CN109650021B - Thin file access and transportation robot device and application method thereof - Google Patents
Thin file access and transportation robot device and application method thereof Download PDFInfo
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- CN109650021B CN109650021B CN201811611793.5A CN201811611793A CN109650021B CN 109650021 B CN109650021 B CN 109650021B CN 201811611793 A CN201811611793 A CN 201811611793A CN 109650021 B CN109650021 B CN 109650021B
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- 238000000034 method Methods 0.000 title claims abstract description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 229910052742 iron Inorganic materials 0.000 claims abstract description 17
- 238000003860 storage Methods 0.000 claims description 41
- 238000009434 installation Methods 0.000 claims description 9
- 238000007599 discharging Methods 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 238000005192 partition Methods 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000003466 welding Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 8
- 239000006096 absorbing agent Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
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- 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
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- 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
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- 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
Abstract
The invention discloses a thin file access and transportation robot device and a use method thereof, relating to the technical field of file robots, comprising: AGV dolly, X axle, Y axle, Z axle remove the module, archives box and archives box get and put the mechanism, the AGV dolly is located and is installed directly over the electromagnetic orbit on ground, install battery in the AGV dolly, controller and memory, archives box is vertical and the interval is placed on the archives frame, be equipped with the mounting groove on the archives box and be equipped with the iron strap in the mounting groove, paste on the archives box and have the bar code label, paste on the archives frame and have the two-dimensional code label, archives box is got and is put the mechanism and locate the backup pad of Z axle slide on and including the L type, the CCD camera, the adjustment motor, get and put motor, electro-magnet. According to the invention, the AGV trolley, the X-axis, the Y-axis and the Z-axis moving modules move to the designated positions in a linkage way, the CCD camera is used for scanning judgment, and the discharge machine extends out of the electromagnet to adsorb iron strips on the file box, so that the file box is accessed.
Description
Technical Field
The invention relates to the technical field of file robots, in particular to a thin file access and transportation robot device and a use method thereof.
Background
Archives generally refer to various forms of raw records with preserved value that people directly develop in various social activities. The files stored in banks are generally classified into document files, credit files, accounting files, capital construction files, equipment files, sound image electronic files, physical files, personnel files, etc. Characteristics of bank files: the single file is not too many, and the thickness is generally about 10 mm. With the development of society, the amount of archival information grows exponentially, and the workload of archiving, accessing and consulting bank archives is increasing. The continuous innovation of new technology, the rapid development and application of big data, RFID technology and robot technology, and the new demands for bank file management are put forward, the intelligent archives of banks based on file access, inventory and inspection are more and more demanded, and the intelligent archives of banks can be more suitable for the development pace of file security and efficient management at home and abroad.
At present, the retrieval work of the bank files is still manually completed by a bank file manager, which is time-consuming, labor-consuming and low in efficiency. At present, some technologies of taking files by using robots are presented, so that the labor intensity of file administrators can be reduced, and the working efficiency is improved, but the common file taking robots are large in design, so that the mechanical hand for taking files is not flexible enough, and the grabbing precision is difficult to meet the access requirement of bank files.
The invention discloses a full-automatic entity file transportation robot, which relates to a transportation robot, in particular to a full-automatic entity file transportation robot, and the invention has the technical scheme that the Chinese patent publication number is CN 103223665B. The file access system aims at solving the problem that manual file access is easy to cause misoperation. The invention comprises a stand column assembly, a paw assembly, a base assembly and a file rack assembly, wherein the base assembly comprises a base main body, a rotating mechanism, two walking and steering mechanisms and four auxiliary universal wheels, the rotating mechanism is arranged in the middle of the upper surface of the base main body, the four auxiliary universal wheels are uniformly distributed on the lower surface of the base main body, two walking and steering mechanisms are respectively arranged on two sides of the lower surface of the base main body, the stand column assembly is arranged on the rotating mechanism, the paw assembly is arranged on the stand column assembly, and the file rack assembly is arranged on the upper surface of the base main body.
The invention discloses a Chinese patent publication No. CN103223665B, which relates to a full-automatic entity file transport robot, in particular to a full-automatic entity file transport robot. The file access system aims at solving the problem that manual file access is easy to cause misoperation. The invention comprises a stand column assembly, a paw assembly, a base assembly and a file rack assembly, wherein the base assembly comprises a base main body, a rotating mechanism, two walking and steering mechanisms and four auxiliary universal wheels, the rotating mechanism is arranged in the middle of the upper surface of the base main body, the four auxiliary universal wheels are uniformly distributed on the lower surface of the base main body, two walking and steering mechanisms are respectively arranged on two sides of the lower surface of the base main body, the stand column assembly is arranged on the rotating mechanism, the paw assembly is arranged on the stand column assembly, and the file rack assembly is arranged on the upper surface of the base main body.
The technical solutions of the file accessing device and the file retrieving method in the above-mentioned comparison document cannot well solve the problem that the file accessing device and the file retrieving method are used for accessing the bank files in the present application.
Disclosure of Invention
The invention aims to provide a thin file access and transportation robot device and a use method thereof, which are used for solving the defects caused by the prior art and realizing quick access, inventory, inspection, data processing and management of files with the thickness of less than or equal to 10mm by banks.
A thin profile access transport robotic device comprising: AGV dolly, X axle remove the module, Y axle remove the module, Z axle remove the module, archives box and archives box get and put the mechanism, AGV dolly locates the electromagnetic orbit of installing on ground in advance directly over, install battery, controller and memory in the AGV dolly, Y axle removes the module and passes through the supporting shoe and installs the up end at AGV dolly towards front and back, Y axle removes the module and mainly includes Y axle motor, Y axle lead screw and Y axle slide, X axle removes the module and passes through X axle mounting panel and controls the orientation and install on Y axle slide, X axle removes the module and mainly includes X axle motor, X axle lead screw and X axle slide, Z axle removes the module and passes through Z axle mounting panel and installs on X axle slide towards from top to bottom, Z axle removes the module and mainly includes Z axle motor, Z axle lead screw and Z axle slide, battery and controller respectively with X axle motor, Y axle motor and Z axle motor electric connection,
the file boxes are vertically and alternately placed on the file rack, an installation groove is formed in one outward side of each file box, iron bars are arranged in the installation groove, bar code labels which record storage position information of the file boxes are stuck on the file boxes, and two-dimensional code labels which record installation position information of the file rack are stuck on the file rack;
the utility model provides a speed change type electric shock absorber, including the archives box, the archives box is got and is put mechanism and is located the backup pad of Z axle slide and include L type, adjustment motor and get the electric discharge machine, the backup pad passes through the screw and installs on the Z axle slide, the horizontal mounting panel is installed to the up end of backup pad, the vertical mounting panel is installed to horizontal mounting panel up end symmetry, adjustment motor installs on the vertical mounting panel of front side, the drive wheel is installed to the end of adjustment motor's output shaft, the drive wheel passes through belt connection and has the follow driving wheel, install on the driven shaft from the driving wheel, the driven shaft passes through the supporting seat and installs the up end at the vertical mounting panel, the welding has the layer board support on the driven shaft, the layer board is installed to the upper end of layer board support, the symmetry is installed the side shield on the layer board, be equipped with the spout on the side shield, get the electric discharge machine passes through the motor fixed plate and installs the outside at the side shield in the front and back orientation, get the electric discharge machine has the lead screw through the shaft coupling, the lead screw is installed on the side shield through the lead screw mounting panel, the screw thread is installed the slider, the inboard of lead screw slider has the connecting plate, from the driving wheel, install the connecting plate, install the connecting rod on the front and the connecting rod of connecting rod on the side of the side rail and the front of the motor is installed through the connecting rod, the front end of the ball-shaped electric shock absorber, the shock absorber is installed with the front-absorbing device, and the shock absorber.
Preferably, a CCD camera is arranged above the supporting plate, the CCD camera is arranged on the upper end face of the supporting plate through a camera mounting plate, and the CCD camera is electrically connected with a storage battery, a controller and a memory in the AGV trolley.
Preferably, a double-shaft inclination sensor is mounted on the lower end face of the supporting plate, and the double-shaft inclination sensor is electrically connected with a storage battery and a controller inside the AGV trolley.
Preferably, the temporary placing rack is arranged on the upper end face of the AGV trolley, a plurality of storage areas are separated in the temporary placing rack through partition plates uniformly distributed, and the width of each storage area is larger than the thickness of the file box.
Preferably, control panel is installed to the up end of AGV dolly, control panel and the inside battery, controller and the memory electric connection of AGV dolly.
Preferably, the thickness of the file box is less than or equal to 10mm, and the file box is made of plastic.
Preferably, the driving wheel and the driven wheel are synchronous pulleys, and the belt is a synchronous belt.
Preferably, a pulley is mounted on the lower end face of the mounting bar, and the pulley is in contact with the upper end face of the supporting plate.
In summary, the method for using the thin file access and transportation robot device includes the following steps:
step one: the staff inputs the position information of each file box and file rack recorded by all bar code labels and two-dimensional code labels respectively stuck on the file box and the file rack into a memory in the AGV trolley through a CCD camera or an external code scanner;
step two: setting storage positions of the file boxes on the file rack by a worker through a control panel, and then placing the file boxes on corresponding positions on the file rack by the file robot according to the preset storage positions of the worker to finish primary storage work of the file boxes;
step three: when a worker needs to take one or a plurality of file boxes on the file rack, the position information of one or a plurality of corresponding bar code labels is firstly input through the control panel;
step four: under the control of the controller, the AGV trolley moves to the corresponding position of the file rack adhered with the two-dimensional code label along the electromagnetic track, and the CCD camera is used for scanning the two-dimensional code label to judge whether the moving position of the AGV trolley is accurate or not;
step five: under the control of the controller, the supporting plate is precisely moved to the position of the corresponding file box on the file rack by utilizing the linkage of the X-axis moving module, the Y-axis moving module and the Z-axis moving module;
step six: under the control of the controller, the supporting plate is always in a horizontal state by utilizing the adjusting motor, then the taking and discharging machine stretches out of the electromagnet, and then the electromagnet is electrified and adsorbs iron bars on the corresponding file box;
step seven: under the control of the controller, the supporting plate is precisely moved to the corresponding position on the temporary placing rack by utilizing the linkage of the X-axis moving module, the Y-axis moving module and the Z-axis moving module, and then the electromagnet is powered off and stops the iron bar on the adsorbed file box;
step eight: under the control of the controller, the AGV trolley returns to a starting point along the electromagnetic track and returns to the side of a worker, and the worker takes down the required file box from the temporary placing rack;
step nine: after the staff finishes taking, the taken file boxes are put back to the corresponding storage areas on the temporary placing rack;
step ten: under the control of the controller, the file robot puts each file box back to the corresponding position on the file rack.
The working principle and the advantages of the invention are that: under the control of a controller in an AGV trolley, a worker inputs position information of a file box to be taken, moves to a designated position along an electromagnetic track through the AGV trolley, scans a two-dimensional code label on a file rack through a CCD camera to judge whether the position is correct, scans the file box adhered with a corresponding bar code label through the CCD camera, precisely moves a supporting plate to a corresponding position on the file rack through the linkage of an X-axis moving module, a Y-axis moving module and a Z-axis moving module, enables the supporting plate to be in a horizontal state all the time through an adjusting motor, stretches out of an electromagnet through a taking and discharging machine, electrifies the electromagnet and adsorbs iron bars on the corresponding file box, precisely moves the supporting plate to a corresponding position on a temporary storage rack through the linkage of the X-axis moving module, the Y-axis moving module and the Z-axis moving module, cuts off the electromagnet and stops adsorbing the iron bars on the file box, and finally returns to the side of the worker along the electromagnetic track, thereby completing taking and taking the file box. The invention has the characteristics of compact structure, high maneuverability, strong linkage, high accuracy and strong practicability. If the device is applied to management of bank files, the bank can realize quick access, checking, inspection, data processing and management of the files with the thickness less than or equal to 10mm, and the practical problems that the current bank file taking and reading work is still manually completed by a bank file manager, time and labor are wasted and the efficiency is low are effectively solved.
Drawings
FIG. 1 is a schematic diagram of the overall front and side views of the present invention.
Fig. 2 is a schematic diagram of the overall front view of the present invention.
Fig. 3 is a schematic diagram of the overall side view of the present invention.
Fig. 4 is a schematic top view of the whole structure of the present invention.
Fig. 5 is a schematic structural diagram of an electromagnet adsorption file box in the present invention.
Fig. 6 is a schematic structural diagram of a file box according to the present invention.
Fig. 7 is a schematic view of a structure of a file box placed on a file rack according to the present invention.
Fig. 8 is a schematic structural diagram of a Y-axis moving module according to the present invention.
Fig. 9 is a schematic structural diagram of an X-axis moving module according to the present invention.
Fig. 10 is a schematic structural diagram of a Z-axis moving module according to the present invention.
Wherein, 1-AGV dolly; 2-supporting blocks; 3-Y axis moving module; 301-Y axis motor; 302-Y axis screw rod; 303-Y axis sliding plate; a 304-X axis mounting plate; 4-a temporary placing rack; 401-dividing plates; 5-X axis moving module; 501-X axis motor; 502-X axis screw rod; 503-X axis sliding plate; 504-Z axis mounting plate; 6-Z axis moving module; 601-Z axis motor; 602-Z axis screw rod; 603-Z axis slide plate; 7-supporting plates; 8-a horizontal mounting plate; 9-a vertical mounting plate; 10-adjusting a motor; 11-a drive wheel; 12-a belt; 13-driven wheel; 14-a driven shaft; 15-a supporting seat; 16-pallet support; 17-supporting plates; 18-a camera mounting plate; a 19-CCD camera; 20-side baffles; 201-a chute; 21-a dual-axis tilt sensor; 22-a motor fixing plate; 23-taking a discharging machine; a 24-coupling; 25-a lead screw mounting plate; 26-a lead screw; 27-a lead screw slider; 28-connecting plates; 29-connecting rods; 30-connecting blocks; 31-mounting bars; 32-a buffer spring; 33-an electromagnet; 34-pulley; 35-a control panel; 36-a file box; 361-mounting slots; 362-iron bar; 363-bar code label; 37-file rack; 371-two-dimensional code label.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
Example 1
As shown in fig. 1 to 10, a thin file access transportation robot device includes: the AGV trolley 1, the X-axis moving module 5, the Y-axis moving module 3, the Z-axis moving module 6, the archive box 36 and the archive box taking and placing mechanism, wherein the AGV trolley 1 is arranged right above an electromagnetic track which is pre-installed on the ground, a storage battery, a controller and a memory are installed in the AGV trolley 1, the Y-axis moving module 3 is installed on the upper end face of the AGV trolley 1 in a front-back direction through a supporting block 2, the Y-axis moving module 3 mainly comprises a Y-axis motor 301, a Y-axis lead screw 302 and a Y-axis sliding plate 303, the X-axis moving module 5 is installed on the Y-axis sliding plate 303 in a left-right direction through an X-axis installing plate 304, the X-axis moving module 5 mainly comprises an X-axis motor 501, an X-axis lead screw 502 and an X-axis sliding plate 503, the Z-axis moving module 6 is installed on the X-axis sliding plate 503 in a top-bottom direction through a Z-axis installing plate 504, the Z-axis moving module 6 mainly comprises a Z-axis motor 601, a Z-axis 602 and a Z-axis sliding plate 603, and the storage battery and the controller are respectively electrically connected with the X-axis motor 301 and the Z-axis lead screw 503,
the file boxes 36 are vertically and alternately arranged on the file frame 37, a mounting groove 361 is formed in one outward side of the file boxes 36, iron bars 362 are arranged in the mounting groove 361, bar code labels 363 which record the storage position information of the file boxes 36 are adhered to the file boxes 36, and two-dimensional code labels 371 which record the installation position information of the file frame 37 are adhered to the file frame 37;
the utility model provides a change speed control device, including the archives box is got and is put mechanism and is located Z axle slide 603 and include backup pad 7, adjustment motor 10 and get electric discharge machine 23 of L type, backup pad 7 passes through the screw and installs on Z axle slide 603, horizontal mounting panel 8 is installed to the up end of backup pad 7, vertical mounting panel 9 is installed to horizontal mounting panel 8 up end symmetry, adjustment motor 10 installs on the vertical mounting panel 9 of front side, drive wheel 11 is installed to the end of the output shaft of adjustment motor 10, drive wheel 11 is connected with from driving wheel 13 through belt 12, from driving wheel 13 to install on driven shaft 14, driven shaft 14 passes through supporting seat 15 and installs the up end at vertical mounting panel 9, the welding has layer board support 16 on the driven shaft 14, layer board 17 is installed to the upper end of layer board support 16, side shield 20 is installed to the symmetry on layer board 17, be equipped with spout 201 on the side shield 20, get and put motor 23 and pass through motor fixed plate 22 and the front and back orientation is installed in the outside of side shield 20, get and put motor 23 and be connected with 26 through shaft coupling 24, drive wheel 11 is connected with driven wheel 25, install on the side 25 through the side shield 25 and install at the side shield 25 and install the side shield 25 on the side shield 25 and the side shield 25, lead screw 33 and the lead screw 32 is installed on the side of the side shield 32 is installed to the side shield 32 and is equipped with the lead screw 32, and is equipped with the electric connection 32 on the side shield 32, and the lead screw 32 is equipped with the electric connection 32.
In the invention, a CCD camera 19 is arranged above the supporting plate 17, the CCD camera 19 is arranged on the upper end surface of the supporting plate 17 through a camera mounting plate 18, and the CCD camera 19 is electrically connected with a storage battery, a controller and a memory in the AGV trolley 1. A CCD camera is provided for reading the two-dimensional code label 371 attached to the file rack 37 for identification or reading and inputting, and the bar code label 363 attached to the file box 36. Wherein the information of the read and recorded is stored in a memory in the AGV car 1.
In the invention, a biaxial inclination sensor 21 is mounted on the lower end surface of the supporting plate 17, and the biaxial inclination sensor 21 is electrically connected with a storage battery and a controller in the AGV trolley 1. The pallet 17 may not be completely horizontal due to the electromagnetic track of the AGV car 1, which increases the accuracy of the robot in taking or storing the file box 36, monitors the tilt angle of the pallet 17 in real time through the dual-axis tilt sensor 21 and transmits the information to the controller, and the controller controls the adjustment motor 10 to make the pallet 17 always in a horizontal state, thereby reducing the difficulty of the robot in taking or storing the file box 36.
In the invention, the temporary placing rack 4 is installed on the upper end surface of the AGV trolley 1, a plurality of storage areas are separated in the temporary placing rack 4 through the partition plates 401 which are uniformly distributed, and the width of each storage area is larger than the thickness of the file box 36. By providing the temporary placement frame 4 and the partition plate 401 inside thereof, the robot can take and store a plurality of file boxes 36 at a time, thereby improving the management efficiency of the file boxes 36.
In the invention, a control panel 35 is installed on the upper end surface of the AGV trolley 1, and the control panel 35 is electrically connected with a storage battery, a controller and a memory inside the AGV trolley 1. The operator can input the position information of the file box 36 to be taken or stored on the file rack 37 through the control panel, and store the position information in the memory in the AGV car 1.
Example 2
As shown in fig. 1 to 10, a thin file access transportation robot device includes: the AGV trolley 1, the X-axis moving module 5, the Y-axis moving module 3, the Z-axis moving module 6, the archive box 36 and the archive box taking and placing mechanism, wherein the AGV trolley 1 is arranged right above an electromagnetic track which is pre-installed on the ground, a storage battery, a controller and a memory are installed in the AGV trolley 1, the Y-axis moving module 3 is installed on the upper end face of the AGV trolley 1 in a front-back direction through a supporting block 2, the Y-axis moving module 3 mainly comprises a Y-axis motor 301, a Y-axis lead screw 302 and a Y-axis sliding plate 303, the X-axis moving module 5 is installed on the Y-axis sliding plate 303 in a left-right direction through an X-axis installing plate 304, the X-axis moving module 5 mainly comprises an X-axis motor 501, an X-axis lead screw 502 and an X-axis sliding plate 503, the Z-axis moving module 6 is installed on the X-axis sliding plate 503 in a top-bottom direction through a Z-axis installing plate 504, the Z-axis moving module 6 mainly comprises a Z-axis motor 601, a Z-axis 602 and a Z-axis sliding plate 603, and the storage battery and the controller are respectively electrically connected with the X-axis motor 301 and the Z-axis lead screw 503,
the file boxes 36 are vertically and alternately arranged on the file frame 37, a mounting groove 361 is formed in one outward side of the file boxes 36, iron bars 362 are arranged in the mounting groove 361, bar code labels 363 which record the storage position information of the file boxes 36 are adhered to the file boxes 36, and two-dimensional code labels 371 which record the installation position information of the file frame 37 are adhered to the file frame 37;
the utility model provides a change speed control device, including the archives box is got and is put mechanism and is located Z axle slide 603 and include backup pad 7, adjustment motor 10 and get electric discharge machine 23 of L type, backup pad 7 passes through the screw and installs on Z axle slide 603, horizontal mounting panel 8 is installed to the up end of backup pad 7, vertical mounting panel 9 is installed to horizontal mounting panel 8 up end symmetry, adjustment motor 10 installs on the vertical mounting panel 9 of front side, drive wheel 11 is installed to the end of the output shaft of adjustment motor 10, drive wheel 11 is connected with from driving wheel 13 through belt 12, from driving wheel 13 to install on driven shaft 14, driven shaft 14 passes through supporting seat 15 and installs the up end at vertical mounting panel 9, the welding has layer board support 16 on the driven shaft 14, layer board 17 is installed to the upper end of layer board support 16, side shield 20 is installed to the symmetry on layer board 17, be equipped with spout 201 on the side shield 20, get and put motor 23 and pass through motor fixed plate 22 and the front and back orientation is installed in the outside of side shield 20, get and put motor 23 and be connected with 26 through shaft coupling 24, drive wheel 11 is connected with driven wheel 25, install on the side 25 through the side shield 25 and install at the side shield 25 and install the side shield 25 on the side shield 25 and the side shield 25, lead screw 33 and the lead screw 32 is installed on the side of the side shield 32 is installed to the side shield 32 and is equipped with the lead screw 32, and is equipped with the electric connection 32 on the side shield 32, and the lead screw 32 is equipped with the electric connection 32.
In the invention, a CCD camera 19 is arranged above the supporting plate 17, the CCD camera 19 is arranged on the upper end surface of the supporting plate 17 through a camera mounting plate 18, and the CCD camera 19 is electrically connected with a storage battery, a controller and a memory in the AGV trolley 1. A CCD camera is provided for reading the two-dimensional code label 371 attached to the file rack 37 for identification or reading and inputting, and the bar code label 363 attached to the file box 36. Wherein the information of the read and recorded is stored in a memory in the AGV car 1.
In the invention, a biaxial inclination sensor 21 is mounted on the lower end surface of the supporting plate 17, and the biaxial inclination sensor 21 is electrically connected with a storage battery and a controller in the AGV trolley 1. The pallet 17 may not be completely horizontal due to the electromagnetic track of the AGV car 1, which increases the accuracy of the robot in taking or storing the file box 36, monitors the tilt angle of the pallet 17 in real time through the dual-axis tilt sensor 21 and transmits the information to the controller, and the controller controls the adjustment motor 10 to make the pallet 17 always in a horizontal state, thereby reducing the difficulty of the robot in taking or storing the file box 36.
In the invention, the temporary placing rack 4 is installed on the upper end surface of the AGV trolley 1, a plurality of storage areas are separated in the temporary placing rack 4 through the partition plates 401 which are uniformly distributed, and the width of each storage area is larger than the thickness of the file box 36. By providing the temporary placement frame 4 and the partition plate 401 inside thereof, the robot can take and store a plurality of file boxes 36 at a time, thereby improving the management efficiency of the file boxes 36.
In the invention, a control panel 35 is installed on the upper end surface of the AGV trolley 1, and the control panel 35 is electrically connected with a storage battery, a controller and a memory inside the AGV trolley 1. The operator can input the position information of the file box 36 to be taken or stored on the file rack 37 through the control panel, and store the position information in the memory in the AGV car 1.
In the present invention, the thickness of the file box 36 is less than or equal to 10mm, the thickness of the existing bank file box is generally less than or equal to 10mm, and the file box 36 is made of plastic, which has the characteristics of low cost and easy manufacturing.
In the present invention, the driving pulley 11 and the driven pulley 13 are synchronous pulleys, and the belt 12 is a synchronous belt. The synchronous belt wheels and the synchronous belts are selected to prevent the belt 12 from slipping with the driving wheel 11 and the driven wheel 13, so that the adjustment motor 10 is inaccurate in adjusting the level of the supporting plate 17.
In the present invention, a pulley 34 is mounted on the lower end surface of the mounting bar 31, and the pulley 34 is in contact with the upper end surface of the pallet 17. The pulley 34 can support the mounting bar 31 and reduce friction resistance with the supporting plate 17 during movement of the mounting bar 31.
In summary, the method for using the thin file access and transportation robot device includes the following steps:
step one: the staff inputs the position information of each file box 36 and file frame 37 recorded by the bar code label 363 and the two-dimensional code label 371 which are respectively stuck on the file box 36 and the file frame 37 into a memory in the AGV trolley 1 through the CCD camera 19 or an external code scanner;
step two: setting the storage position of each file box 36 on the file frame 37 by a worker through the control panel 35, and then placing each file box 36 on a corresponding position on the file frame 37 by the file robot according to the preset storage position of the worker to finish the preliminary storage work of the file boxes 36;
step three: when a worker needs to take one or a plurality of file boxes 36 on the file rack 37, the position information of the corresponding one or a plurality of bar code tags 363 is firstly input through the control panel 35;
step four: under the control of the controller, the AGV trolley 1 moves to the corresponding position of the file frame 37 adhered with the two-dimensional code label 371 along the electromagnetic track, and the CCD camera 19 is used for scanning the two-dimensional code label 371 to judge whether the moving position of the AGV trolley 1 is accurate or not;
step five: under the control of the controller, the supporting plate 17 is precisely moved to the position of the corresponding file box 36 on the file frame 37 by utilizing the linkage of the X-axis moving module 5, the Y-axis moving module 3 and the Z-axis moving module 6;
step six: under the control of the controller, the supporting plate 17 is always in a horizontal state by utilizing the adjusting motor 10, the electromagnet 33 is extended by utilizing the taking and discharging machine 23, and then the electromagnet 33 is electrified and adsorbs the iron bars 362 on the corresponding file box 36;
step seven: under the control of the controller, the supporting plate 17 is precisely moved to the corresponding position on the temporary placing frame 4 by utilizing the linkage of the X-axis moving module 5, the Y-axis moving module 3 and the Z-axis moving module 6, and then the electromagnet 33 is powered off and the iron bars 362 on the adsorbed file box 36 are stopped;
step eight: under the control of the controller, the AGV trolley 1 returns to the starting point along the electromagnetic track and returns to the side of the staff, and the staff removes the required file box 36 from the temporary placing frame 4;
step nine: after the staff finishes taking, the taken file boxes 36 are put back to the corresponding storage areas on the temporary placing frame 4;
step ten: under control of the controller, the file robot returns each file box 36 to a corresponding position on the file shelf 37.
In summary, the working principle and the advantages of the invention are as follows: under the control of a controller in an AGV trolley, a worker inputs position information of a file box 36 to be taken out through a control panel 35, moves to a designated position along an electromagnetic track through the AGV trolley 1, scans a two-dimensional code label 371 on a file frame 37 through a CCD camera 19 to judge whether the position is correct, scans the file box adhered with a corresponding bar code label 363 through the CCD camera 19, precisely moves a supporting plate 17 to a corresponding position on the file frame 37 through the linkage of an X-axis moving module 5, a Y-axis moving module 3 and a Z-axis moving module 6, enables the supporting plate to be always in a horizontal state through an adjusting motor 10, stretches out an electromagnet 33 through a taking and discharging machine 23, enables the electromagnet 33 to be electrified and absorb an iron bar 362 on the corresponding file box 36, precisely moves the electronic magnet 33 to a corresponding position on a temporary storage frame 4 through the linkage of the X-axis moving module 5, the Y-axis moving module 3 and the Z-axis moving module 6, enables the electromagnet 33 to be powered off and stops absorbing the iron bar 362 on the file box 36, and finally returns to the position of the file box 36 along the rail trolley 1 to the position of the operator, and the AGV trolley returns to the work position to the position of the file box. The invention has the characteristics of compact structure, high maneuverability, strong linkage, high accuracy and strong practicability. If the device is applied to management of bank files, the bank can realize quick access, checking, inspection, data processing and management of the files with the thickness less than or equal to 10mm, and the practical problems that the current bank file taking and reading work is still manually completed by a bank file manager, time and labor are wasted and the efficiency is low are effectively solved.
Accordingly, the above disclosed embodiments are illustrative in all respects, and not exclusive. All changes that come within the scope of the invention or equivalents thereto are intended to be embraced therein.
Claims (9)
1. A thin file access transportation robot device, characterized in that: comprising the following steps: AGV dolly (1), X axle remove module (5), Y axle remove module (3), Z axle remove module (6), archives box (36) and archives box get and put mechanism, AGV dolly (1) are located the electro-magnetic orbit of pre-installation in ground directly over, install battery, controller and memory in AGV dolly (1), Y axle remove module (3) are through supporting shoe (2) and back-and-forth orientation install the up end at AGV dolly (1), Y axle remove module (3) mainly include Y axle motor (301), Y axle lead screw (302) and Y axle slide (303), X axle remove module (5) and install on Y axle slide (303) through X axle mounting panel (304) and control orientation, X axle remove module (5) mainly include X axle motor (501), X axle lead screw (502) and X axle slide (503), Z axle remove module (6) and pass through Z axle mounting panel (504) and face up-and-down orientation and install on the up end of AGV dolly (1), Z axle motor (302) and Z axle motor (601) are connected with Z axle motor (601) and Z axle motor (601) respectively,
the file box (36) is vertically and alternately placed on the file frame (37), an installation groove (361) is formed in one side of the file box (36) facing outwards, an iron bar (362) is arranged in the installation groove (361), a bar code label (363) recording storage position information of the file box (36) is stuck on the file box (36), and a two-dimensional code label (371) recording installation position information of the file frame (37) is stuck on the file frame (37);
the file box taking and placing mechanism is arranged on a Z-axis sliding plate (603) and comprises an L-shaped supporting plate (7), an adjusting motor (10) and a taking and discharging machine (23), the supporting plate (7) is arranged on the Z-axis sliding plate (603) through a screw, a horizontal mounting plate (8) is arranged on the upper end face of the supporting plate (7), vertical mounting plates (9) are symmetrically arranged on the upper end face of the horizontal mounting plate (8), the adjusting motor (10) is arranged on the front side of the vertical mounting plate (9), the tail end of an output shaft of the adjusting motor (10) is provided with a driving wheel (11), the driving wheel (11) is connected with a driven wheel (13) through a belt (12), the driven wheel (13) is arranged on a driven shaft (14), the driven shaft (14) is arranged on the upper end face of the vertical mounting plate (9) through a supporting seat (15), a supporting plate bracket (16) is welded on the driven shaft (14), a side baffle (20) is symmetrically arranged on the upper end of the supporting plate bracket (16), the side baffle (17) is provided with a sliding groove (20), the side baffle (20) is arranged on the side of the driven wheel (20) and faces the front side of the discharging machine (201) through the supporting plate (23), get discharge machine (23) and be connected with lead screw (26) through shaft coupling (24), lead screw (26) are installed on side shield (20) through lead screw mounting panel (25), screw slider (27) are installed to the screw thread on lead screw (26), connecting plate (28) are installed to the inboard of screw slider (27), and welding has connecting rod (29) and installs connecting block (30) on connecting rod (29) between connecting plate (28) of both sides, installing strip (31) are vertically installed to the front side of connecting block (30), buffer spring (32) are installed to the front side equipartition of installing strip (31), spherical electro-magnet (33) are installed to the overhanging end of buffer spring (32), electro-magnet (33) and the inside battery and the controller electric connection of AGV dolly (1).
2. A slim profile access shipping robot apparatus as defined in claim 1, wherein: the automatic charging device is characterized in that a CCD camera (19) is arranged above the supporting plate (17), the CCD camera (19) is arranged on the upper end face of the supporting plate (17) through a camera mounting plate (18), and the CCD camera (19) is electrically connected with a storage battery, a controller and a storage in the AGV trolley (1).
3. A slim profile access shipping robot apparatus as defined in claim 2, wherein: the automatic feeding device is characterized in that a double-shaft inclination sensor (21) is mounted on the lower end face of the supporting plate (17), and the double-shaft inclination sensor (21) is electrically connected with a storage battery and a controller inside the AGV trolley (1).
4. A slim profile access shipping robot apparatus as defined in claim 3, wherein: temporary placing racks (4) are arranged on the upper end faces of the AGV trolleys (1), a plurality of storage areas are separated in the temporary placing racks (4) through partition plates (401) which are uniformly distributed, and the width of each storage area is larger than the thickness of the file box (36).
5. A slim profile access shipping robot apparatus as defined in claim 4, wherein: the control panel (35) is installed to the up end of AGV dolly (1), control panel (35) and the inside battery, controller and the memory electric connection of AGV dolly (1).
6. A slim profile access shipping robot apparatus as defined in claim 1, wherein: the thickness of the file box (36) is less than or equal to 10mm, and the file box (36) is made of plastic.
7. A slim profile access shipping robot apparatus as defined in claim 1, wherein: the driving wheel (11) and the driven wheel (13) are synchronous pulleys, and the belt (12) is a synchronous belt.
8. A slim profile access shipping robot apparatus as defined in claim 1, wherein: a pulley (34) is mounted on the lower end face of the mounting strip (31), and the pulley (34) is in contact with the upper end face of the supporting plate (17).
9. A method of using the thin profile access shipping robot of claim 5, comprising the steps of:
step one: the staff inputs the position information of each file box (36) and file rack (37) recorded by all bar code labels (363) and two-dimensional code labels (371) respectively stuck on the file box (36) and the file rack (37) into a memory in the AGV trolley (1) through a CCD camera (19) or an externally connected code scanner;
step two: setting storage positions of the file boxes (36) on the file rack (37) by a worker through a control panel (35), and then placing the file boxes (36) on corresponding positions on the file rack (37) by the file robot according to the storage positions preset by the worker to finish preliminary storage work of the file boxes (36);
step three: when a worker needs to take one or a plurality of file boxes (36) on the file rack (37), the position information of one or a plurality of corresponding bar code labels (363) is firstly recorded through the control panel (35);
step four: under the control of a controller, the AGV trolley (1) moves to the corresponding position of the file rack (37) adhered with the two-dimensional code label (371) along the electromagnetic track, and the CCD camera (19) is used for scanning the two-dimensional code label (371) to judge whether the moving position of the AGV trolley (1) is accurate or not;
step five: under the control of a controller, the supporting plate (17) is precisely moved to the position of a corresponding file box (36) on the file rack (37) by utilizing the linkage of the X-axis moving module (5), the Y-axis moving module (3) and the Z-axis moving module (6);
step six: under the control of a controller, the supporting plate (17) is always in a horizontal state by utilizing the adjusting motor (10), the taking and discharging machine (23) stretches out of the electromagnet (33), and then the electromagnet (33) is electrified and adsorbs iron bars (362) on the corresponding file box (36);
step seven: under the control of a controller, the supporting plate (17) is precisely moved to the corresponding position on the temporary placing frame (4) by utilizing the linkage of the X-axis moving module (5), the Y-axis moving module (3) and the Z-axis moving module (6), and then the electromagnet (33) is powered off and the iron strip (362) on the adsorbed file box (36) is stopped;
step eight: under the control of the controller, the AGV trolley (1) returns to a starting point along an electromagnetic track and returns to the side of a worker, and the worker removes a required file box (36) from the temporary placing rack (4);
step nine: after the staff finishes taking, the taken file boxes (36) are put back to the corresponding storage areas on the temporary placing rack (4);
step ten: under the control of the controller, the file robot replaces each file box (36) at a corresponding position on the file shelf (37).
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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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| 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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