CN115924379A - File management device - Google Patents
File management device Download PDFInfo
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- CN115924379A CN115924379A CN202310227960.0A CN202310227960A CN115924379A CN 115924379 A CN115924379 A CN 115924379A CN 202310227960 A CN202310227960 A CN 202310227960A CN 115924379 A CN115924379 A CN 115924379A
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Abstract
The invention discloses a file management device, wherein a track unit is arranged above file cabinets and covers a plurality of file cabinets to be managed, so that a foundation is provided for the device to manage files; the track unit is internally provided with a fixed track and a movable track sliding on the fixed track, and the movable track is provided with a grabbing unit for automatically grabbing and conveying files; the grabbing unit is provided with the RFID identification device and the camera device, so that the automatic checking of the files is realized, and the precision of accessing the files is improved; through the automatic management of this archives management device to archives, archives management's work efficiency has been improved greatly.
Description
Technical Field
The invention relates to the technical field of intelligent warehousing, in particular to a file management device.
Background
At present, along with the rapid increase of the number of files to be managed in each enterprise and unit, the traditional management mode is to paste paper labels on file cabinets, and the staff looks for the required files or the positions where the files are to be stored according to the labels on the file cabinets. Present file administration mainly relies on filing cabinet and administrator to seek and access archives, and not only operation flow is loaded down with trivial details, inefficiency, consumes great manpower and material resources, and when the archives are lost or damage the back, archives information also hardly traces back. Along with the development of technologies such as artificial intelligence, thing networking, robot, many intelligent filing cabinets have appeared, can reach the position information of required archives according to the demand automatic positioning of user input, and reach the target location by the staff and take out or deposit archives, improved work efficiency to a certain extent, still need staff's assistance. People add the manipulator in file administration afterwards, deposit and withdraw archives with the help of the manipulator is automatic, and the manipulator location that can have now is accurate inadequately, and the action is not nimble enough when pressing from both sides and getting archives, has certain requirement to putting of application scene and filing cabinet, so practical application's scope is narrower, and the effect that improves work efficiency is not obvious, still has the risk that increases work load.
Therefore, a more intelligent, automatic and highly applicable file management device is needed, which can improve the working efficiency of file management, reduce the error rate of file management, and ensure the security of file management.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the file management device, the target position is automatically and accurately positioned according to the control instruction sent by the upper computer, the target file is grabbed by the mechanical arm to complete the access operation of the target file, the working efficiency of file management and management is improved, the safety of the file is also improved, and convenience is provided for tracing the inventory and the circulation information of the file by adopting an automatic and digital management mode.
The specific technical scheme is as follows:
a file management apparatus includes a rail unit and a grasping unit that slides within the rail unit;
the track unit comprises a positioning beam, a fixed track, a movable track and a plurality of connecting frames; the positioning beam is fixedly connected to the supporting surface through a plurality of connecting frames which are uniformly distributed, and comprises a first direction positioning beam and a second direction positioning beam, the first direction positioning beam and the second direction positioning beam are arranged vertically, the plane determined by the first direction and the second direction is parallel to the supporting surface, the fixed rail is arranged along the first direction positioning beam, the movable rail is arranged along the second direction positioning beam, and the movable rail is arranged below the fixed rail and slides towards the first direction;
the grabbing unit is used for positioning and grabbing a target object and comprises a mechanical arm cantilever and a mechanical arm clamp, the mechanical arm clamp is connected with the movable rail through the mechanical arm cantilever, arranged along a third direction and slides towards the second direction, and the third direction is perpendicular to a plane determined by the first direction and the second direction; the manipulator is provided with a camera device and an RFID recognition device.
Further, the first motor driving unit is further included and used for driving the movable rail to slide on the fixed rail.
Furthermore, the fixed rail and the movable rail are both provided with a plurality of inductors;
a first origin sensor is arranged at one end of the fixed rail close to the first motor driving unit, and an extreme position sensor is arranged at the other end of the fixed rail;
and a second origin inductor and an origin protection inductor are arranged at one end, close to the first motor driving unit, of the movable rail.
Furthermore, the track unit further comprises a synchronous belt and a sliding block mechanism, the sliding block mechanism is respectively arranged on the fixed rail and the movable rail, and the synchronous belt is arranged on the outer sides of the fixed rail and the movable rail; the sliding block mechanism is a double-sliding-block mechanism, and the synchronous belt is a tooth surface cloth base synchronous belt.
Furthermore, the manipulator cantilever is fixedly connected with a sliding block mechanism on the movable rail, is a six-axis manipulator and comprises a telescopic mechanism, a rotating mechanism and a second motor driving unit; one end of the telescopic mechanism is fixedly connected with the sliding block mechanism, and the other end of the telescopic mechanism is connected with the rotating mechanism; the telescopic mechanism is used for stretching in the third direction, and can run along the first direction and the second direction when being stretched; the lower part of the rotating mechanism is connected with the mechanical hand clamp and can rotate on a plane determined by the first direction and the second direction; the second motor driving unit is used for driving the telescopic motion of the telescopic mechanism and the rotary motion of the rotary mechanism.
Further, the mechanical hand clamp comprises a hand clamp body, a clamping mechanism and a bottom supporting mechanism; the clamping mechanism is arranged along the axial direction of the hand clamp body and is used for clamping the target object; the bottom supporting mechanism is vertically arranged in the axis direction of the hand clamp body and is positioned at the bottom of the hand clamp body and used for supporting the target object.
Furthermore, the clamping mechanism comprises two clamping substrates and a clamping component which are arranged in parallel, one end of each clamping substrate is embedded in the side face of the hand clamp body through the clamping component, and the clamping component drives the two clamping substrates to move in the opposite direction or in the opposite direction so as to adjust the distance between the clamping substrates; the bottom support mechanism comprises a support plate and a telescopic component, the support plate is connected with the hand clamp body through the telescopic component, and the telescopic component is used for adjusting the distance between the support plate and the hand clamp body.
Furthermore, the camera device is a visual positioning camera, is installed below the mechanical hand clamp and is in signal connection with an upper computer, receives a control signal of the upper computer and controls the mechanical hand clamp to position a target object.
Furthermore, the RFID identification devices are respectively arranged on the inner side and the outer side of the manipulator clamp, the RFID identification device on the inner side is a linearly polarized short-distance RFID identification device and is used for accurately identifying the target object, and the RFID identification device on the outer side is a circularly polarized long-distance RFID identification device and is used for identifying objects in a target area in batches.
Further, the manipulator gripper further comprises a third motor driving unit for driving the manipulator gripper to move, and the manipulator gripper is provided with a force feedback module for realizing constant-force grabbing of the target object and empty gripper detection functions.
Further, the first motor driving unit, the second motor driving unit and the third motor driving unit are all set as servo motor driving units.
The technical scheme has the following advantages or beneficial effects:
according to the file management device, the track units covering all the file cabinets and the grabbing units sliding on the track units are arranged in the storehouse, so that the target object can be automatically positioned and taken out or placed at a specified position after receiving an instruction of the upper computer, and the files in the storehouse can be automatically checked, so that automatic management of all the files in the file cabinets is realized; the mechanical arm cantilever can freely slide on the track unit through the sliding block and the synchronous belt, and can stretch and rotate, so that the mechanical arm clamp can reach any position in the storehouse file cabinet; the distance between the clamping substrates in the mechanical hand clamp and the height of the supporting plate can be adjusted according to the size of the file to be grabbed, so that the stability and the applicability of grabbing the file are improved; through the RFID recognition device and the visual positioning camera on the mechanical hand clamp, the target file can be quickly and accurately positioned, the positioning precision of the mechanical hand clamp can be regularly calibrated, the work efficiency of file management is greatly improved, the labor cost and the time cost are reduced, the safety factor and the management quality of file management are improved, and the intelligent development of file management is promoted.
Drawings
FIG. 1 is a schematic front view of an overall structure of a file management apparatus according to the present invention;
FIG. 2 is a schematic top view of an overall structure of a file management device according to the present invention;
FIG. 3 is a schematic structural diagram of a slider mechanism and a timing belt in the file management apparatus according to the present invention;
fig. 4 is a schematic structural diagram of a robot hand clamp provided by the present invention.
In the drawings: 1. a support surface; 2. a connecting frame; 3. positioning the beam; 4. moving the rail; 5. fixing a rail; 6. a manipulator cantilever; 7. a mechanical arm clamp; 8. a telescopic member; 9. a support plate; 10. a hand clamp body; 11. clamping the substrate; 12. a clamping member; 13. a fixed block; 14. a synchronous belt; 15. a synchronous pulley; 16. a pulley shaft; 17. an adjustment mechanism; 18. a first slider; 19. a second slider; 20. a first direction positioning beam; 21. the second direction positions the beam.
Detailed description of the preferred embodiments
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in conjunction with fig. 1-4, in an embodiment of the present invention,
a file management apparatus includes a rail unit and a grasping unit that slides within the rail unit;
the track unit comprises a positioning beam 3, a fixed rail 5, a movable rail 4 and a plurality of connecting frames 2; the positioning beam 3 is fixedly connected to the supporting surface 1 through a plurality of connecting frames 2 which are uniformly distributed, and comprises a first direction positioning beam 20 and a second direction positioning beam 21, the first direction positioning beam 20 is perpendicular to the second direction positioning beam 21, the plane determined by the first direction and the second direction is parallel to the supporting surface 1, the fixed rail 5 is arranged along the first direction positioning beam 20, the movable rail 4 is arranged along the second direction positioning beam 21, and the movable rail 4 is arranged below the fixed rail 5 and slides towards the first direction;
the grabbing unit is used for positioning and grabbing a target object and comprises a manipulator cantilever 6 and a manipulator clamp 7, the manipulator clamp 7 is connected with the movable rail 4 through the manipulator cantilever 6, arranged along a third direction and slides towards the second direction, and the third direction is perpendicular to a plane determined by the first direction and the second direction; the mechanical hand clamp 7 is provided with a camera device and an RFID recognition device.
Preferably, the fixed rail 5 and the movable rail 4 are perpendicular to each other; the supporting surface 1 can be a wall surface or other structures capable of fixing the positioning beam 3.
Illustratively, the positioning beam 3 is arranged above the filing cabinet, the range of the positioning beam covers a plurality of filing cabinets to be managed, the sizes of the first direction positioning beam 20 and the second direction positioning beam 21 can be designed according to the size of an actual application scene, the number of the corresponding connecting frames 2 can be increased or decreased according to the size of the positioning beam 3, and the positioning beam 3 is stably connected with the supporting surface 1; the sizes of the fixed rail 5 and the movable rail 4 which are arranged below the positioning beam 3 are synchronously adjusted according to the size of the positioning beam 3, so that the manipulator hand clamp 7 can reach any position in a plurality of file cabinets to be managed.
Preferably, if the space of the archive management library to be applied is large, the number of archives to be managed is large, or part of archives need to be managed in a group isolation manner, a plurality of archive management devices may be provided for group management.
Preferably, the device further comprises a first motor driving unit for driving the movable rail 4 to slide on the fixed rail 5.
Preferably, the fixed rail 5 and the movable rail 4 are both provided with a plurality of inductors;
a first origin sensor is arranged at one end of the fixed rail 5 close to the first motor driving unit, and an extreme position sensor is arranged at the other end of the fixed rail 5;
and a second origin inductor and an origin protection inductor are arranged at one end, close to the first motor driving unit, of the movable rail 4.
Preferably, the track unit further comprises a synchronous belt 14 and a slider mechanism, the slider mechanism is respectively mounted on the fixed rail 5 and the movable rail 4, and the synchronous belt 14 is mounted on the outer sides of the fixed rail 5 and the movable rail 4; the slider mechanism is a double-slider mechanism, and the synchronous belt 14 is a tooth surface cloth base synchronous belt.
The double-slider mechanism is provided with a first slider 18 and a second slider 19 which are arranged side by side and movably connected through a hinged key, and further comprises a fixed block 13 for fixing the manipulator cantilever 6, the double-slider mechanism is connected to a synchronous belt 14 through an adjusting mechanism 17 of the synchronous belt 14, the synchronous belt 14 is meshed with a synchronous belt wheel 15, the synchronous belt wheel 15 is fixed on the outer side of a belt wheel shaft 16, a motor drives the belt wheel shaft 16 to rotate, the belt wheel shaft 16 drives the synchronous belt 14 to rotate, and the synchronous belt 14 drives the first slider 18 and the second slider 19 to slide on a track.
Exemplarily, the synchronous belt 14 may be made of rubber, and the shape of the gear on the synchronous belt 14 includes arc-shaped teeth and trapezoid-shaped teeth, where the arc-shaped teeth of the synchronous belt have a good meshing degree with the corresponding synchronous pulley, and a high transmission precision, and may be used as the synchronous belt 14 of the archive management device; the tooth surface cloth base synchronous belt is characterized in that a layer of cloth is added on the outer side of the synchronous belt 14, so that noise generated in the running process is reduced, and the synchronous belt has better wear resistance and ageing resistance.
Illustratively, the first origin sensor and the second origin sensor are used for stopping movement when the sliding block mechanism moves to the first origin sensor or the second origin sensor, and recording the coordinates of the position at the moment as the coordinates of the origin of the track; the limit position sensor has the effect that when the sliding block mechanism moves to the limit position sensor, the sliding block mechanism automatically stops moving, and equipment is effectively prevented from being accidentally damaged due to misoperation or other conditions. The types of the first origin sensor, the second origin sensor and the extreme position sensor may be selected as appropriate, including but not limited to an optical sensor, an inductive sensor, a capacitive sensor and a magnetostrictive displacement sensor.
Preferably, the manipulator cantilever 6 is fixedly connected with a sliding block mechanism on the movable rail 4, and the manipulator cantilever 6 is a six-axis manipulator and comprises a telescopic mechanism, a rotating mechanism and a second motor driving unit; one end of the telescopic mechanism is fixedly connected with the sliding block mechanism, and the other end of the telescopic mechanism is connected with the rotating mechanism; the telescopic mechanism is used for stretching in the third direction, and can run along the first direction and the second direction when being stretched; the lower part of the rotating mechanism is connected with the mechanical hand clamp 7 and can rotate on a plane determined by the first direction and the second direction; the second motor driving unit is used for driving the telescopic motion of the telescopic mechanism and the rotary motion of the rotary mechanism.
Illustratively, the mechanical arm cantilever 6 moves in the intervals of a plurality of file cabinets, the flexibility of the movement can influence the working efficiency and the access accuracy of the file management device, the tail end of the six-axis mechanical arm can bear more than 58kg, and the six-axis mechanical arm can move at low speed in the first direction and the second direction under the drive of the track unit; the six-axis mechanical arm comprises six shafts, wherein the first shaft mainly plays a connecting role, one end of the first shaft is used for connecting the movable rail 4, the other end of the first shaft is connected with the other five shafts, and the first shaft can rotate on a plane determined by the first direction and the second direction; the second shaft mainly controls the front and back swinging of the six-shaft mechanical arm and the third direction stretching; the third shaft mainly controls the front-back swing, and the swing amplitude of the third shaft is smaller than that of the second shaft; the fourth shaft can control the third shaft to rotate 180 degrees on a plane which is vertical to the plane determined by the first direction and the second direction; the fifth shaft is used for finishing the turning action; the sixth shaft can rotate 360 degrees on a plane defined by the first direction and the second direction; the combination of the six-axis movement mode facilitates the quick and accurate transportation of the manipulator hand clamp 7 arranged below the same to any position in the file cabinet.
Preferably, the manipulator cantilever 6 is driven by a servo motor, a pulse control mode is adopted, the displacement of the motor is determined through the total pulse amount, the speed of the motor is determined through the pulse frequency, and the control mode is good in anti-interference performance and suitable for file cabinets of different specifications.
Preferably, the manipulator hand clamp 7 comprises a hand clamp body 10, a clamping mechanism and a bottom supporting mechanism; the clamping mechanism is arranged along the axial direction of the hand clamp body 10 and is used for clamping the target object; the bottom support mechanism is vertically arranged in the axial direction of the hand clamp body 10 and at the bottom of the hand clamp body 10, and is used for supporting the target object.
Preferably, the clamping mechanism comprises two clamping substrates 11 and a clamping part 12 which are arranged in parallel, one end of each clamping substrate 11 is embedded in the side surface of the hand clamp body 10 through the clamping part 12, and the clamping part 12 drives the two clamping substrates 11 to move towards or away from each other so as to adjust the distance between the clamping substrates 11; the bottom supporting mechanism comprises a supporting plate 9 and a telescopic component 8, the supporting plate 9 is connected with the hand clamp body 10 through the telescopic component 8, and the telescopic component 8 is used for adjusting the distance between the supporting plate 9 and the hand clamp body 10.
Illustratively, the shape and size of the clamping mechanism can be set according to the characteristics of the object to be clamped and the size of the storage unit in the file cabinet, the file management device provided by the invention can be used for managing files or file boxes in the file cabinet, so that the size and thickness of the two clamping substrates 11 are designed to be suitable for the size of the files or the file boxes; the opening and closing size range of the clamping mechanism can be set to be 10-70mm, and the clamping mechanism is used for clamping files or file boxes with any size in the range; when snatching archives or archives box, the height through 8 adjustment backup pads 9 of extensible part lets archives or archives box place more stable, the size of backup pad 9 also can be revised according to the volume and the weight of snatching article.
Preferably, the camera device is a visual positioning camera, is installed below the mechanical hand clamp 7, is in signal connection with an upper computer, receives a control signal of the upper computer, and controls the mechanical hand clamp 7 to position a target object.
Exemplarily, the vision positioning camera can be installed at the front end of the manipulator arm clamp 7, the collected image is uploaded to an upper computer, the upper computer is provided with an image processing system, the system is used for calculating the offset position and the offset angle, and the system is matched with the second motor driving unit and the manipulator arm 6 to realize accurate positioning and regular precision calibration. The realization process is as follows:
all be equipped with the sign of two-dimensional code on each memory cell of filing cabinet, every archives and the archives box, all memory cells are gathered to the visual positioning camera, the picture of archives and archives box, upload and save in the host computer, the host computer passes through the two-dimensional code information in the software identification picture, acquires positional information, the host computer sends control command according to the task, manipulator cantilever 6 removes according to standard position information, when manipulator hand clamp 7 snatchs archives or archives box, the visual positioning camera gathers picture once more and uploads to the host computer, and host computer calculation position offset and execution position calibration operation have ensured archives management device's accurate put on shelf and operation down.
Preferably, the RFID identification devices are respectively disposed on the inner side and the outer side of the manipulator clamp 7, the RFID identification device on the inner side is a linearly polarized short-distance RFID identification device for accurately identifying the target object, and the RFID identification device on the outer side is a circularly polarized long-distance RFID identification device for batch identification of objects in a target area.
For example, an RFID electronic tag may be disposed on the archive or the archive box to store the identity information and the location information of the archive or the archive box, and an RFID electronic tag may be disposed on each storage unit of the archive cabinet to store the location information thereof; the file management device receives a control instruction sent by the upper computer, and can complete various tasks including but not limited to file warehousing, file ex-warehouse and automatic file checking through the RFID identification device;
when files need to be put into a warehouse and put on shelf, the file management device receives a file warehousing task instruction, identity information and a target storage unit of the files to be warehoused are determined, a mechanical hand clamp 7 moves to a window for storing and taking the files to clamp the files to be warehoused, a linear polarization RFID identification device on the inner side of the mechanical hand clamp 7 reads RFID electronic tags of the files to check the identity information, a servo motor drives a mechanical hand cantilever 6 to move to the target storage unit, the mechanical hand clamp 7 puts the files into the storage unit, and the file warehousing task is completed;
when the files need to be delivered out of the warehouse and put down on shelves, the file management device receives a file delivery task instruction, determines file information to be delivered out of the warehouse and storage unit information placed in the file information, drives the mechanical arm cantilever 6 to move to a target storage unit through the servo motor, accurately and stably grabs the target files through the camera equipment and the linearly polarized RFID identification device, and conveys the target files to a window for storing and taking the files, so that the file delivery task is completed;
when the automatic checking of the files needing to be stored, the upper computer designs a route for traversing all the files according to the arrangement condition of the file cabinets in the storehouse in advance, when the file management device receives the checking task, the mechanical hand clamp 7 is driven to move according to the route through the track unit and the mechanical arm cantilever 6, the circularly polarized remote RFID identification device arranged outside the mechanical hand clamp 7 can identify the RFID electronic tags on the files nearby and the file cabinets in a large range, and the checking task is accurately and quickly completed.
The circularly polarized RFID identification device is provided with a circularly polarized antenna, the radio frequency energy of the antenna is emitted by a circular spiral antenna, and the circularly polarized RFID identification device has a multi-directional electromagnetic field and a wider reading space; the linearly polarized RFID device is provided with the linearly polarized antenna, the emitted electromagnetic wave is linear, the directionality of the electromagnetic field is strong, the reading space is narrow, and the precision is high.
Further, the mechanical arm clamp 7 further comprises a third motor driving unit for driving the mechanical arm clamp 7 to move, and the mechanical arm clamp 7 is provided with a force feedback module for realizing constant force grabbing of the target object and the empty clamp detection function.
The force feedback module adopts a force feedback technology, the principle of the force feedback technology is that corresponding force, vibration or passive motion is simulated by sensing the behavior of a person and is fed back to a user, a mechanical hand clamp 7 in the device can accurately control the force for grabbing an object through the force feedback module, and the probability of the occurrence of the condition that the object is damaged due to too large force or falls accidentally due to too small force is reduced.
Exemplarily, the manipulator clamp 7 further includes an empty clamp detection function through a force feedback module, a pressure sensor may be disposed inside the manipulator clamp 7, the third motor driving unit controls a grasping pressure of the manipulator clamp 7, the pressure sensor receives a pressure signal and then feeds the pressure signal back to the upper computer, and when a force feedback result is zero, the judgment result indicates that the object is not clamped.
Preferably, the first motor driving unit, the second motor driving unit and the third motor driving unit are all servo motor driving units.
The process of capturing the file: the clamping base plate 11 is opened to the width not less than that of the files or the file boxes, and after the clamping base plate 11 extends into a storage unit of a file cabinet, the space between the clamping base plates 11 is adjusted through the clamping part 12, the files or the file boxes are clamped, the mechanical hand clamp 7 moves upwards, and the files or the file boxes are conveyed to a window for storing and taking the files under the driving of the mechanical arm cantilever 6.
And (3) storing the archive: the file or the file box is clamped at a window for storing and taking the file, the file or the file box is conveyed to the position of a target storage unit through a mechanical arm cantilever 6, a mechanical arm clamp 7 extends into the storage unit, the file or the file box is placed in the target storage unit by downward movement, and the distance between clamping substrates 11 is adjusted to place the file or the file box on the storage unit stably.
In summary, the file management device provided by the above embodiment is provided with the rail unit and the grabbing unit, the rail unit covers the file cabinets to be managed, and the auxiliary grabbing unit moves among the file cabinets, so that the automatic management of files is realized; the track unit is simple in structure and customizable in size, is suitable for different management scenes including a fixed track and a movable track, drives the grabbing unit to reach any position in the file cabinet, and can realize the automatic checking function of files; the mechanical arm cantilever arranged on the grabbing unit can flexibly stretch and rotate, a clamping mechanism and a bottom supporting mechanism of a mechanical arm clamp are beneficial to quickly and stably grabbing the file, and the file is accurately positioned through a visual identification camera and an RFID identification device, so that the reliability of the device is improved; the automatic file access and automatic checking functions of the file management device obviously improve the working efficiency of file management, reduce the consumption of manpower and material resources, improve the safety of file management, promote the intelligent and automatic process of file management and bring convenience to people.
The foregoing computer-readable storage media include physical volatile and nonvolatile, removable and non-removable media implemented in any manner or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. Computer-readable storage media specifically include, but are not limited to, a USB flash drive, a removable hard drive, a Read-Only Memory (ROM), a Random Access Memory (RAM), an erasable programmable Read-Only Memory (EPROM), an electrically erasable programmable Read-Only Memory (EEPROM), flash Memory or other solid state Memory technology, a CD-ROM, a Digital Versatile Disk (DVD), an HD-DVD, a Blue-Ray or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present application.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the spirit and scope of the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", and the like, which indicate orientations or positional relationships, are based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Claims (11)
1. A file management apparatus, comprising a rail unit and a grasping unit, wherein the grasping unit slides in the rail unit;
the track unit comprises a positioning beam, a fixed track, a movable track and a plurality of connecting frames; the positioning beam is fixedly connected to the supporting surface through a plurality of connecting frames which are uniformly distributed, and comprises a first direction positioning beam and a second direction positioning beam, the first direction positioning beam and the second direction positioning beam are arranged perpendicularly, a plane determined by the first direction and the second direction is parallel to the supporting surface, the fixed rail is arranged along the first direction positioning beam, the movable rail is arranged along the second direction positioning beam, and the movable rail is arranged below the fixed rail and slides towards the first direction; the file management device also comprises a first motor driving unit which is used for driving the movable rail to slide on the fixed rail;
the grabbing unit is used for positioning and grabbing a target object and comprises a mechanical arm cantilever and a mechanical arm clamp, the mechanical arm clamp is connected with the movable rail through the mechanical arm cantilever, arranged along a third direction and slides towards the second direction, and the third direction is perpendicular to a plane determined by the first direction and the second direction; the manipulator is provided with a camera device and an RFID recognition device;
two-dimensional code identifiers are arranged on each storage unit and each file storage lattice in the file cabinet and are used for storing corresponding position information; the file is provided with an RFID label for storing file information and storage position information of the file; the camera device is a visual positioning camera and is used for positioning files and position calibration operation of the grabbing unit;
when file warehousing operation is executed, the RFID label of a file to be warehoused is identified at a file port, file information and storage position information of the file are acquired, an upper computer sends the storage position information and the operation route of the file to a file management device, and after the manipulator hand clamp grabs the file, the manipulator cantilever moves to the storage position of the file according to the operation route and puts the file into a file storage grid; when carrying out archives operation of leaving warehouse, through the host computer to archives management device sends the archives information of waiting to leave warehouse, the storage position information and the route of operation of archives, the manipulator cantilever moves extremely according to the route of operation archives storage position, RFID recognition device discernment the RFID label, archives information is checked to the host computer, the manipulator hand presss from both sides and snatchs archives, moves extremely archives department.
2. The archive management device according to claim 1, wherein standard position information is set for the storage unit and the archive storage site of the archive cabinet, the standard position information is a three-dimensional coordinate value, the manipulator cantilever drives the manipulator hand clamp to collect all two-dimensional code information and image information on the storage unit and the archive storage site in advance through the visual positioning camera, when the archive warehousing and the archive ex-warehousing operations are executed, the visual positioning camera collects the two-dimensional code information and the image information on the storage unit and the archive storage site again and uploads the two-dimensional code information and the image information to the upper computer, and the upper computer performs position offset calculation and position automatic calibration.
3. An archive management device according to claim 1, wherein the fixed rail and the movable rail are provided with a plurality of sensors;
a first origin sensor is arranged at one end of the fixed rail close to the first motor driving unit, and an extreme position sensor is arranged at the other end of the fixed rail;
and a second origin inductor and an origin protection inductor are arranged at one end, close to the first motor driving unit, of the movable rail.
4. The archive management device according to claim 1, wherein the rail unit further comprises a timing belt and a slider mechanism, the slider mechanism is mounted on the fixed rail and the movable rail, respectively, and the timing belt is mounted on the outer sides of the fixed rail and the movable rail; the sliding block mechanism is a double-sliding-block mechanism, and the synchronous belt is a tooth surface cloth base synchronous belt.
5. The file management device according to claim 4, wherein the manipulator arm is fixedly connected to the slider mechanism on the movable rail, and the manipulator arm is a six-axis manipulator comprising a telescopic mechanism, a rotating mechanism and a second motor driving unit; one end of the telescopic mechanism is fixedly connected with the sliding block mechanism, and the other end of the telescopic mechanism is connected with the rotating mechanism; the telescopic mechanism is used for stretching in the third direction, and can run along the first direction and the second direction when stretched; the lower part of the rotating mechanism is connected with the mechanical hand clamp, and the rotating mechanism can rotate on a plane determined by the first direction and the second direction; the second motor driving unit is used for driving the telescopic motion of the telescopic mechanism and the rotary motion of the rotary mechanism.
6. The file management device according to claim 1, wherein the robot gripper comprises a gripper body, a gripping mechanism and a bottom support mechanism; the clamping mechanism is arranged along the axial direction of the hand clamp body and used for clamping the target object; the bottom supporting mechanism is vertically arranged in the axis direction of the hand clamp body and is positioned at the bottom of the hand clamp body and used for supporting the target object.
7. The file management device according to claim 6, wherein the clamping mechanism comprises two clamping substrates and a clamping component, the clamping substrates are arranged in parallel, one end of each clamping substrate is embedded in the side surface of the hand clamp body through the clamping component, and the clamping component drives the two clamping substrates to move towards or away from each other so as to adjust the distance between the clamping substrates; the bottom support mechanism comprises a support plate and a telescopic component, the support plate is connected with the hand clamp body through the telescopic component, and the telescopic component is used for adjusting the distance between the support plate and the hand clamp body.
8. The file management device according to claim 1, wherein the vision positioning camera is mounted below the manipulator gripper, is in signal connection with the upper computer, receives a control signal of the upper computer, and controls the manipulator gripper to position the target object.
9. The archive management device according to claim 1, wherein the RFID identification means are respectively provided inside and outside the manipulator hand-clip, the RFID identification means inside are linearly polarized close-range RFID identification means, and when the archive warehousing and the archive ex-warehousing operations are performed, the RFID identification means inside are activated to identify archive information of the archive to be processed and storage location information of the archive; the RFID identification device on the outer side is a circularly polarized remote RFID identification device, when automatic checking operation is executed, the RFID identification device on the outer side is started, the upper computer generates a running route traversed by the file cabinet and sends the running route to the file management device, and the manipulator cantilever drives the manipulator hand clamp to identify all file information and storage position information of files in the file cabinet according to the running route.
10. The file management device according to claim 5, wherein the manipulator gripper further comprises a third motor driving unit for driving the manipulator gripper to move, and the manipulator gripper is provided with a force feedback module for realizing the functions of constant-force gripping of the target object and empty gripper detection.
11. The archive management device according to claim 10, wherein said first motor driving unit, said second motor driving unit and said third motor driving unit are servo motor driving units.
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| CN202310227960.0A CN115924379A (en) | 2023-03-10 | 2023-03-10 | File management device |
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| CN202310227960.0A CN115924379A (en) | 2023-03-10 | 2023-03-10 | File management device |
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