CN109650021A - A kind of slim file accessing transportation robot device and its application method - Google Patents
A kind of slim file accessing transportation robot device and its application method Download PDFInfo
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- CN109650021A CN109650021A CN201811611793.5A CN201811611793A CN109650021A CN 109650021 A CN109650021 A CN 109650021A CN 201811611793 A CN201811611793 A CN 201811611793A CN 109650021 A CN109650021 A CN 109650021A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 35
- 229910052742 iron Inorganic materials 0.000 claims abstract description 18
- 238000003860 storage Methods 0.000 claims description 28
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 229920003023 plastic Polymers 0.000 claims description 4
- 239000004033 plastic Substances 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 10
- 238000000429 assembly Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 6
- 238000007689 inspection Methods 0.000 description 4
- 230000009184 walking Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
-
- 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
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of slim file accessing transportation robot device and its application methods, it is related to the technical field of archives robot, it include: AGV trolley, X-axis, Y-axis, Z axis moves mould group, file box and file box fetching device, AGV trolley is set to the surface of surface-based electromagnetic path, the small car of AGV is equipped with battery, controller and memory, file box is vertical and is spaced apart on document shelf, file box is equipped with mounting groove and is equipped with iron bar in mounting groove, bar coded sticker is pasted on file box, two-dimension code label is pasted on document shelf, file box fetching device is set on Z axis slide plate and the support plate including L-type, CCD camera, adjust motor, pick and place motor, electromagnet.The present invention first passes through the mobile mould group linkage of AGV trolley, X-axis, Y-axis, Z axis and is moved to designated position, is scanned judgement using CCD camera, recycles and pick and place motor stretching electromagnet to adsorb the iron bar on file box, and then realize the access to file box.
Description
Technical field
The present invention relates to the technical fields of archives robot, and in particular to a kind of slim file accessing transportation robot device
And its application method.
Background technique
It is various forms of original with value for preservation to refer generally to that people are directly formed in every social activities for archives
Record.Wherein, bank save archives be generally divided into secretarial document, Credit File, accounting file, basic construction archive, equipment files,
Acoustic image electronic record, archival objects, personal file etc..The characteristics of Bank Profile: single part of archives are few, and thickness is generally on the left side 10mm
It is right.With the development of society, archive information amount is increased with exponential, Bank Profile filing, access, the workload day consulted are increasingly
Greatly.New technology is constantly brought forth new ideas, the rapid development and application of big data, RFID technique and robot technology, to Bank Profile
Management proposes new demand, by file accessing, makes an inventory, bank's smart profile library based on inspection, increasingly has demand, more can
The developing steps for adapting to domestic and international file security, efficiently managing.
The work of reading of Bank Profile is still accomplished manually by Bank Profile administrator at present, time-consuming and laborious, inefficient.It is existing
There are some technologies that archives are taken using robot in stage, can reduce the labor intensity of archivist, improves work effect
Rate, but since the general volume for taking archives Robot Design is big, the manipulator for grabbing archives is inflexible, crawl precision is difficult
To meet the access requirement of Bank Profile.
A kind of full-automatic transportation robot of entity archives of disclosure of the invention that China Patent Publication No. is CN103223665B,
It is related to a kind of transportation robot, and in particular to a kind of full-automatic transportation robot of entity archives.The invention is artificial in order to solve
The problem of access archives are easy to appear operation error.The invention includes columns assemblies, gripper component, base assembly and document shelf group
Part, base assembly include base body, swing mechanism, two walkings and steering mechanism and four auxiliary universal wheels, swing mechanism
It is mounted on the middle part of base body upper surface, four auxiliary universal wheels are uniformly arranged on the lower surface of base body, pedestal master
The two sides of body lower surface are respectively provided with a walking respectively and steering mechanism, columns assemblies are mounted on swing mechanism, gripper component
It is mounted in columns assemblies, document shelf component is mounted on the upper surface of base body.
China Patent Publication No. is that the invention of CN103223665B is related to a kind of full-automatic transportation robot of entity archives, it
It is related to a kind of transportation robot, and in particular to a kind of full-automatic transportation robot of entity archives.The invention is in order to solve manually to deposit
The problem of taking archives to be easy to appear operation error.The invention includes columns assemblies, gripper component, base assembly and document shelf group
Part, base assembly include base body, swing mechanism, two walkings and steering mechanism and four auxiliary universal wheels, swing mechanism
It is mounted on the middle part of base body upper surface, four auxiliary universal wheels are uniformly arranged on the lower surface of base body, pedestal master
The two sides of body lower surface are respectively provided with a walking respectively and steering mechanism, columns assemblies are mounted on swing mechanism, gripper component
It is mounted in columns assemblies, document shelf component is mounted on the upper surface of base body.
The technical solution that file accessing device and archives involved in above-mentioned documents transfer method can not be fine
Solution the application in for Bank Profile access in.
Summary of the invention
The purpose of the present invention is to provide a kind of slim file accessing transportation robot device and its application methods, to solve
Drawbacks described above caused by the prior art realizes bank to being less than or equal to quickly accessing, make an inventory, patrol for 10mm thickness archives
Inspection, data processing and management.
A kind of slim file accessing transportation robot device, comprising: the mobile mould group of AGV trolley, X-axis, Y-axis mobile mould group, Z
Axis moves mould group, file box and file box fetching device, and the AGV trolley, which is set to, is being pre-installed in the electromagnetic path on ground just
Top, the small car of AGV are equipped with battery, controller and memory, and the mobile mould group of the Y-axis passes through supporting block and front and back
Towards the upper surface for being mounted on AGV trolley, the mobile mould group of the Y-axis mainly includes y-axis motor, Y-axis lead screw and Y-axis slide plate, institute
The mobile mould group of X-axis is stated by X-axis mounting plate and left and right is towards being mounted on Y-axis slide plate, the mobile mould group of the X-axis mainly includes X
Spindle motor, X-axis lead screw and X-axis slide plate, the mobile mould group of the Z axis are mounted on X-axis slide plate by Z axis mounting plate and upper and lower direction
On, the mobile mould group of the Z axis mainly includes Z axis motor, Z axis lead screw and Z axis slide plate, the battery and controller respectively with X
Spindle motor, y-axis motor and Z axis electrical connection of motor,
The file box is vertical and is spaced apart on document shelf, and the file box is equipped with mounting groove, institute in side outwardly
It states and is equipped with iron bar in mounting groove, be pasted with the bar coded sticker for describing file box storage position information, institute on the file box
State the two-dimension code label for being pasted on document shelf and describing document shelf installation site information；
The file box fetching device is set on Z axis slide plate and the support plate including L-type, adjustment motor and pick-and-place motor,
The support plate is mounted on Z axis slide plate by screw, and the upper surface of the support plate is equipped with horizontal mounting plate, the level
Mounting plate upper surface is symmetrically installed with horizontal mounting plate, and the adjustment motor is mounted in the horizontal mounting plate of front side, the tune
The output the tip of the axis of whole motor is equipped with driving wheel, and the driving wheel is connected with driven wheel, the driven wheel peace by belt
On driven shaft, the driven shaft is mounted on the upper surface of horizontal mounting plate by support base, is welded on the driven shaft
Pallet stand, the upper end of the pallet stand are equipped with supporting plate, are symmetrically installed with side baffle on the supporting plate, on the side baffle
Equipped with sliding slot, the outside for picking and placing motor and being mounted on side baffle by motor fixing plate and front and back direction, the pick-and-place motor
It is connected with lead screw by shaft coupling, the lead screw is mounted on side baffle by lead screw mounting plate, and screw thread is installed on the lead screw
There is screw slider, connecting plate is installed on the inside of the screw rod sliding block, connecting rod is welded between the connecting plate of two sides and even
Link block is installed, the front side vertical of the link block is equipped with mounting bar, and the front side of the mounting bar is uniformly installed on extension bar
There is buffer spring, the projecting end of the buffer spring is equipped with spherical electromagnet, the storage of the electromagnet and AGV car interior
Battery and controller are electrically connected.
Preferably, the top of the supporting plate is equipped with CCD camera, and the CCD camera is mounted on supporting plate by camera installing plate
Upper surface, battery, controller and the memory of the CCD camera and AGV car interior be electrically connected.
Preferably, the lower end surface of the supporting plate is equipped with double-shaft tilt angle sensor, and the double-shaft tilt angle sensor and AGV are small
The battery and controller in interior portion are electrically connected.
Preferably, the upper surface of the AGV trolley is equipped with interim rack, passes through in the interim rack uniformly distributed
Divides go out several storage areas, and the width of the storage area is greater than the thickness of file box.
Preferably, the upper surface of the AGV trolley is equipped with control panel, the control panel and AGV car interior
Battery, controller and memory are electrically connected.
Preferably, the thickness of the file box is less than or equal to 10mm, and the material of the file box is plastics.
Preferably, the driving wheel and driven wheel are synchronous pulley, and the belt is synchronous belt.
Preferably, the lower end surface of the mounting bar is equipped with pulley, the upper end face contact of the pulley and supporting plate.
In conclusion the application method of this slim file accessing transportation robot device, includes the following steps:
Step 1: staff will be respectively adhered on file box and document shelf by CCD camera or external code reader
On whole bar coded stickers and two-dimension code label documented by the location information of each file box and document shelf be entered into AGV
In the memory of small car；
Step 2: staff sets storage position of each file box on document shelf, then, shelves by control panel
Each file box is placed into the corresponding position on document shelf by the storage position that case robot is previously set according to staff, complete
At the preliminary storage work of file box；
Step 3: when staff needs to take some or certain several file boxes on document shelf, control is first passed through
The location information of the corresponding one or more bar coded stickers of panel typing；
Step 4: under the control of the controller, AGV trolley is first moved to along electromagnetic path is pasted with two-dimension code label
The corresponding position of document shelf scans the two-dimensional code label using CCD camera, judges whether the mobile position of AGV trolley is accurate；
Step 5: under the control of the controller, the connection of the mobile mould group of X-axis, the mobile mould group of Y-axis, the mobile mould group of Z axis is utilized
It is dynamic, by the position of the corresponding file box in supporting plate accurate movement to document shelf；
Step 6: under the control of the controller, so that supporting plate is constantly in horizontality using adjustment motor, recycle and pick and place
Motor stretches out electromagnet, then allows electromagnet to be powered and adsorb the iron bar on corresponding file box；
Step 7: under the control of the controller, the connection of the mobile mould group of X-axis, the mobile mould group of Y-axis, the mobile mould group of Z axis is utilized
It is dynamic, by the corresponding position in supporting plate accurate movement to interim rack, then allows electromagnet to power off and stop on the file box adsorbed
Iron bar；
Step 8: under the control of the controller, AGV trolley returns to starting point along electromagnetic path, returns to staff's body
Side, staff remove the file box of needs from interim rack；
Step 9: after waiting staff to take, the file box taken is put back into corresponding on interim rack
Storage area；
Step 10: under the control of the controller, each file box is put back into the correspondence position on document shelf by archives robot
It sets.
The working principle of the invention and advantage: for the present invention under the control of the controller of AGV car interior, staff is first
Location information by the file box for needing to take in control panel input, then be moved to by AGV trolley along electromagnetic path
Designated position, recycles the two-dimension code label on CCD camera scanning document shelf judges whether position is correct, then, recycles CCD
Camera scanning goes out to be pasted with the file box of corresponding bar coded sticker, then is moved by the mobile mould group of X-axis, the mobile mould group of Y-axis and Z axis
Corresponding position in supporting plate accurate movement to document shelf is made supporting plate be constantly in water by the linkage of dynamic model group using adjustment motor
Level state stretches out electromagnet using motor is picked and placed, then allows electromagnet to be powered and adsorb the iron bar on corresponding file box, then,
It, will be in supporting plate accurate movement to interim rack using the linkage of the mobile mould group of X-axis, the mobile mould group of Y-axis, the mobile mould group of Z axis
Corresponding position, then allow electromagnet to power off and stop adsorbing the iron bar on file box, finally, AGV trolley is returned to along electromagnetic path
Starting point returns to staff at one's side, and file box is taken in completion.The present invention is with compact-sized, mobility is high, linkage
By force, accuracy height and practical feature.If the device is applied in the management of Bank Profile, it can be achieved that bank is to being less than
Or equal to quickly the accessing, make an inventory of 10mm thickness archives, inspection, data processing and management, effectively solve current Bank Profile
It reads work to be still accomplished manually by Bank Profile administrator, time-consuming and laborious, inefficient practical problem.
Detailed description of the invention
Fig. 1 is the whole positive structural schematic diagram for waiting side views of the present invention.
Fig. 2 is the structural schematic diagram that the present invention integrally faces.
Fig. 3 is the structural schematic diagram of the whole side view of the present invention.
Fig. 4 is the structural schematic diagram that the present invention integrally overlooks.
Fig. 5 is the structural schematic diagram of the electromagnet absorption file box in the present invention.
Fig. 6 is the structural schematic diagram of the file box in the present invention.
Fig. 7 is that the file box in the present invention is placed on the structural schematic diagram on document shelf.
Fig. 8 is the structural schematic diagram of the mobile mould group of Y-axis in the present invention.
Fig. 9 is the structural schematic diagram of the mobile mould group of X-axis in the present invention.
Figure 10 is the structural schematic diagram of the mobile mould group of Z axis in the present invention.
Wherein, 1-AGV trolley；2- supporting block；3-Y axis moves mould group；301-Y spindle motor；302-Y axial filament thick stick；303-Y axis
Slide plate；304-X axle installing plate；The interim rack of 4-；401- demarcation plate；5-X axis moves mould group；501-X spindle motor；502-X axis
Lead screw；503-X axis slide plate；504-Z axle installing plate；6-Z axis moves mould group；601-Z spindle motor；602-Z axial filament thick stick；603-Z axis
Slide plate；7- support plate；8- horizontal mounting plate；9- horizontal mounting plate；10- adjusts motor；11- driving wheel；12- belt；13- is driven
Wheel；14- driven shaft；15- support base；16- pallet stand；17- supporting plate；18- camera installing plate；19-CCD camera；20- side block
Plate；201- sliding slot；21- double-shaft tilt angle sensor；22- motor fixing plate；23- picks and places motor；24- shaft coupling；The installation of 25- lead screw
Plate；26- lead screw；27- screw slider；28- connecting plate；29- connecting rod；30- link block；31- mounting bar；32- buffer spring；
33- electromagnet；34- pulley；35- control panel；36- file box；361- mounting groove；362- iron bar；363- bar coded sticker；
37- document shelf；371- two-dimension code label.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Embodiment 1
As shown in Figures 1 to 10, a kind of slim file accessing transportation robot device, comprising: AGV trolley 1, X-axis are mobile
The mobile mould group 3 of mould group 5, Y-axis, the mobile mould group 6 of Z axis, file box 36 and file box fetching device, the AGV trolley 1 are set to preparatory
The surface of surface-based electromagnetic path is equipped with battery, controller and memory, the Y in the AGV trolley 1
The mobile mould group 3 of axis is mounted on the upper surface of AGV trolley 1, the main packet of the mobile mould group 3 of the Y-axis by supporting block 2 and front and back direction
Y-axis motor 301, Y-axis lead screw 302 and Y-axis slide plate 303 are included, the mobile mould group 5 of the X-axis passes through X-axis mounting plate 304 and left and right court
To being mounted on Y-axis slide plate 303, the mobile mould group 5 of the X-axis mainly includes X-axis motor 501, X-axis lead screw 502 and X-axis slide plate
503, for the mobile mould group 6 of the Z axis by Z axis mounting plate 504 and up and down towards being mounted on X-axis slide plate 503, the Z axis is mobile
Mould group 6 mainly includes Z axis motor 601, Z axis lead screw 602 and Z axis slide plate 603, and the battery and controller are electric with X-axis respectively
Machine 501, y-axis motor 301 and Z axis motor 601 are electrically connected,
The file box 36 is vertical and is spaced apart on document shelf 37, and the file box 36 is equipped with installation in side outwardly
Slot 361, the mounting groove 361 is interior to be equipped with iron bar 362, is pasted on the file box 36 and describes 36 storage position confidence of file box
The bar coded sticker 363 of breath is pasted with the two-dimension code label for describing 37 installation site information of document shelf on the document shelf 37
371；
The file box fetching device is set on Z axis slide plate 603 and the support plate 7 including L-type, adjustment motor 10 and pick-and-place
Motor 23, the support plate 7 are mounted on Z axis slide plate 603 by screw, and the upper surface of the support plate 7 is equipped with horizontal peace
Loading board 8,8 upper surface of horizontal mounting plate are symmetrically installed with horizontal mounting plate 9, and the adjustment motor 10 is mounted on the perpendicular of front side
On straight mounting plate 9, the output the tip of the axis of the adjustment motor 10 is equipped with driving wheel 11, and the driving wheel 11 passes through belt 12
It is connected with driven wheel 13, the driven wheel 13 is mounted on driven shaft 14, and the driven shaft 14 is mounted on perpendicular by support base 15
The upper surface of straight mounting plate 9 is welded with pallet stand 16 on the driven shaft 14, and the upper end of the pallet stand 16 is equipped with support
Plate 17, side baffle 20 is symmetrically installed on the supporting plate 17, and the side baffle 20 is equipped with sliding slot 201, the pick-and-place motor 23
By motor fixing plate 22 and front and back is towards the outside for being mounted on side baffle 20, and the pick-and-place motor 23 is connected by shaft coupling 24
There is lead screw 26, the lead screw 26 is mounted on side baffle 20 by lead screw mounting plate 25, and screw thread is equipped with silk on the lead screw 26
Thick stick sliding block 27, the inside of the screw rod sliding block 27 are equipped with connecting plate 28, are welded with connecting rod 29 between the connecting plate 28 of two sides
And link block 30 is installed in connecting rod 29, the front side vertical of the link block 30 is equipped with mounting bar 31, the mounting bar
31 front side is uniformly equipped with buffer spring 32, and the projecting end of the buffer spring 32 is equipped with spherical electromagnet 33, described
Battery and controller inside electromagnet 33 and AGV trolley 1 are electrically connected.
In the present invention, the top of the supporting plate 17 is equipped with CCD camera 19, and the CCD camera 19 passes through camera installing plate
18 are mounted on the upper surface of supporting plate 17, and the CCD camera 19 and battery, controller and the memory inside AGV trolley 1 are electrical
Connection.CCD camera is set and is pasted onto two-dimension code label 371 and the stickup of document shelf 37 for reading identification or reading typing
Bar coded sticker 363 on file box 36.Wherein, the information for reading typing is stored in the memory in AGV trolley 1.
In the present invention, the lower end surface of the supporting plate 17 is equipped with double-shaft tilt angle sensor 21, the double-shaft tilt angle sensing
Battery and controller inside device 21 and AGV trolley 1 are electrically connected.Supporting plate 17 may not be because of the electromagnetic path of AGV trolley 1
Fully horizontally, this will increase precision of the robot when taking or storing file box 36, pass through double-shaft tilt angle sensor 21
The information is simultaneously transmitted to controller by the inclination angle of real-time monitoring supporting plate 17, then controls adjustment motor 10 by controller, makes supporting plate
17 are constantly in horizontality, reduce difficulty of the robot when taking or storing file box 36.
In the present invention, the upper surface of the AGV trolley 1 is equipped with interim rack 4, leads in the interim rack 4
It crosses uniformly distributed demarcation plate 401 and is separated out several storage areas, the width of the storage area is greater than the thickness of file box 36.By setting
Set interim rack 4 and inside it be arranged demarcation plate 401, the robot once can be achieved to multiple file boxes 36 take and
Storage improves the efficiency of management to file box 36.
In the present invention, the upper surface of the AGV trolley 1 is equipped with control panel 35, and the control panel 35 and AGV is small
Battery, controller and memory inside vehicle 1 are electrically connected.Staff by control panel can input needs take or
Person needs location information of the file box 36 stored on document shelf 37, which is being stored in depositing in AGV trolley 1
In reservoir.
Embodiment 2
As shown in Figures 1 to 10, a kind of slim file accessing transportation robot device, comprising: AGV trolley 1, X-axis are mobile
The mobile mould group 3 of mould group 5, Y-axis, the mobile mould group 6 of Z axis, file box 36 and file box fetching device, the AGV trolley 1 are set to preparatory
The surface of surface-based electromagnetic path is equipped with battery, controller and memory, the Y in the AGV trolley 1
The mobile mould group 3 of axis is mounted on the upper surface of AGV trolley 1, the main packet of the mobile mould group 3 of the Y-axis by supporting block 2 and front and back direction
Y-axis motor 301, Y-axis lead screw 302 and Y-axis slide plate 303 are included, the mobile mould group 5 of the X-axis passes through X-axis mounting plate 304 and left and right court
To being mounted on Y-axis slide plate 303, the mobile mould group 5 of the X-axis mainly includes X-axis motor 501, X-axis lead screw 502 and X-axis slide plate
503, for the mobile mould group 6 of the Z axis by Z axis mounting plate 504 and up and down towards being mounted on X-axis slide plate 503, the Z axis is mobile
Mould group 6 mainly includes Z axis motor 601, Z axis lead screw 602 and Z axis slide plate 603, and the battery and controller are electric with X-axis respectively
Machine 501, y-axis motor 301 and Z axis motor 601 are electrically connected,
The file box 36 is vertical and is spaced apart on document shelf 37, and the file box 36 is equipped with installation in side outwardly
Slot 361, the mounting groove 361 is interior to be equipped with iron bar 362, is pasted on the file box 36 and describes 36 storage position confidence of file box
The bar coded sticker 363 of breath is pasted with the two-dimension code label for describing 37 installation site information of document shelf on the document shelf 37
371；
The file box fetching device is set on Z axis slide plate 603 and the support plate 7 including L-type, adjustment motor 10 and pick-and-place
Motor 23, the support plate 7 are mounted on Z axis slide plate 603 by screw, and the upper surface of the support plate 7 is equipped with horizontal peace
Loading board 8,8 upper surface of horizontal mounting plate are symmetrically installed with horizontal mounting plate 9, and the adjustment motor 10 is mounted on the perpendicular of front side
On straight mounting plate 9, the output the tip of the axis of the adjustment motor 10 is equipped with driving wheel 11, and the driving wheel 11 passes through belt 12
It is connected with driven wheel 13, the driven wheel 13 is mounted on driven shaft 14, and the driven shaft 14 is mounted on perpendicular by support base 15
The upper surface of straight mounting plate 9 is welded with pallet stand 16 on the driven shaft 14, and the upper end of the pallet stand 16 is equipped with support
Plate 17, side baffle 20 is symmetrically installed on the supporting plate 17, and the side baffle 20 is equipped with sliding slot 201, the pick-and-place motor 23
By motor fixing plate 22 and front and back is towards the outside for being mounted on side baffle 20, and the pick-and-place motor 23 is connected by shaft coupling 24
There is lead screw 26, the lead screw 26 is mounted on side baffle 20 by lead screw mounting plate 25, and screw thread is equipped with silk on the lead screw 26
Thick stick sliding block 27, the inside of the screw rod sliding block 27 are equipped with connecting plate 28, are welded with connecting rod 29 between the connecting plate 28 of two sides
And link block 30 is installed in connecting rod 29, the front side vertical of the link block 30 is equipped with mounting bar 31, the mounting bar
31 front side is uniformly equipped with buffer spring 32, and the projecting end of the buffer spring 32 is equipped with spherical electromagnet 33, described
Battery and controller inside electromagnet 33 and AGV trolley 1 are electrically connected.
In the present invention, the top of the supporting plate 17 is equipped with CCD camera 19, and the CCD camera 19 passes through camera installing plate
18 are mounted on the upper surface of supporting plate 17, and the CCD camera 19 and battery, controller and the memory inside AGV trolley 1 are electrical
Connection.CCD camera is set and is pasted onto two-dimension code label 371 and the stickup of document shelf 37 for reading identification or reading typing
Bar coded sticker 363 on file box 36.Wherein, the information for reading typing is stored in the memory in AGV trolley 1.
In the present invention, the lower end surface of the supporting plate 17 is equipped with double-shaft tilt angle sensor 21, the double-shaft tilt angle sensing
Battery and controller inside device 21 and AGV trolley 1 are electrically connected.Supporting plate 17 may not be because of the electromagnetic path of AGV trolley 1
Fully horizontally, this will increase precision of the robot when taking or storing file box 36, pass through double-shaft tilt angle sensor 21
The information is simultaneously transmitted to controller by the inclination angle of real-time monitoring supporting plate 17, then controls adjustment motor 10 by controller, makes supporting plate
17 are constantly in horizontality, reduce difficulty of the robot when taking or storing file box 36.
In the present invention, the upper surface of the AGV trolley 1 is equipped with interim rack 4, leads in the interim rack 4
It crosses uniformly distributed demarcation plate 401 and is separated out several storage areas, the width of the storage area is greater than the thickness of file box 36.By setting
Set interim rack 4 and inside it be arranged demarcation plate 401, the robot once can be achieved to multiple file boxes 36 take and
Storage improves the efficiency of management to file box 36.
In the present invention, the upper surface of the AGV trolley 1 is equipped with control panel 35, and the control panel 35 and AGV is small
Battery, controller and memory inside vehicle 1 are electrically connected.Staff by control panel can input needs take or
Person needs location information of the file box 36 stored on document shelf 37, which is being stored in depositing in AGV trolley 1
In reservoir.
In the present invention, the thickness of the file box 36 is less than or equal to 10mm, and the thickness of existing Bank Profile box is general
Less than or equal to 10mm, the material of the file box 36 is plastics, and plastic material has the characteristics that at low cost, easy to manufacture.
In the present invention, the driving wheel 11 and driven wheel 13 are synchronous pulley, and the belt 12 is synchronous belt.Choosing
It can prevent from skidding between belt 12 and driving wheel 11 and driven wheel 13 with synchronous pulley and synchronous belt, cause adjustment electricity
The adjustment inaccuracy when adjusting the level of supporting plate 17 of machine 10.
In the present invention, the lower end surface of the mounting bar 31 is equipped with pulley 34, the upper end of the pulley 34 and supporting plate 17
Face contact.Pulley 34, which is arranged, can play supporting role to mounting bar 31, meanwhile, reduce in 31 moving process of mounting bar with support
The frictional resistance of plate 17.
In conclusion the application method of this slim file accessing transportation robot device, includes the following steps:
Step 1: staff will be respectively adhered on file box 36 and shelves by CCD camera 19 or external code reader
Each file box 36 documented by whole bar coded stickers 363 and two-dimension code label 371 on case frame 37 and document shelf 37
Location information is entered into the memory in AGV trolley 1；
Step 2: staff sets storage position of each file box 36 on document shelf 37 by control panel 35,
Then, each file box 36 is placed on document shelf 37 by the storage position that archives robot is previously set according to staff
Corresponding position completes the preliminary storage work of file box 36；
Step 3: it when staff needs to take some or certain several file boxes 36 on document shelf 37, first passes through
The location information of the corresponding one or more bar coded stickers 363 of 35 typing of control panel；
Step 4: under the control of the controller, AGV trolley 1 is first moved to along electromagnetic path is pasted with two-dimension code label
The corresponding position of 371 document shelf 37 scans the two-dimensional code label 371 using CCD camera 19, judges the mobile position of AGV trolley 1
It is whether accurate；
Step 5: under the control of the controller, the mobile mould group 3 of mould group 5, Y-axis is moved using X-axis, Z axis moves mould group 6
Linkage, by the position of the corresponding file box 36 in supporting plate 17 accurate movement to document shelf 37；
Step 6: under the control of the controller, so that supporting plate 17 is constantly in horizontality using adjustment motor 10, recycle
It picks and places motor 23 and stretches out electromagnet 33, then allow electromagnet 33 to be powered and adsorb the iron bar 362 on corresponding file box 36；
Step 7: under the control of the controller, the mobile mould group 3 of mould group 5, Y-axis is moved using X-axis, Z axis moves mould group 6
Linkage by the corresponding position in 17 accurate movement of supporting plate to interim rack 4, then allows electromagnet 33 to power off and stops the shelves of absorption
Iron bar 362 on case box 36；
Step 8: under the control of the controller, AGV trolley 1 returns to starting point along electromagnetic path, returns to staff's body
Side, staff remove the file box 36 of needs from interim rack 4；
Step 9: after waiting staff to take, the file box 36 taken is put back into the correspondence on interim rack 4
Storage area；
Step 10: under the control of the controller, each file box 36 is put back into pair on document shelf 37 by archives robot
Answer position.
In conclusion the working principle of the invention and advantage: the present invention under the control of the controller of AGV car interior,
Staff first passes through the location information of file box 36 for needing to take in the input of control panel 35, then by AGV trolley 1 along
Electromagnetic path is moved to designated position, and the two-dimension code label 371 for recycling CCD camera 19 to scan on document shelf 37 judges that position is
It is no correct, then, recycle CCD camera 19 to scan the file box for being pasted with corresponding bar coded sticker 363, then pass through X-axis
The linkage of the mobile mould group 3 of mobile mould group 5, Y-axis and the mobile mould group 6 of Z axis, by the correspondence in supporting plate 17 accurate movement to document shelf 37
Position, makes supporting plate be constantly in horizontality using adjustment motor 10, stretches out electromagnet 33 using motor 23 is picked and placed, then allow electromagnetism
Iron 33 is powered and adsorbs the iron bar 362 on corresponding file box 36, then, utilizes the mobile mould group 5 of X-axis, Y-axis mobile mould group 3, Z
The linkage of the mobile mould group 6 of axis, by the corresponding position in 17 accurate movement of supporting plate to interim rack 4, then allows electromagnet 33 to power off
And the iron bar 362 for stopping adsorbing on file box 36 returns to work people finally, AGV trolley 1 returns to starting point along electromagnetic path
Member at one's side, completes taking to file box 36.The present invention is with compact-sized, mobility is high, linkage is strong, accuracy is high and real
With the strong feature of property.If the device is applied in the management of Bank Profile, it can be achieved that bank is to less than or equal to 10mm thickness
Quickly the accessing, make an inventory of archives, inspection, data processing and management, effectively solve current Bank Profile reads work still by silver
Row archivist is accomplished manually, time-consuming and laborious, inefficient practical problem.
Therefore, embodiment disclosed above, in all respects are merely illustrative, not the only.It is all
It is included in the invention within the scope of the present invention or in the change being equal in the scope of the present invention.
Claims (9)
1. a kind of slim file accessing transportation robot device, it is characterised in that: include: AGV trolley (1), the mobile mould group of X-axis
(5), Y-axis mobile mould group (3), Z axis mobile mould group (6), file box (36) and file box fetching device, the AGV trolley (1) set
In the surface for the electromagnetic path for being pre-installed in ground, battery, controller and storage are installed in the AGV trolley (1)
Device, the Y-axis mobile mould group (3) are mounted on the upper surface of AGV trolley (1), the Y-axis by supporting block (2) and front and back direction
Mobile mould group (3) mainly include y-axis motor (301), Y-axis lead screw (302) and Y-axis slide plate (303), and the X-axis is mobile mould group (5)
By X-axis mounting plate (304) and left and right is towards being mounted on Y-axis slide plate (303), and the X-axis mobile mould group (5) mainly includes X
Spindle motor (501), X-axis lead screw (502) and X-axis slide plate (503), the Z axis mobile mould group (6) by Z axis mounting plate (504) and
Up and down towards being mounted on X-axis slide plate (503), the Z axis mobile mould group (6) mainly includes Z axis motor (601), Z axis lead screw
(602) and Z axis slide plate (603), the battery and controller are electric with X-axis motor (501), y-axis motor (301) and Z axis respectively
Machine (601) is electrically connected,
The file box (36) is vertical and is spaced apart on document shelf (37), and the file box (36) is equipped with peace in side outwardly
Tankage (361), the mounting groove (361) is interior to be equipped with iron bar (362), is pasted on the file box (36) and describes file box
(36) bar coded sticker (363) of storage position information is pasted on the document shelf (37) and describes document shelf (37) installation
The two-dimension code label (371) of location information；
The file box fetching device is set on Z axis slide plate (603) and the support plate (7) including L-type, adjustment and take motor (10)
Electrical Discharge Machine (23), the support plate (7) are mounted on Z axis slide plate (603) by screw, the upper surface peace of the support plate (7)
Equipped with horizontal mounting plate (8), horizontal mounting plate (8) upper surface is symmetrically installed with horizontal mounting plate (9), the adjustment motor
(10) it is mounted in the horizontal mounting plate (9) of front side, the output the tip of the axis of adjustment motor (10) is equipped with driving wheel
(11), the driving wheel (11) is connected with driven wheel (13) by belt (12), and the driven wheel (13) is mounted on driven shaft
(14) on, the driven shaft (14) is mounted on the upper surface of horizontal mounting plate (9), the driven shaft (14) by support base (15)
On be welded with pallet stand (16), the upper end of the pallet stand (16) is equipped with supporting plate (17), symmetrical on the supporting plate (17)
It is equipped with side baffle (20), the side baffle (20) is equipped with sliding slot (201), and the pick-and-place motor (23) passes through motor fixing plate
(22) and front and back is towards the outside for being mounted on side baffle (20), and the pick-and-place motor (23) is connected with lead screw by shaft coupling (24)
(26), the lead screw (26) is mounted on side baffle (20) by lead screw mounting plate (25), and screw thread is installed on the lead screw (26)
Have screw slider (27), be equipped with connecting plate (28) on the inside of the screw rod sliding block (27), is welded between the connecting plate (28) of two sides
It is connected to connecting rod (29) and (29) is equipped with link block (30) in connecting rod, the front side vertical of the link block (30) is equipped with
The front side of mounting bar (31), the mounting bar (31) is uniformly equipped with buffer spring (32), the overhanging of the buffer spring (32)
End is equipped with spherical electromagnet (33), and the electromagnet (33) battery internal with AGV trolley (1) and controller electrically connect
It connects.
2. a kind of slim file accessing transportation robot device according to claim 1, it is characterised in that: the supporting plate
(17) top is equipped with CCD camera (19), and the CCD camera (19) is mounted on the upper of supporting plate (17) by camera installing plate (18)
The battery, controller and memory of end face, the CCD camera (19) and AGV trolley (1) inside are electrically connected.
3. a kind of slim file accessing transportation robot device according to claim 2, it is characterised in that: the supporting plate
(17) lower end surface is equipped with double-shaft tilt angle sensor (21), the double-shaft tilt angle sensor (21) and AGV trolley (1) inside
Battery and controller are electrically connected.
4. a kind of slim file accessing transportation robot device according to claim 3, it is characterised in that: the AGV is small
The upper surface of vehicle (1) is equipped with interim rack (4), is separated in the interim rack (4) by uniformly distributed demarcation plate (401)
Several storage areas out, the width of the storage area are greater than the thickness of file box (36).
5. a kind of slim file accessing transportation robot device according to claim 4, it is characterised in that: the AGV is small
The upper surface of vehicle (1) is equipped with control panel (35), the battery of the control panel (35) and AGV trolley (1) inside, control
Device and memory are electrically connected.
6. a kind of slim file accessing transportation robot device according to claim 1, it is characterised in that: the file box
(36) thickness is less than or equal to 10mm, and the material of the file box (36) is plastics.
7. a kind of slim file accessing transportation robot device according to claim 1, it is characterised in that: the driving wheel
(11) and driven wheel (13) is synchronous pulley, and the belt (12) is synchronous belt.
8. a kind of slim file accessing transportation robot device according to claim 1, it is characterised in that: the mounting bar
(31) lower end surface is equipped with pulley (34), the upper end face contact of the pulley (34) and supporting plate (17).
9. a kind of application method of slim file accessing transportation robot device according to claim 5, feature exist
In including the following steps:
Step 1: staff will be respectively adhered on file box (36) and shelves by CCD camera (19) or external code reader
Each file box (36) and shelves documented by whole bar coded stickers (363) and two-dimension code label (371) on case frame (37)
The location information of case frame (37) is entered into the memory in AGV trolley (1)；
Step 2: staff sets storage position of each file box (36) on document shelf (37) by control panel (35)
It sets, then, each file box (36) are placed into document shelf by the storage position that archives robot is previously set according to staff
(37) corresponding position on completes the preliminary storage work of file box (36)；
Step 3: it when staff needs to take some or certain several file box (36) on document shelf (37), first passes through
The location information of the corresponding one or more bar coded stickers (363) of control panel (35) typing；
Step 4: under the control of the controller, AGV trolley (1) is first moved to along electromagnetic path is pasted with two-dimension code label
(371) corresponding position of document shelf (37) scans the two-dimensional code label (371) using CCD camera (19), judges AGV trolley (1)
Whether mobile position is accurate；
Step 5: under the control of the controller, mobile mould group (6) using X-axis mobile mould group (5), Y-axis mobile mould group (3), Z axis
Linkage, by the position of the corresponding file box (36) in supporting plate (17) accurate movement to document shelf (37)；
Step 6: under the control of the controller, so that supporting plate (17) is constantly in horizontality using adjustment motor (10), recycle
It picks and places motor (23) and stretches out electromagnet (33), then allow electromagnet (33) to be powered and adsorb the iron bar on corresponding file box (36)
(362)；
Step 7: under the control of the controller, mobile mould group (6) using X-axis mobile mould group (5), Y-axis mobile mould group (3), Z axis
Linkage, by the corresponding position in supporting plate (17) accurate movement to interim rack (4), then allow electromagnet (33) power off and stop
Iron bar (362) on the file box (36) of absorption；
Step 8: under the control of the controller, AGV trolley (1) returns to starting point along electromagnetic path, returns to staff's body
Side, staff remove the file box (36) of needs from interim rack (4)；
Step 9: after waiting staff to take, the file box taken (36) is put back into the correspondence on interim rack (4)
Storage area；
Step 10: under the control of the controller, each file box (36) is put back into pair on document shelf (37) by archives robot
Answer position.
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|---|---|---|---|
| CN201811611793.5A CN109650021B (en) | 2018-12-27 | 2018-12-27 | Thin file access and transportation robot device and application method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811611793.5A CN109650021B (en) | 2018-12-27 | 2018-12-27 | Thin file access and transportation robot device and application method thereof |
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| CN109650021A true CN109650021A (en) | 2019-04-19 |
| CN109650021B CN109650021B (en) | 2024-04-02 |
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| CN110355736A (en) * | 2019-08-05 | 2019-10-22 | 福建（泉州）哈工大工程技术研究院 | A kind of file administration robot |
| CN110613249A (en) * | 2019-10-16 | 2019-12-27 | 郑州航空工业管理学院 | Archives classification management device |
| CN110623432A (en) * | 2019-09-11 | 2019-12-31 | 安徽信息工程学院 | Intelligent bookshelf and control method thereof |
| CN111099522A (en) * | 2019-12-30 | 2020-05-05 | 杭州锐冠科技有限公司 | AGV dolly |
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| CN111251293A (en) * | 2020-01-10 | 2020-06-09 | 深圳优艾智合机器人科技有限公司 | Automatic management method and system for archive storehouse |
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| CN111874788A (en) * | 2020-08-01 | 2020-11-03 | 郑州世纪精信机械制造有限公司 | Full-automatic placing device for transportation of air conditioner wall hanging plates |
| CN112046919A (en) * | 2020-08-03 | 2020-12-08 | 燕山大学 | Automatic file box storing and taking device and automatic file box taking and storing method |
| CN114589674A (en) * | 2020-12-04 | 2022-06-07 | 国网智能科技股份有限公司 | File robot, automatic file management and control system and method |
| CN112605993A (en) * | 2020-12-10 | 2021-04-06 | 南京理工大学 | Automatic file grabbing robot control system and method based on binocular vision guidance |
| CN112551157A (en) * | 2020-12-14 | 2021-03-26 | 金华好得科技有限公司 | Ruler body material arranging device for producing level ruler |
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| CN113152240A (en) * | 2021-04-23 | 2021-07-23 | 九江职业技术学院 | Automatic robot that spouts of road surface |
| CN113275777A (en) * | 2021-04-27 | 2021-08-20 | 中国建筑第八工程局有限公司 | Construction method for welding complex reinforcement cage by robot |
| CN113371376A (en) * | 2021-06-09 | 2021-09-10 | 宁波新万保金融设备有限公司 | Full-automatic intelligent archive and control method thereof |
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