CN116021525A - Automatic file transfer device based on mechanical arm and working method - Google Patents

Abstract

The invention discloses a file automatic transfer device based on a mechanical arm and a working method thereof, belonging to the field of document management; it comprises the following steps: the mechanical arm is controlled by a computer and is provided with a USB flash disk; the computer host unit at least comprises 3 computer hosts, and each computer host is connected with a USB docking station for inserting a USB flash disk. According to the invention, by arranging the automatic file transfer system based on the mechanical arm and the USB flash disk, the whole process does not need any manual intervention, and the problems of waste of the optical disk and increase of management work caused by an optical disk ferrying system are avoided.

Description

Automatic file transfer device based on mechanical arm and working method

Technical Field

The invention relates to the field of document management, in particular to an automatic file transfer device based on a mechanical arm and a working method.

Background

Currently, the military unit is physically isolated from the internet and other public information networks by secret-related intranets, but there is a need for mass file transfer between different network computers. Optical disk ferry and U disk ferry are common methods for transferring Internet files to secret-related internal networks. In order to ensure timeliness of ferry, file ferry operation needs to be executed at intervals. Two waste optical discs can be generated every time when the optical disc ferrying mode is used for ferrying, a large amount of optical discs are consumed each year, and the problems of optical disc management and resource waste are additionally brought. Therefore, the U disk ferrying method is increasingly used.

At present, most units realize file ferry in a manual mode, so that the efficiency is low, the labor cost is high, and the file ferry requirement of non-working time is difficult to guarantee. Some units develop and use a file ferrying system based on a mechanical arm to realize automatic file transfer, but the system only supports optical disc ferry and cannot realize U disc ferry.

Therefore, an automatic file transfer device of a mechanical arm capable of realizing U disk ferry is urgently needed.

Disclosure of Invention

In order to achieve the above purpose, the present invention adopts the following technical scheme:

an automatic file transfer device based on a mechanical arm, comprising:

the mechanical arm is controlled by a computer and is provided with a U disk;

the USB flash disk comprises a computer host unit, wherein the computer host unit at least comprises 3 computer hosts, and each computer host is connected with a USB docking station for inserting the USB flash disk.

Further, a workbench is connected to the bottom of the mechanical arm, and a clamp is arranged on the workbench and used for fixing the USB docking station, and the USB docking station is electrically connected with the computer host; and a second clamp is arranged on the mechanical arm and used for fixing the U disk.

Further, the computer host unit comprises an A host, a B host and a C host which are arranged in parallel; the A host is a networking computer and is used for controlling an operation flow and a mechanical arm; the host B is an internal machine which is not networked and is used for file disinfection; the host C is a secret-related computer and is used for receiving the file.

Further, a camera is arranged on the host A and used for monitoring the working state of the whole device.

Further, the materials of the first clamp and the second clamp are thermoplastic polyurethane with the hardness of 95A.

The working method of the automatic file transfer device based on the mechanical arm comprises the following steps:

s1, the host A periodically and automatically downloads attachments from a specified mailbox and stores the attachments in a specified folder;

s2, the host A controls the mechanical arm to insert the USB flash disk into the host A, and the host A cuts the file to the USB flash disk;

s3, the host A controls the mechanical arm to insert the USB flash disk carrying the file into the host B, the host B performs virus killing treatment on the file, and the external LED lamp is controlled to be lightened through the USB interface after virus killing is completed;

s4, the host A detects the operation state of the host B through a camera, the mechanical arm is controlled to insert the U disk into the host C after the lamp is turned on, the host C cuts the file to a specified folder, and the external LED lamp is controlled to be turned on through the USB interface after the cutting is completed;

s5, the host A detects the operation state of the host C through the camera, and after the lamp is detected to be on, the mechanical arm is controlled to pull out the USB flash disk and return to the initial position.

The invention has the following beneficial effects:

1. according to the invention, by arranging the automatic file transfer system based on the mechanical arm and the USB flash disk, the whole process does not need any manual intervention, and the problems of waste of the optical disk and increase of management work caused by an optical disk ferrying system are avoided;

2. according to the invention, through the elastic material-based U disk and the fixing clamp of the docking station, the requirement of the system on the positioning precision of the mechanical arm is reduced, and the accurate insertion of the U disk is realized.

Drawings

FIG. 1 is a flow chart of an automatic file transfer device and a working method based on a mechanical arm;

FIG. 2 is a schematic diagram of a second clamp of the automatic file transfer device and the working method based on the mechanical arm;

FIG. 3 is a schematic diagram of a first clamp of the automatic file transfer device and the working method based on the mechanical arm;

fig. 4 is a schematic diagram of a movement track of a mechanical arm based on the automatic file transfer device and the working method of the mechanical arm.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Example 1

Referring to fig. 1 to 4, in this embodiment, an automatic file transfer device based on a mechanical arm includes:

the mechanical arm is controlled by a computer and is provided with a USB flash disk;

the computer host unit at least comprises 3 computer hosts, and each computer host is connected with a USB docking station for inserting a USB flash disk.

According to the invention, by arranging the automatic file transfer system based on the mechanical arm and the USB flash disk, the whole process does not need any manual intervention, and the problems of waste of the optical disk and increase of management work caused by an optical disk ferrying system are avoided.

Example 2

This example is a detailed setting based on example 1.

In the embodiment, the bottom of the mechanical arm is connected with a workbench, and a first clamp is arranged on the workbench and used for fixing a USB docking station which is electrically connected with a computer host; the mechanical arm is provided with a second clamp for fixing the USB flash disk. The material of the first clamp and the second clamp is thermoplastic polyurethane with the hardness of 95A.

Through USB flash disk and docking station mounting fixture based on elastic material, reduced extra stress and the mechanical abrasion that leads to because of the error in the plug process, improved reliability and the life-span of this system, reduced the requirement of system to arm positioning accuracy simultaneously, realized the accurate of USB flash disk and inserted.

Example 3

This example is a detailed setting based on example 2.

In this embodiment, the computer host unit includes an a host, a B host, and a C host that are arranged in parallel; the A host is a networking computer and is used for controlling an operation flow and a mechanical arm; the host B is an internal machine which is not networked and is used for file disinfection; the host C is a secret-related computer and is used for receiving the file.

A host is provided with a camera for monitoring the working state of the whole device.

Specifically, the B host and the C host control external LED lamps to be lightened through the USB interface after the file operation is completed, and the A host detects the operation results of the B host and the C host through the camera, so that manual operation is avoided or different hosts communicate through physical links.

Example 4

The working method of the automatic file transfer device based on the mechanical arm provided in this embodiment is the working method of the automatic file transfer device based on the mechanical arm provided in embodiment 1, embodiment 2 or embodiment 3, and specifically includes the following steps:

s1, the host A periodically and automatically downloads attachments from a specified mailbox and stores the attachments in a specified folder;

s2, the host A controls the mechanical arm to insert the USB flash disk into the host A, and the host A cuts the file to the USB flash disk;

s3, the host A controls the mechanical arm to insert the USB flash disk carrying the file into the host B, the host B performs virus killing treatment on the file, and the external LED lamp is controlled to be lightened through the USB interface after virus killing is completed;

s4, the host A detects the operation state of the host B through a camera, the mechanical arm is controlled to insert the U disk into the host C after the lamp is turned on, the host C cuts the file to a specified folder, and the external LED lamp is controlled to be turned on through the USB interface after the cutting is completed;

s5, the host A detects the operation state of the host C through the camera, and after the lamp is detected to be on, the mechanical arm is controlled to pull out the USB flash disk and return to the initial position.

Mechanical arm motion control

The mechanical arm is subjected to kinematic modeling, which is a precondition for realizing mechanical arm control. The kinematics of the mechanical arm comprise two problems of forward kinematics and inverse kinematics, the former problem is how to solve the position and the gesture of the tail end of the mechanical arm given the angle of each joint of the mechanical arm; the latter is to solve how to solve the angles of the joints of the mechanical arm given the position and attitude of the end of the mechanical arm.

The D-H method is a modeling method proposed by Denavit and Hartenberg, and is widely used for robot kinematics solution. The method establishes a coordinate system on each connecting rod, and realizes the coordinate mapping of the adjacent connecting rods through homogeneous coordinate transformation. In a system with multiple connecting rods connected in series, the transformation relation of the first and the last coordinate systems can be established by using homogeneous coordinate transformation for multiple times. The system models the mechanical arm by adopting a D-H method.

The track planning of the mechanical arm is divided into joint space track planning and operation space track planning. The trajectory planning of the operation space is generally performed in a Cartesian coordinate system, and the running trajectories of all joints are solved through inverse kinematics, so that the robot is controlled to realize expected motions. The most common cartesian space trajectory shape is a straight line, but circular arcs, sinusoidal or other curves may also be used.

In order to improve the execution efficiency, the mechanical arm has a shorter moving path and a smaller rotation angle in operation, and the moving path of the U disk at the tail end of the mechanical arm at the planning position is as follows: the method comprises the steps of initial position, arc movement to the upper side of an A host expansion dock, linear movement to the inside of an A host expansion dock, linear movement to the upper side of an A host expansion dock, arc movement to the upper side of a B host expansion dock, linear movement to the inside of a B host expansion dock, linear movement to the upper side of a B host expansion dock, arc movement to the upper side of a C host expansion dock, linear movement to the inside of a C host expansion dock, linear movement to the upper side of a C host expansion dock and arc movement to the initial position.

Automatic document handling

Software is designed on all three hosts to realize automatic processing of files. The host computer A needs to query the mailbox at regular time to realize automatic downloading of the accessories, automatically detects the insertion of the U disk and stores the files into the U disk; b, the host computer needs to automatically detect the insertion of the USB flash disk and disinfect the file; the host computer needs to automatically detect the insertion of the USB flash disk and cut the file to a specified folder. These software implementations were all based on the RPA (RoboticProcess Automation) design.

The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.

Claims (6)

1. An automatic file transfer device based on a mechanical arm, which is characterized by comprising:

the mechanical arm is controlled by a computer and is provided with a U disk;

the USB flash disk comprises a computer host unit, wherein the computer host unit at least comprises 3 computer hosts, and each computer host is connected with a USB docking station for inserting the USB flash disk.

2. The automatic file transfer device based on the mechanical arm according to claim 1, wherein a workbench is connected to the bottom of the mechanical arm, and a first clamp is arranged on the workbench and used for fixing the USB docking station, and the USB docking station is electrically connected with the host computer; and a second clamp is arranged on the mechanical arm and used for fixing the U disk.

3. The automatic file transfer device based on the mechanical arm according to claim 1, wherein the computer host unit comprises an A host, a B host and a C host which are arranged in parallel; the A host is a networking computer and is used for controlling an operation flow and a mechanical arm; the host B is an internal machine which is not networked and is used for file disinfection; the host C is a secret-related computer and is used for receiving the file.

4. The automatic file transfer device based on the mechanical arm according to claim 3, wherein a camera is arranged on the host A for monitoring the working state of the whole device.

5. The automated mechanical arm-based document transfer apparatus of claim 2, wherein the first clamp and the second clamp are each of a thermoplastic polyurethane having a hardness of 95A.

6. A method of operating a robotic arm-based document transfer device as claimed in any one of claims 1 to 5, comprising the steps of:

s1, the host A periodically and automatically downloads attachments from a specified mailbox and stores the attachments in a specified folder;

s2, the host A controls the mechanical arm to insert the USB flash disk into the host A, and the host A cuts the file to the USB flash disk;

s3, the host A controls the mechanical arm to insert the USB flash disk carrying the file into the host B, the host B performs virus killing treatment on the file, and the external LED lamp is controlled to be lightened through the USB interface after virus killing is completed;

s4, the host A detects the operation state of the host B through a camera, the mechanical arm is controlled to insert the U disk into the host C after the lamp is turned on, the host C cuts the file to a specified folder, and the external LED lamp is controlled to be turned on through the USB interface after the cutting is completed;

s5, the host A detects the operation state of the host C through the camera, and after the lamp is detected to be on, the mechanical arm is controlled to pull out the USB flash disk and return to the initial position.

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