CN114589674A - File robot, automatic file management and control system and method - Google Patents
File robot, automatic file management and control system and method Download PDFInfo
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- CN114589674A CN114589674A CN202011404603.XA CN202011404603A CN114589674A CN 114589674 A CN114589674 A CN 114589674A CN 202011404603 A CN202011404603 A CN 202011404603A CN 114589674 A CN114589674 A CN 114589674A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The robot receives file information to be grabbed, moves to the front of a target file cabinet for storing files to be grabbed, detects the distance between a file temporary storage mechanism and the target file cabinet through a distance measuring sensor, stops moving when the distance reaches a set distance, and finely adjusts the robot to enable the robot to be opposite to the target file cabinet; control the arm motion, make the manipulator distance wait to snatch the archives and set for the distance to judge whether to wait to snatch the archives, if, control the manipulator and snatch the archives, and place it on the archives storage bit of archives temporary storage mechanism, effectively improve the efficiency that the archives were carried, managed.
Description
Technical Field
The disclosure belongs to the technical field of automation and manufacturing, and particularly relates to a file robot, a file automatic management and control system and a file automatic management and control method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
An intelligent file management system is always one of the key directions for file management development in all industries. The aim of the method is to provide more intelligent, efficient and convenient management for enterprises. The robot technology brings new opportunities and challenges for the development of intelligent file management, and can fundamentally improve the efficiency and quality of enterprise management.
However, the inventors have found that the conventional file management has the following problems: on one hand, archive management faces challenges of data explosion and information transformation, storage space is insufficient, searching efficiency is low, and data management is disordered; on the other hand, the efficiency of file management can be improved by simply utilizing the robot, but the storage system of the existing files cannot be matched with the robot, the intelligence of the robot can only be improved once, a good effect cannot be achieved, meanwhile, the investment cost of the file management can also be increased, when the files needing to be grabbed are more, the robot needs to continuously move back and forth between several points, and the repeated movement is too much.
Disclosure of Invention
In order to solve the problems, the file robot, the automatic file management and control system and the automatic file management and control method are provided, and the efficiency and the benefit of the file storehouse inspection and management work can be improved on the basis of not greatly improving the cost of the robot through the multi-aspect intelligent design of a file storage system, the robot and the like.
According to some embodiments, the following technical scheme is adopted in the disclosure:
a file robot comprises a moving platform, a mechanical arm and a file temporary storage mechanism, wherein the mechanical arm is arranged on the moving platform, the mechanical arm is arranged at the end part of the mechanical arm and can drive the mechanical arm to move in the directions of x, y and z, the file temporary storage mechanism is arranged on the moving platform, and a distance measuring sensor is arranged on the moving platform to detect the distance between the file temporary storage mechanism and a target file cabinet;
the file temporary storage mechanism comprises a substrate, wherein a plurality of file storage positions are arranged on the substrate side by side, a partition plate is arranged between every two adjacent file storage positions, a conveying mechanism is arranged at the bottom of each file storage position, and a vacancy detection module is arranged on each file storage position;
the side face of the base plate is provided with a baffle plate, and the baffle plate can move in the vertical direction to form or cancel the shielding of the baffle plate at the file storage position.
Among the above-mentioned technical scheme, through archives temporary storage mechanism, can keep in a plurality of archives (or archives box), be applicable to the condition that snatchs a plurality of archives from same or different filing cabinets, need not reciprocating motion in the robot short time, guaranteed the efficiency of work. Simultaneously, be provided with the vacancy detection module on the archives storage bit, can detect the state of each storage bit to guarantee that archives one-to-one aligns and places, simultaneously, utilize transport mechanism, can guarantee archives automatic transmission to storage bit on, convenient degree and the efficiency of improvement.
As an alternative embodiment, a horizontal position adjusting mechanism is arranged below the base plate.
As an alternative embodiment, the baffle comprises two baffles which are respectively arranged on two sides of the substrate, and the extending direction of the baffle is consistent with the distribution direction of each file storage position and is vertical to the distribution direction of the conveying mechanism.
As an alternative embodiment, the length of the baffle is greater than or equal to the width of N-1 archival storage bits, where N is the number of archival storage bits.
As an optional implementation mode, distance measuring sensors are arranged on two sides of the mobile platform, and the positions of the distance measuring sensors are matched with those of induction bars arranged on the target file cabinet.
Through the measured value of the distance measuring sensors at two ends, whether the robot is just opposite to a target file cabinet or not can be determined, the positioning error of the robot is reduced, the mechanical arm is ensured to be strictly perpendicular to the taken files through the adjustment of the rotation angle of the z axis of the mechanical arm, and the mechanical arm is ensured to be strictly corresponding to the file placing gap.
As an alternative embodiment, the mobile platform or the mechanical arm is provided with an inspection assembly. The inspection assembly comprises but is not limited to a visible light camera, a thermal infrared imager, a temperature detection module, a humidity detection module and a camera.
As an alternative embodiment, the manipulator includes a support, and two clamping claw pieces arranged oppositely are arranged on the support, and the clamping claw pieces can perform relative movement on the support.
As an alternative embodiment, the manipulator is provided with a distance sensor, a card reader and a miniature camera. The method is used for measuring the distance from the file, identifying the file and capturing the file with wrong or missing placement during file inventory.
In an alternative embodiment, the lower end of the manipulator is provided with a horizontal bracket, and the vertical height of the horizontal bracket is lower than the lower end surface of the clamping claw piece.
An automatic file management and control system comprises the robot, a plurality of file cabinets and a charging mechanism, wherein each file cabinet comprises a plurality of layers, each layer is provided with a plurality of storage spaces for storing boxes, a partition plate is arranged between every two adjacent file storage spaces, and identification codes are arranged on the edges of the file boxes or the file storage spaces;
the charging mechanism is arranged at the lower end of the file cabinet or between the file cabinets.
And in the idle state of the robot, the robot is charged to ensure the subsequent normal transmission.
As an alternative, the width of the file storage space is greater than the sum of the thicknesses of the file cassette and the two clamping jaws.
Based on the operation method of the management and control system, the robot receives information of files to be grabbed, moves to the front of a target file cabinet for storing the files to be grabbed, detects the distance between the file temporary storage mechanism and the target file cabinet through a distance measuring sensor, stops moving when the distance reaches a set distance, and finely adjusts the robot to enable the robot to be opposite to the target file cabinet; controlling the mechanical arm to move, enabling the mechanical arm to set a distance from the file to be grabbed, judging whether the file is to be grabbed, if so, controlling the mechanical arm to grab the file and placing the file on a file storage position of the file temporary storage mechanism;
and repeating the process until no files needing to be grabbed exist or all file storage positions are full, and moving the controller to a specified position.
Compared with the prior art, the beneficial effect of this disclosure is:
the utility model discloses the novelty has provided a archives automatic calibration technique of keeping in, has developed an archives temporary storage mechanism, has realized the robot to the temporary storage of a plurality of archives (or archives box), has improved convenient degree and the efficiency that the robot handled many archives.
The utility model discloses the novelty has provided an automatic management and control technique of transferring of archives, has developed an archives storehouse robot, has realized many-sided intelligent management and control such as archives discernment is transferred and is rolled up, the storehouse control is patrolled and examined to improve archives storehouse inspection and management and control efficiency and benefit of work with more economic and efficient mode.
The utility model discloses the novelty has provided an automatic management and control operation method of archives, has realized the multi-target coordinated control effect with manipulator, archives box, identification code as an organic whole, has guaranteed that the robot is to accurate location and the accurate snatching of archives, has improved the space perception of manipulator simultaneously and has discerned the ability, avoids the robot to take by mistake or destroy archives.
The robot standby charging area is arranged, the robot and the automatic access equipment are in a butt joint state in an idle state, and the robot is charged in a standby mode. During operation, the transmission of archives between robot and the equipment is accomplished through the inside transmission device of automatic access equipment to improve robot work efficiency.
This openly utilizes RFID once can read a plurality of labels, the penetrability is strong, many times read and write, memory capacity is big, with low costs, small, convenient to use, reliability and life-span advantage such as high, discerns the archives before snatching, avoids taking the repeated work such as wrong.
This openly adopts at the range finding sensor of robot both sides installation high accuracy, detects the relative position and the depth of parallelism of robot and archives frame, guarantees to snatch the stability and the accuracy of action.
This is disclosed can effectively reduce the requirement to the manipulator precision through increasing the clearance between two this adjacent shelves, compensates the position error of manipulator through the translation of arm y axle, compensates the attitude error of manipulator through the rotation of z axle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
FIG. 1 is a schematic diagram of the overall structure of a robot of the present disclosure;
FIG. 2 is a schematic view of a robotic mobile platform of the present disclosure;
FIG. 3 is a robot-assisted positioning system of the present disclosure;
FIG. 4 is a schematic view of a robot of the present disclosure;
FIG. 5 is a schematic view of a file buffering mechanism according to the present disclosure;
FIG. 6 is a schematic view of a file bin configuration of the present disclosure;
FIG. 7 is a file robot docking state with a file window of the present disclosure;
FIG. 8 is a schematic diagram of file grabbing errors according to the present disclosure.
The system comprises a mechanical arm X shaft, a mechanical arm Y shaft, a mechanical arm Z shaft, a camera, a mechanical arm 5, a mechanical arm 6, a file storage mechanism 7, a moving platform 8, a caster wheel 9, a driving wheel 10, a coupler 11, a mechanical platform 12, a driving motor 13, a laser ranging sensor 14, a mechanical arm support 15, a ranging sensor 16, a clamping claw piece 17, an RFID card reader 18, a horizontal bracket 19, a file 20, a file partition plate 21, a transmission mechanism 22 and a baffle plate.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected," "connected," and the like should be understood broadly, and mean that they may be fixedly connected, integrally connected, or detachably connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
As shown in fig. 5, a file storage mechanism 6 is provided to meet the requirement of the robot to extract multiple files at one time, and the file storage mechanism 6 is provided on the file robot to store multiple files at the same time. 6 overall structure of archives storage mechanism includes archives baffle 20, transport mechanism 21, archives vacancy detecting system, archives block system, parts such as position appearance adjustment system, archives baffle 20 interval sets up, is provided with a transport mechanism 21 (can choose the transmission band for use) between two adjacent archives baffles 20, is provided with archives vacancy detecting system on the archives baffle 20, and archives block system for setting up the baffle 22 at each archives baffle 20 edge. The pose adjusting system is a horizontal position adjusting mechanism arranged at the bottom.
The individual files are separated by file partitions 20, in each of which a transfer mechanism 21 is provided for automatically transferring a file to or receiving a file from the file window. Every file is deposited the interval and is set up archives vacancy detecting system for whether detect this interval and put the archives.
The whole file storage mechanism 6 has the freedom degree of horizontal translation, when the robot is in butt joint with the file window, the position error of the robot during parking can be compensated through fine adjustment of the horizontal position, and accurate butt joint with the file window is ensured; according to the requirement of the height of the window, the degree of freedom of vertical lifting can be increased. Baffle 22 of archives storage mechanism 6 both sides installation liftable in the robot motion process, with both sides baffle 22 lift, prevent that archives from dropping at the robot walking in-process.
The archive storage mechanism 6 is provided on the robot, as shown in fig. 1. The file robot mainly realizes identification, grabbing, returning and transportation of files, and inspection and file inventory of a file warehouse have the functions of autonomous positioning navigation and automatic charging. The file robot consists of a differential steering wheel type robot moving platform 7, a multi-degree-of-freedom mechanical arm, a file grabbing mechanical arm 5 and a file storage mechanism 6.
The multi-degree-of-freedom mechanical arm of the file robot comprises a mechanical arm X shaft 1, a mechanical arm Y shaft 2 and a mechanical arm Z shaft 3, wherein the mechanical arm Z shaft 3 is movably connected with the mechanical arm X shaft 1, and the mechanical arm X shaft 1 is movably connected with the mechanical arm Y shaft 2.
The robot moving platform 7 realizes the movement of the position, the multi-degree-of-freedom mechanical arm and the grabbing mechanical arm 5 realize the file taking and placing, and the whole power is provided by a battery of the robot moving platform 7. In the working state, the robot automatically operates between the automatic file access window and the file rack to complete the transmission of files; when the robot is idle, the robot automatically returns to the charging position for charging and standby. The robot standby charging position is arranged on the back of the automatic archive storage window, and the archive storage mechanism 6 of the robot is in a butt joint state with the archive temporary storage area of the automatic archive storage window during standby charging.
The robot moving platform 7 is provided with a mechanical platform 11, driving wheels 9 are arranged on two sides of the mechanical platform 11, and a plurality of trundles 8 are arranged at the bottom of the mechanical platform 11. The drive wheel 9 is connected to a drive motor 12 via a coupling 10.
The robot moving platform 7 carries the file grabbing mechanism to and fro between the file rack and the file automatic access window, and completes the work of extracting and returning the files. In this embodiment, robot moving platform 7 adopts the solution that walking wheel and universal wheel combine, and two walking wheels are installed in the middle part of the chassis, on four angles below four supplementary universal wheels, as shown in fig. 2. The robot with the structure can realize higher movement efficiency and control precision and can realize pivot steering.
The accurate and reliable positioning of the robot is the key for successfully grabbing the file, and the failure of grabbing the file can be caused by small errors of the stopping position or the posture of the robot. The file storehouse is inside to be that a archives deposits the facility relatively fixed and the even structured environment in ground, adopts laser navigation or magnetic navigation technique all can realize the accurate navigation of robot. Because the environmental characteristics of high similarity in the archival repository can influence the precision of laser navigation, a magnetic navigation mode based on a ground guide line is preferentially adopted, and a guide line needs to be laid in advance.
As the requirements of file grabbing on the position of the robot and the posture of the manipulator 5 are high, the positioning precision is at least not more than 5mm, the posture error is not more than 1.5 degrees, the requirements are difficult to meet by independently depending on a robot navigation system, and auxiliary positioning is required, as shown in figure 3, two high-precision laser distance sensors 13 are arranged on the side surface of the robot moving platform 7, meanwhile, displacement induction strips are pasted on the side surface of a file rack, the parallelism between the robot and the file rack is calculated through the distance comparison detected by the two laser distance sensors 13, and the manipulator 5 is ensured to be strictly vertical to the fetched file through the adjustment of the rotation angle of the z axis of the mechanical arm. Meanwhile, the positioning error of the robot can be calculated by calculating the interval number of the induction bars scanned by the two laser ranging sensors 13, and the manipulator 5 is ensured to strictly correspond to the file placement gap by adjusting the displacement in the y-axis direction.
The inspection of the file storeroom is realized by adopting a visible light camera and a thermal infrared imager, and the inspection system needs to be designed in a miniaturized manner in consideration of the structure of the file robot. The visible light camera is used for automatically capturing the states of the indicator lights of the all-in-one machine, the precision air conditioner and other equipment in the storehouse, and sending the collected images to the background system to detect the states of the equipment, the water leakage condition and the like. The thermal infrared imager is used for detecting the indoor environment temperature, the equipment temperature and the like, and realizing temperature comparison and intelligent early warning through background analysis. In consideration of the requirement of miniaturization, the visible light camera and the thermal infrared imager are integrated machine cores, and the visible light camera and the thermal infrared imager are installed above the paw after being integrally designed in a network communication mode.
Because the files are vertically arranged, as shown in fig. 4, the manipulator 5 adopts a clamping mode and consists of two clamping claw sheets 16, and a larger clamping area is adopted to ensure the clamping force. A horizontal bracket 18 is arranged below the manipulator 5 to prevent the files from falling off in the moving process. The manipulator 5 is provided with an RFID card reader 17 for identifying and confirming the files and for checking the files. Install range finding sensor 15 on manipulator 5 for measure manipulator 5 and archives at the ascending distance of X axle direction, guarantee that manipulator 5 and archives keep suitable distance, prevent that the distance is too close to cause the harm to archives, perhaps the distance is too far away can not reliably snatch. According to the function requirement, the mechanical arm 5 can be further provided with the miniature camera 4 for capturing files with errors or deletions during file checking, so that the working personnel can conveniently recheck the files.
The manipulator driving mechanism comprises a direct-current servo motor, a right-angle planetary reducer and a hard gear rack; the linear slide rail is used for guiding, and the servo motor rotates to drive the gear on the output shaft of the speed reducer to rotate clockwise or anticlockwise to enable the clamping fingers to open or close, so that the purposes of clamping files and loosening the files are achieved. The servo motor selects a torque control mode to protect the file bag from being damaged when the clamping claw piece 16 grabs the file. The planetary reducer can reduce the noise generated when the clamping claw piece 16 moves to within 10 decibels. As shown in fig. 4.
On the standardized basis of archives box, in order to ensure that the robot can be reliable snatch archives, reserve the space that manipulator 5 snatched archives when archives were put, need establish the archives storage bin that is applicable to the robot and snatchs. As shown in FIG. 6, the file rack is divided into a row of spaces by the file storage warehouse, each file is stored in the space, and the file partition plate 20 is made of ABS material and has a thickness of about 3 mm. A gap of about 5mm is reserved between every two adjacent files, so that the mechanical arm 5 can be conveniently inserted into the two sides of the files to complete the file grabbing action. Archives storehouse bottom sprag thickness is 10mm, and the middle space is 30mm for 5 horizontal support brackets of manipulator insert from the archives bottom and hold up archives. The total width of each file bin is consistent with the width of each interval of the file rack, and is about 900mm, so that each file bin can store about 15 files. In consideration of standardization of design and processing of the file rack, the construction cost of a file storehouse is reduced, and the file storehouse is convenient to upgrade and modify in the future, the file storage bin is designed into a separated structure, and the file storehouse which needs to be grabbed by a file robot can be integrally embedded into the file rack; if the file is not required to be grabbed by a file robot, the file bin can be taken away to be used as a common file rack.
The RFID technology is a non-contact and automatic identification technology, can identify a specific target through a wireless signal and carry out data reading and writing, and a standard RFID system mainly comprises a tag, a reader and an antenna. Because RFID has the advantages of once reading a plurality of labels, strong penetrability, repeated reading and writing, large memory capacity, low cost, small volume, convenient use, high reliability, long service life and the like, the RFID is widely applied to identification, checking and the like of files, books and the like.
The archives robot adopts wireless charging mode, and archives automatic access window back design is the robot standby charging district, and robot and automatic access equipment are in the butt joint state under the idle state, and the robot standby charges. During operation, the transmission of the files between the robot and the equipment is completed through the transmission device inside the automatic access equipment, so that the working efficiency of the robot is improved, as shown in fig. 7.
Because the robot body navigation positioning system inevitably has errors of position and posture, and mechanical errors and control errors of the mechanical arm and the mechanical hand 5 in the robot assembling process are considered, the position and posture of the mechanical hand 5 are influenced. Errors in the minute position or posture of the robot 5 may cause a failure in the file gripping and even damage to the file.
In the ideal case, the distance between two files is 5mm, the length of the clamping jaw of the manipulator 5 is 20cm, and the relative relationship between the manipulator 5 and the files when the file robot grabs the files is shown in fig. 8, regardless of the thickness of the manipulator 5. It can be estimated from the figure that in the case where the robot 5 is strictly aligned with the file gap (attitude error is 0), the positional error of the robot 5 should not be larger than 5 mm; in the case where the positional error of the robot 5 is 0, the attitude error of the robot 5 should be required to be not more than 1.43 °. Considering that the thickness of the manipulator 5 is about 2mm, the files may not be uniform on two sides when being placed, the file box may not be a strict cuboid due to the difference of the number of the files, and the position and posture deviation of the manipulator 5 may exist at the same time, so the requirement on the control precision of the manipulator 5 is higher.
Of course, the parameters given in this embodiment are only exemplary parameters, and do not represent that other embodiments may not change the parameters.
The requirement on the precision of the manipulator 5 can be effectively reduced by increasing the gap between two adjacent files, but the effective utilization rate of the file rack can be reduced. In the embodiment, the position error of the manipulator 5 can be compensated through the translation of the y axis of the mechanical arm, the attitude error of the manipulator 5 can be compensated through the rotation of the z axis, but the compensation premise is that the attitude error of the manipulator 5 is accurately measured.
However, in this project, the file robot needs to precisely capture the files, and therefore, when the file is checked, the robot needs to obtain not only the state of whether the files are on the shelf, but also the precise position of the files in one interval of the file shelf. The wide RFID reading range can cause the situation of scanning a plurality of archives simultaneously, and causes difficulty for the accurate positioning of the archives. Therefore, after intensive research, the identification range of the tag can be controlled within a relatively small range (for example, within 5 cm) by modulating signals, power and the like of the tag and the reading antenna, so that tag misreading is avoided, and the defects that the tag reading distance is too short and the manipulator 5 needs to be specially controlled during file inventory are overcome. In addition, two-dimensional codes may be used instead of RFID.
Of course, in other embodiments, the parameters of the above embodiments may be changed according to specific situations, which are easily conceivable alternatives by those skilled in the art, and are considered to fall within the scope of the present invention.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (12)
1. An archives robot, characterized by: the file temporary storage system comprises a moving platform, a mechanical arm and a file temporary storage mechanism, wherein the mechanical arm is arranged on the moving platform, the mechanical arm is arranged at the end part of the mechanical arm, the mechanical arm can drive the mechanical arm to move in the directions of x, y and z, the file temporary storage mechanism is arranged on the moving platform, and a distance measuring sensor is arranged on the moving platform to detect the distance between the file temporary storage mechanism and a target file cabinet;
the file temporary storage mechanism comprises a substrate, wherein a plurality of file storage positions are arranged on the substrate side by side, a partition plate is arranged between every two adjacent file storage positions, a conveying mechanism is arranged at the bottom of each file storage position, and a vacancy detection module is arranged on each file storage position;
the side face of the base plate is provided with a baffle plate, and the baffle plate can move in the vertical direction to form or cancel the shielding of the baffle plate at the file storage position.
2. An archive robot as claimed in claim 1, characterized in that: both sides of the moving platform are provided with distance measuring sensors, and the distance measuring sensors and the target file cabinets are provided with induction strip position matching.
3. An archive robot as claimed in claim 1, characterized in that: and the mobile platform or the mechanical arm is provided with an inspection assembly.
4. An archive robot as claimed in claim 1, characterized in that: the manipulator comprises a support, wherein two oppositely arranged clamping claw pieces are arranged on the support, and the clamping claw pieces can move relatively on the support.
5. An archive robot as claimed in claim 1, characterized in that: the manipulator is provided with a distance sensor, a card reader and a miniature camera.
6. An archive robot as claimed in claim 1, characterized in that: the lower end of the manipulator is provided with a horizontal bracket, and the vertical height of the horizontal bracket is lower than the lower end face of the clamping claw piece.
7. An archive robot as claimed in claim 1, characterized in that: a horizontal position adjusting mechanism is arranged below the base plate.
8. An archive robot as claimed in claim 1, characterized in that: the baffle includes two, set up respectively in the both sides of base plate, and the extending direction of baffle is unanimous with the distribution direction of each archives storage bit, with transport mechanism's distribution direction is perpendicular.
9. An archive robot as claimed in claim 1, characterized in that: the length of the baffle is more than or equal to the width of N-1 file storage positions, and N is the number of the file storage positions.
10. An automatic management and control system of archives, characterized by: the file robot comprises the file robot, a plurality of file cabinets and a charging mechanism, wherein the file cabinet comprises a plurality of layers, each layer is provided with a plurality of storage spaces for storing boxes, a partition board is arranged between every two adjacent file storage spaces, and identification codes are arranged on the edges of the file boxes or the file storage spaces;
the charging mechanism is arranged at the lower end of the file cabinet or between the file cabinets.
11. The system for automatically managing and managing files as claimed in claim 10, wherein: the width of the file storage space is larger than the sum of the thicknesses of the file box and the two clamping claw sheets.
12. The operation method of the management and control system according to claim 10 or 11, wherein: the robot receives the information of the files to be grabbed, moves to the front of a target file cabinet for storing the files to be grabbed, detects the distance between the file temporary storage mechanism and the target file cabinet through a distance measuring sensor, stops moving when the distance reaches a set distance, and finely adjusts the robot to enable the robot to be opposite to the target file cabinet; controlling the mechanical arm to move, enabling the mechanical arm to set a distance from the file to be grabbed, judging whether the file is to be grabbed, if so, controlling the mechanical arm to grab the file and placing the file on a file storage position of the file temporary storage mechanism;
and repeating the process until no files needing to be grabbed exist or all file storage positions are full, and moving the controller to a specified position.
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| CN202011404603.XA CN114589674A (en) | 2020-12-04 | 2020-12-04 | File robot, automatic file management and control system and method |
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| CN202011404603.XA CN114589674A (en) | 2020-12-04 | 2020-12-04 | File robot, automatic file management and control system and method |
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| CN117697716A (en) * | 2023-10-24 | 2024-03-15 | 中铁十一局集团第五工程有限公司 | System and method for grabbing, positioning and storing straight pipes by mechanical arm |
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