper assembly and push up back component.File accessing cabinet in the present invention, which only passes through three power sources, can be completed the deposit and taking-up of archives, reduce the complexity and cost of archives automatic access device.

Description

A kind of archives automatic access method
Technical field
The invention belongs to file accessing technical fields, and in particular to a kind of archives automatic access method.
Background technique
File accessing management is one and the total of the every vocational work for utilizing service is managed and provided to file accessing Claim.In recent years, the continuous improvement with society to file accessing desirability, file accessing management level are also constantly mentioning It rises.Existing archives automatic access system only has mostly to be taken out function but does not have deposit function, and is needed multiple using structure Miscellaneous manipulator.Meanwhile power source quantity used in existing archives automatic access system is more, is not easy with higher cost Universal defect.
Summary of the invention
The purpose of the present invention is to provide a kind of archives automatic access methods.
The file accessing system that the present invention uses, including file accessing cabinet group, track track and floor truck.The shelves Case access cabinet group includes the xy file accessing cabinet composition being intervally arranged in x row y column.The track that tracks includes backbone Line, Their First Branch main line, second level limb line and mark line in place.The inner end of x Their First Branch main line is connect with backbone line.Every one Y second level limb line is respectively connected on grade limb line.The outer end of xy second level limb line and xy item are in place in mark line Portion is separately connected.Mark line is separately positioned on the side of xy file accessing cabinet to xy item in place.X Their First Branch main line along It successively sorts in direction far from starting point on main orbit.Y second level limb line on same Their First Branch main line is along far from main orbit Direction successively sort.
The file accessing cabinet includes file accessing frame, elevating mechanism, transverse-moving mechanism and file accessing mechanism.Described File accessing frame includes frame, dividing plate and archives partition.Horizontally disposed muti-piece dividing plate is fixed with frame, and edge Vertical direction successively equidistant arrangement.It is respectively and fixedly provided on the top surface of all dividing plates along dividing plate length direction equidistant arrangement Muti-piece archives partition.
The elevating mechanism includes elevator carriage, annular crane and lifting actuator.The elevator carriage and shelves Case rack for storage of articles is fixed.The annular crane and elevator carriage constitutes sliding pair, and is driven by lifting actuator.Annular lifting Frame includes two horizontal slide rails and two connecting rods.Wherein the both ends of a horizontal slide rail and one end of two connecting rods are solid respectively It is fixed.The both ends of another horizontal slide rail and the other end of two connecting rods are fixed respectively.Two horizontal slide rails are located at archives The two sides of rack for storage of articles.
The transverse-moving mechanism includes the first traversing sliding block, the second traversing sliding block and traversing actuator.Described first is horizontal Two horizontal slide rails moved on sliding block, the second traversing sliding block and annular crane respectively constitute sliding pair, and by traversing actuator Synchronous driving.
The file accessing mechanism include the first square shaft, the second square shaft, encoder, the first servo-actuated square shaft set, second with Dynamic square shaft set accesses synchronous driving assembly, releases component, gripper assembly and push up back component.First square shaft, the second square shaft It is supported on annular crane, and is located at the two sides of file accessing frame.The encoder is fixed on annular crane. The input shaft of encoder and one end of the first square shaft or the second square shaft are fixed.First square shaft, the second square shaft are by the synchronous driving of access Component synchronization driving.
First servo-actuated square shaft set, the second servo-actuated square shaft set respectively constitute sliding pair with the first square shaft, the second square shaft, with first Traversing sliding block, the second traversing sliding block respectively constitute revolute pair.First servo-actuated square shaft set and the first traversing sliding block at revolute pair Common axis is overlapped with the axis of rotation of the first square shaft.Second servo-actuated square shaft set and the second traversing sliding block at the public of revolute pair Axis is overlapped with the axis of rotation of the second square shaft.
The release component includes releasing frame, the first release belt wheel, the second release belt wheel, releasing transmission belt, push-off pin Group releases overturning belt wheel group, first clutch, the first magnet, the first iron block and releases overturning transmission belt.The top for releasing frame End is fixed with the first traversing sliding block.It releases and is supported with release transmission shaft on frame.First releases belt wheel and the second servo-actuated square shaft set admittedly It is fixed.Second release belt wheel is connect with release transmission shaft by first clutch.First release belt wheel passes through with the second release belt wheel Release transmission band connection.First, which releases belt wheel and second, releases the transmission ratio of belt wheel as 1:2.
The push-off pin group includes releasing crank, releasing connecting rod, release rocking bar and release turning rod.The release crank Inner end with release transmission shaft fix, outer end and release connecting rod one end pass through the first articulated shaft it is hinged.Release crank is close to be pushed away The first magnet is embedded on the side of connecting rod out.It releases connecting rod and is embedded with the first iron block on the side for releasing crank.First magnet With the first iron block being equidistant to the first articulated shaft axis.The other end for releasing connecting rod and the middle part for releasing rocking bar pass through second Articulated shaft is hinged.Inner end and the release frame for releasing rocking bar are hinged by third articulated shaft.Third articulated shaft is fixed with frame is released.It pushes away The outer end of rocking bar and the inner end for releasing turning rod are hinged by the 4th articulated shaft out.4th articulated shaft is fixed with rocking bar is released.It pushes away The oscillating angle of rocking bar is 90 ° out.
The release overturning belt wheel group includes that the first release overturning belt wheel and second release overturning belt wheel.Described first It releases overturning belt wheel, the second release overturning belt wheel and third articulated shaft, the 4th articulated shaft to fix respectively, and by releasing overturning biography Dynamic band connection.The transmission ratio of first release overturning belt wheel and the second release overturning belt wheel is 1:2.
The gripper assembly includes cylindrical cam, single clip pawl and guide post.The guide post is fixed with the second traversing sliding block. Two cylindrical cams are fixed with the second servo-actuated square shaft set.Single clip pawl includes comb teeth external splint, comb teeth inner splint, spring and clamping jaw Traveller.Comb teeth inner splint and the inner end of clamping jaw traveller are fixed.Clamping jaw traveller and comb teeth external splint constitute sliding pair.On clamping jaw traveller It is equipped with spring.The both ends of spring are fixed respectively with comb teeth external splint, comb teeth inner splint.On comb teeth external splint and comb teeth inner splint Offer a comb teeth slot.In two single clip pawls the top of comb teeth external splint with clamping jaw traveller constitute sliding pair, and with two Cylindrical cam respectively constitutes cam pair.
The top return component include push up back frame, first push up rewind wheel, second push up rewind wheel, push up back transmission belt, push up back bar Group, top returning turn belt wheel group, the second magnet, the second iron block, second clutch and top returning and turn transmission belt.The top for pushing up back frame End is fixed with the second traversing sliding block.It pushes up back and is supported with passback moving axis in top on frame.First top rewinds wheel and the second servo-actuated square shaft set is solid It is fixed.Second top rewinds wheel and is connect with top passback moving axis by second clutch.First top, which rewinds wheel, pushes up with second and rewinds wheel and pass through Top returns dynamic band connection.It is 1:2 that first top, which rewinds the transmission ratio that wheel rewinds wheel with the second top,.
It includes pushing up back crank, pushing up back connecting rod, push up back rocking bar and top returning bull stick that bar group is returned on the top.Push up back the interior of crank End is fixed with top passback moving axis, and outer end and the one end for pushing up back connecting rod are hinged by the 5th articulated shaft.Crank is pushed up back close to top Hui Lian The second magnet is embedded on the side of bar.Connecting rod is pushed up back on the side for pushing up back crank embedded with the second iron block.Second magnet and Two iron blocks are equidistant to the 5th articulated shaft axis.It pushes up back the other end of connecting rod and the middle part for pushing up back rocking bar is hinged by the 6th Axis is hinged.It pushes up go back to the inner end of rocking bar and to push up back frame hinged by the 7th articulated shaft.7th articulated shaft is fixed with frame is pushed up back.It pushes up back and shakes The outer end of bar and the inner end of top returning bull stick are hinged by the 8th articulated shaft.8th articulated shaft is fixed with rocking bar is pushed up back.It pushes up back and shakes The oscillating angle of bar is 90 °.
The top returning turn belt wheel group include first top returning turn belt wheel and second top returning turn belt wheel.Described first Top returning turns belt wheel, the second top returning turns belt wheel and fixes respectively with the 7th articulated shaft, the 8th articulated shaft, and turns to pass by top returning Dynamic band connection.First top returning turns belt wheel and the second top returning turns the transmission ratio of belt wheel as 1:2.
The floor truck includes bottom plate, wheel, traveling motor, trolley balladeur train, two-way lead screw, clamping motor, tracks Sensor group and trolley fishback.The wheel uses Mecanum wheel.The tracing sensor group includes two transverse directions Tracing sensor and two longitudinal tracing sensors.The lateral tracing sensor and longitudinal tracing sensor are all made of infrared Sensor.Four wheels are supported on the two sides of bottom base plate in pairs.Four traveling motors are each attached on bottom plate.Four The output shaft of a traveling motor is fixed respectively with four wheels.Axis of the line of two lateral tracing sensors perpendicular to wheel Line.The line of two longitudinal tracing sensors is parallel to the axis of wheel.The line of two lateral tracing sensors is indulged with two Orthogonal divide equally to the line of tracing sensor.
The trolley balladeur train is fixed on bottom plate.Two-way lead screw is supported on trolley balladeur train.Trolley fishback includes bottom Portion's draw runner and a root comb teeth bar.The inner end of a root comb teeth bar is fixed with bottom draw runner.A root comb teeth bar is along the length side of bottom draw runner To successively spaced set.Trolley fishback shares two pieces.Bottom draw runner on two pieces of trolley fishbacks, which is constituted with balladeur train, to be slided Dynamic pair, and screw pair is respectively constituted with two sections of oppositely oriented screw threads on two-way lead screw.
The archives automatic access method includes archives removing method and archives store method.
Archives removing method is specific as follows:
Step 1: using the file accessing cabinet equipped with target folder as effort access cabinet.
Step 2: floor truck marches at the corresponding mark line in place of effort access cabinet along the track that tracks.Work is deposited It takes cabinet clamping target folder and is placed on the trolley fishback of floor truck.
Step 3: floor truck advances to backbone line with target folder.
Step 4: staff removes the archives on floor truck.
Archives store method is specific as follows:
Step 1: archives to be deposited are placed between two pieces of trolley fishbacks of floor truck by staff.It carries small Two pieces of trolley fishbacks of vehicle, which move toward one another, clamps archives to be deposited.To be used to store the file accessing cabinets of archives to be deposited as Object access cabinet.
Step 2: floor truck marches at the corresponding mark line in place of object access cabinet along the track that tracks.
Step 3: the gripper assembly on object access cabinet is moved at floor truck, clamp to be deposited on floor truck Archives, and archives to be deposited are put into one of them vacant archiving position.
Step 4: floor truck advances to backbone line.
Effort access cabinet clamping target folder and to be placed into the method on floor truck specific as follows:
1. traversing driving assembly and lifting driving assembly starting in effort access cabinet, so that the release in effort access cabinet Component, gripper assembly arrive separately at the two sides of target folder.
2. first clutch engages, second clutch is disconnected, and accesses synchronous driving assembly starting, the first square shaft and second party Axis rotates synchronously 180 °, releases after turning rod releases target folder and resets.The spacing of two pieces of overturning external splints is become most from maximum Small, two pieces of overturning inner splints clamp target folder.
3. traversing motor and lifting motor rotation in effort access cabinet, so that being clamped with target folder in effort access cabinet Release component reach the surface of corresponding mark line in place.
After 4. floor truck reaches the corresponding mark line in place of effort access cabinet, the clamping motor on floor truck is rotated forward, Two pieces of trolley fishback back movements, so that the spacing of two pieces of trolley fishbacks is greater than two pieces of comb teeth outer clips on effort access cabinet The spacing of plate reverse side.
5. the lifting driving assembly in effort access cabinet starts, the release component decline in effort access cabinet, so that work It accesses between two pieces of trolley fishbacks that two pieces of comb teeth external splints on cabinet reach on floor truck.
6. the clamping motor reversal on floor truck, two pieces of trolley fishbacks are moved toward one another, so that two pieces of trolley fishbacks Clamp target folder.
7. first clutch and second clutch disconnect, synchronous driving assembly starting, the first square shaft and second party are accessed Axis rotates synchronously 180 °, so that the spacing of two pieces of overturning external splints is become maximum by minimum, the spacing of two pieces of overturning inner splints is big In the spacing of two pieces of trolley fishback reverse sides.Target folder is transferred on floor truck.
Effort access cabinet clamps archives to be deposited from floor truck and is put into the side of one of them vacant archives storage position Method is specific as follows:
After 1. floor truck reaches the corresponding mark line in place of object access cabinet.Traversing driving assembly in object access cabinet And lifting driving assembly starting, so that the release component in object access cabinet reaches right above floor truck.
2. the lifting driving assembly in object access cabinet starts, the release component decline in object access cabinet, so that target Two pieces of comb teeth inner splints on access cabinet arrive separately at the outside of two pieces of trolley fishbacks on floor truck.
3. first clutch and second clutch disconnect, synchronous driving assembly starting, the first square shaft and second party are accessed Axis rotates synchronously 180 °, so that the spacing of two pieces of overturning external splints becomes minimum from maximum, two pieces of overturning inner splints are clamped wait deposit Enter archives.
4. the clamping motor on floor truck rotates forward, two pieces of trolley fishback back movements, so that two pieces of trolley fishbacks Arrive separately at the two sides of gripper assembly.
5. the lifting driving assembly in object access cabinet starts, the bottom of two pieces of comb teeth inner splints is higher than in object access cabinet The top of two pieces of trolley fishbacks on floor truck.
6. traversing driving assembly and lifting driving assembly starting in object access cabinet, so that the release in effort access cabinet Component, gripper assembly arrive separately at the two sides of a vacant archives storage position of object access cabinet.
7. first clutch disconnects, second clutch engagement, synchronous driving assembly starting, the first square shaft and second party are accessed Axis rotates synchronously 180 °, and top returning bull stick resets after archives to be deposited are pushed into archiving position.Meanwhile two pieces of overturning external splints Spacing become maximum by minimum.
Further, the elevator carriage includes top mounting blocks, bottom mounting blocks and lifting optical axis.Two lifting light The bottom end of axis and the both ends of bottom mounting blocks respectively constitute revolute pair, and top and the both ends of top mounting blocks respectively constitute rotation It is secondary.Top mounting blocks in two elevator carriages are separately fixed at the both ends of file accessing top of the trellis.In two elevator carriages Bottom mounting blocks are separately fixed at the both ends of file accessing frame bottom.Actuator is gone up and down to include lifting belt wheel, lifting and driving band, rise Lead screw and lifting motor drop.Two elevating screws are supported on respectively on two elevator carriages.Two elevating screws and annular are gone up and down Nut in two connecting rods of frame respectively constitutes screw pair.Two lifting belt wheels are fixed respectively with two elevating screws, and are led to Cross lifting and driving band connection.Lifting motor is fixed therein on one piece of top mounting blocks.The output shaft of lifting motor and wherein one One end of root elevating screw is fixed.
Further, the traversing actuator includes the first traversing belt wheel group, the second traversing belt wheel, the first traversing transmission Band, the second traversing transmission belt and traversing motor.The both ends of two horizontal slide rails are supported with vertically on the annular crane The traversing transmission shaft being arranged.Two the first traversing belt wheel groups are separately positioned in two horizontal slide rails of annular crane.It is same Two the first traversing belt wheels in first traversing belt wheel group are fixed respectively with the traversing transmission shaft at corresponding horizontal slide rail both ends, and are led to Cross a first traversing transmission band connection.First traversing sliding block, the second traversing sliding block and two first traversing transmission belts are solid respectively It is fixed.Two the second traversing belt wheels are fixed respectively with the traversing transmission shaft on two horizontal slide rail the same ends, and traversing by second It is driven band connection.Traversing motor is fixed on annular crane.The output shaft of traversing motor and wherein traversing transmission shaft One end is fixed.
Further, the synchronous driving assembly of the access includes access synchronous pulley, access synchronous belt and access Motor.Two access synchronous pulleys are fixed respectively with the first square shaft, the second square shaft, and pass through access Synchronous Transmission band connection.It deposits Motor is taken to be fixed on annular crane.The one end for accessing the output shaft and the first square shaft or the second square shaft of motor is fixed.
Further, the release component further includes code reader.The code reader, which is fixed on, to be released on frame.Code reader Solid detector towards file accessing frame.
Further, release transmission shaft, the axial line distance of the first articulated shaft and the top return moving axis, the 5th hingedly The axial line distance of axis is l1；The axis of first articulated shaft, the axial line distance of the second articulated shaft and the 5th articulated shaft, the 6th articulated shaft Linear distance is l2；The axial line distance of second articulated shaft, the axial line distance of third articulated shaft and the 6th articulated shaft, the 7th articulated shaft For l3；The axial line distance that third articulated shaft, the axial line distance for releasing transmission shaft and the 7th articulated shaft, top return moving axis is l4。 l1、l4、l2、l3Meet the following conditions:
Further, when release rocking bar is in two extreme positions, respectively in vertical, horizontal state.It releases at rocking bar In the case where vertical state, the outer end for releasing turning rod is located at the inner end for releasing rocking bar；It releases rocking bar and is in horizontality In the case where, the outer end for releasing turning rod is opposite in the inner end direction for releasing rocking bar.When pushing up back rocking bar and being in two extreme positions, Respectively in vertical, horizontal state.Push up back rocking bar it is in a vertical state in the case where, the outer end of top returning bull stick, which is located at, pushes up back and shakes At the inner end of bar；It pushes up back in the case that rocking bar is in horizontality, pushes up the outer end of returning bull stick in the inner end direction for pushing up back rocking bar On the contrary.
Further, the groove width of a comb teeth slot is b.The spacing of two neighboring comb teeth slot is c.On comb teeth external splint A comb teeth slot be aligned respectively with a comb teeth slot on comb teeth inner splint.The width of trolley fishback upper comb dent item is e, adjacent The spacing of two comb teeth bars is f.E < b；B+c=e+f.
Further, the bottom of the comb teeth inner splint in one of single clip pawl is fixed with a+1 limited block.A+1 limit Position block is staggered respectively with a comb teeth slot on comb teeth inner splint.The outer end of limited block is located at the position between two single clip pawls.
Further, the method that floor truck advances at the corresponding mark line in place of effort access cabinet is as follows:
1. determining that the corresponding mark line in place of effort access cabinet is located at j-th strip second level limb line on i-th Their First Branch main line On.Floor truck is advanced along backbone line, so that two lateral tracing sensors can't detect backbone line, and two longitudinal directions are sought Mark sensor is able to detect backbone line.
2. floor truck is along i-th level-one after one of transverse direction tracing sensor i-th detects Their First Branch main line Limb line is advanced, so that two longitudinal tracing sensors can't detect backbone line, and two lateral tracing sensors can Detect Their First Branch main line.
3. floor truck is along i-th level-one after one of longitudinal direction tracing sensor jth time detects second level limb line J-th strip second level limb line on limb line is advanced, so that two lateral tracing sensors can't detect backbone line, and two vertical Second level limb line is able to detect to tracing sensor.
4. floor truck stops advancing after two lateral tracing sensors are detected simultaneously by mark line in place.
The invention has the advantages that:
1, the present invention in file accessing cabinet only need using lifting motor, traversing motor, file accessing motor these three The deposit and taking-up of archives can be completed in power source, reduces the complexity and cost of archives automatic access device.
2, the release component in the present invention, gripper assembly and push up back component using the same power source drive, with well Synchronism, ensure that archives take out success rate and stability.
3, component is released in the present invention and pushes up back component when not in use, and locking is carried out by the suction of magnet and iron block, is kept away Exempt from release component and pushes up back component the case where the source of running out of steam is voltuntary movement.
4, the tracing sensor that the carrier in the present invention is arranged by cross, can track to mutually perpendicular two The characteristics of line identified, the multi-direction movement of cooperation Mecanum wheel, can realize accurate quick in the case where not turning to Track traveling, substantially increases the efficiency of file accessing.
Detailed description of the invention
Fig. 1 is the overall structure diagram that the case that the present invention uses accesses system；
Fig. 2 is the perspective view of file accessing cabinet in the case access system of the invention used；
Fig. 3 is the front schematic view of archives rack for storage of articles in the case access system of the invention used；
Fig. 4 is the schematic diagram of elevating mechanism in the case access system of the invention used；
Fig. 5 is the combination stereogram of transverse-moving mechanism and file accessing mechanism in the case access system of the invention used；
Fig. 6 is the combination top view of transverse-moving mechanism and file accessing mechanism in the case access system of the invention used；
Fig. 7 is that schematic diagram of the component under retracted mode is released in the case access system of the invention used；
Fig. 8 is that schematic diagram of the component under release state is released in the case access system of the invention used；
Gripper assembly is in perspective view in the case access system that Fig. 9 uses for the present invention；
Figure 10 is to push up back schematic diagram of the component under retracted mode in the case access system of the invention used；
Figure 11 is to push up back schematic diagram of the component under release state in the case access system of the invention used；
Figure 12 is the perspective view of carrier in the case access system of the invention used；
Figure 13 is the bottom view of carrier in the case access system of the invention used.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, a kind of archives automatic access method, the case access system used includes file accessing cabinet group, seeks Mark track and floor truck II.File accessing cabinet group includes arranging xy archives being intervally arranged in x row y in file accessing room It accesses cabinet I to form, x=3, y=4.The track that tracks includes backbone line 1-1, the Their First Branch main line 1-2, second level limb for being in black Line 1-3 and in place mark line 1-4.Backbone line 1-1, Their First Branch main line 1-2, second level limb line 1-3 and the width of mark line 1-4 in place Degree is s, s=15mm.The inner end of x Their First Branch main line 1-2 is connect with backbone line 1-1.Their First Branch main line 1-2 and backbone line 1-1 is vertical in junction.Y second level limb line 1-3 is respectively connected on every Their First Branch main line 1-2.Xy second level limb line The inner end of 1-3 is separately connected with corresponding Their First Branch main line 1-2, and the middle part of outer end and xy item mark line 1-4 in place connect respectively It connects.Second level limb line 1-3 is vertical in junction with corresponding Their First Branch main line 1-2.Mark line 1-4 is respectively set xy item in place In the side of xy file accessing cabinet I.Mark line 1-4 is vertical in junction with corresponding second level limb line 1-3 in place.X item Their First Branch main line 1-2 successively sorts along the direction far from starting point on main orbit.Y second level on same Their First Branch main line 1-2 Limb line 1-3 successively sorts along the direction far from main orbit.
As shown in Figures 2 and 3, file accessing cabinet I includes file accessing frame 2, elevating mechanism 3, transverse-moving mechanism 4 and file accessing Mechanism 5.File accessing frame 2 includes frame 2-1, dividing plate 2-2 and archives partition 2-3.Horizontally disposed five pieces of dividing plates 2-2 is fixed with frame 2-1, and successively equidistant arrangement along the vertical direction.Edge is respectively and fixedly provided on the top surface of all dividing plate 2-2 The muti-piece archives of dividing plate 2-2 length direction (i.e. the orientation of same row's file box on file accessing frame 2) equidistant arrangement Partition 2-3.It is an archiving position between two pieces of adjacent archives partition 2-3.Archives partition 2-3 is vertically arranged.
As shown in Figures 2 and 4, elevating mechanism 3 includes elevator carriage, annular crane and lifting actuator.Elevator carriage packet Include top mounting blocks, bottom mounting blocks and lifting optical axis 3-1.The bottom end and the both ends of bottom mounting blocks of two lifting optical axis 3-1 Revolute pair is respectively constituted, top and the both ends of top mounting blocks respectively constitute revolute pair.Top installation in two elevator carriages Block is separately fixed at the both ends at 2 top of file accessing frame.Bottom mounting blocks in two elevator carriages are separately fixed at archives and deposit Take the both ends of 2 bottom of frame.
The annular crane that ring lives file accessing frame 2 includes two horizontal slide rail 3-2 and two connecting rods.A wherein cross The one end at both ends and two connecting rods to sliding rail 3-2 is fixed respectively.The both ends of another horizontal slide rail 3-2 and two connecting rods The other end fix respectively.Two horizontal slide rail 3-2 are located at the two sides of file accessing frame 2.The axis side of horizontal slide rail 3-2 To parallel with the length direction of dividing plate 2-2.The both ends of two horizontal slide rail 3-2 are respectively constituted with four lifting optical axis 3-1 Sliding pair.Going up and down actuator includes lifting belt wheel 3-3, lifting and driving band 3-4, elevating screw 3-5 and lifting motor 3-6.Wherein The both ends of a piece elevating screw 3-5 are supported on the top mounting blocks of one of elevator carriage, on the mounting blocks of bottom respectively.It is another The both ends of root elevating screw 3-5 are supported on the top mounting blocks of another elevator carriage, on the mounting blocks of bottom respectively.Two liftings Nut in two connecting rods of lead screw 3-5 and annular crane respectively constitutes screw pair.Two lifting belt wheel 3-3 rise with two Drop lead screw 3-5 is fixed respectively, and passes through lifting and driving band 3-4 connection.Lifting motor 3-6 is fixed therein one piece of top mounting blocks On.The output shaft of lifting motor 3-6 and one end of a wherein elevating screw 3-5 are fixed.
As shown in Fig. 2,5 and 6, transverse-moving mechanism 4 includes the first traversing sliding block 4-1, the second traversing sliding block 4-2 and traversing driving Part.First traversing sliding block 4-1, the second traversing sliding block 4-2 are separately positioned on 2 two sides of file accessing frame, and on annular crane Two horizontal slide rail 3-2 respectively constitute sliding pair.Traversing actuator includes the first traversing belt wheel group 4-3, the second traversing belt wheel 4-4, the first traversing transmission belt 4-5, the second traversing transmission belt 4-6 and traversing motor 4-7.Two horizontal slide rails on annular crane The both ends of 3-2 are supported with the traversing transmission shaft being vertically arranged.Two the first traversing belt wheel group 4-3 are separately positioned on annular lifting On two horizontal slide rail 3-2 of frame.Two the first traversing belt wheels in same first traversing belt wheel group 4-3 and corresponding horizontal slide rail The traversing transmission shaft at the both ends 3-2 is fixed respectively, and passes through a first traversing transmission belt 4-5 connection.First traversing sliding block 4-1, Second traversing sliding block 4-2 is fixed respectively with two first traversing transmission belt 4-5, and the first traversing sliding block 4-1 is horizontal with corresponding first The inside for moving transmission belt 4-5 is fixed, and the second traversing sliding block 4-2 is fixed with the outside of corresponding first traversing transmission belt 4-5 (to protect Demonstrate,proving the first traversing sliding block 4-1 can slide synchronous, in the same direction, at the same speed with the second traversing sliding block 4-2).Two the second traversing belt wheel 4-4 It fixes, and leads to respectively with the traversing transmission shaft on two the same ends horizontal slide rail 3-2 (that end being connect with same root connecting rod) Cross the second traversing transmission belt 4-6 connection.Traversing motor 4-7 is fixed on annular crane.The output shaft of traversing motor 4-7 and its In one end of a traversing transmission shaft fix.
As shown in Fig. 2,5 and 6, file accessing mechanism 5 includes the first square shaft 5-1, the second square shaft 5-2, encoder 5-3, the One servo-actuated square shaft set 5-4, the second servo-actuated square shaft set 5-5, access synchronous driving assembly, release component 5-6, gripper assembly 5-7 and Push up back component 5-8.It releases component 5-6 and is located at file accessing frame close to the side of corresponding mark line 1-4 in place.First square shaft 5-1, Second square shaft 5-2 is supported on annular crane, and is located at the two sides of file accessing frame 2.First square shaft 5-1, second The axis of square shaft 5-2 is parallel with the axis of horizontal slide rail 3-2.Encoder 5-3 is fixed on annular crane.Encoder 5-3's is defeated The one end for entering axis and the first square shaft 5-1 or the second square shaft 5-2 is fixed.Access synchronous driving assembly include access synchronous pulley 5-9, Access synchronous belt 5-10 and access motor 5-11.Two access synchronous pulley 5-9 and the first square shaft 5-1, the second square shaft 5-2 It fixes respectively, and passes through access synchronous belt 5-10 connection.Access motor 5-11 is fixed on annular crane.Access motor The output shaft of 5-11 and one end of the first square shaft 5-1 or the second square shaft 5-2 are fixed.
First servo-actuated square shaft set 5-4, second servo-actuated square shaft set 5-5 and the first square shaft 5-1, the second square shaft 5-2 are respectively constituted Sliding pair respectively constitutes revolute pair with the first traversing sliding block 4-1, the second traversing sliding block 4-2.First servo-actuated square shaft set 5-4 and the One traversing sliding block 4-1 be overlapped at the common axis of revolute pair with the axis of rotation of the first square shaft 5-1.Second servo-actuated square shaft covers 5- 5 with the second traversing sliding block 4-2 be overlapped at the common axis of revolute pair with the axis of rotation of the second square shaft 5-2.So that servo-actuated side Axle sleeve can either follow traversing sliding block to slide on square shaft, and square shaft can be followed to rotate.
As shown in Fig. 2,5,6,7 and 8, releasing component 5-6 includes releasing frame 5-6-1, the first release belt wheel 5-6-2, second Belt wheel 5-6-3 is released, transmission belt 5-6-4, push-off pin group is released, releases overturning belt wheel group, first clutch, the first magnet, the One iron block, code reader and release overturning transmission belt 5-6-5.The top for releasing frame 5-6-1 is fixed with the first traversing sliding block 4-1.It pushes away Code reader of the detector towards file accessing frame 2 is fixed on frame 5-6-1 out.It releases and is supported with release transmission shaft on frame 5-6-1. First release belt wheel 5-6-2 is fixed with the second servo-actuated square shaft set 5-5.Second releases belt wheel 5-6-3 and releases transmission shaft by the The connection of one clutch.First release belt wheel 5-6-2 is connect with the second release belt wheel 5-6-3 by releasing transmission belt 5-6-4.First Releasing belt wheel 5-6-2 and second and releasing the transmission ratio of belt wheel 5-6-3 is 1:2 (inverse ratio that transmission ratio is wheel footpath).
Push-off pin group includes releasing fixed link 5-6-6, releasing crank 5-6-7, release connecting rod 5-6-8, release rocking bar 5-6-9 With release turning rod 5-6-10.The inner end for releasing crank 5-6-7 is fixed with transmission shaft is released, and outer end is with release connecting rod 5-6-8's One end is hinged by the first articulated shaft.It releases crank 5-6-7 and is embedded with the first magnet on the side for releasing connecting rod 5-6-8.It pushes away Connecting rod 5-6-8 is embedded with the first iron block on the side for releasing crank 5-6-7 out.First magnet and the first iron block are hinged to first Axis axis is equidistant.The other end for releasing connecting rod 5-6-8 and the middle part for releasing rocking bar 5-6-9 are cut with scissors by the second articulated shaft It connects.It releases fixed link 5-6-6 to be fixed on release frame 5-6-1, and one end and the inner end of release rocking bar 5-6-9 are hinged by third Axis is hinged, and the other end and release crank 5-6-7 are hinged.Third articulated shaft is fixed with fixed link 5-6-6 is released.Release rocking bar 5-6- 9 outer end and the inner end for releasing turning rod 5-6-10 are hinged by the 4th articulated shaft.4th articulated shaft and release rocking bar 5-6-9 are solid It is fixed.The axial line distance for releasing transmission shaft and the first articulated shaft is l1；The axial line distance of first articulated shaft and the second articulated shaft is l2； The axial line distance of second articulated shaft and third articulated shaft is l3；Third articulated shaft and the axial line distance for releasing transmission shaft are l4。
l1、l4、l2、l3Meet the following conditions:So that releasing the rocking bar of rocking bar 5-6-9 Pivot angle is 90 °.When release rocking bar 5-6-9 is in two extreme positions, respectively in vertical, horizontal state.Release rocking bar 5-6-9 In the case where in a vertical state, the outer end for releasing turning rod 5-6-10 is located at the inner end for releasing rocking bar 5-6-9 and (is overlapped)； In the case that release rocking bar 5-6-9 is in horizontality, the outer end of turning rod 5-6-10 is released in the inner end for releasing rocking bar 5-6-9 Towards on the contrary.
As shown in Fig. 2,5,6 and 9, release overturning belt wheel group includes that the first release release of overturning belt wheel 5-6-11 and second is turned over Turn belt wheel.First releases overturning belt wheel 5-6-11, the second release overturns belt wheel and third articulated shaft, the 4th articulated shaft respectively admittedly It is fixed, and by releasing overturning transmission belt 5-6-5 connection.First releases the biography that overturning belt wheel 5-6-11 and second releases overturning belt wheel Dynamic ratio is 1:2.
When releasing rocking bar 5-6-9 rotation, phase occurs due to releasing rocking bar 5-6-9 and the first release overturning belt wheel 5-6-11 To rotation, therefore the first release overturning belt wheel 5-6-11 will drive the second release overturning belt wheel rotation.Due to the first release overturning band The transmission ratio for taking turns the release overturning belt wheel of 5-6-11 and second is 1:2, therefore when release rocking bar 5-6-9 overturns 90 °, the second release is turned over Turning belt wheel drives release turning rod 5-6-10 to overturn 180 °.So that releasing turning rod 5-6-10 is releasing rocking bar 5-6- It overturns and releases on 9, increase the stroke released during archives.
Gripper assembly 5-7 includes cylindrical cam 5-7-1, single clip pawl and guide post 5-7-2.Horizontally disposed two guide post 5-7- 2 fix with the second traversing sliding block 4-2.Two cylindrical cam 5-7-1 are fixed with the second servo-actuated square shaft set 5-5.Two cylinders The working profile of cam 5-7-1 is symmetrical.Single clip pawl includes comb teeth external splint 5-7-3, comb teeth inner splint 5-7-4, spring 5- 7-5 and clamping jaw traveller 5-7-6.It is solid respectively with the inner end of four clamping jaw traveller 5-7-6 on four angles of comb teeth inner splint 5-7-4 It is fixed.Four angles of four clamping jaw traveller 5-7-6 and comb teeth external splint 5-7-3 respectively constitute sliding pair.Four clamping jaw traveller 5-7-6 On be equipped with spring 5-7-5.The both ends of spring 5-7-5 are fixed respectively with comb teeth external splint 5-7-3, comb teeth inner splint 5-7-4. The top-supported of comb teeth inner splint 5-7-4 has roller.A are offered on comb teeth external splint 5-7-3 and comb teeth inner splint 5-7-4 Comb teeth slot, a=3.The bottom end of comb teeth external splint 5-7-3 upper comb dent slot is connected to the lower edge of comb teeth external splint 5-7-3.In comb teeth The bottom end of clamping plate 5-7-4 upper comb dent slot is connected to the lower edge of comb teeth inner splint 5-7-4.The groove width of a comb teeth slot is b.Phase The spacing of adjacent two comb teeth slots is c.A on a comb teeth slot and comb teeth inner splint 5-7-4 on comb teeth external splint 5-7-3 Comb teeth slot is aligned respectively.
In two single clip pawls the top of comb teeth external splint 5-7-3 with clamping jaw traveller 5-7-6 constitute sliding pair, and with two Cylindrical cam 5-7-1 constitutes cam pair by roller respectively.Second servo-actuated square shaft set 5-5 drives two cylindrical cam 5-7-1 to turn When dynamic, two single clip pawl constant speed can be driven towards or away from sliding.Comb teeth inner splint 5-7-4's in one of single clip pawl Bottom is fixed with a+1 limited block.A+1 limited block is staggered respectively with a comb teeth slot on comb teeth inner splint 5-7-4.Limit The outer end of block is located at the position between two single clip pawls.Limited block in archives and can be released, and two single clip pawls do not clamp shelves In the case where case, gives archives upward support, archives is avoided to slide.
As shown in Fig. 2,5,6,10 and 11, pushing up back component 5-8 includes push up back frame 5-8-1, first pushing up to rewind and take turns 5-8-2, the Two tops rewind wheel 5-8-3, push ups back transmission belt 5-8-4, push up back bar group, pushing up returning and turn belt wheel group, the second magnet, the second iron block, the Two clutches and top returning turn transmission belt 5-8-5.The top and the second traversing sliding block 4-2 for pushing up back frame 5-8-1 are fixed.Push up back frame 5- Passback moving axis in top is supported on 8-1.First top rewinds wheel 5-8-2 and the second servo-actuated square shaft set 5-5 and fixes.Second top rewinds wheel 5- 8-3 is connect with top passback moving axis by second clutch.First top rewind wheel 5-8-2 with second top rewind take turns 5-8-3 pass through top Return transmission belt 5-8-4 connection.It is 1:2 that first top, which rewinds the top wheel 5-8-2 and second and rewinds the transmission ratio of wheel 5-8-3,.
Pushing up back bar group includes pushing up back fixed link 5-8-6, pushing up back crank 5-8-7, push up back connecting rod 5-8-8, push up back rocking bar 5-8-9 With top returning bull stick 5-8-10.The inner end and top passback moving axis for pushing up back crank 5-8-7 are fixed, and outer end and push up back connecting rod 5-8-8's One end is hinged by the 5th articulated shaft.Crank 5-8-7 is pushed up back on the side for pushing up back connecting rod 5-8-8 embedded with the second magnet.Top Connecting rod 5-8-8 is returned on the side for pushing up back crank 5-8-7 embedded with the second iron block.Second magnet and the second iron block are hinged to the 5th Axis axis is equidistant.The other end for pushing up back connecting rod 5-8-8 is cut with scissors with the middle part for pushing up back rocking bar 5-8-9 by the 6th articulated shaft It connects.It pushes up back fixed link 5-8-6 and is fixed on and push up back on frame 5-8-1, and one end passes through the 7th hingedly with the inner end for push up back rocking bar 5-8-9 Axis is hinged, the other end with to push up back crank 5-8-7 hinged.7th articulated shaft is fixed with fixed link 5-8-6 is pushed up back.Push up back rocking bar 5-8- 9 outer end and the inner end of top returning bull stick 5-8-10 are hinged by the 8th articulated shaft.8th articulated shaft is consolidated with rocking bar 5-8-9 is pushed up back It is fixed.The axial line distance of top passback moving axis and the 5th articulated shaft is l1；The axial line distance of 5th articulated shaft and the 6th articulated shaft is l2； The axial line distance of 6th articulated shaft and the 7th articulated shaft is l3；The axial line distance of 7th articulated shaft and top passback moving axis is l4.It pushes up back The oscillating angle of rocking bar 5-8-9 is 90 °.When pushing up back rocking bar 5-8-9 and being in two extreme positions, respectively in vertical, horizontal shape State.Push up back rocking bar 5-8-9 it is in a vertical state in the case where, top returning bull stick 5-8-10 outer end be located at pushes up back rocking bar 5-8-9 Inner end at (be overlapped)；It pushes up back in the case that rocking bar 5-8-9 is in horizontality, pushes up the outer end Yu Ding of returning bull stick 5-8-10 The inner end of rocking bar 5-8-9 is gone back to towards on the contrary.
Top returning turn belt wheel group include first top returning turn belt wheel and second top returning turn belt wheel.First top returning turns band Wheel, the second top returning turn belt wheel and fix respectively with the 7th articulated shaft, the 8th articulated shaft, and turn transmission belt 5-8-5 by pushing up returning Connection.First top returning turns belt wheel and the second top returning turns the transmission ratio of belt wheel as 1:2.Gripper assembly 5-7, which is located at, releases component It 5-6 and pushes up back between component 5-8.And release turning rod and top returning bull stick alignment.
As shown in Figures 12 and 13, floor truck II includes bottom plate 6, wheel 7, traveling motor 8, trolley balladeur train 9, two-way lead screw 10, motor 11, tracing sensor group and trolley fishback 12 are clamped.Wheel 7 uses Mecanum wheel.Tracing sensor group includes Two lateral tracing sensors 13 and two longitudinal tracing sensors 14.The company for two lateral tracing sensors 13 that spacing is 2s Axis of the line perpendicular to wheel 7.The line for two longitudinal tracing sensors 14 that spacing is 2s is parallel to the axis of wheel 7.Two The line of the line and two longitudinal direction tracing sensors 14 of a transverse direction tracing sensor 13 orthogonal is divided equally.Laterally track sensing Device 13 and longitudinal tracing sensor 14 are all made of infrared sensor.Whether floor truck II can be detected along black by infrared sensor Line walking, when infrared sensor issue infrared ray be mapped on black line, reflected letter cannot be received in infrared sensor Number.
Four wheels 7 are supported on the two sides of 6 bottom of bottom plate in pairs.Four traveling motors 8 are each attached to bottom plate 6 On.The output shaft of four traveling motors 8 is fixed respectively with four wheels 7.Trolley balladeur train 9 is fixed on the top of bottom plate 6.Two-way silk Thick stick 10 is supported on trolley balladeur train 9.Two sections of oppositely oriented screw threads are set on the side of two-way lead screw 10.Trolley fishback 12 wraps Include bottom draw runner and a root comb teeth bar.The inner end of a root comb teeth bar is fixed with bottom draw runner.Length of a root comb teeth bar along bottom draw runner Spend direction successively spaced set.The width of comb teeth bar is e, and the spacing of adjacent two comb teeth bars is f.E < b；B+c=e+f.It is small Vehicle fishback 12 shares two pieces.Bottom draw runner on two pieces of trolley fishbacks 12 constitutes sliding pair with balladeur train, and with two-way silk Two sections of oppositely oriented screw threads on thick stick 10 respectively constitute screw pair.
The archives automatic access method includes archives removing method and archives store method.
Archives removing method is specific as follows:
Step 1: determining the position of target folder according to the number of target folder.The file accessing of target folder will be housed Cabinet I is used as effort access cabinet.Effort access cabinet is corresponding with the j-th strip second level limb line 1-3 on i-th Their First Branch main line 1-2.Really Set the goal archival location method it is as follows: all files access cabinet I in traversing motor 4-7 and lifting motor 3-6 rotation so that Code reader on each file accessing cabinet I inswept archives one by one, until finding two dimensional code corresponding with input number, then post this two The archives for tieing up code are target folder.
Step 2: floor truck II marches at the corresponding 1-4 of mark line in place of effort access cabinet along the track that tracks.Work Make access cabinet clamping target folder and is placed on the trolley fishback 12 of floor truck II.
Step 3: floor truck II advances to the starting point of backbone line 1-1 with target folder.
Step 4: staff removes the archives on floor truck II.
Archives store method is specific as follows:
Step 1: archives to be deposited are placed between two pieces of trolley fishbacks 12 of floor truck II by staff.It removes Two pieces of trolley fishbacks 12 of fortune trolley II, which move toward one another, clamps archives to be deposited.The archives for being used to store archives to be deposited are deposited Cabinet I is taken to be used as object access cabinet.
Step 2: floor truck II marches at the corresponding 1-4 of mark line in place of object access cabinet along the track that tracks.
Step 3: the gripper assembly 5-7 on object access cabinet is moved at floor truck II, clamp on floor truck II Archives to be deposited, and archives to be deposited are put into one of them vacant archiving position.
Step 4: floor truck II advances to the starting point of backbone line 1-1.
Floor truck II advances on i-th Their First Branch main line 1-2 that j-th strip second level limb line 1-3 is corresponding to be marked in place Method at line 1-4 is as follows:
1. floor truck II is advanced along backbone line 1-1, so that two lateral tracing sensors 13 can't detect backbone Line 1-1, and two longitudinal tracing sensors 14 are able to detect backbone line 1-1.At this point, the wheel 7 of 6 two sides of bottom plate turns in the same direction Dynamic, floor truck II is mobile to the direction of 7 axis of vertical wheel.
After 2. one of transverse direction 13 i-th of tracing sensor detects Their First Branch main line 1-2, floor truck II is along the I Their First Branch main line 1-2 advances, so that two longitudinal tracing sensors 14 can't detect backbone line 1-1, and two transverse directions are sought Mark sensor 13 is able to detect Their First Branch main line 1-2.At this point, the wheel 7 of 6 two sides of bottom plate rotates backward, floor truck II to The direction of 7 axis of parallel wheels is mobile.It (since Mecanum wheel can drive trolley to laterally move, and can drive small Vehicle moves longitudinally, so when floor truck II do not need 90 ° steering, but directly it is traversing.)
After 3. one of longitudinal direction 14 jth of tracing sensor time detects second level limb line 1-3, floor truck II is along the J-th strip second level limb line 1-3 on i Their First Branch main line 1-2 advances, so that two lateral tracing sensors 13 can't detect Backbone line 1-1, and two longitudinal tracing sensors 14 are able to detect second level limb line 1-3.At this point, the wheel 7 of 6 two sides of bottom plate It rotates in same direction, floor truck II is mobile to the direction of 7 axis of vertical wheel.
4. floor truck II stops advancing after two lateral tracing sensors 13 are detected simultaneously by mark line 1-4 in place.
Effort access cabinet clamps target folder and the method being placed on floor truck II is specific as follows:
1. traversing motor 4-7 and lifting motor 3-6 rotation in effort access cabinet, so that the release group in effort access cabinet Part 5-6, gripper assembly 5-7 arrive separately at target folder two sides (i.e. target folder be in release component 5-6 and gripper assembly 5- Between 7).
2. first clutch engages, second clutch is disconnected, under the action of the second magnet and the second iron block attract each other, Component 5-8 is pushed up back to remain stationary.Access the access motor 5-11 driving in synchronous driving assembly, the first square shaft 5-1 and second party Axis 5-2 rotates synchronously 180 °.The transmission ratio for releasing the release of belt wheel 5-6-2 and second belt wheel 5-6-3 due to first is 1:2, therefore is pushed away Crank 5-6-7 overturns 360 ° out, so that releasing rocking bar 5-6-9 overturns 90 °, releases turning rod 5-6-10 around release rocking bar 5-6-9 After overturning 180 ° of release target folders, releases rocking bar 5-6-9 and release turning rod 5-6-10 reset.Two cylindrical cam 5-7-1 180 ° are rotated with the second square shaft 5-2, so that the spacing of two pieces of overturning external splints becomes minimum from maximum, two pieces of overturning inner splint folders The target folder being tightly pushed out.
3. traversing motor 4-7 and lifting motor 3-6 rotation in effort access cabinet, so that being clamped with mesh in effort access cabinet The release component 5-6 of mark archives reaches the surface of the corresponding 1-4 of mark line in place.
After 4. floor truck II reaches the corresponding 1-4 of mark line in place of effort access cabinet, trolley comb teeth on floor truck II The a root comb teeth bar of plate 12 is staggered successively with a comb teeth slot on the comb teeth inner splint 5-7-4 of effort access cabinet.On floor truck II Clamping motor 11 rotate forward, two pieces of 12 back movements of trolley fishback so that the spacing of two pieces of trolley fishbacks 12 be greater than work Access the spacing of two pieces of comb teeth external splint 5-7-3 reverse sides on cabinet.
5. the lifting motor 3-6 in effort access cabinet is inverted, the release component 5-6 decline in effort access cabinet, so that work Make between two pieces of trolley fishbacks 12 that two pieces of comb teeth external splint 5-7-3 on access cabinet are reached on floor truck II.
6. the clamping motor 11 on floor truck II inverts, two pieces of trolley fishbacks 12 are moved toward one another, so that two pieces of trolleies Comb teeth bar on fishback 12 is each passed through corresponding comb teeth slot to the state for clamping target folder.
7. first clutch and second clutch disconnect, under the action of the first magnet and the first iron block attract each other, Component 5-6 is released to remain stationary.Under the action of the second magnet and the second iron block attract each other, pushes up back component 5-8 and remain stationary. The access motor 5-11 driving in synchronous driving assembly is accessed, the first square shaft 5-1 and the second square shaft 5-2 rotate synchronously 180 °.Two A cylindrical cam 5-7-1 rotates 180 ° with the second square shaft 5-2, so that the spacing of two pieces of overturning external splints is become maximum by minimum, The spacing of two pieces of overturning inner splints is greater than the spacing of two pieces of 12 reverse sides of trolley fishback.It is small that target folder is transferred to carrying On vehicle II.
Effort access cabinet clamps archives to be deposited from floor truck and is put into the side of one of them vacant archives storage position Method is specific as follows:
After 1. floor truck II reaches the corresponding 1-4 of mark line in place of object access cabinet, trolley comb teeth on floor truck II The a root comb teeth bar of plate 12 is staggered successively with a comb teeth slot on object access cabinet upper comb dent inner splint 5-7-4.In object access cabinet Traversing motor 4-7 and lifting motor 3-6 rotation so that release component 5-6 in object access cabinet reaches floor truck II just Top.
2. the lifting motor 3-6 in object access cabinet is inverted, the release component 5-6 decline in object access cabinet, so that mesh Two pieces of comb teeth inner splint 5-7-4 on mark access cabinet arrive separately at the outside of two pieces of trolley fishbacks 12 on floor truck II.
3. first clutch and second clutch disconnect, access motor 5-11 driving in synchronous driving assembly the is accessed One square shaft 5-1 and the second square shaft 5-2 rotates synchronously 180 °.Two cylindrical cam 5-7-1 rotate 180 ° with the second square shaft 5-2, make The spacing for obtaining two pieces of overturning external splints become minimum from maximum, and two pieces of overturning inner splints clamp archives to be deposited.
4. the clamping motor 11 on floor truck II rotates forward, two pieces of 12 back movements of trolley fishback, so that two pieces of trolleies Comb teeth bar on fishback 12 is each passed through corresponding comb teeth slot, until two pieces of comb teeth external splint 5-7-3 on object access cabinet Between two pieces of trolley fishbacks 12 on floor truck II.
5. the lifting motor 3-6 in object access cabinet is rotated forward, the bottom of two pieces of comb teeth inner splint 5-7-4 in object access cabinet Higher than the top of two pieces of trolley fishbacks 12 on floor truck II.
6. traversing motor 4-7 and lifting motor 3-6 rotation in effort access cabinet, so that the release group in effort access cabinet Part 5-6, gripper assembly 5-7 arrive separately at object access cabinet one do not place the archiving positions of archives, and (any two pieces adjacent Archives partition 2-3 between be an archiving position) two sides.
7. first clutch disconnects, second clutch engagement, under the action of the first magnet and the first iron block attract each other, Component 5-8 is pushed up back to remain stationary.Access the access motor 5-11 driving in synchronous driving assembly, the first square shaft 5-1 and second party Axis 5-2 rotates synchronously 180 °.It is 1:2, Gu Ding since the first top rewinds the top wheel 5-8-2 and second to rewind the transmission ratio of wheel 5-8-3 It returns crank 5-8-7 and overturns 360 °, so that push up back 90 ° of rocking bar 5-8-9 overturning, push up returning bull stick 5-8-10 around pushing up back rocking bar 5-8-9 After archives to be deposited are pushed into corresponding archiving position by 180 ° of overturning, push up back rocking bar 5-8-9 and top returning bull stick 5-8-10 is multiple Position.Two cylindrical cam 5-7-1 rotate 180 ° with the second square shaft 5-2, so that the spacing of two pieces of overturning external splints is become from minimum Maximum, two pieces of overturning inner splints reduce the clamping force to archives to be deposited, are stored into archives convenient for top returning bull stick 5-8-10 and push away Enter archives storage position.

Claims (10)

1. a kind of archives automatic access method, it is characterised in that: the file accessing system of use, including file accessing cabinet group, seek Mark track and floor truck；The file accessing cabinet group includes arranging xy file accessing cabinet group being intervally arranged in x row y At；The track that tracks includes backbone line, Their First Branch main line, second level limb line and mark line in place；X Their First Branch main line Inner end is connect with backbone line；Y second level limb line is respectively connected on every Their First Branch main line；Xy second level limb line it is outer It holds and is separately connected in the middle part of xy item in place mark line；Mark line is separately positioned on xy file accessing cabinet to xy item in place Side；X Their First Branch main line successively sorts along the direction far from starting point on main orbit；Y item on same Their First Branch main line Second level limb line successively sorts along the direction far from main orbit；
The file accessing cabinet includes file accessing frame, elevating mechanism, transverse-moving mechanism and file accessing mechanism；The archives Rack for storage of articles includes frame, dividing plate and archives partition；Horizontally disposed muti-piece dividing plate is fixed with frame, and along vertical Direction successively equidistant arrangement；The muti-piece along dividing plate length direction equidistant arrangement is respectively and fixedly provided on the top surface of all dividing plates Archives partition；
The elevating mechanism includes elevator carriage, annular crane and lifting actuator；The elevator carriage is deposited with archives Frame is taken to fix；The annular crane and elevator carriage constitutes sliding pair, and is driven by lifting actuator；Annular crane packet Include two horizontal slide rails and two connecting rods；Wherein the both ends of a horizontal slide rail and one end of two connecting rods are fixed respectively； The both ends of another horizontal slide rail and the other end of two connecting rods are fixed respectively；Two horizontal slide rails are located at file accessing The two sides of frame；
The transverse-moving mechanism includes the first traversing sliding block, the second traversing sliding block and traversing actuator；The traversing cunning of described first Two horizontal slide rails on block, the second traversing sliding block and annular crane respectively constitute sliding pair, and are synchronized by traversing actuator Driving；
The file accessing mechanism includes the first square shaft, the second square shaft, encoder, the first servo-actuated square shaft set, the second servo-actuated side Axle sleeve accesses synchronous driving assembly, releases component, gripper assembly and push up back component；First square shaft, the second square shaft prop up It holds on annular crane, and is located at the two sides of file accessing frame；The encoder is fixed on annular crane；Coding The input shaft of device and one end of the first square shaft or the second square shaft are fixed；First square shaft, the second square shaft are by accessing synchronous driving assembly Synchronous driving；
First servo-actuated square shaft set, the second servo-actuated square shaft set respectively constitute sliding pair with the first square shaft, the second square shaft, traversing with first Sliding block, the second traversing sliding block respectively constitute revolute pair；First servo-actuated square shaft set and the first traversing sliding block at the public of revolute pair Axis is overlapped with the axis of rotation of the first square shaft；Second servo-actuated square shaft set and the second traversing sliding block at revolute pair common axis It is overlapped with the axis of rotation of the second square shaft；
The release component includes releasing frame, the first release belt wheel, the second release belt wheel, releasing transmission belt, push-off pin group, push away Belt wheel group, first clutch, the first magnet, the first iron block are overturn out and release overturning transmission belt；It is described release frame top with First traversing sliding block is fixed；It releases and is supported with release transmission shaft on frame；First releases belt wheel and the second servo-actuated square shaft set fixation；The Two release belt wheels are connect with release transmission shaft by first clutch；First, which releases belt wheel and second, releases belt wheel by releasing biography Dynamic band connection；First, which releases belt wheel and second, releases the transmission ratio of belt wheel as 1:2；
The push-off pin group includes releasing crank, releasing connecting rod, release rocking bar and release turning rod；It is described to release the interior of crank End is fixed with transmission shaft is released, and outer end and the one end for releasing connecting rod are hinged by the first articulated shaft；Crank is released close to the company of release The first magnet is embedded on the side of bar；It releases connecting rod and is embedded with the first iron block on the side for releasing crank；First magnet and One iron block is equidistant to the first articulated shaft axis；It is hinged that the other end for releasing connecting rod and the middle part for releasing rocking bar pass through second Axis is hinged；Inner end and the release frame for releasing rocking bar are hinged by third articulated shaft；Third articulated shaft is fixed with frame is released；Release is shaken The outer end of bar and the inner end for releasing turning rod are hinged by the 4th articulated shaft；4th articulated shaft is fixed with rocking bar is released；Release is shaken The oscillating angle of bar is 90 °；
The release overturning belt wheel group includes that the first release overturning belt wheel and second release overturning belt wheel；Described first releases Overturning belt wheel, the second release overturning belt wheel and third articulated shaft, the 4th articulated shaft are fixed respectively, and by releasing overturning transmission belt Connection；The transmission ratio of first release overturning belt wheel and the second release overturning belt wheel is 1:2；
The gripper assembly includes cylindrical cam, single clip pawl and guide post；The guide post is fixed with the second traversing sliding block；Two Cylindrical cam is fixed with the second servo-actuated square shaft set；Single clip pawl includes that comb teeth external splint, comb teeth inner splint, spring and clamping jaw are sliding Column；Comb teeth inner splint and the inner end of clamping jaw traveller are fixed；Clamping jaw traveller and comb teeth external splint constitute sliding pair；It is covered on clamping jaw traveller It is equipped with spring；The both ends of spring are fixed respectively with comb teeth external splint, comb teeth inner splint；On comb teeth external splint and comb teeth inner splint Offer a comb teeth slot；In two single clip pawls the top of comb teeth external splint with clamping jaw traveller constitute sliding pair, and with two circles Column cam respectively constitutes cam pair；
The top return component include push up back frame, first top rewind wheel, second push up rewind wheel, push up back transmission belt, push up back bar group, push up Returning turns belt wheel group, the second magnet, the second iron block, second clutch and top returning and turns transmission belt；The top for pushing up back frame with Second traversing sliding block is fixed；It pushes up back and is supported with passback moving axis in top on frame；First top rewinds wheel and fixes with the second servo-actuated square shaft set；The Two tops rewind wheel and are connect with top passback moving axis by second clutch；First top rewinds wheel and the second top rewinds wheel and returned by top Dynamic band connection；It is 1:2 that first top, which rewinds the transmission ratio that wheel rewinds wheel with the second top,；
It includes pushing up back crank, pushing up back connecting rod, push up back rocking bar and top returning bull stick that bar group is returned on the top；Push up back the inner end of crank with Top passback moving axis is fixed, and outer end and the one end for pushing up back connecting rod are hinged by the 5th articulated shaft；Crank is pushed up back close to pushing up back connecting rod The second magnet is embedded on side；Connecting rod is pushed up back on the side for pushing up back crank embedded with the second iron block；Second magnet and the second iron Block is equidistant to the 5th articulated shaft axis；The other end for pushing up back connecting rod is cut with scissors with the middle part for pushing up back rocking bar by the 6th articulated shaft It connects；It pushes up go back to the inner end of rocking bar and to push up back frame hinged by the 7th articulated shaft；7th articulated shaft is fixed with frame is pushed up back；Push up back rocking bar Outer end and the inner end of top returning bull stick are hinged by the 8th articulated shaft；8th articulated shaft is fixed with rocking bar is pushed up back；Push up back rocking bar Oscillating angle is 90 °；
The top returning turn belt wheel group include first top returning turn belt wheel and second top returning turn belt wheel；Described first pushes up back Overturning belt wheel, the second top returning turn belt wheel and fix respectively with the 7th articulated shaft, the 8th articulated shaft, and turn transmission belt by pushing up returning Connection；First top returning turns belt wheel and the second top returning turns the transmission ratio of belt wheel as 1:2；
The floor truck includes bottom plate, wheel, traveling motor, trolley balladeur train, two-way lead screw, clamping motor, track sensing Device group and trolley fishback；The wheel uses Mecanum wheel；The tracing sensor group includes that two transverse directions track Sensor and two longitudinal tracing sensors；The lateral tracing sensor and longitudinal tracing sensor are all made of infrared sensing Device；Four wheels are supported on the two sides of bottom base plate in pairs；Four traveling motors are each attached on bottom plate；Four rows Output shaft into motor is fixed respectively with four wheels；Axis of the line of two lateral tracing sensors perpendicular to wheel；Two The line of a longitudinal direction tracing sensor is parallel to the axis of wheel；The line of two lateral tracing sensors tracks with two longitudinal directions The line of sensor is orthogonal to be divided equally；
The trolley balladeur train is fixed on bottom plate；Two-way lead screw is supported on trolley balladeur train；Trolley fishback includes that bottom is sliding Item and a root comb teeth bar；The inner end of a root comb teeth bar is fixed with bottom draw runner；A root comb teeth bar along bottom draw runner length direction according to Secondary spaced set；Trolley fishback shares two pieces；Bottom draw runner on two pieces of trolley fishbacks constitutes sliding pair with balladeur train, And screw pair is respectively constituted with two sections of oppositely oriented screw threads on two-way lead screw；
The archives automatic access method includes archives removing method and archives store method；
Archives removing method is specific as follows:
Step 1: using the file accessing cabinet equipped with target folder as effort access cabinet；
Step 2: floor truck marches at the corresponding mark line in place of effort access cabinet along the track that tracks；Effort access cabinet Clamping target folder is simultaneously placed on the trolley fishback of floor truck；
Step 3: floor truck advances to backbone line with target folder；
Step 4: staff removes the archives on floor truck；
Archives store method is specific as follows:
Step 1: archives to be deposited are placed between two pieces of trolley fishbacks of floor truck by staff；Floor truck Two pieces of trolley fishbacks, which move toward one another, clamps archives to be deposited；The file accessing cabinet of archives to be deposited will be used to store as target Access cabinet；
Step 2: floor truck marches at the corresponding mark line in place of object access cabinet along the track that tracks；
Step 3: the gripper assembly on object access cabinet is moved at floor truck, the archives to be deposited on floor truck are clamped, And archives to be deposited are put into one of them vacant archiving position；
Step 4: floor truck advances to backbone line；
Effort access cabinet clamping target folder and to be placed into the method on floor truck specific as follows:
1. traversing driving assembly and lifting driving assembly starting in effort access cabinet, so that the release group in effort access cabinet Part, gripper assembly arrive separately at the two sides of target folder；
2. first clutch engages, second clutch is disconnected, and accesses synchronous driving assembly starting, the first square shaft and the second square shaft are same 180 ° of step rotation is released after turning rod releases target folder and is resetted；The spacing of two pieces of overturning external splints becomes minimum from maximum, and two Block overturning inner splint clamps target folder；
3. traversing motor and lifting motor rotation in effort access cabinet, so that being clamped with pushing away for target folder in effort access cabinet Component reaches the surface of corresponding mark line in place out；
After 4. floor truck reaches the corresponding mark line in place of effort access cabinet, the clamping motor on floor truck is rotated forward, and two pieces Trolley fishback back movement, so that the spacing of two pieces of trolley fishbacks is greater than two pieces of comb teeth external splint phases on effort access cabinet The spacing of dorsal surface；
5. the lifting driving assembly in effort access cabinet starts, the release component decline in effort access cabinet, so that effort access Two pieces of comb teeth external splints on cabinet reach between two pieces of trolley fishbacks on floor truck；
6. the clamping motor reversal on floor truck, two pieces of trolley fishbacks are moved toward one another, so that two pieces of trolley fishbacks are clamped Target folder；
7. first clutch and second clutch disconnect, synchronous driving assembly starting is accessed, the first square shaft and the second square shaft are same 180 ° of step rotation, so that the spacing of two pieces of overturning external splints is become maximum by minimum, the spacing of two pieces of overturning inner splints is greater than two The spacing of block trolley fishback reverse side；Target folder is transferred on floor truck；
Effort access cabinet clamps archives to be deposited from floor truck and is put into the method tool of one of them vacant archives storage position Body is as follows:
After 1. floor truck reaches the corresponding mark line in place of object access cabinet；Traversing driving assembly and liter in object access cabinet Driving assembly starting is dropped, so that the release component in object access cabinet reaches right above floor truck；
2. the lifting driving assembly in object access cabinet starts, the release component decline in object access cabinet, so that object access Two pieces of comb teeth inner splints on cabinet arrive separately at the outside of two pieces of trolley fishbacks on floor truck；
3. first clutch and second clutch disconnect, synchronous driving assembly starting is accessed, the first square shaft and the second square shaft are same 180 ° of step rotation, so that the spacing of two pieces of overturning external splints becomes minimum from maximum, two pieces of overturning inner splints clamp shelves to be deposited Case；
4. the clamping motor on floor truck rotates forward, two pieces of trolley fishback back movements, so that two pieces of trolley fishback difference Reach the two sides of gripper assembly；
5. the lifting driving assembly in object access cabinet starts, the bottom of two pieces of comb teeth inner splints, which is higher than, in object access cabinet is carried The top of two pieces of trolley fishbacks on trolley；
6. traversing driving assembly and lifting driving assembly starting in object access cabinet, so that the release group in effort access cabinet Part, gripper assembly arrive separately at the two sides of a vacant archives storage position of object access cabinet；
7. first clutch disconnects, second clutch engagement, synchronous driving assembly starting is accessed, the first square shaft and the second square shaft are same 180 ° of step rotation, top returning bull stick resets after archives to be deposited are pushed into archiving position；Meanwhile between two pieces of overturning external splints Away from being become maximum by minimum.
2. a kind of archives automatic access method according to claim 1, it is characterised in that: the elevator carriage includes top Portion's mounting blocks, bottom mounting blocks and lifting optical axis；Two go up and down the bottom end of optical axis and the both ends of bottom mounting blocks and respectively constitute and turn The both ends of dynamic pair, top and top mounting blocks respectively constitute revolute pair；Top mounting blocks in two elevator carriages are fixed respectively At the both ends of file accessing top of the trellis；Bottom mounting blocks in two elevator carriages are separately fixed at the two of file accessing frame bottom End；Going up and down actuator includes lifting belt wheel, lifting and driving band, elevating screw and lifting motor；Two elevating screws support respectively On two elevator carriages；Nut in two connecting rods of two elevating screws and annular crane respectively constitutes screw pair； Two lifting belt wheels are fixed respectively with two elevating screws, and pass through lifting and driving band connection；Lifting motor is fixed therein one At the top of block on mounting blocks；The output shaft of lifting motor and one end of a wherein elevating screw are fixed.
3. a kind of archives automatic access method according to claim 1, it is characterised in that: the traversing actuator includes First traversing belt wheel group, the second traversing belt wheel, the first traversing transmission belt, the second traversing transmission belt and traversing motor；The ring The both ends of two horizontal slide rails are supported with the traversing transmission shaft being vertically arranged on shape crane；Two the first traversing belt wheel components It is not arranged in two horizontal slide rails of annular crane；Two the first traversing belt wheels in same first traversing belt wheel group with it is right It answers the traversing transmission shaft at horizontal slide rail both ends to fix respectively, and passes through a first traversing transmission band connection；First traversing sliding block, Second traversing sliding block is fixed respectively with two first traversing transmission belts；Two the second traversing belt wheels and two horizontal slide rail the same ends On traversing transmission shaft fix respectively, and pass through the second traversing transmission band connection；Traversing motor is fixed on annular crane；It is horizontal The one end for moving the output shaft and a wherein traversing transmission shaft of motor is fixed.
4. a kind of archives automatic access method according to claim 1, it is characterised in that: the synchronous driving group of the access Part includes access synchronous pulley, access synchronous belt and access motor；Two access synchronous pulleys and the first square shaft, second party Axis is fixed respectively, and passes through access Synchronous Transmission band connection；Access motor is fixed on annular crane；Access the output of motor One end of axis and the first square shaft or the second square shaft is fixed.
5. a kind of archives automatic access method according to claim 1, it is characterised in that: the release component further includes Code reader；The code reader, which is fixed on, to be released on frame；The solid detector of code reader is towards file accessing frame.
6. a kind of archives automatic access method according to claim 1, it is characterised in that: the release transmission shaft, The axial line distance of one articulated shaft and the axial line distance of top passback moving axis, the 5th articulated shaft are l1；First articulated shaft, second are hingedly The axial line distance of axis and the axial line distance of the 5th articulated shaft, the 6th articulated shaft are l2；The axis of second articulated shaft, third articulated shaft The axial line distance of linear distance and the 6th articulated shaft, the 7th articulated shaft is l3；Third articulated shaft, the axial line distance for releasing transmission shaft And the axial line distance of the 7th articulated shaft, top passback moving axis is l4；l1、l4、l2、l3Meet the following conditions:
7. a kind of archives automatic access method according to claim 1, it is characterised in that: release rocking bar and be in two limit When position, respectively in vertical, horizontal state；In the case that release rocking bar is in a vertical state, the outer end position of turning rod is released At the inner end for releasing rocking bar；In the case that release rocking bar is in horizontality, the outer end of turning rod is released in release rocking bar Inner end is towards on the contrary；When pushing up back rocking bar and being in two extreme positions, respectively in vertical, horizontal state；It pushes up back rocking bar and is in perpendicular In the case where straight state, the outer end of top returning bull stick is located at the inner end for pushing up back rocking bar；Push up back the feelings that rocking bar is in horizontality Under condition, the outer end for pushing up returning bull stick is opposite in the inner end direction for pushing up back rocking bar.
8. a kind of archives automatic access method according to claim 1, it is characterised in that: the groove width of a comb teeth slot is b；The spacing of two neighboring comb teeth slot is c；A comb teeth slot on a comb teeth slot and comb teeth inner splint on comb teeth external splint It is aligned respectively；The width of trolley fishback upper comb dent item is e, and the spacing of adjacent two comb teeth bars is f；E < b；B+c=e+f.
9. a kind of archives automatic access method according to claim 1, it is characterised in that: the comb in one of single clip pawl The bottom of tooth inner splint is fixed with a+1 limited block；A+1 limited block is staggered respectively with a comb teeth slot on comb teeth inner splint； The outer end of limited block is located at the position between two single clip pawls.
10. a kind of archives automatic access method according to claim 1, it is characterised in that: floor truck advances to work The method accessed at the corresponding mark line in place of cabinet is as follows:
1. determining that the corresponding mark line in place of effort access cabinet is located on i-th Their First Branch main line on j-th strip second level limb line；It removes It transports trolley to advance along backbone line, so that two lateral tracing sensors can't detect backbone line, and two longitudinal directions track biography Sensor is able to detect backbone line；
2. floor truck is along i-th level-one limb after one of transverse direction tracing sensor i-th detects Their First Branch main line Line is advanced, so that two longitudinal tracing sensors can't detect backbone line, and two lateral tracing sensors are able to detect Their First Branch main line；
3. floor truck is along i-th level-one limb after one of longitudinal direction tracing sensor jth time detects second level limb line J-th strip second level limb line on line is advanced, so that two lateral tracing sensors can't detect backbone line, and two longitudinal directions are sought Mark sensor is able to detect second level limb line；
4. floor truck stops advancing after two lateral tracing sensors are detected simultaneously by mark line in place.
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CN109965542A (en) * 2019-04-16 2019-07-05 马文涛 A kind of industrial and commercial administration archiving device
CN110215064A (en) * 2019-07-10 2019-09-10 商丘工学院 Auxiliary device is taken in a kind of storage of Machine Design data
CN110526179A (en) * 2019-08-23 2019-12-03 王龙辰 A kind of eminence express delivery device for taking suitable for different height logistic rack
CN110803439A (en) * 2019-11-08 2020-02-18 重庆文理学院 Library bookshelf capable of automatically and efficiently borrowing and returning books
CN111038904A (en) * 2020-01-14 2020-04-21 广州成呈智能科技有限公司 Voice recognition's packing cupboard individual layer device
CN111115090A (en) * 2020-02-27 2020-05-08 桂林师范高等专科学校 Intelligent transfer robot for warehousing
CN111456592A (en) * 2020-04-02 2020-07-28 江苏迅捷装具科技有限公司 Movable opening and closing door for intelligent file cabinet
CN111631534A (en) * 2020-05-28 2020-09-08 腾达(济宁)信息科技有限公司 Enterprise information analysis management equipment and system
CN111717809A (en) * 2020-06-30 2020-09-29 南京工程学院 Storage crane based on parallelogram mechanism
CN112938296A (en) * 2021-03-30 2021-06-11 国网河北省电力有限公司沧州供电分公司 Automatic storing and fetching device
WO2022007222A1 (en) * 2020-07-09 2022-01-13 苏州启茂信息科技有限公司 Classified storage apparatus for computer hardware wholesale
CN114013992A (en) * 2021-10-28 2022-02-08 杭州万马智能医疗科技有限公司 Automatic pushing device for dispensing medical textile articles
CN117963407A (en) * 2024-03-29 2024-05-03 江苏齐鑫智能科技有限公司 Box type intelligent access archive and access method thereof
CN118458310A (en) * 2024-07-11 2024-08-09 宁波震裕自动化科技有限公司 Automatic boxing equipment for battery top cover plate

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CN109965542A (en) * 2019-04-16 2019-07-05 马文涛 A kind of industrial and commercial administration archiving device
CN110215064A (en) * 2019-07-10 2019-09-10 商丘工学院 Auxiliary device is taken in a kind of storage of Machine Design data
CN110215064B (en) * 2019-07-10 2021-06-08 商丘工学院 Mechanical design data is deposited and is taken auxiliary device
CN110526179A (en) * 2019-08-23 2019-12-03 王龙辰 A kind of eminence express delivery device for taking suitable for different height logistic rack
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CN111631534A (en) * 2020-05-28 2020-09-08 腾达(济宁)信息科技有限公司 Enterprise information analysis management equipment and system
CN111717809A (en) * 2020-06-30 2020-09-29 南京工程学院 Storage crane based on parallelogram mechanism
WO2022007222A1 (en) * 2020-07-09 2022-01-13 苏州启茂信息科技有限公司 Classified storage apparatus for computer hardware wholesale
CN112938296A (en) * 2021-03-30 2021-06-11 国网河北省电力有限公司沧州供电分公司 Automatic storing and fetching device
CN114013992A (en) * 2021-10-28 2022-02-08 杭州万马智能医疗科技有限公司 Automatic pushing device for dispensing medical textile articles
CN117963407A (en) * 2024-03-29 2024-05-03 江苏齐鑫智能科技有限公司 Box type intelligent access archive and access method thereof
CN118458310A (en) * 2024-07-11 2024-08-09 宁波震裕自动化科技有限公司 Automatic boxing equipment for battery top cover plate

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