CN118220749A - Transfer device and transfer method - Google Patents

Abstract

The application discloses a transfer device and a transfer method, which are used for money boxes and money transfer robots, wherein the transfer device comprises: a plurality of groups of hook parts are arranged in the shell assembly; the tray component is clamped and embedded on the same group of hook parts, and a money box is placed on the tray component; the positioning assembly is arranged at the bottom of the shell assembly; the control assembly is arranged in the shell assembly and is in communication connection with the positioning assembly and the banknote transporting robot; the movable module is arranged on the shell assembly, moves in the shell assembly and is in communication connection with the control assembly, the movable module comprises a grapple part, and the movable module drives the grapple part under the control of the control assembly so as to move the tray assembly into the banknote transporting robot. According to the application, the control assembly, the moving module, the grappling parts, the multiple groups of hook parts and the tray assembly are arranged, and the control assembly controls the moving module to drive the grappling parts to grasp the tray assembly to move to the appointed position, so that the labor intensity is reduced, the labor cost is saved, the shaking in the money box is reduced, and the transfer efficiency is improved.

Description

Transfer device and transfer method

Technical Field

The application relates to the technical field of automatic conveying, in particular to a transfer device and a transfer method.

Background

The Wu shipping banknote service is at the end of the financial service chain, has low technological content and belongs to the labor-intensive industry. At present, domestic banknote transporting business adopts a manual armed escort mode, the armed escort personnel and the salesmen are required to be relied on to jointly realize the guarding and the transportation of the cash box, and each banknote transporting vehicle is equipped with relevant personnel for 3-4 persons. Along with the increase of labor cost, the rising operation cost is also gradually compressing the profit space of the martial shipping banknote industry, and the development power of the industry is seriously insufficient. In addition, with the rapid development of internet finance and intelligent transformation of physical network points of banks, the descending trend of cash circulation is irreversible, and the banknote transport service industry faces a great challenge of escort business downslide.

In the prior art, the money transporting box adopts an open-air manual transportation mode, a business operator sequentially carries money boxes into or out of the vehicle-mounted vault, the weight of the money transporting box which is partially filled with cash, coins or important certificates often reaches tens of kilograms, and the money transporting box is completely transported and transferred by manpower and is loaded and unloaded by the money transporting vehicle, so that the labor intensity is high; the existing money boxes are manually stacked in the vehicle-mounted vault of the money truck, a plurality of layers are generally stacked, the phenomenon that the money boxes fall down and roll over in the running process of the vehicle is caused, the scattering of cash and bills is caused, and the service life of equipment such as the money boxes is seriously influenced.

Disclosure of Invention

In view of the above, the application provides a transfer device and a transfer method, which are used for solving the problems of high labor intensity, high labor cost and easy scattering of internal articles caused by manual carrying of money boxes in the prior art.

The application provides a transfer device, which is used for money boxes and money transporting robots, and comprises:

a plurality of groups of hook parts are arranged in the shell assembly;

the tray assembly is clamped and embedded on the same group of hook parts, and the money box is placed on the tray assembly;

The positioning assembly is arranged at the bottom of the shell assembly and used for positioning the banknote transporting robot;

The control assembly is arranged in the shell assembly and is in communication connection with the positioning assembly and the banknote transporting robot;

the movable module is arranged on the shell assembly, moves in the shell assembly and is in communication connection with the control assembly, the movable module comprises a grappling hook portion, the grappling hook portion is used for grasping the tray assembly, and the movable module drives the grappling hook portion under the control of the control assembly so as to move the tray assembly into the banknote transporting robot.

Optionally, the mobile module includes a plurality of first axis modules, second axis modules and third axis modules, where the first axis modules extend along a first direction, the second axis modules extend along a second direction, the third axis modules extend along a third direction, and any two of the first direction, the second direction and the third direction are perpendicular to each other;

The first shaft modules are fixed on the shell assembly at intervals, each first shaft module comprises a first sliding block, and the third shaft module is arranged between two adjacent first sliding blocks and slides on the first sliding blocks along the first direction;

The second shaft module is slidably connected to one side of the third shaft module, a second sliding block is arranged on one side, away from the third shaft module, of the second shaft module, and the grappling part is arranged on the second sliding block and slides along the second direction on the second sliding block.

Optionally, the third axle module comprises a drag chain groove and a drag chain piece, wherein the drag chain piece is arranged in the drag chain groove and slides along the drag chain groove;

The mobile module comprises a first connecting part arranged between the second shaft module and the third shaft module, one end of the first connecting part is fixedly connected with the second shaft module, and the other end of the first connecting part is fixedly connected with the drag chain piece.

Optionally, the mobile module includes a first motor and a first synchronization shaft, the first motor is disposed at one end of the first shaft module, and the first synchronization shaft is connected to the first motor and connected to a plurality of the first shaft modules.

Optionally, the banknote transporting robot comprises a guide wheel, and the guide wheel is arranged at the bottom of the banknote transporting robot;

the shell assembly is internally provided with a guide wheel bracket, the guide wheel bracket is provided with a guide wheel piece, the guide wheel piece is provided with a guide wheel groove, and the guide wheel is arranged in the guide wheel groove.

Optionally, the positioning assembly includes:

A base;

The sliding piece is arranged on the base and slides along the base;

the guide wheel plate is arranged on the base along the sliding direction of the base, and a guide groove is formed in the guide wheel plate;

the push rod piece comprises a push rod piece body, a first hinge end and a second hinge end are respectively arranged on the push rod piece body, the first hinge end is arranged in the guide groove, the second hinge end is fixedly connected with the sliding piece, a limiting block is arranged at one end, away from the first hinge end, of the push rod piece body, and the limiting block is used for limiting the stop block of the banknote transporting robot.

Optionally, the slider includes second motor, shaft coupling, silk pole piece, first guide rail and lead screw fixing base, the second motor the shaft coupling with the lead screw piece connects gradually, first guide rail sets up the both sides of silk pole piece, just the second motor the lead screw piece with first guide rail is all fixed on the base, the lead screw fixing base is connected the silk pole piece with on the first guide rail, second articulated end fixed connection in one side of lead screw fixing base, the lead screw fixing base is followed the lead screw piece slides on the first guide rail.

Optionally, a hook member is arranged at the tail end of the grapple part;

The tray assembly comprises a tray body and a tray hanging opening, wherein the tray hanging opening is formed in one side of the tray body, and the hook piece is clamped in the tray hanging opening.

Optionally, a second groove is formed in the tray body, and a limiting strip is arranged on the side wall of the second groove and used for limiting the money box in the second groove.

Optionally, the hook part comprises a hook body, a magnetic attraction piece and a first switch; the first switch is arranged on one side of the hook body and is used for detecting whether the tray component is in place or not, a first groove is formed in the hook body, and the tray component is arranged in the first groove;

The bottom of the first groove is provided with a first strip-shaped hole, the magnetic attraction piece is arranged in the first strip-shaped hole and used for adsorbing the tray assembly.

Optionally, a tool support is arranged on the inner wall of the shell component, the tool support is arranged on the inner wall of the shell component in parallel, the hook part is arranged on the tool support, and the tool support is used for realizing the precision adjustment of the spatial position and the flatness of the hook part in the shell component.

The application also provides a transfer method, which comprises the following steps of:

When the banknote transporting robot enters the vehicle-mounted vault, a guide wheel of the banknote transporting robot moves in a guide wheel groove along a first direction;

after the banknote transporting robot moves to a designated position in the first direction, the banknote transporting robot sends a first signal to the control assembly;

After the control component receives the first signal, the positioning component is controlled to limit the banknote transporting robot in the first direction;

After the positioning assembly completes limiting of the banknote transporting robot, the banknote transporting robot sends a second signal to the control assembly;

after the control component receives the second signal, the moving module is controlled to move the tray component;

after the moving module finishes moving the tray assembly, the moving module sends a third signal to the control assembly;

after receiving the third signal, the control component controls the positioning component to move so that the banknote transporting robot is in a flexible state in a first direction;

And after the positioning assembly releases limit of the banknote transporting robot, the banknote transporting robot is controlled to leave the vehicle-mounted vault along the guide wheel groove.

The beneficial effects of the application are as follows: compared with the prior art, the banknote transporting robot is characterized in that the positioning assembly is arranged at the bottom of the shell assembly, so that the banknote transporting robot smoothly enters and is positioned in the shell assembly, a plurality of groups of hook parts are arranged in the shell assembly, the tray assembly with the money box is clamped and embedded on the same group of hook parts, the shell assembly is provided with the movable module, when the banknote transporting robot smoothly enters and is positioned in the shell assembly, the shell assembly is internally provided with the control assembly, the control assembly is in communication connection with the positioning assembly and the banknote transporting robot, the movement of the positioning assembly is controlled, the movable module moves in the shell assembly and is in communication connection with the control assembly, so that the gripper parts are driven under the control of the control assembly to smoothly grasp the tray assembly with the money box, and the tray assembly is moved into the banknote transporting robot, so that the transportation of the money box is completed. According to the application, the movable module and the grapple part on the movable module are arranged, so that the grapple part moves along with the movable module in the process of moving in the shell assembly, the tray assembly with the money box is gripped and placed in the money transporting robot, the traditional manual transportation mode is replaced in the automatic transportation process, the labor intensity is reduced, and the labor cost is saved; according to the application, the grapple part is used for grasping the tray assembly, the money box is placed on the tray assembly, and the grapple part controlled by the moving module can be used for grasping the tray assembly stably, so that cash and notes in the money box can be kept in the original placing state, the internal shaking is reduced, and the phenomenon that the money box falls and rolls is avoided; the control assembly is in communication connection with the positioning assembly, the mobile module and the money transporting robot, controls the positioning assembly and the mobile module to move, and realizes wireless communication between the control assembly and the money transporting robot, the positioning assembly and the mobile module, thereby realizing the automation process of the transfer device. In addition, a plurality of tray components with money boxes can be placed on the multiunit couple portion, a plurality of money boxes can be transported once, transport efficiency can be improved, a plurality of money boxes are used simultaneously, and the service life of money box equipment is also prolonged.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a transfer device according to an embodiment of the present application;

FIG. 2 is a schematic view of an embodiment of the housing assembly of FIG. 1;

FIG. 3 is a schematic view of an embodiment of the grapple and pallet assembly of FIG. 1;

FIG. 4 is a schematic view of an embodiment of the positioning assembly of FIG. 1;

FIG. 5 is a schematic diagram of an embodiment of the mobile module of FIG. 1;

FIG. 6 is a schematic view of an embodiment of a hook portion of FIG. 1;

FIG. 7 is a flow chart of an embodiment of the transfer method of the present application.

Detailed Description

In order to enable those skilled in the art to better understand the technical scheme of the present application, the following describes the transferring device and the transferring method provided by the present application in further detail with reference to the accompanying drawings and the detailed description. It is to be understood that the depicted embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The terms "first," "second," and the like in this disclosure are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

The application provides a transfer device and a transfer method, which are used for solving the problems of high labor intensity, high labor cost and easy scattering of internal articles caused by manual carrying of money boxes.

Referring to fig. 1 to 6, fig. 1 is a schematic structural diagram of an embodiment of a transfer device according to the present application; FIG. 2 is a schematic view of an embodiment of the housing assembly of FIG. 1; FIG. 3 is a schematic view of an embodiment of the grapple and pallet assembly of FIG. 1; FIG. 4 is a schematic view of an embodiment of the positioning assembly of FIG. 1; FIG. 5 is a schematic diagram of an embodiment of the mobile module of FIG. 1; fig. 6 is a schematic view of an embodiment of the hook portion of fig. 1.

In one embodiment, as shown in fig. 1, the transfer device is used for a cash box 210 and a cash transporting robot, and the movement between the cash box 210 and the cash transporting robot includes: the tray assembly 200 with the money box 210 is moved between each set of the hooking portions 110, is placed into the money transporting robot, or the tray assembly 200 in the money transporting robot is gripped to the same set of the hooking portions 110. Wherein, transfer device includes: a housing assembly, a tray assembly 200, a positioning assembly 300, a control assembly, and a mobile module 400. The control assembly, the positioning assembly 300 and the moving module 400 are arranged in the shell assembly, the control assembly positions the banknote transporting robot to the positioning assembly 300, and the control assembly moving module 400 moves the tray assembly 200 into the banknote transporting robot so as to realize the transportation of the cash box 210.

Wherein, the inside multiunit couple portion 110 that can be provided with of shell subassembly, tray subassembly 200 can inlay in the couple portion 110 of same group, and place money case 210 on tray subassembly 200, positioning module 300 can set up in the bottom of shell subassembly, positioning module 300 is used for the location fortune paper money robot, control module can set up in the shell subassembly, communication connection is in positioning module 300 and fortune paper money robot, the removal module 400 can set up on the shell subassembly, the removal module 400 can remove in the shell subassembly, and removal module 400 can communication connection is in control module, removal module 400 includes grapple portion 410, grapple portion 410 can be used to grasp tray subassembly 200, removal module 400 drives grapple portion 410 under control of control module, in order to remove tray subassembly 200 to fortune paper money robot.

In the embodiment of the application, the control assembly is arranged in the shell assembly, the positioning assembly 300 is arranged at the bottom of the shell assembly, so that the banknote transporting robot smoothly enters the shell assembly, the control assembly controls the banknote transporting robot to be positioned in the shell assembly, a plurality of groups of hook parts 110 are arranged in the shell assembly, the tray assembly 200 with the money boxes 210 is clamped and embedded on the same group of hook parts 110, and the plurality of groups of hook parts 110 can enable the banknote transporting vehicle to transport a plurality of money boxes 210 at one time, so that the transportation efficiency is improved; according to the application, the movable module 400 is arranged on the shell component, when the money transporting robot smoothly enters and is positioned in the shell component, the movable module 400 drives the grapple part 410 to smoothly grasp the tray component 200 with the money box 210 under the control of the control component, the tray component 200 is moved into the money transporting robot to finish the transportation of the money box 210, and the grapple part 410 controlled by the movable module 400 can stably grasp the tray component 200, so that cash and bills in the money box 210 keep the original placement state, internal shaking is reduced, and the phenomenon that the money box 210 falls and rolls is avoided; meanwhile, the whole automatic carrying process of the mobile module 400 replaces the traditional manual carrying mode, so that the labor intensity is reduced, and the labor cost is saved.

In some embodiments, the housing component may be a vehicle-mounted vault shell, may be an iron sheet cabinet, or may be a hollowed-out frame component 100.

As shown in fig. 1 and 2, the frame assembly 100 includes: a first bracket 120, a second bracket 130, and a connection bracket 140. The first bracket 120 and the second bracket 130 are disposed opposite to each other, and the connecting bracket 140 is connected between the first bracket 120 and the second bracket 130 to form the frame assembly 100 having the function of the main body of the transfer device, which plays a supporting role for the transfer device.

The connection bracket 140 includes a first beam 141, a plurality of first beams 141 are disposed in parallel, and the plurality of first beams 141 are connected to the first bracket 120 and the second bracket 130. The connection bracket 140 may further include a first connection rod 142, wherein the first connection rod 142 is connected between the plurality of first cross beams 141 to make the frame assembly 100 more structurally firm.

The first bracket 120 is further provided with a plurality of groups of mounting plates 150 on a side facing the second bracket 130, the mounting plates 150 are used for mounting the first shaft modules 420, each group of mounting plates 150 corresponds to each first shaft module 420, the plurality of groups of mounting plates 150 correspond to a plurality of first shaft modules 420, and each group of mounting plates 150 are arranged in parallel so as to be matched with the first shaft modules 420.

Each group of mounting plates 150 is mounted on the first bracket 120, 5 mounting plates 150 are provided in total, pin holes and adjusting threaded holes are respectively formed in mounting positions of the mounting plates 150 on the first bracket 120, and therefore the distance between the mounting plates 150 and the first bracket 120 is guaranteed to be adjusted, and the position of the subsequent first shaft module 420 can be adjusted after the mounting plates are mounted on the first bracket 120.

The tool support 160 can be arranged on the inner wall of the shell component, the tool support 160 is arranged on the inner wall of the shell component in parallel, the hook part 110 is arranged on the tool support 160, and the tool support 160 is used for realizing the precision adjustment of the spatial position and the flatness of the hook part 110 in the shell component.

Specifically, a tooling bracket 160 is further connected to the second bracket 130 at a side facing the first bracket 120, and the tooling bracket 160 is parallel to the second bracket 130, and the tooling bracket 160 is used for installing the hook portion 110 so as to facilitate placement of the tray assembly 200. The tool support 160 is mounted on the second support 130, a mounting platform is provided for the hook portion 110, a pin hole and an adjusting screw hole can be further formed between the tool support 160 and the second support 130, the distance between the tool support 160 and the second support 130 can be conveniently adjusted, and accurate adjustment of the space position and the flatness can be achieved after the tool support 160 is mounted.

The tool support 160 is formed by splicing sectional materials, and is fastened on the second support 130 through screws, so that pin holes and adjusting threaded holes can be reserved near the threaded fasteners, the distance between the tool support 160 and the second support 130 is ensured to be adjusted, and the position of the subsequent hook portion 110 after being mounted on the tool support 160 is ensured to be adjusted.

The connection bracket 140 may further include a second connection rod 143, where the second connection rod 143 is disposed on the first bracket 120 and extends toward the second bracket 130, the positioning assembly 300 may be mounted at an end of the second connection rod 143, and a first connection rod 142 may be disposed between the first bracket 120 and the bottom of the second bracket 130 and between the first beam 141 and the middle of the second connection rod 143, so that the second connection rod 143 has a stronger supporting effect on the positioning assembly 300.

The first bracket 120, the second bracket 130, the first cross member 141, the second connecting rod 143, and the second connecting rod 143 together constitute a body of the frame assembly 100.

In some embodiments, as shown in fig. 2, the banknote handling robot includes a guide wheel, the guide wheel may be disposed at the bottom of the banknote handling robot, a guide wheel bracket 170 is disposed in the frame assembly 100, the guide wheel bracket 170 is disposed on a side of the first bracket 120 facing the second bracket 130, the guide wheel bracket 170 is disposed at the bottom of the mounting plate 150, a guide wheel member 171 is disposed at an end of the guide wheel bracket 170 away from the first bracket 120, a guide wheel groove 172 is disposed on the guide wheel member 171, and the guide wheel is disposed in the guide wheel groove 172.

Specifically, the guide wheel bracket 170 and the guide wheel member 171 are fastened by threads, the guide wheel member 171 is provided with a bell mouth groove, and after the guide wheel at the side part of the banknote transporting robot body enters the bell mouth groove, the guide wheel can be restrained by the guide wheel member 171 and used for providing transverse mechanical guidance for the banknote transporting robot when entering the transfer device.

The guide wheel member 171 is mounted on the guide wheel bracket 170 through threaded fasteners, the guide wheel bracket 170 is respectively composed of a trumpet-shaped guide groove 344, the guide wheels are positioned at the bottom of the money transporting robot, and when the money transporting robot enters the vault, the corresponding guide wheels enter the trumpet-shaped guide groove 344 so as to provide mechanical limit for the money transporting robot in the transverse direction.

The first bracket 120, the second bracket 130 and the guide wheel bracket 170 are formed by splicing sectional materials, and the first bracket 120, the second bracket 130 and the guide wheel bracket 170 are respectively connected with the first cross beam 141, the first connecting rod 142 and the second connecting rod 143 through screw fastening.

Embodiments of the housing assembly of the present application are useful in a banknote handling device that may also employ structures such as safes or vaults as embodiments of the housing assembly.

In some embodiments, as shown in fig. 3, the end of the grapple 410 may be provided with a hook 411, the tray assembly 200 includes a tray body 220 and a tray hanging opening 230, the tray hanging opening 230 may be disposed at one side of the tray body 220, and the hook 411 may be fastened in the tray hanging opening 230, so that the grapple 410 firmly grasps the tray assembly 200, and transfers the tray assembly 200 into the banknote transporting robot. Wherein, the hook 411 is provided with hooks, and the hooks are matched with the tray hanging openings 230, so that it is easy to think that the hooks can be provided with a plurality of hooks, and the tray hanging openings 230 are correspondingly provided with a plurality of hooks, so that the hooks are matched with the tray hanging openings 230 more firmly, and the overall lifting of the tray assembly 200 is realized.

Optionally, the grapple part 410 further includes a first mounting plate 412 and a grapple connecting member 413, where one end of the first mounting plate 412 is clamped on the second slider 431 and can slide along the second shaft module 430, the other end of the first mounting plate 412 is fixedly connected to the grapple connecting member 413, and the grapple connecting member 413 is fixedly connected to the hook member 411, so that the hook member 411 moves along the moving module 400.

Optionally, the grapple part 410 is fixedly installed at the movable end of the second shaft module 430, the hook member 411, the first mounting plate 412 and the grapple connecting member 413 can be fastened and connected through screws or threaded fasteners, the first mounting plate 412 is fastened on the second slider 431 through screws, so that the grapple part 410 is ensured to move synchronously along with the second shaft module 430, and two hooks of the hook member 411 respectively extend into the tray hanging opening 230 to lift the tray assembly 200.

In some embodiments, as shown in fig. 3, a second groove 240 may be disposed on the tray body 220, the cash box 210 may be freely placed in the second groove 240, a limit bar 250 is disposed on a side wall of the second groove 240, the limit bar 250 is fixedly mounted on the tray body 220, and the limit bar 250 is used for limiting the cash box 210 in the second groove 240, that is, limiting the degree of freedom of the cash box 210 in a horizontal plane, and reducing vibration of the cash box 210 in a horizontal direction. It is contemplated that a plurality of stop bars 250 may be provided to provide greater securement of the cash box 210 within the second recess 240 during transfer. The limit strips 250 can also be installed on the tray body 220 through threaded fasteners, and the tray body 220 can also be formed by splicing sectional materials.

Optionally, an elastic member may be further disposed between the limiting strip 250 and the tray body 220, so as to ensure that the second groove 240 can accommodate the money boxes 210 with different sizes, thereby increasing the adaptability of the transfer device.

In some embodiments, as shown in fig. 6, the hook portion 110 includes a hook body 111, a magnetic attraction 112, and a first switch 113. Wherein, the first switch 113 may be disposed at one side of the hook body 111, and the first switch 113 is used for detecting a signal of whether the tray assembly 200 is in place. The hook body 111 may further be provided with a first groove 114, the tray assembly 200 may be disposed in the first groove 114, a first bar hole 115 may be disposed at the bottom of the first groove 114, and the magnetic attraction member 112 is disposed in the first bar hole 115, where the magnetic attraction member 112 is used for adsorbing the tray assembly 200.

Alternatively, the hook portions 110 may be arranged in 10 groups, three groups of hook portions 110 are arranged in parallel, 3 columns of hook portions 110 are arranged in total, and one group of hook portions 110 may be arranged on the connecting bracket 140. The 10 groups can enable the money transporting device to transport money more efficiently.

Specifically, the tray assemblies 200 are placed on the same group of hook portions 110, each group of hook portions 110 is composed of two hook bodies 111, each tray assembly 200 is supported by two hook bodies 111, the tray assemblies 200 are placed in the first groove 114, the magnetic attraction pieces 112 in the first strip-shaped holes 115 magnetically attract the tray assemblies 200, and the limit is realized through the first groove 114, so that the tray assemblies 200 can be guaranteed not to shake in the horizontal plane.

Optionally, the first switch 113 may be set as a micro switch, the first switch 113 may be connected to the control component in a communication manner, and the hook body 111 may be fastened and installed on the tool support 160 by a screw, and the micro switch is installed on a side edge of the hook body 111, and one micro switch may be set on each two hook bodies 111. When the tray assembly 200 is matched with the hook part 110 in place, the micro switch detects the in-place signal of the tray assembly 200 and outputs the in-place signal to the control center of the transfer device.

Optionally, the magnetic attraction component 112 may be configured as an electromagnet, which can achieve an adsorption effect on the tray assembly 200, and the electromagnet is installed in the first strip-shaped hole 115 of the hook body 111, so that an acting force is generated between the electromagnetic force of the electromagnet and the money box 210, thereby limiting the degree of freedom of the money box 210 in the vertical direction, preventing the position of the money box 210 from changing due to vibration of the external environment, and ensuring that the money box 210 is kept stable in the transportation process.

In some embodiments, as shown in FIG. 4, the positioning assembly 300 includes a base 310, a slider 320, a guide wheel plate 330, and a push rod 340. The sliding member 320 may be disposed on the base 310 and slide along the base 310, the guide wheel plate 330 is disposed on the base 310 along the sliding direction of the base 310, the guide wheel plate 330 may be provided with a guide groove 344, the push rod member 340 includes a push rod member body 341, the push rod member body 341 is provided with a first hinge end 342 and a second hinge end 343, the first hinge end 342 is disposed in the guide groove 344, the second hinge end 343 is fixedly connected to the sliding member 320, and one end of the push rod member body 341 far away from the first hinge end 342 is provided with a stop block 345, the stop block 345 may be used to stop the banknote transporting robot. Specifically, the first hinge end 342 may be coupled in the guide groove 344 by a bolt-type bearing, and the second hinge end 343 may be coupled to the slider 320 by a coupling shaft.

The positioning assembly 300 may be fixed to the second connecting rod 143 by a threaded fastener, and the positioning assembly 300 is used for mechanically limiting the banknote transporting robot in the advancing direction after entering the vault. The sliding piece 320, the guide wheel plate 330 and the push rod piece 340 are all fixed on the base 310, the push rod piece body 341 is respectively provided with a rotatable first hinge end 342 and a rotatable second hinge end 343, the first hinge end 342 can move in a guide groove 344 in the guide wheel plate 330 through a bolt bearing, and the second hinge end 343 can be fixedly connected with the sliding piece 320 through a connecting shaft, so that the push rod piece 340 can be forced to rotate when the sliding piece 320 moves forwards and backwards, and a limit block 345 of the push rod piece body 341 is lifted and props against a limit block on a robot chassis, so that mechanical limit of the banknote transporting robot in the advancing direction is realized.

In some embodiments, as shown in fig. 4, the sliding member 320 includes a first motor 422, a coupling 322, a screw member 323, a first guide rail 324 and a screw fixing base 325, the second motor 321, the coupling 322 and the screw member 323 are sequentially connected, the first guide rail 324 is disposed at both sides of the screw member 323, and the second motor 321, the screw member 323 and the first guide rail 324 are fixed on the base 310, the screw fixing base 325 is connected to the screw member 323 and the first guide rail 324, the second hinge end 343 is fixedly connected to one side of the screw fixing base 325, and the screw fixing base 325 slides on the first guide rail 324 following the screw member 323.

The second motor 321 can drive the wire rod 323 and the screw rod fixing seat 325 to move back and forth on the first guide rail 324 through the coupler 322, so that the push rod 340 is forced to rotate, and therefore a limit block 345 of the push rod 340 is lifted and props against a stop block on the robot chassis, and mechanical limit of the banknote transporting robot in the advancing direction is achieved. Specifically, the first guide rails 324 are linear guide rails, two first guide rails 324 may be disposed, and the two first guide rails 324 are disposed in parallel, and the second motor 321 is fixed on the base 310 by being mounted on the motor fixing seat 326. The second motor 321 is fixedly arranged on the wire rod member 323 through the coupler 322, and meanwhile, the screw rod fixing seat 325 is fixedly connected with the sliding block on the first guide rail 324, so that the rotary motion of the wire rod member 323 can be converted into the linear motion of the screw rod fixing seat 325. The motor fixing seat 326, the screw assembly, the first guide rail 324, and the guide wheel plate 330 are all mounted on the base 310 by threaded fasteners.

Therefore, when the second motor 321 drives the screw rod fixing seat 325 to move, the push rod piece 340 will rotate due to the pivot of the second hinge end 343, the stop block 345 at the tail end of the push rod piece will move upwards to contact with the stop block installed on the money transporting robot, so as to prevent deviation of the parking position of the money transporting robot in the moving direction, and when the second motor 321 drives the screw rod fixing seat 325 to move reversely, the stop block 345 of the push rod piece 340 descends, and the money transporting robot can leave the vehicle-mounted vault normally.

In some embodiments, the mobile module 400 is a core motion component of the transfer device, as shown in fig. 5, the mobile module 400 includes a plurality of first axis modules 420, second axis modules 430, and third axis modules 440. The first shaft module 420 extends along a first direction, the second shaft module 430 extends along a second direction, the third shaft module 440 extends along a third direction, and any two of the first direction, the second direction and the third direction are perpendicular to each other. Specifically, the first axis module 420 may be configured as an X-axis module, the second axis module 430 may be configured as a Y-axis module, and the third axis module 440 may be configured as a Z-axis module.

The plurality of first shaft modules 420 may be fixed on the housing assembly at intervals, and the plurality of first shaft modules 420 may include two first shaft modules 420, three first shaft modules 420, and at least two first shaft modules 420. Each first shaft module 420 includes a first slider 421, and a third shaft module 440 may be disposed between two adjacent first sliders 421 and slide on the first sliders 421 along a first direction. The second shaft module 430 is slidably connected to one side of the third shaft module 440, a second slider 431 is disposed on one side of the second shaft module 430 away from the third shaft module 440, and the grappling portion 410 is slidably disposed on the second slider 431 and slides on the second slider 431 along the second direction.

Specifically, the third shaft module 440 slides between two adjacent first sliding blocks 421 in the first direction, so that the third shaft module 440 slides in the X-axis direction, the end of the second shaft module 430 is provided with the grappling portion 410, and the second shaft module 430 is slidably connected to one side of the third shaft module 440, that is, the third shaft module 440 drives the grappling portion 410 of the second shaft module 430 to slide in the X-axis direction; the second shaft module 430 is slidably connected to the third shaft module 440, and moves along the third shaft module 440 in a third direction, that is, the third shaft module 440 drives the grapple portion 410 of the second shaft module 430 to slide in the Z-axis direction; the grapple portion 410 of the second shaft module 430 is slidably disposed on the second slider 431 and moves along the second shaft module 430 in the second direction, that is, the second shaft module 430 drives the grapple portion 410 to slide in the Y-axis direction. In this manner, movement of the grapple portion 410 in the X-axis, Y-axis, and Z-axis directions, respectively, within the frame assembly 100 is achieved.

In some embodiments, as shown in fig. 5, the moving module 400 includes a first motor 422 and a first synchronization shaft 423, the first motor 422 may be disposed at one end of one first shaft module 420, and the first synchronization shaft 423 is connected to the first motor 422 and to a plurality of first shaft modules 420. Specifically, among the plurality of first shaft modules 420, only one first shaft module 420 is provided with a first motor 422, the first motor 422 is disposed at one end of the first shaft module 420, one end of the first synchronization shaft 423 is connected between the first shaft module 420 and the first motor 422, and the other end of the first synchronization shaft 423 is connected to the other first shaft module 420.

Specifically, the two first modules are installed on the first bracket 120 in an up-down parallel alignment manner, the first sliding blocks 421 can be kept in a complete vertical alignment manner, and the rotating shafts between the two first modules are connected through the first synchronous shaft 423, so that when the first motor 422 drives one of the first shaft modules 420, the first sliding blocks 421 of the upper and lower first shaft modules 420 can keep synchronous movement, so that the upper and lower ends of the third shaft modules 440 slide on the first sliding blocks 421 in a consistent manner, the perpendicularity of the third shaft modules 440 in the movement process is ensured, the movement accuracy of the tail-end grappling parts 410 of the second shaft modules 430 is further ensured, and precise grasping is ensured.

Optionally, the first axle module 420 further includes a first axle drag chain groove 424 and a first axle drag chain member 425, where the first axle drag chain groove 424 and the first axle drag chain member 425 are fixedly installed on the first bracket 120, and two first axle modules 420 are placed in parallel, and a synchronization axle is set between the two first axle modules 420 to ensure synchronization of movement of the two first axle modules 420. The third shaft module 440 is mounted on the two first sliders 421 of the first shaft module 420 and is connected to the two first sliders 421 of the first shaft module 420 through the mounting plate 150.

Each mounting plate 150 is provided with a pin hole and a threaded adjusting hole, so that the fine adjustment of the space position of the first shaft module 420 relative to the mounting plate 150 can be conveniently performed after the first shaft module 420 is mounted, and the mounting precision of the first shaft module 420 is ensured. The first axle drag chain groove 424 and the first axle drag chain member 425 are mounted on the first bracket 120 by threaded fasteners and are close to the lower first axle module 420, and the movable end of the first axle drag chain member 425 is fixed on the third axle module 440. The third shaft module 440 is mounted on the first sliders 421 of the upper and lower first shaft modules 420 through threaded fasteners, and must be guaranteed to be parallel to the plumb line with respect to the axis of the third shaft module 440, so that the third shaft module 440 can be guaranteed to be precisely translated in the horizontal direction when the first motor 422 of the first shaft module 420 rotates.

In some embodiments, the third axle module 440 includes a tow chain slot 441 and a tow chain member 442, the tow chain member 442 being disposed within the tow chain slot 441 and sliding along the tow chain slot 441. The mobile module 400 includes a first connecting portion 450 disposed between the second shaft module 430 and the third shaft module 440, one end of the first connecting portion 450 is fixedly connected to the second shaft module 430, the other end is fixedly connected to the drag chain member 442, and the first connecting portion 450 mainly realizes rigid fixation between the second shaft module 430 and the third shaft module 440.

Optionally, the first connection part 450 includes a first supporting plate 451, a second supporting plate 452, a first rib 453, and a second rib 454. The first supporting plate 451 is fixedly connected to the drag chain member 442, and moves along with the movement of the drag chain member 442, the second supporting plate 452 is fixedly connected to the second shaft module 430, and the first rib 453 and the second rib 454 are fixedly connected to the first supporting plate 451 and the second supporting plate 452, for increasing the strength of the first connecting portion 450. The first supporting plate 451, the second supporting plate 452, the first rib plates 453 and the second rib plates 454 are fixed by countersunk screws, so that the rigidity of the first supporting plate 451, the second supporting plate 452, the first rib plates 453 and the second rib plates 454 can be completely ensured. Meanwhile, the drag chain groove 441 is fixedly installed on the third shaft module 440, and the drag chain member 442 slides along the drag chain groove 441 in the third direction. In addition, the slider of the second shaft module 430 is directly fixedly connected with the first mounting plate 412 of the grapple 410, so as to realize connection between the moving module 400 and the grapple 410.

The drag chain groove 441 and the drag chain member 442 are mounted at the side end of the third shaft module 440 by threaded fasteners, and the movable end of the drag chain member 442 is mounted on the first connecting portion 450, so that the cables on the second shaft module 430 and the third shaft module 440 can move up and down along with the moving module 400. The third shaft module 440 is connected with the second shaft module 430 through the first connection part 450, and ensures absolute fastening of the second shaft module 430 and the third shaft module 440. And the second slider 431 of the second shaft module 430 is fastened to the first mounting plate 412 of the grapple 410, so as to combine the moving module 400 with the grapple 410.

In some embodiments, as shown in fig. 1, the transfer device includes an electrical box 500, and a control assembly may be disposed within the electrical box 500, the control assembly including a control system for controlling the positioning assembly 300, the tray assembly 200, and the mobile module 400 in wireless communication, the electrical box 500 being mounted to the first rack 120 proximate an outside of the vault. The electric box 500 includes, but is not limited to, a switching power supply, a connection terminal, a motor driver, an air switch, a general controller, and a communicator. The electric box 500 is used for receiving and processing signals such as power supply, communication and control of the whole transfer device, providing power supply and communication requirements for various devices in the transfer device, and providing a transfer system control center of the transfer device. The communicator realizes wireless communication between the transfer device and the banknote transporting robot.

Referring to fig. 7, fig. 7 is a flow chart of an embodiment of the transferring method of the present application.

The application also provides a transferring method, as shown in fig. 7, by applying the transferring device according to any embodiment, the transferring method includes:

Step S100: when the banknote transporting robot enters the vehicle-mounted vault, a guide wheel of the banknote transporting robot moves in a guide wheel groove along a first direction;

step S200: after the banknote transporting robot moves to a designated position in a first direction, the banknote transporting robot sends a first signal to the control assembly;

Step S300: after the control component receives the first signal, the positioning component is controlled to limit the banknote transporting robot in the first direction;

Step S400: after the positioning assembly completes limiting of the banknote transporting robot, the banknote transporting robot sends a second signal to the control assembly;

step S500: after the control component receives the second signal, the moving module is controlled to move the tray component;

Wherein, control the removal module and remove tray subassembly includes: the control moving module is used for placing the tray assembly in the banknote transporting robot, or moving the tray assembly out of the banknote transporting robot, or moving the tray assembly between each group of hanging hook parts.

Step S600: after the moving module finishes moving the tray assembly, the moving module sends a third signal to the control assembly;

Step S700: after the control component receives the third signal, the positioning component is controlled to move so that the banknote transporting robot is in a flexible state in the first direction;

step S800: after the positioning component releases limit of the banknote transporting robot, the banknote transporting robot is controlled to leave the vehicle-mounted vault along the guide wheel groove.

Specifically, when the banknote transporting robot enters the vehicle-mounted vault, the guide wheel of the banknote transporting robot moves in the guide wheel groove along a first direction, wherein the first direction is the X-axis direction. After the banknote transporting robot moves to the designated position in the first direction, the banknote transporting robot sends a first signal to the control component, and after the control component receives the first signal, the control component controls the positioning component to limit the banknote transporting robot in the first direction. After the positioning assembly is used for limiting the banknote transporting robot, the banknote transporting robot sends a second signal to the control assembly, after the control assembly receives the second signal, the control assembly controls the cash box to start transferring the position of the self-propelled cash box inside until the grabbing hook part grabs the tray assembly, after the moving module is used for moving the tray assembly, the moving module sends a third signal to the control assembly, after the control assembly receives the third signal, the positioning assembly is controlled to move, so that the banknote transporting robot is in a flexible state in the first direction, and after the positioning assembly is used for releasing the limit of the banknote transporting robot, the banknote transporting robot is controlled to leave the vehicle-mounted cash box along the guide wheel groove.

According to the application, the movable module 400 and the grappling part 410 on the movable module 400 are arranged, when the movable module 400 moves in the shell assembly, the grappling part 410 moves along with the movable module, the tray assembly 200 with the money box 210 is held under the control of the control assembly and is placed in the money transporting robot, the traditional manual transportation mode is replaced by the automatic transportation process, the labor intensity is reduced, and the labor cost is saved; according to the application, the grappling part 410 grips the tray assembly 200, the money box 210 is placed on the tray assembly 200, and the grappling part 410 controlled by the moving module 400 can grip the tray assembly 200 stably, so that cash and notes in the money box 210 can be kept in the original placing state, internal shaking is reduced, and the phenomenon that the money box 210 falls down and rolls is avoided; in addition, the plurality of tray assemblies 200 with the money boxes 210 can be placed on the plurality of groups of hook parts 110, so that the plurality of money boxes 210 can be transported at one time, the transportation efficiency can be improved, the plurality of money boxes 210 can be used simultaneously, and the service life of the money box 210 equipment is prolonged. The transfer device is automatic equipment, completely replaces manual up-and-down transfer of the money box 210 in the vehicle-mounted vault, completely replaces manual suitcase service personnel in the conventional money-transporting service, greatly reduces the armed escort labor cost of the conventional security company and the operation cost brought along with the armed escort labor cost, changes the conventional escort mode, and greatly improves the market value of products. Secondly, the transfer device adopts the technical mode of whole transport of the full-automatic tray assembly 200, can fully cover the cash boxes 210 with different sizes, the cash bags with different shapes, cash, coins or notes with different weights and the like, has extremely high product compatibility, can meet the escort demands of most of various clients such as banks and the like, has extremely high market popularization value and has high product adaptability. In addition, the transfer device adopts high-precision module to carry cooperatively, has extremely high carrying precision, and simultaneously the transfer device is also provided with a limit function of a tray or a money box 210 component, so that the high efficiency and reliability of the transfer work inside the transfer device can be ensured, the stability of the tray component 200 or the money box 210 of the money van under various road surface environments can be ensured, and the stability and reliability of escort products in escort processes can be ensured.

It should be noted that, the various alternative embodiments described in the embodiments of the present application may be implemented in combination with each other, or may be implemented separately, which is not limited to the embodiments of the present application.

In the description of the present application, it should be understood that the terms "upper," "lower," "left," "right," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, as well as a specific orientation configuration and operation. Therefore, it should not be construed as limiting the application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.

The embodiments described above are described with reference to the drawings, and other different forms and embodiments are possible without departing from the principle of the application, and therefore the application should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will convey the scope of the application to those skilled in the art. In the drawings, component dimensions and relative dimensions may be exaggerated for clarity. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. The terms "comprises," "comprising," and/or "includes," when used in this specification, specify the presence of stated features, integers, components, and/or groups thereof, but do not preclude the presence or addition of one or more other features, integers, components, and/or groups thereof. Unless otherwise indicated, numerical ranges are stated to include the upper and lower limits of the range and any subranges therebetween.

The foregoing description is only a partial embodiment of the present application, and is not intended to limit the scope of the present application, and all equivalent devices or equivalent processes using the descriptions and the drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the present application.

Claims (10)

1. A transfer device for money box and fortune paper money robot, the transfer device includes:

a plurality of groups of hook parts are arranged in the shell assembly;

the tray assembly is clamped and embedded on the same group of hook parts, and the money box is placed on the tray assembly;

The positioning assembly is arranged at the bottom of the shell assembly and used for positioning the banknote transporting robot;

The control assembly is arranged in the shell assembly and is in communication connection with the positioning assembly and the banknote transporting robot;

the movable module is arranged on the shell assembly, moves in the shell assembly and is in communication connection with the control assembly, the movable module comprises a grappling hook portion, the grappling hook portion is used for grasping the tray assembly, and the movable module drives the grappling hook portion under the control of the control assembly so as to move the tray assembly into the banknote transporting robot.

2. The transfer device of claim 1, wherein the mobile module comprises a plurality of first, second, and third axle modules, the first axle module extending in a first direction, the second axle module extending in a second direction, the third axle module extending in a third direction, any two of the first, second, and third directions being perpendicular to each other;

The first shaft modules are fixed on the shell assembly at intervals, each first shaft module comprises a first sliding block, and the third shaft module is arranged between two adjacent first sliding blocks and slides on the first sliding blocks along the first direction;

The second shaft module is slidably connected to one side of the third shaft module, a second sliding block is arranged on one side, away from the third shaft module, of the second shaft module, and the grappling part is arranged on the second sliding block and slides along the second direction on the second sliding block.

3. The transfer device of claim 2, wherein the third axle module includes a drag chain groove and a drag chain member disposed within and sliding along the drag chain groove;

The mobile module comprises a first connecting part arranged between the second shaft module and the third shaft module, one end of the first connecting part is fixedly connected with the second shaft module, and the other end of the first connecting part is fixedly connected with the drag chain piece.

4. The transfer device of claim 2, wherein the mobile module comprises a first motor and a first synchronization shaft, the first motor being disposed at one end of one of the first shaft modules, the first synchronization shaft being coupled to the first motor and to a plurality of the first shaft modules.

5. The transfer device of claim 1, wherein the banknote handling robot comprises a guide wheel disposed at a bottom of the banknote handling robot;

the shell assembly is internally provided with a guide wheel bracket, the guide wheel bracket is provided with a guide wheel piece, the guide wheel piece is provided with a guide wheel groove, and the guide wheel is arranged in the guide wheel groove.

6. The transfer device of claim 1, wherein the positioning assembly comprises:

A base;

The sliding piece is arranged on the base and slides along the base;

the guide wheel plate is arranged on the base along the sliding direction of the base, and a guide groove is formed in the guide wheel plate;

the push rod piece comprises a push rod piece body, a first hinge end and a second hinge end are respectively arranged on the push rod piece body, the first hinge end is arranged in the guide groove, the second hinge end is fixedly connected with the sliding piece, a limiting block is arranged at one end, away from the first hinge end, of the push rod piece body, and the limiting block is used for limiting the stop block of the banknote transporting robot.

7. The transfer device of claim 6, wherein the slider comprises a second motor, a coupling, a wire rod, a first guide rail, and a screw rod holder, wherein the second motor, the coupling, and the screw rod are sequentially connected, the first guide rail is disposed on two sides of the wire rod, the second motor, the screw rod, and the first guide rail are all fixed on the base, the screw rod holder is connected to the wire rod and the first guide rail, the second hinge end is fixedly connected to one side of the screw rod holder, and the screw rod holder follows the screw rod to slide on the first guide rail.

8. The transfer device of claim 1, wherein the grapple end is provided with a hook member;

the tray assembly comprises a tray body and a tray hanging opening, the tray hanging opening is arranged on one side of the tray body, and the hook piece is clamped in the tray hanging opening;

The tray body is provided with a second groove, the side wall of the second groove is provided with a limiting strip, and the limiting strip is used for limiting the money box in the second groove.

9. The transfer device of claim 1, wherein a tooling support is disposed on an inner wall of the housing assembly, the tooling support is disposed in parallel on the inner wall of the housing assembly, the hook portion is disposed on the tooling support, and the tooling support is used for realizing precision adjustment of a spatial position and flatness of the hook portion in the housing assembly.

10. A method of transferring using a transfer device according to any one of claims 1 to 9, comprising:

When the banknote transporting robot enters the vehicle-mounted vault, a guide wheel of the banknote transporting robot moves in a guide wheel groove along a first direction;

after the banknote transporting robot moves to a designated position in the first direction, the banknote transporting robot sends a first signal to the control assembly;

After the control component receives the first signal, the positioning component is controlled to limit the banknote transporting robot in the first direction;

After the positioning assembly completes limiting of the banknote transporting robot, the banknote transporting robot sends a second signal to the control assembly;

after the control component receives the second signal, the moving module is controlled to move the tray component;

after the moving module finishes moving the tray assembly, the moving module sends a third signal to the control assembly;

after receiving the third signal, the control component controls the positioning component to move so that the banknote transporting robot is in a flexible state in a first direction;

And after the positioning assembly releases limit of the banknote transporting robot, the banknote transporting robot is controlled to leave the vehicle-mounted vault along the guide wheel groove.