CN208330019U - Self-calibration system for Full-automatic safe deposit box - Google Patents
Self-calibration system for Full-automatic safe deposit box Download PDFInfo
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- CN208330019U CN208330019U CN201820925460.9U CN201820925460U CN208330019U CN 208330019 U CN208330019 U CN 208330019U CN 201820925460 U CN201820925460 U CN 201820925460U CN 208330019 U CN208330019 U CN 208330019U
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- deposit box
- safe deposit
- position data
- photo detector
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Abstract
The utility model relates to safe deposit box technical fields, specifically, being related to a kind of self-calibration system for Full-automatic safe deposit box.The self-calibration system includes the light supply apparatus below any safe deposit box storage groove of safe deposit box storage rack, and the four-quadrant photo detector at grasping mechanism, four-quadrant photo detector are corresponding with the position of light supply apparatus；Four-quadrant photo detector is used to the real time position data of probe source device and is uploaded in one control unit, real time position data for being compared with base position data and being passed through actuating mechanism controls grasping mechanism fine tuning by middle control unit, until real time position data is identical as base position data.The utility model can be realized grasping mechanism and grab the automatic calibration of relative position between target.
Description
Technical field
The present invention relates to safe deposit box technical fields, specifically, being related to a kind of self calibration system for Full-automatic safe deposit box
System.
Background technique
Safe deposit box is that bank sets for convenience of the safe and reliable secrecy that client deposits valuables and document and provides
It applies, it can store gold, silver and jewelry, heritage treasure, marketable securities, contract, contract, capsule information and master files etc., have rent rate
Be suitable for, great variety of goods and it is safe and reliable the features such as.Safe deposit box service is got over by its brilliant secret sexual function and cost performance
Carry out more users to approve.
Safe deposit box product is broadly divided into fixed safe deposit box, mobile combination safe deposit box and full-automatic keeping currently on the market
3 major class product of case, wherein Full-automatic safe deposit box is novel product.Full-automatic safe deposit box power relies on motor, and stroke is by control
Give the pulse number of motor.It needs to carry out each cabinet storage slot position when this runs existing Full-automatic safe deposit box for the first time
Pulse Exact calculation positions, and after long-play, abrasion or dust due to machinery collect together product in tracks, is easy to make
Especially long to movement length at deviations, error, which is saved bit by bit, to be become apparent, and a series of failures are caused, and maintenance is big, stops
Machine time length etc..
Summary of the invention
The present invention provides a kind of self-calibration systems for Full-automatic safe deposit box, can overcome certain of the prior art
Or certain defects.
Self-calibration system according to the present invention for Full-automatic safe deposit box comprising be set to any guarantor of safe deposit box storage rack
Light supply apparatus below bobbin carriage storage groove, and the four-quadrant photo detector at grasping mechanism, four-quadrant photo detector
It is corresponding with the position of light supply apparatus；Four-quadrant photo detector is used for the real time position data of probe source device and is uploaded to
Unit is controlled in one, real time position data for being compared with base position data and being passed through executing agency control by middle control unit
Grasping mechanism fine tuning processed, until real time position data is identical as base position data.
Self-calibration system through the invention can visit the position of light supply apparatus using four-quadrant photo detector
It surveys, so as to obtain position of the respective sources device at four-quadrant photo detector.This debugs Full-automatic safe deposit box
When stage (before first use), manually grasping mechanism can be aligned with each safe deposit box storage groove, and can will at this time
Position of the respective sources device at four-quadrant photo detector is stored as the base position data of corresponding safe deposit box storage groove
At middle control unit.Later, in Full-automatic safe deposit box practical application, grasping mechanism can be moved to accordingly by executing agency
At safe deposit box storage groove, and during four-quadrant photo detector can be detected and be passed through to respective sources device in real time at this time
Real time position data is compared by control unit with base position data, so that middle control unit can pass through executing agency pair
The position of grasping mechanism is finely adjusted.By this measure, it can effectively guarantee that grasping mechanism and corresponding safe deposit box store slotware
Location accuracy, and then mismatch error caused by capable of being effectively reduced because of causes such as mechanical abrasion, deformation.
Preferably, light supply apparatus uses light emitting diode.Light supply apparatus can use existing conventional light emitting diode,
To low cost, it is easy to implement.
Preferably, grasping mechanism include one crawl bracket, crawl bracket include sequentially connected first side plate, bottom plate and
Second side plate, the first side plate and the second side plate it is ipsilateral be vertical at bottom plate both ends；The inside phase of first side plate and the second side plate
To a support plate is vertically equipped at position, the safe deposit box grabbing groove for cooperating with safe deposit box, support are formed above support plate
The detector mounting groove for installing four-quadrant photo detector is formed below plate.Consequently facilitating realizing.
Preferably, when grasping mechanism is aligned with any safe deposit box storage groove, four-quadrant photo detector and respective sources
The distance of the horizontal direction of device is no more than 3cm, the vertical direction of four-quadrant photo detector central point and respective sources device
Distance be no more than 2cm.So as to preferably guarantee four-quadrant photo detector to the detection accuracy of respective sources device.
Preferably, four-quadrant photo detector includes 4 photodetectors.
The present invention also provides a kind of method for self-calibrating for Full-automatic safe deposit box comprising following steps:
Step 1: a light supply apparatus is respectively provided at the lower section of any safe deposit box storage groove of safe deposit box storage rack；
A four-quadrant photo detector is arranged at grasping mechanism, and makes four-quadrant photo detector and light for step 2
The position of source device is corresponding；
Step 3 uses four-quadrant photo detector to detect the position of light supply apparatus to obtain the reality of light supply apparatus
When position data, and be sent in one and control unit；
Real time position data is compared with base position data and passes through executing agency control by step 4, middle control unit
Grasping mechanism operation processed, until real time position data is identical as base position data.
Method for self-calibrating in through the invention, so that grasping mechanism is being run to corresponding safe deposit box storage groove every time
When, can detection by four-quadrant photo detector to light supply apparatus position, and realize the calibration to grasping mechanism, thus
It can preferably realize the smooth push-and-pull of safe deposit box.By this kind of method can preferably realize grasping mechanism it is upper and lower, left,
Right accurate adjustment, and then preferably realize the self calibration of grasping mechanism.
Preferably, further including base position data acquisition step, specifically, by being manually directed at safe deposit box storage rack
Corresponding safe deposit box storage groove, and the position data for the light supply apparatus that four-quadrant photo detector at this time is detected is as benchmark
Position data, and be stored at middle control unit.
In method for self-calibrating of the invention, in first operation, grasping mechanism can be artificially adjusted to suitable position, directly
It can smoothly push away to grasping mechanism, draw safe deposit box, and by the position of the light supply apparatus of the acquisition of four-quadrant photo detector at this time
As base position data, to preferably realize the initialization of grasping mechanism.Later, corresponding each safe deposit box storage groove,
A motor operating pulse information can be arranged roughly in middle control unit correspondingly, and this method and existing setting method are (real
Safe deposit box storage groove location is surveyed to obtain with after initial point distance referring to motor electronic gear ratio) it is identical, only to the requirement of accuracy
It does not need to reach the degree that grasping mechanism can preferably be cooperated with safe deposit box storage groove, it is only necessary to so that four-quadrant photoelectricity
The investigative range of detector can cover the range of exposures of the light supply apparatus at corresponding safe deposit box storage groove.Later, pass through
The cooperation of four-quadrant photo detector and respective sources device can preferably realize the self calibration of grasping mechanism.
Detailed description of the invention
Fig. 1 is the schematic diagram of the safe deposit box storage rack in embodiment 1；
Fig. 2 is the schematic diagram of the cabinet transfer frame in embodiment 1；
Fig. 3 is system block diagram of one of the embodiment 1 for the self-calibration system of Full-automatic safe deposit box；
Fig. 4 is the schematic diagram of the four-quadrant photo detector in embodiment 1；
Fig. 5 is flow diagram of one of the embodiment 1 for the method for self-calibrating of Full-automatic safe deposit box.
Specific embodiment
To further appreciate that the contents of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.It should be understood that
, embodiment be only to the present invention explain and and it is non-limiting.
Embodiment 1
A kind of self-calibration system for Full-automatic safe deposit box is present embodiments provided, can be carried out using optical plan
Deviation calibration can the preferably realization pair when abrasion or deformation occur for mechanical structure after determining relative standard position
The positioning of safe deposit box.
As shown in Figure 1, for the schematic diagram of the safe deposit box storage rack 100 in the present embodiment.Wherein, safe deposit box storage rack 100
Place's rectangular array has multiple safe deposit box storage grooves 110, and a light supply apparatus 120 is equipped with below each safe deposit box storage groove 110.
As shown in Fig. 2, for the partial structure diagram of the grasping mechanism 210 in the present embodiment.Wherein, grasping mechanism 210
For realizing the crawl to safe deposit box 230, a four-quadrant photo detector 220 is equipped at grasping mechanism 210, four-quadrant photoelectricity is visited
Device 220 is surveyed for being cooperated with light supply apparatus 120.
As shown in figure 3, the self-calibration system of the present embodiment includes being set to any safe deposit box storage groove of safe deposit box storage rack 100
The light supply apparatus 120 and the four-quadrant photo detector 220 at grasping mechanism 210 of 110 lower sections.Wherein, four-quadrant photoelectricity
Detector 220 is corresponding with the position of light supply apparatus 120.Four-quadrant photo detector 220 is used for the reality of probe source device 120
When position data and be uploaded in one and control unit, middle control unit is for real time position data to be compared with base position data
And finely tuned by an actuating mechanism controls grasping mechanism 210, until real time position data is identical as base position data.
Self-calibration system through this embodiment, can be using four-quadrant photo detector 220 to the position of light supply apparatus 120
It sets and is detected, so as to obtain position of the respective sources device 120 at four-quadrant photo detector 220.This makes entirely
When automatic safe deposit box debugging stage (before first use), can manually by grasping mechanism 210 and each safe deposit box storage groove 110 into
Row alignment, and can be using position of the respective sources device 120 at four-quadrant photo detector 220 at this time as corresponding safe deposit box
The base position data of storage groove 110 are stored at middle control unit.Later, in Full-automatic safe deposit box practical application, machine is executed
Grasping mechanism 210 can be moved at corresponding safe deposit box storage groove 110 by structure, and four-quadrant photo detector 220 at this time
In real time respective sources device 120 can detect and by middle control unit by real time position data and base position data into
Row compares, so that middle control unit can be finely adjusted by position of the executing agency to grasping mechanism 210.By this measure,
It can effectively guarantee the location accuracy of grasping mechanism 210 Yu corresponding safe deposit box storage groove 110, and then can effectively drop
It is low because of mismatch error caused by the causes such as mechanical abrasion, deformation.
In the present embodiment, light supply apparatus 120 uses light emitting diode.Light supply apparatus 120 can use existing conventional hair
Optical diode, so that low cost, is easy to implement.
In the present embodiment, grasping mechanism 210 includes a crawl bracket 211, and crawl bracket 211 includes sequentially connected first
Side plate, bottom plate and the second side plate, the first side plate and the second side plate it is ipsilateral be vertical at bottom plate both ends；First side plate and second side
It is vertically equipped with a support plate 212 at the inside relative position of plate, is formed above support plate 212 for cooperating with safe deposit box 230
Safe deposit box grabbing groove 213, form the detector mounting groove for installing four-quadrant photo detector 220 below support plate 212
214.Consequently facilitating realizing.
In the present embodiment, when grasping mechanism 210 is aligned with any safe deposit box storage groove 110, four-quadrant photo detector 220
With at a distance from the horizontal direction of respective sources device 120 be no more than 3cm, 220 central point of four-quadrant photo detector and corresponding light
The distance of the vertical direction of source device 120 is no more than 2cm.So as to preferably guarantee 220 pairs of phases of four-quadrant photo detector
Answer the detection accuracy of light supply apparatus 120.
As shown in figure 4, four-quadrant photo detector 220 includes 4 photodetectors.Wherein, photodetector can be adopted
With existing conventional photodetector, each photodetector can be responsible for the detection to a different quadrant inner regions.Four-quadrant
Photodetector 220 is limited when detecting to respective sources device 120, each photodetector can generate a telecommunications
Number and be sent to middle control unit after treatment, middle control unit can be according to the amplitude size determination for receiving 4 photosignals
Location information of the respective sources device 120 relative to each quadrant, so as to preferably obtain the reality of respective sources device 120
When position data.
Grasping mechanism 210 in the present embodiment can be using conventional mechanical arm.
Self-calibration system based on the present embodiment, the present embodiment additionally provide a kind of self calibration for Full-automatic safe deposit box
Method comprising following steps:
Step 1: a light supply apparatus is respectively provided at the lower section of any safe deposit box storage groove 110 of safe deposit box storage rack 100
120；
A four-quadrant photo detector 220 is arranged at grasping mechanism 210, and makes four-quadrant photodetection for step 2
Device 220 is corresponding with the position of light supply apparatus 120；
Step 3 uses four-quadrant photo detector 220 to detect the position of light supply apparatus 120 to obtain light source dress
120 real time position data is set, and is sent in one and controls unit；
Real time position data is compared with base position data and passes through executing agency control by step 4, middle control unit
Grasping mechanism 210 processed is run, until real time position data is identical as base position data.
Method for self-calibrating in through this embodiment, so that grasping mechanism 210 is every time in operation to corresponding safe deposit box storage
When at slot 110, can detection by four-quadrant photo detector 220 to 120 position of light supply apparatus, and realize to gripper
The calibration of structure 210, so as to preferably realize the smooth push-and-pull of safe deposit box 230.It can preferably be realized by this kind of method
The accurate adjustment of the upper and lower, left and right of grasping mechanism 210, and then preferably realize the self calibration of grasping mechanism 210.
The method for self-calibrating of the present embodiment further includes base position data acquisition step, specifically, by manually will keeping
Case storage rack 100 is directed at corresponding safe deposit box storage groove 110, and by four-quadrant photo detector 220 detects at this time light source
The position data of device 120 is stored at middle control unit as base position data.
In the method for self-calibrating of the present embodiment, in first operation, grasping mechanism 210 can be artificially adjusted to suitable position
It sets, until grasping mechanism 210 can be pushed away smoothly, draw safe deposit box 230, and four-quadrant photo detector 220 at this time is acquired
The position of light supply apparatus 120 is as base position data, to preferably realize the initialization of grasping mechanism 210.Later, right
Each safe deposit box storage groove 110 is answered, a motor operating pulse information can be arranged roughly in middle control unit correspondingly, should
Method and existing setting method (being obtained after actual measurement 110 position of safe deposit box storage groove and initial point distance referring to motor electronic gear ratio)
It is identical, only do not need to reach that required in the prior art degree --- grasping mechanism 210 can to the requirement of accuracy
Preferably cooperated with safe deposit box storage groove 110；And only it is required that the investigative range of four-quadrant photo detector 220 can be covered
Cover the range of exposures of the light supply apparatus 120 at corresponding safe deposit box storage groove 110.Later, pass through four-quadrant photo detector
220 and the cooperation of respective sources device 120 can preferably realize the self calibration of grasping mechanism 210.
Self-calibration system and method for self-calibrating through this embodiment can preferably realize grasping mechanism 210 and crawl
The automatic calibration of relative position between target can preferably overcome absolute position because of machine error bring variety of problems, and school
Quasi- position fixing process is intervened without extraneous, and reliability is higher.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if the common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (5)
1. being used for the self-calibration system of Full-automatic safe deposit box, it is characterised in that: including being set to safe deposit box storage rack (100) any guarantor
Light supply apparatus (120) below bobbin carriage storage groove (110), and the four-quadrant photo detector being set at grasping mechanism (210)
(220), four-quadrant photo detector (220) is corresponding with the position of light supply apparatus (120)；Four-quadrant photo detector (220)
For probe source device (120) real time position data and be uploaded in one and control unit, middle control unit is used for real time position
Data are compared with base position data and pass through an actuating mechanism controls grasping mechanism (210) fine tuning, until real time position
Data are identical as base position data.
2. the self-calibration system according to claim 1 for Full-automatic safe deposit box, it is characterised in that: light supply apparatus
(120) light emitting diode is used.
3. the self-calibration system according to claim 1 for Full-automatic safe deposit box, it is characterised in that: grasping mechanism
It (210) include crawl bracket (211), crawl bracket (211) includes sequentially connected first side plate, bottom plate and the second side plate,
First side plate and the second side plate it is ipsilateral be vertical at bottom plate both ends；It is equal at the inside relative position of first side plate and the second side plate
A support plate (212) vertically are equipped with, form the safe deposit box grabbing groove for cooperating with safe deposit box (230) above support plate (212)
(213), the detector mounting groove (214) for installing four-quadrant photo detector (220) is formed below support plate (212).
4. the self-calibration system according to claim 1 for Full-automatic safe deposit box, it is characterised in that: grasping mechanism
(210) when being aligned with any safe deposit box storage groove (110), four-quadrant photo detector (220) and respective sources device (120)
The distance of horizontal direction is no more than 3cm, and four-quadrant photo detector (220) central point is vertical with respective sources device (120)
The distance in direction is no more than 2cm.
5. the self-calibration system according to claim 1 for Full-automatic safe deposit box, it is characterised in that: four-quadrant photoelectricity is visited
Surveying device (220) includes 4 photodetectors.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820925460.9U CN208330019U (en) | 2018-06-15 | 2018-06-15 | Self-calibration system for Full-automatic safe deposit box |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820925460.9U CN208330019U (en) | 2018-06-15 | 2018-06-15 | Self-calibration system for Full-automatic safe deposit box |
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| CN208330019U true CN208330019U (en) | 2019-01-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108756593A (en) * | 2018-06-15 | 2018-11-06 | 安徽中科智链信息科技有限公司 | Self-calibration system and its method for Full-automatic safe deposit box |
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2018
- 2018-06-15 CN CN201820925460.9U patent/CN208330019U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108756593A (en) * | 2018-06-15 | 2018-11-06 | 安徽中科智链信息科技有限公司 | Self-calibration system and its method for Full-automatic safe deposit box |
| CN108756593B (en) * | 2018-06-15 | 2023-09-26 | 安徽中科智链信息科技有限公司 | Self-calibration system for fully automatic safe deposit box and method thereof |
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