CN113246094A

CN113246094A - File library taking and placing device and control method thereof

Info

Publication number: CN113246094A
Application number: CN202110455101.8A
Authority: CN
Inventors: 刘伟芳; 高远航; 李艳华; 雷向东
Original assignee: Ningbo Tuta Intelligent Technology Co ltd
Current assignee: Ningbo Tuta Intelligent Technology Co ltd
Priority date: 2021-04-26
Filing date: 2021-04-26
Publication date: 2021-08-13

Abstract

The invention discloses a taking and placing device of an archive storehouse, which comprises a guide rail arranged on the ground, a bracket connected on the guide rail in a sliding way and a mechanical arm connected on the bracket in a sliding way, wherein the mechanical arm is connected on a cross rod in a sliding way and is provided with a clamping device used for clamping an archive box; the clamping device is provided with a distance sensor and a CCD camera. A control method of a pick-and-place device of an archive library comprises the following steps: firstly, judging according to information input by an operation area of a control cabinet, and if the file is extracted, performing a first process; if the file is stored, the second flow is performed; the first process is as follows: extracting the target file box into a file box placing cavity according to the input information; the second process is as follows: putting the file box into the file cabinet according to the information input by the operation area and the scanning information of the two-dimensional code on the file box; compared with the prior art, the invention has the characteristics of stable use, long service life, good adaptability and relatively reasonable cost.

Description

File library taking and placing device and control method thereof

Technical Field

The invention relates to the technical field of archive management equipment, in particular to a picking and placing device of an archive library and a control method thereof.

Background

At present, archive files of an archive are more and more, the importance of archive data is self-evident, for example, when dealing with some disputes, a history citation often plays an important role, or when handling some electric power services, records and registers in the archive are needed, or in a judicial system, a large number of archives are needed to record the processes and evidence materials of various cases; and the arrangement of archive file mostly combines archives management software system to realize at present in the manual arrangement, and the work efficiency of manual arrangement is low, and the cost of labor is high, and the manual work is tired easily when intensity of labour is big, has higher error rate under the careless condition to in manual handling, still appearing easily and falling etc. indefinite factor, cause the confusion and the loss of document easily.

With the development of the technology, in order to reduce the labor intensity of the workers and improve the automation level of the archive, there are some robots for archive management in the prior art, which are roughly divided into two types,

one type is a trackless robot, which can freely walk in a file library and is positioned by a positioning system, but because the storage gear in a file cabinet is relatively small, the requirement on positioning precision is high, so that the positioning system is relatively complex, the cost is also high, and the volume of a self-walking mechanism is relatively low, so that the space between the file cabinets is relatively large, and the volume rate of files under the same area is reduced;

the other type is a track robot, the robot adopts a top rail to arrange, the track is arranged at the top of the file storage and is mainly used in a power system, but the structure has high requirement on the storage room in the using process and must be in a certain height range, once the height is too low, the equipment cannot normally move and easily touches a file cabinet, once the height is too high, the installation cost is greatly increased, the integral weight is also large, the track is seriously abraded, and the service life is short.

Therefore, there is a need for a file repository pick-and-place mechanism with high stability, long service life, good adaptability and relatively reasonable cost.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a file repository taking and placing device which is stable in use, long in service life, good in adaptability and relatively reasonable in cost.

The technical scheme adopted by the invention for solving the technical problems is as follows: a picking and placing device of an archive storehouse comprises a guide rail arranged on the ground, a support connected to a rail in a sliding mode and a mechanical arm connected to the support in a sliding mode, wherein the support comprises a vertical rod and a cross rod; the transverse rod is connected with the vertical rod in a sliding manner, and a second driving mechanism for driving the transverse rod to slide along the vertical rod is arranged on the transverse rod; the mechanical arm is connected to the cross rod in a sliding mode, a third driving mechanism for driving the mechanical arm to slide along the cross rod is arranged on the mechanical arm, and a clamping device for clamping the file box is arranged on the mechanical arm; the clamping device is provided with a distance sensor and a CCD camera; the device further comprises a control cabinet, and the first driving mechanism, the second driving mechanism, the third driving mechanism, the distance sensor and the CCD camera are all connected with the control cabinet.

As an improvement, the two guide rails are arranged on the ground in parallel; the number of the vertical rods is two, and the two vertical rods are respectively and correspondingly connected to the two guide rails in a sliding manner; two ends of the cross rod are respectively connected to the two vertical rods in a sliding manner; after then setting up like this, the portal frame has been constituteed with the horizontal pole to the montant for the support moving as a whole is more stable, and the position of removal is just also more accurate relatively, and the bearing and the stability of horizontal pole are better, and then make the arm slide more stable, and the difficult condition that appears shaking more does benefit to the location and the accuracy of arm and snatchs the archives box, guarantees reliability and the stability of equipment use.

As an improvement, the two vertical rods are respectively provided with a first driving mechanism; two ends of the cross rod are provided with second driving mechanisms; then behind two actuating mechanism settings, under the prerequisite of guaranteeing stability and reliability, the translation rate of montant and horizontal pole can be faster to improve the efficiency of getting of archives box.

As an improvement, a first rack is arranged on the guide rail, the first driving mechanism comprises a first motor and a first gear, an output shaft of the first motor is connected with the first gear, and the first gear is meshed with the first rack; a second rack is arranged on the vertical rod, the second driving mechanism comprises a second motor and a second gear, an output shaft of the second motor is connected with the second gear, and the second gear is meshed with the second rack; a third rack is arranged on the cross rod, the third driving mechanism comprises a third motor and a third gear, an output shaft of the third motor is connected with the third gear, and the third gear is meshed with the third rack; the combination of the gear and the rack does not have the loose condition, so that the moving precision is higher, the deviation is not easy to occur when the force is applied to any position after the stop, the use stability and reliability of the equipment are further ensured, the service life and the maintenance period are longer, and the use cost of the equipment is further reduced.

As an improvement, the first motor, the second motor and the third motor are all synchronous motors; position sensors are arranged on the first driving mechanism, the second driving mechanism and the third driving mechanism; the combination of the synchronous motor and the position sensor ensures that the moving speed can be faster, the positioning control is more accurate, and the situation that the mechanical arm is damaged or the mechanical arm damages the file box due to the position error is reduced, so that the required file box can be accurately grabbed by mechanical energy, and the use stability and reliability are further improved.

As an improvement, the mechanical arm comprises a connecting seat and a telescopic arm; the connecting seat is connected to the cross rod in a sliding mode, and the third driving mechanism and the distance sensor are located on the connecting seat; the telescopic arm is rotatably connected to the connecting seat, and the connecting seat is provided with a rotary driving mechanism for controlling the telescopic arm to rotate; the clamping device is connected to the telescopic end of the telescopic arm, and the CCD camera is positioned on the clamping device; after setting up like this, only need a rotary mechanism, a telescopic machanism and a clamping device to construct and can satisfy the user demand, do not need more complicated industrial robot, simple structure, spare part is few for the preparation cost is just also relatively lower, and the CCD camera is located clamping device, still can carry out offset's fine setting through the image, makes clamping device can be more accurate press from both sides and gets archives box, and the reliability is better.

As an improvement, the clamping device comprises a fixed plate, a chuck used for clamping the file box and a supporting plate used for supporting the file box, and the fixed plate is fixedly connected with the telescopic end of the telescopic arm; the clamping head is movably connected to the fixed plate, and a clamping driving mechanism for driving the clamping head to work is arranged on the fixed plate; the supporting plate is fixedly connected to the fixing plate and is positioned below the chuck; after the supporting plate is arranged, the clamping force of the clamping heads can be greatly reduced, so that the situation that the file box deforms due to clamping of the clamping heads is reduced, the situation that files are scattered due to bottom leakage during clamping of the file box can be effectively prevented, and the use stability of the clamping device is further improved.

As an improvement, the telescopic arm is positioned at the lower end of the connecting seat, the vertical height of the top surface of the clamping device is less than or equal to that of the bottom surface of the cross rod, and the distance between the supporting plate and the top surface of the clamping device in the vertical direction is greater than or equal to that of the file box; after the arrangement, when the telescopic arm drives the clamping device to rotate in the horizontal direction and telescopically move back and forth, the transverse rod cannot be touched, and the telescopic arm is positioned below the transverse rod, so that the overall size of the equipment cannot be increased, and the height of the file placement position of the file cabinet can be reduced, thereby increasing the storage quantity of the file cabinet.

As an improvement, the control cabinet comprises an operation area and a file box taking and placing area, wherein the operation area comprises a touch pad, a scanner and a button; the file box taking and placing area comprises at least one file box placing cavity, the file box placing cavity penetrates through the control cabinet, and an automatically opening and closing cover plate is arranged at the file box placing cavity; after then setting up like this, it is more simple and convenient to operate, and the archives box is placed the archives box and is placed the chamber after and covered by the apron for the archives box can not be changed temporarily or fall the package, guarantees the accuracy of information, and the condition that clamping device caused the influence to the operator hand also can not appear simultaneously, and safety in utilization is also better.

As the improvement, be equipped with the color mark sensor on connecting seat or the chuck, respond to the color mark on the filing cabinet through the color mark sensor to the offset position of adjustment chuck makes the accuracy of chuck higher.

As the improvement, all be equipped with the position sensor on montant, horizontal pole and the arm, then the mutual matching of position sensor and synchronous machine's information is aimed at for the aversion and the location of montant, horizontal pole and arm are more accurate, further improve the accuracy, also can make the density of filing cabinet and the density of filing cabinet going up the file box further improve, reduce the use cost of archives.

A control method of a pick-and-place device of an archive library comprises the following steps:

firstly, judging according to information input by an operation area of a control cabinet, and if the file is extracted, performing a first process; if the file is stored, the second flow is performed;

the first process is as follows: 1) comparing the information input by the operation area with the storage information in the library, if no matched file exists, prompting that no file is found, and if the matched file exists, controlling the first driving mechanism to move the support from the initial position to the file cabinet where the target file box is located; 2) the second driving mechanism and the third driving mechanism work simultaneously to move the mechanical arm to the target file box; 3) scanning the two-dimensional code on the target file box through the CCD camera to confirm information, prompting file error information if the file box information is not matched with the input information, and taking out the corresponding file box from the file cabinet by the mechanical arm if the file box information is matched with the input information; 4) the second driving mechanism and the third driving mechanism work to move the mechanical arm to one end of the cross rod; 5) the first driving mechanism works to move the bracket to the warehouse-in and warehouse-out position; 6) the second driving mechanism and the third driving mechanism work to move the mechanical arm to a position corresponding to the file box placing cavity; 7) the mechanical arm works to place the file box into the file box placing cavity; 8) the bracket and the mechanical arm return to the initial position, and meanwhile, the cover plate corresponding to the file box placing cavity is opened;

the second process is as follows: 1) automatically matching file cabinets according to the information input by the operation area and the scanning information of the two-dimensional code on the file box, if all the file cabinets have no vacant positions, prompting that the files are full, if the file cabinets have vacant positions, opening a cover plate corresponding to the file box placing cavity, and after the file box is placed, closing the operation cover plate; 2) controlling a first driving mechanism to move the bracket from an initial position to a warehouse-in and warehouse-out position; 3) the second driving mechanism and the third driving mechanism work simultaneously, and the mechanical arm is moved to the target file box placing cavity; 4) the mechanical arm works to take out the file box from the file box placing cavity; 5) the first driving mechanism works to move the bracket to the position of the file cabinet with an empty position; 6) the second driving mechanism and the third driving mechanism work to move the mechanical arm to a position where the file cabinet is provided with a vacant position; 7) shooting through a CCD camera to determine whether the vacant sites can be stored, if not, re-matching other vacant sites, repeating the step 5), the step 6) and the step 7), if so, putting the file box into the corresponding vacant site by the mechanical arm; 8) the carriage and the robotic arm are retracted to the initial position.

As an improvement, when the support moves in the step 2), the second driving mechanism and the third driving mechanism work simultaneously, and before the support moves to the position of the target file cabinet, the clamping device on the mechanical arm is rotated to the direction facing the target file cabinet; after the file cabinet is processed in this way, the overall picking and placing efficiency can be improved, the space between the file cabinets can be made to be the rotating space without meeting the requirement of the mechanical arm, only the telescopic work of the mechanical arm needs to be met, the space between the file cabinets can be made to be smaller, and the volume rate of the file library is higher.

Compared with the prior art, the ground guide rail is arranged, so that the height of the storehouse does not influence the length of the mechanical arm, only the length of the vertical rod needs to be changed, the refitting cost is low, the universality and the adaptability of the equipment are good, the ground bearing is realized, the bearing capacity is larger, the abrasion of the guide rail can be reduced, the moving stability of the vertical rod is good, and the service life of the equipment is longer; and adopt the combination of support and arm, only need ordinary flexible arm and clamping device combination both, spare part is less, and the structure is also simpler, does not need three-dimensional pivoted joint mechanism, can further improve bearing capacity, and stability in use is also just as, after deuterogamying CCD camera for clamping device's location is also more accurate, thereby guarantees equipment centre gripping accuracy and validity, improves the efficiency that equipment got and was put the archives box.

Drawings

The present invention will be described in further detail below with reference to the drawings and preferred embodiments, but those skilled in the art will appreciate that the drawings are only drawn for the purpose of illustrating the preferred embodiments and therefore should not be taken as limiting the scope of the invention. Furthermore, unless specifically stated otherwise, the drawings are merely schematic representations based on conceptual representations of elements or structures depicted and may contain exaggerated displays and are not necessarily drawn to scale.

FIG. 1 is a schematic structural diagram of a pick-and-place device for an archive repository of the present invention;

FIG. 2 is a schematic structural view of a control cabinet of a pick-and-place device of the archive repository of the present invention;

FIG. 3 is an enlarged view of portion A of FIG. 1;

FIG. 4 is a schematic structural view of a robot arm of the file repository handling device according to the present invention;

FIG. 5 is a schematic view of a partial structure of a pick-and-place device for an archive repository of the present invention;

fig. 6 is a schematic structural diagram of a using state of the file repository taking and placing device according to the present invention.

Wherein the reference numerals are specified as follows: 1. a guide rail; 2. a support; 3. a mechanical arm; 4. a vertical rod; 5. a cross bar; 6. a first drive mechanism; 7. a second drive mechanism; 8. a third drive mechanism; 9. a clamping device; 10. a distance sensor; 11. a CCD camera; 12. a control cabinet; 13. a first rack; 14. a first motor; 15. a second motor; 16. a third rack; 17. a position sensor; 18. a connecting seat; 19. a telescopic arm; 20. a rotation driving mechanism; 21. a fixing plate; 22. a chuck; 23. a support plate; 24. an operation area; 25. a touch pad; 26. a scanner; 27. a button; 28. and (7) a cover plate.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above terms should not be construed as limiting the present invention.

Example one

A file storehouse is put and put the device, including installing guide rail 1 on the ground, the support 2 that connects on the orbit slidably and connecting the arm 3 on the support 2 slidably, the guide rail 1 is two, and the parallel arrangement is on the ground, each guide rail 1 is made up of two parallel linear guides 1, there is the first rack 13 between two parallel linear guides 1, and the opposite one side of two guide rails 1 has support plates of the towing, used for supporting the towing, prevent the towing from placing on the ground directly and influenced by ground moisture; the support 2 comprises a vertical rod 4 and a cross rod 5, a base plate is arranged at the lower end of the vertical rod 4 and is connected to the guide rail 1 in a sliding mode, a position sensor 17 is arranged on the base plate, a first driving mechanism 6 for driving the base plate to drive the vertical rod 4 to slide along the guide rail 1 is arranged on the base plate, the first driving mechanism 6 comprises a first motor 14 and a first gear, the first motor 14 is fixed on the base plate, an output shaft of the first motor 14 is connected with the first gear, the first gear is meshed with the first rack 13, and when the first motor 14 rotates, the first gear can drive the base plate to slide back and forth; the cross rod 5 is perpendicular to the vertical rod 4, two parallel linear guide rails 1 are arranged on the vertical rod 4, one end of the cross rod 5 is connected with the vertical rod 4 in a sliding mode through the linear guide rails 1, a position sensor 17 for feeding back the position of the cross rod 5 is also arranged on the cross rod 5, a second driving mechanism 7 for driving the cross rod 5 to slide along the vertical rod 4 is arranged on the cross rod 5, the second driving mechanism 7 comprises a second motor 15 and a second gear, an output shaft of the second motor 15 is connected with the second gear, the second gear is meshed with a second rack, the second rack is fixed on the vertical rod 4, and the second rack is located between the two parallel linear guide rails 1; the transverse rod 5 is provided with two parallel linear guide rails 1, the mechanical arm 3 is connected to the two parallel linear guide rails 1 in a sliding manner, the mechanical arm 3 is provided with a third driving mechanism 8 for driving the mechanical arm 3 to slide along the transverse rod 5, the transverse rod 5 is provided with a third rack 16, the third rack 16 is arranged at a position between the two parallel linear guide rails 1, the third driving mechanism 8 comprises a third motor and a third gear, an output shaft of the third motor is connected with the third gear, the third gear is meshed with the third rack 16, the mechanical arm 3 is provided with a clamping device 9 for clamping a file box, and the mechanical arm 3 is also provided with a position sensor 17 for feeding back position information of the mechanical arm 3; the clamping device 9 is provided with a distance sensor 10 and a CCD camera 11, and the distance sensor 10 is positioned at the side of the CCD camera 11; still include switch board 12, normally switch board 12 is fixed to be set up on the wall body of archives, and the panel of switch board 12 is towards the outside of archives, the operation of being convenient for, and first motor 14, second motor 15, third motor, position sensor 17, distance sensor 10 and CCD camera 11 all are connected with switch board 12.

Example two

As shown in fig. 1 to 4 and fig. 6, two vertical rods 4 are provided, the two vertical rods 4 are arranged in parallel, the two vertical rods 4 are respectively and correspondingly connected to the two guide rails 1 in a sliding manner, wiring cabinets are provided on respective corresponding substrates of the two vertical rods 4, the first motor 14 is located in the corresponding wiring cabinet, the two guide rails 1 are both provided with a first rack 13, and the lower ends of the two vertical rods 4 are both provided with a first motor 14 and a first gear; the both ends of horizontal pole 5 are sliding connection respectively on two montants 4, and two montants 4 are the same in structure, and the both ends of horizontal pole 5 all are equipped with second motor 15 and second gear (of course the combination of rack and pinion also can use the combination replacement of hold-in range or chain and sprocket).

The first motor 14, the second motor 15 and the third motor are all synchronous motors, so that the movement control of the corresponding mechanism is more accurate.

The mechanical arm 3 comprises a connecting seat 18 and a telescopic arm 19; the connecting seat 18 is connected to the cross rod 5 in a sliding mode, and the third driving mechanism 8 and the distance sensor 10 are both located on the connecting seat 18; the telescopic arm 19 is rotatably connected to the connecting seat 18, the connecting seat 18 is provided with a rotary driving mechanism 20 for controlling the telescopic arm 19 to rotate, the rotary driving mechanism 20 is a rotary motor and a rotary connecting piece, the telescopic arm 19 is rotatably connected with the connecting seat 18 through the rotary connecting piece, and a rotating shaft of the rotary motor is connected with the telescopic arm 19, so that the telescopic arm 19 can bear larger force after the rotary connecting piece is arranged, and the stability of the equipment is ensured; the telescopic arm 19 is an electric cylinder (also can be an air cylinder and an oil cylinder), the clamping device 9 is connected to the telescopic end of the telescopic arm 19, and the CCD camera 11 is positioned on the clamping device 9; the event only needs a rotary mechanism, a telescopic machanism and a clamping device 9 to construct and can satisfy the user demand, does not need more complicated industrial robot, simple structure, and spare part is few for the preparation cost is just also relatively lower, and CCD camera 11 is located clamping device 9, still can carry out offset's fine setting through the image, makes clamping device 9 can be more accurate press from both sides and get archives box, and the reliability is better.

As shown in fig. 5, the clamping device 9 includes a fixing plate 21, a clamping head 22 for clamping the file box, and a supporting plate 23 for supporting the file box, the fixing plate 21 is fixedly connected with the telescopic end of the telescopic arm 19, and a guide rail 1 is also arranged between the connecting seat 18 and the fixing plate 21 for connection, so as to ensure the stability of the fixing plate 21 when it is telescopic; the chuck 22 is movably connected to the fixed plate 21, a clamping driving mechanism for driving the chuck 22 to work is arranged on the fixed plate 21, the clamping driving mechanism comprises a motor, a gear and a rack connected with the chuck 22, the chuck 22 consists of two sheet-shaped clamping plates, the clamping plates are symmetrically arranged, each clamping plate corresponds to one rack, the gear is arranged between the two racks, the gear is meshed with the two racks, an output shaft of the motor is connected with the gear, the motor drives the gear after rotating, and the gear drives the racks to clamp and loosen the two clamping plates; the supporting plate 23 is fixedly connected to the fixing plate 21, the supporting plate 23 is positioned below the clamping head 22, and the supporting plate 23 is positioned right below the middle position of the two clamping plates; after the supporting plate 23 is arranged, the clamping force of the clamping head 22 can be greatly reduced, so that the situation that the file box is deformed due to clamping of the clamping head 22 is reduced, the situation that files are scattered due to bottom leakage during clamping of the file box can be effectively prevented, and the use stability of the clamping device 9 is further improved.

The telescopic arm 19 is positioned at the lower end of the connecting seat 18, the vertical height of the top surface of the clamping device 9 is less than or equal to that of the bottom surface of the cross rod 5, and the distance between the supporting plate 23 and the top surface of the clamping device 9 in the vertical direction is greater than or equal to that of the file box; the telescopic arm 19 drives the clamping device 9 to rotate in the horizontal direction and the clamping device 9 can move back and forth in a telescopic mode without touching the cross rod 5, and the telescopic arm 19 is located below the cross rod 5, so that the overall size of the equipment cannot be increased, the height of the file placement position of the file cabinet can be reduced, and the storage quantity of the file cabinet is increased.

An operation area 24 and a file box taking and placing area are arranged on a panel of the control cabinet 12, the operation area 24 comprises a touch panel 25, a scanner 26 and a button 27, and a remote data transmission module is arranged in the control cabinet 12 for remote data transmission and remote control; the file box taking and placing area comprises at least one file box placing cavity (five in the embodiment, one, two, four or six in the embodiment and the like), the file box placing cavity penetrates through the control cabinet 12, and a cover plate 28 which can be automatically opened and closed is arranged at the file box placing cavity; the operation is more simple and convenient, and the archives box is placed and is covered by apron 28 behind the archives box placing cavity for the archives box can not be changed temporarily or fall the package, guarantees the accuracy of information, and the condition that clamping device 9 caused the influence to the operator hand can also not appear simultaneously, and the safety in utilization is also better.

Be equipped with the color mark sensor on clamping device 9, respond to the color mark on the filing cabinet through the color mark sensor to the offset position of adjustment chuck 22 makes chuck 22's accuracy higher.

The rest of the structure is the same as the first embodiment.

firstly, judging according to the operation area 24 of the control cabinet 12 or information input remotely, if the file is extracted, carrying out a first process; if the file is stored, the second flow is performed;

the first process is as follows:

1) comparing the information input by the operation area 24 with the information stored in the library, if no matched file exists, prompting that no file is found, and if the matched file exists, controlling the first driving mechanism 6 to move the bracket 2 from the initial position to the file cabinet where the target file box is located;

2) the second driving mechanism 7 and the third driving mechanism 8 work simultaneously to move the mechanical arm 3 to the target file box;

3) scanning a two-dimensional code on a target file box through a CCD camera 11 to confirm information, prompting file error information if the file box information is not matched with input information, taking out a corresponding file box from a file cabinet if the file box information is matched with the input information, sending a clamping device 9 to a clamping position of the file box by the operation of a telescopic arm 19 at the moment, clamping the file box by a clamping head 22 after the clamping head 22 and a supporting plate 23 reach a preset position, and then enabling the mechanical arm 3 to move upwards integrally by a second driving mechanism 7 to enable the supporting plate 23 to support the bottom of the file box, and finally enabling the clamping device 9 to be withdrawn by the operation of the telescopic arm 19;

4) the second driving mechanism 7 and the third driving mechanism 8 work to move the mechanical arm 3 to one end of the cross rod 5, if a plurality of gear cabinets are arranged in a file library, a rotating space of the mechanical arm 3 is reserved at the two sides and the middle position when the vertical rod 4 moves, and the mechanical arm 3 moves to the two sides or the middle nearby, so that the efficiency is improved;

5) the first driving mechanism 6 works to move the bracket 2 to the warehouse-in and warehouse-out position;

6) the second driving mechanism 7 and the third driving mechanism 8 work to move the mechanical arm 3 to a position corresponding to the file box placing cavity on the file cabinet;

7) the mechanical arm 3 works to place the file box into the file box placing cavity, the telescopic arm 19 works to place the file box clamped by the clamping head 22 of the clamping device 9 into the file box placing cavity, after the file box reaches a preset position, the clamping head 22 is loosened, then the second driving mechanism 7 works to enable the mechanical arm 3 to integrally move downwards, so that the supporting plate 23 is separated from the bottom of the file box, and finally the telescopic arm 19 works to withdraw the clamping device 9;

8) the bracket 2 and the mechanical arm 3 are retreated to the initial position, and simultaneously, the cover plate 28 corresponding to the file box placing cavity is opened;

the second process is as follows:

1) automatically matching file cabinets according to the information input by the operation area 24 and the scanning information of the two-dimensional code on the file box, if all the file cabinets have no vacant positions, prompting that the files are full, if the file cabinets have vacant positions, opening a cover plate 28 corresponding to the file box placing cavity, and after the file boxes are placed, closing the operation cover plate 28;

2) controlling the first driving mechanism 6 to move the bracket 2 from the initial position to the warehouse-in and warehouse-out position;

3) the second driving mechanism 7 and the third driving mechanism 8 work simultaneously, and the mechanical arm 3 is moved to the target file box placing cavity;

4) the mechanical arm 3 works to take the file box out of the file box placing cavity, the telescopic arm 19 works to send the clamping device 9 to the clamping position of the file box, after the chuck 22 and the supporting plate 23 reach the preset positions, the chuck 22 clamps the file box, then the second driving mechanism 7 works to enable the mechanical arm 3 to move upwards integrally, so that the supporting plate 23 supports the bottom of the file box, and finally the telescopic arm 19 works to withdraw the clamping device 9;

5) the first driving mechanism 6 works to move the bracket 2 to a file cabinet position with an empty position;

6) the second driving mechanism 7 and the third driving mechanism 8 work to move the mechanical arm 3 to a position where the file cabinet has a vacant position;

7) shooting through the CCD camera 11 to determine whether the vacant positions can be stored, if the vacant positions cannot be stored, matching other vacant positions again, repeating the step 5), the step 6) and the step 7), if the vacant positions can be stored, putting the file box into the corresponding vacant positions by the work of the mechanical arm 3, sending the clamping device 9 to the target vacant position of the file cabinet by the work of the telescopic arm 19, loosening the file box by the chuck 22 after the file box reaches the preset position, then working by the second driving mechanism 7, moving the mechanical arm 3 downwards integrally, separating the supporting plate 23 from the bottom of the file box, and finally withdrawing the clamping device 9 by the work of the telescopic arm 19;

8) the carriage 2 and the robot arm 3 are retracted to the initial position.

When the support 2 moves in the step 2), the second driving mechanism 7 and the third driving mechanism 8 work simultaneously, and before the support 2 moves to the position of the target file cabinet, the clamping device 9 on the mechanical arm 3 is rotated to the direction facing the target file cabinet; then not only can improve holistic efficiency of getting like this, still can make the interval between the filing cabinet need not satisfy the rotation space of arm 3, only need satisfy arm 3 flexible work can, and then make the interval between the filing cabinet can be littleer, the volume rate of file storehouse is just also higher.

The bottom of placing the archives box cavity on the file cabinet and the bottom of placing the cavity on the control cabinet in the archives box all are equipped with the arch of two parallels, this arch is used for holding the archives box, and the width of interval more than or equal to layer board 23 between two archs, thereby guarantee that layer board 23 can insert the position between two archs, bellied height is greater than the thickness of layer board 23, thereby guarantee that layer board 23 has the space that reciprocates when the position between two archs.

The present invention has been described in detail, and the principles and embodiments of the present invention have been described herein using specific examples, which are provided only to assist in understanding the present invention and the core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. The utility model provides a device is put in getting of archives which characterized in that: the mechanical arm device comprises a guide rail (1) arranged on the ground, a support (2) connected to a track in a sliding mode and a mechanical arm (3) connected to the support (2) in a sliding mode, wherein the support (2) comprises a vertical rod (4) and a cross rod (5), the vertical rod (4) is connected to the guide rail (1) in a sliding mode, and a first driving mechanism (6) for driving the vertical rod (4) to slide along the guide rail (1) is arranged on the vertical rod (4); the cross rod (5) is connected with the vertical rod (4) in a sliding manner, and a second driving mechanism (7) for driving the cross rod (5) to slide along the vertical rod (4) is arranged on the cross rod (5); the mechanical arm (3) is connected to the cross rod (5) in a sliding mode, a third driving mechanism (8) for driving the mechanical arm (3) to slide along the cross rod (5) is arranged on the mechanical arm (3), and a clamping device (9) for clamping the file box is arranged on the mechanical arm (3); a distance sensor (10) and a CCD camera (11) are arranged on the clamping device (9); the device is characterized by further comprising a control cabinet (12), wherein the first driving mechanism (6), the second driving mechanism (7), the third driving mechanism (8), the distance sensor (10) and the CCD camera (11) are all connected with the control cabinet (12).

2. The archive storage and retrieval device of claim 1, wherein: the number of the guide rails (1) is two, and the guide rails are arranged on the ground in parallel; the number of the vertical rods (4) is two, and the two vertical rods (4) are respectively and correspondingly connected to the two guide rails (1) in a sliding manner; the two ends of the cross rod (5) are respectively connected to the two vertical rods (4) in a sliding manner.

3. The archive storage and retrieval device of claim 2, wherein: the two vertical rods (4) are respectively provided with a first driving mechanism (6); and the two ends of the cross rod (5) are provided with second driving mechanisms (7).

4. A device for handling an archive according to claim 1 or 3, characterized in that: a first rack (13) is arranged on the guide rail (1), the first driving mechanism (6) comprises a first motor (14) and a first gear, an output shaft of the first motor (14) is connected with the first gear, and the first gear is meshed with the first rack (13); a second rack is arranged on the vertical rod (4), the second driving mechanism (7) comprises a second motor (15) and a second gear, an output shaft of the second motor (15) is connected with the second gear, and the second gear is meshed with the second rack; and a third rack (16) is arranged on the cross rod (5), the third driving mechanism (8) comprises a third motor and a third gear, an output shaft of the third motor is connected with the third gear, and the third gear is meshed with the third rack (16).

5. The archive storage and retrieval device of claim 4, wherein: the first motor (14), the second motor (15) and the third motor are all synchronous motors; and position sensors (17) are arranged on the first driving mechanism (6), the second driving mechanism (7) and the third driving mechanism (8).

6. The archive storage and retrieval device of claim 1, wherein: the mechanical arm (3) comprises a connecting seat (18) and a telescopic arm (19); the connecting seat (18) is connected to the cross rod (5) in a sliding mode, and the third driving mechanism (8) and the distance sensor (10) are located on the connecting seat (18); the telescopic arm (19) is rotatably connected to the connecting seat (18), and a rotary driving mechanism (20) for controlling the telescopic arm (19) to rotate is arranged on the connecting seat (18); the clamping device (9) is connected to the telescopic end of the telescopic arm (19), and the CCD camera (11) is located on the clamping device (9).

7. The archive storage and retrieval device of claim 6, wherein: the clamping device (9) comprises a fixing plate (21), a clamping head (22) for clamping the file box and a supporting plate (23) for supporting the file box, and the fixing plate (21) is fixedly connected with the telescopic end of the telescopic arm (19); the clamping head (22) is movably connected to the fixing plate (21), and a clamping driving mechanism for driving the clamping head (22) to work is arranged on the fixing plate (21); the supporting plate (23) is fixedly connected to the fixing plate (21), and the supporting plate (23) is positioned below the chuck (22).

8. The archive storage and retrieval device of claim 6, wherein: the telescopic arm (19) is positioned at the lower end of the connecting seat (18), the vertical height of the top surface of the clamping device (9) is less than or equal to that of the bottom surface of the cross rod (5), and the distance between the supporting plate (23) and the top surface of the clamping device (9) in the vertical direction is greater than or equal to the height of the file box.

9. The archive storage and retrieval device of claim 1, wherein: the control cabinet (12) comprises an operation area (24) and a file box taking and placing area, wherein the operation area (24) comprises a touch pad (25), a scanner (26) and a button (27); the file box taking and placing area comprises at least one file box placing cavity, the file box placing cavity penetrates through the control cabinet (12), and a cover plate (28) capable of automatically opening and closing is arranged at the file box placing cavity.

10. A control method of a pick-and-place device of an archive library is characterized in that: the method comprises the following steps:

firstly, judging according to information input by an operation area (24) of a control cabinet (12), and if the file is extracted, performing a first process; if the file is stored, the second flow is performed;

the first process is as follows: 1) comparing the information input by the operation area (24) with the storage information in the library, if no matched file exists, prompting that no file is found, and if the matched file exists, controlling the first driving mechanism (6) to move the bracket (2) from the initial position to the file cabinet where the target file box is located; 2) the second driving mechanism (7) and the third driving mechanism (8) work simultaneously, and the mechanical arm (3) is moved to the target file box; 3) scanning the two-dimensional code on the target file box through the CCD camera (11) to confirm information, prompting file error information if the file box information is not matched with the input information, and taking out the corresponding file box from the file cabinet by the mechanical arm (3) when the file box information is matched with the input information; 4) the second driving mechanism (7) and the third driving mechanism (8) work to move the mechanical arm (3) to one end of the cross rod (5); 5) the first driving mechanism (6) works to move the bracket (2) to the warehouse-in and warehouse-out position; 6) the second driving mechanism (7) and the third driving mechanism (8) work to move the mechanical arm (3) to a position corresponding to the file box placing cavity; 7) the mechanical arm (3) works to place the file box into the file box placing cavity; 8) the support (2) and the mechanical arm (3) return to the initial position, and meanwhile, a cover plate (28) corresponding to the file box placing cavity is opened;

the second process is as follows: 1) automatically matching file cabinets according to the information input by the operation area (24) and the scanning information of the two-dimensional codes on the file boxes, if all the file cabinets have no vacant positions, prompting that files are full, if the file cabinets have vacant positions, opening cover plates (28) corresponding to file box placing cavities, and after the file boxes are placed, closing the operation cover plates (28); 2) controlling a first driving mechanism (6) to move the bracket (2) from an initial position to a warehouse-in and warehouse-out position; 3) the second driving mechanism (7) and the third driving mechanism (8) work simultaneously, and the mechanical arm (3) is moved to the target file box placing cavity; 4) the mechanical arm (3) works to take the file box out of the file box placing cavity; 5) the first driving mechanism (6) works to move the bracket (2) to a file cabinet position with an empty position; 6) the second driving mechanism (7) and the third driving mechanism (8) work to move the mechanical arm (3) to a position where the file cabinet is vacant; 7) shooting through a CCD camera (11) to determine whether the vacant positions can be stored, if not, matching other vacant positions again, repeating the step 5), the step 6) and the step 7), if yes, the mechanical arm (3) works to place the file box in the corresponding vacant position; 8) the bracket (2) and the mechanical arm (3) are retracted to the initial position.