CN214651095U - Intelligent storage device - Google Patents

Abstract

The utility model relates to the technical field of a conveying mechanism, in particular to an intelligent storage device, when a certificate is required to be stored, the conveying mechanism is controlled by a main control unit, a gripping device is driven to move to a feeding area, the certificate to be stored is gripped by the feeding area, meanwhile, a server is used for matching a storage bit for the certificate, an address code corresponding to the storage bit is sent to the main control unit, and the main control unit controls the conveying mechanism to convey the gripping device to the appointed storage bit according to the address code and align the certificate with the storage bit to store the certificate; when the appointed certificate is required to be taken out, the server sends the appointed address code to the main control unit, the main control unit controls the conveying mechanism to convey the grabbing device to the appointed storage position, the certificate is taken out and conveyed to the feeding area, the evidence obtaining operation is completed, the full-intelligent and automatic access operation is achieved, time and labor are saved, the storage capacity of the target area can be enlarged, the cost investment is reduced to a large extent, and the intelligent and automatic product effects are achieved.

Description

Intelligent storage device

Technical Field

The utility model belongs to the technical field of the card storage, more specifically say, relate to an intelligent storage device.

Background

After the certificate is manufactured, the certificate needs to be stored in a centralized manner and taken out directionally according to target information. When storing and distributing the certificate, still need a large amount of manual intervention, lead to inefficiency, the error rate is higher relatively, and personnel's cost is also higher, consuming time and wasting force. Moreover, the certificates are classified into such certificates (such as passports) and card certificates (such as identity cards, hong Kong and Macau passes), and the centralized management is difficult due to the increased workload.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an intelligent storage device to when solving to exist among the prior art and save and distribute the certificate, need a large amount of manual work to intervene, lead to technical problem inefficiency, error rate height, personnel with high costs.

In order to achieve the above object, the utility model adopts the following technical scheme: the intelligent storage device is in communication connection with a server and comprises a mounting frame, wherein the mounting frame is provided with a feeding area and a target area. The intelligent storage equipment also comprises an intelligent mechanical arm and a storage device arranged in the target area, wherein the storage device is provided with a plurality of storage positions for storing the certificates, and each storage position has a unique address code and is recorded in the server; the intelligent manipulator comprises a main control unit, a conveying mechanism and a grabbing device, wherein the conveying mechanism and the grabbing device are connected with the main control unit in a control mode, the conveying mechanism is arranged on the mounting frame and connected with the grabbing device, the main control unit is in communication connection with the server, the conveying mechanism drives the grabbing device to move in a reciprocating mode between the target area and each storage position, and the main control unit controls the grabbing device to grab and release.

The utility model provides a pair of intelligent storage equipment's beneficial effect lies in: when the certificates need to be stored, the transmission mechanism is controlled by the main control unit to drive the grabbing device to move to the feeding area, the certificates to be stored are grabbed by the feeding area, meanwhile, the server matches a storage location for the certificates, namely, an address code corresponding to the storage location is sent to the main control unit, and the main control unit controls the transmission mechanism to transmit the grabbing device to the appointed storage location according to the address code, align the certificates with the storage location and store the certificates; when the appointed certificate is required to be taken out, the server sends the appointed address code to the main control unit, the main control unit controls the conveying mechanism to convey the grabbing device to the appointed storage position, the certificate is taken out and conveyed to the feeding area, the evidence obtaining operation is completed, the full-intelligent and automatic access operation is achieved, and the storage capacity can be set according to requirements. This intelligent robot can replace manual operation completely, removes the manual work from and deposits the certificate one by one and look for the target certificate and the work load of taking out in the target area, can reach the effect of quick storage certificate and quick and accurate target certificate of taking out, and labour saving and time saving can enlarge the memory space of target area, and to a great extent has reduced the cost and has dropped into, has reached the effect of product intellectuality, automation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is an assembled perspective view of an intelligent manipulator provided in an embodiment of the present invention;

fig. 2 is a partial perspective exploded view of an intelligent manipulator according to a first embodiment of the present invention;

fig. 3 is an exploded perspective view of a sliding connection assembly according to an embodiment of the present invention;

fig. 4 is an exploded perspective view of a vertical conveyer according to an embodiment of the present invention;

fig. 5 is a first schematic diagram of a power-off protection structure according to a first embodiment of the present invention;

fig. 6 is a second schematic diagram of a power-off protection structure according to a first embodiment of the present invention;

fig. 7 is an exploded perspective view of a second horizontal conveying device and a gripping device according to a first embodiment of the present invention;

fig. 8 is an assembled perspective view of a second horizontal transfer device and a gripping device according to a first embodiment of the present invention;

fig. 9 is a perspective view of an intelligent storage device according to a first embodiment of the present invention;

fig. 10 is a perspective view of a storage unit according to a first embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or it can be indirectly fixed to or disposed on the other element through a third member. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element through a third component.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The first embodiment is as follows:

referring to fig. 1, 9 and 10, in an embodiment of the present invention, an intelligent storage device is provided, where the intelligent storage device is in communication connection with a server, the intelligent storage device 300 includes a mounting rack 100, and the mounting rack 100 has a feeding area 101 and a target area 102. The intelligent storage device 300 further comprises the intelligent mechanical arm 200 and a storage device 310 arranged in the target area 102, wherein the storage device 310 is provided with a plurality of storage positions 301 for storing certificates, each storage position 301 is provided with a unique address code, each address code is recorded in the server, and the address code is the space coordinate position where the storage position 301 is located. The intelligent manipulator 200 comprises a main control unit, a conveying mechanism 210 and a grabbing device 220, wherein the conveying mechanism 210 and the grabbing device 220 are in control connection with the main control unit, the conveying mechanism 210 is arranged on the installation frame 100 and is connected with the grabbing device 220, the conveying mechanism 210 and the grabbing device 220 are in control connection with the main control unit, the main control unit is in communication connection with a server, and the conveying mechanism 210 drives the grabbing device 220 to convey certificates between the target area 102 and the storage position 301 in a reciprocating mode. The main control unit controls the grabbing device 220 to grab and release.

In this embodiment, when a certificate needs to be stored, the transfer mechanism 210 is controlled by the main control unit, drives the grabbing device 220 to shift to the feeding area 101, and grabs the certificate to be stored in the feeding area 101, and meanwhile, the server matches a storage bit 301 for the certificate, that is, an address code corresponding to the storage bit 301 is sent to the main control unit, and the main control unit controls the transfer mechanism 210 to transfer the grabbing device 220 to the specified storage bit 301 according to the address code and aligns the certificate with the storage bit 301, so as to store the certificate; when the appointed certificate is required to be taken out, the server sends the appointed address code to the main control unit, the main control unit controls the conveying mechanism 210 to convey the grabbing device 220 to the appointed storage position 301, the certificate is taken out and conveyed to the feeding area 101, the evidence taking operation is completed, the full-intelligent and automatic access operation is achieved, and the storage capacity can be set according to requirements. This intelligent robot 200 can replace manual operation completely, removes the manual work and deposits the certificate one by one and look for the target certificate and the work load of taking out at target area 102 from, can reach the effect of quick storage certificate and quick and accurate target certificate of taking out, and labour saving and time saving can enlarge the memory space of target area 102, and to a great extent has reduced the cost and has dropped into, has reached the effect that the product is intelligent, automatic.

When the intelligent mechanical arm 200 in the first embodiment is used on a certificate storage device, the target area 102 is provided with a plurality of storage positions 301 for storing certificates, each storage position 301 is provided with a unique address code, and each address code contains the space coordinate information of the corresponding storage position 301. When the certificate storage operation is executed, the transmission mechanism 210 is controlled by the main control unit, drives the grabbing device 220 to grab the certificate through the feeding area 101, acquires certificate information through the reading unit on the grabbing device 220, uploads the certificate information to the server, the server matches an empty storage position 301 for the certificate information, and sends an address code to the main control unit, the transmission mechanism 210 is controlled by the main control unit, transmits the grabbing device 220 to the appointed storage position 301, and stores the certificate; when the certificate taking-out operation is executed, the main control unit acquires an address code of a target certificate sent by the server, the transmission mechanism 210 is controlled by the main control unit, the grabbing device 220 is driven to grab the certificate through the storage bit 301 corresponding to the address code in the target area 102, certificate information is acquired, whether the certificate is the target certificate or not is checked, a result is fed back, and the certificate is transmitted to the feeding area 101, so that the certificate taking-out operation is realized.

The loading zone 101 has a plurality of loading levels, each loading level having a unique address number and being stored in the server. When the intelligent manipulator 200 moves forward to the feeding area 101 to take the certificate, the visual detection unit is used for acquiring the picture of the feeding area 101 and uploading the picture to the server, the server analyzes whether the certificate is arranged at each feeding position, then the address code of the feeding position with the certificate is sent to the main control unit, and the intelligent manipulator 200 is controlled to accurately take the certificate; or directly utilizing the server to send the address code to capture the certificate. When the certificates need to be stored in the feeding area 101, the images of the feeding area 101 are also acquired and uploaded to the server, whether the feeding positions are vacant is analyzed, then the vacant feeding positions are matched, the address codes are sent to the main control unit, and the intelligent manipulator 200 is controlled to accurately store the certificates.

The storage device 310 comprises a first storage part for storing the certificate and a second storage part for storing the card certificate, wherein the first storage part and the second storage part are respectively provided with a plurality of storage positions 301, so that the device can simultaneously store the card and the certificate, and the storage performance of the device is enriched.

Referring to fig. 9 and 10, the mounting rack 100 has two transfer areas 103, each transfer area 103 is configured with at least one intelligent robot 200, the feeding area 101 is configured with two intelligent robots 200 and respectively located in the two transfer areas 103, each feeding area 101 is provided with at least one feeding port 104 for feeding certificates, and each intelligent robot 200 at least corresponds to one feeding port 104; the two transfer areas 103 are disposed on opposite sides of the target area 102, and each storage position 301 of the storage device 310 has two insertion ports communicating with each other and faces the smart manipulator 200 on each side. Therefore, on one hand, the storage efficiency is improved, and on the other hand, when the intelligent mechanical arm 200 on one side breaks down, the intelligent mechanical arm 200 on the opposite side can still continue to work, so that the storage work is ensured to be stably and orderly carried out. Each storage bit 301 of storage device 310 is a storage slot provided on storage device 310. The card storing slots of the storage device 310 are arranged in an array, and are dual-socket card storing slots, and the two sockets face the two transmission areas 103 respectively.

Referring to fig. 9 and 10, each storage position 301 is provided with a clamping structure 311 on at least one side thereof for clamping a certificate, and a clamping end of the clamping structure 311 extends into the storage position 301, so that the certificate can be stably stored in the storage position 301 after being inserted into the storage position.

The clamping structure 311 may be a rib plate protruding from the inner wall of each storage bit 301, and the certificate is clamped by using the space of the clamping structure.

Alternatively, clamping structure 311 includes elastic plate 312 and resilience mouth 302, and resilience mouth 302 is located the inside wall of each storage bit 301 and is followed certificate insertion direction and extend, and the both ends of elastic plate 312 are connected in resilience mouth 302 department and are opposed to resilience mouth 302 and follow certificate insertion direction and extend. The resilient plate 312 is resiliently bent at the resilient opening 302 to form a resilient projection, which is located within the storage bit 301. When the certificate is inserted, the certificate can elastically abut against the certificate, and the certificate is stabilized. The rebound protrusions are in a trapezoid shape, an arc shape, a V shape and the like. The rebound openings 302 can escape from the deformed portion after the elastic plate 312 is elastically deformed. The flexible panel 312 is integrally formed with or removably attached to the storage device 310.

The storage device 310 is formed by detachably connecting a plurality of storage units 313, each storage unit 313 is provided with a plurality of storage positions 301, so that the maintenance, the maintenance or the replacement is convenient, the use requirement is met, and the maintenance cost can be reduced.

The intelligent storage device 300 is matched with a transfer robot, the transfer robot is in communication connection with a server, and the server performs unified scheduling on the transfer robot. The mounting frame 100 has a transfer space 105 below the mounting frame for a transfer robot to and from, the transfer space 105 is located below the transfer area 103 and communicates with the respective transfer ports 104, and the transfer robot can accommodate a plurality of documents (card-type documents or/and the like). When the transfer robot travels to the transfer space 105, the feeding device on which the certificate is accommodated is pushed to the conveying port 104 opposite to the feeding device, so that the intelligent manipulator 200 can grab the certificate; when the appointed certificate is required to be taken away, the intelligent mechanical arm 200 places the taken-away certificate in a feeding device of the transfer robot, and the certificate is sent out by the transfer robot. Therefore, the transmission and storage of the certificate and the full-intelligent and automatic management are realized.

The mounting frame 100 is fixed with at least one positioning plate 130 at the bottom thereof, and each positioning plate 130 is provided with the delivery port 104, and each delivery port 104 is equipped with direction inclined plane downwards and circumference, can make transfer robot's loading attachment insert in the delivery port 104 fast along the direction inclined plane, even if there is less deviation in loading attachment and delivery port 104 counterpoint, also can be because of direction inclined plane location guide effect, reach the effect of rectifying a deviation. Preferably, the delivery opening 104 is adapted to the shape of the loading device.

Referring to fig. 1 and 2, the smart manipulator is used for transferring documents, which are classified into the types of documents (such as passports) and cards (such as identity cards, port and macadamia passes, bank cards, etc.). The intelligent manipulator 200 provided in this embodiment is not limited to be used for certificate transfer, and may also be used for other material transfer, without limitation. The smart robot is mounted to the mounting block 100 and reciprocates between a loading area 101 and a target area 102 of the mounting block 100 to effect automatic transfer of documents. The target area 102 may be an area for storing credentials or an area for exporting credentials. The feeding area 101 belongs to a document supply area. The intelligent manipulator 200 can be used for transferring the certificates in the feeding area 101 to the target area 102, and the intelligent manipulator 200 can also be used for retrieving the certificates in the target area 102 and putting the certificates back to the feeding area 101, so that full-automatic reciprocating transfer operation is realized. The intelligent manipulator 200 comprises a main control unit, a conveying mechanism 210 and a grabbing device 220, wherein the conveying mechanism 210 and the grabbing device 220 are both in control connection with the main control unit, the conveying mechanism 210 is arranged on the installation frame 100 and is connected with the grabbing device 220, the grabbing device 220 is driven to convey certificates between the feeding area 101 and the target area 102 in a reciprocating mode under the control of the main control unit, and the main control unit controls the grabbing device 220 to grab and release the certificates.

In this embodiment, the smart robot 200 includes a main control unit, and a transfer mechanism 210 and a gripping device 220 controlled and allocated by the main control unit, wherein the transfer mechanism 210 is installed on the mounting block 100 and connected to the gripping device 220, and the mounting block 100 has a loading area 101 and a target area 102. The conveying mechanism 210 drives the gripping device 220 to reciprocate between the loading area 101 and the target area 102 of the mounting frame 100 under the control of the main control unit so as to realize automatic document storage and taking, and the gripping device 220 can grasp and release the document under the control of the control unit. In this way, the intelligent manipulator 200 can be used for transferring the certificates in the feeding area 101 to the target area 102 one by one, and the intelligent manipulator 200 can be used for taking out the certificates in the target area 102 and transferring the certificates to the feeding area 101, so that full intellectualization and automation of certificate management are realized. This intelligent robot 200 can replace manual operation completely, removes the loaded down with trivial details operation of artifical conveying certificate, searching target certificate from, can reach the effect of quick conveying, accurate access certificate, labour saving and time saving, and to a great extent the cost is reduced drops into, really reaches product intellectuality, automatic effect.

Referring to fig. 1 to 3, the transfer mechanism 210 includes a first horizontal transfer device 211, a vertical transfer device 212, and a second horizontal transfer device 213, which are all connected to the main control unit.

The first horizontal transfer device 211 is disposed on the mounting frame 100 and connected to the vertical transfer device 212, and drives the vertical transfer device 212 to reciprocate in a first horizontal direction in a horizontal plane.

The vertical transfer device 212 is connected to the second horizontal transfer device 213, which drives the second horizontal transfer device 213 to reciprocate in the vertical direction.

The second horizontal transfer device 213 is connected to the gripping device 220, and drives the gripping device 220 to reciprocate in a second horizontal direction within the horizontal plane, wherein the second horizontal direction and the first horizontal direction form an included angle theta, and theta is greater than 0 degree and less than 180 degrees.

In this embodiment, the first horizontal conveying device 211, the vertical conveying device 212, and the second horizontal conveying device 213 of the conveying mechanism 210 are utilized to drive the gripping device 220 to move along the first horizontal direction, the second horizontal direction, and the vertical direction, and generally, an included angle θ between the first horizontal direction and the second horizontal direction is 90 °, that is, three-dimensional space free displacement conveying of the gripping device 220 in an X axis (the first horizontal direction), a Y axis (the second horizontal direction), and a Z axis (the vertical direction) is realized, and a spatial range and flexibility of document conveying are improved, as shown in fig. 1 and fig. 2.

The first horizontal transfer device 211 includes a first driving assembly 2111, a first sliding contact assembly 2112 and a first support 2113, wherein the first sliding contact assembly 2112 is connected between the mounting rack 100 and the first support 2113, and the sliding direction of the first support 2113 relative to the mounting rack 100 is a first horizontal direction. The first driving assembly 2111 drives the first supporting frame 2113 to slide back and forth along the first horizontal direction under the control of the main control unit, and the vertical conveying device 212 is fixedly connected with the first supporting frame 2113. Thus, while the first driving assembly 2111 drives the first support frame 2113 to slide back and forth along the first horizontal direction, the vertical transfer device 212 fixed on the first support frame 2113 is driven to slide back and forth along the first horizontal direction, the gripping device 220 is indirectly connected with the first support frame 2113 through the vertical transfer device 212 and the second horizontal transfer device 213, the vertical transfer device 212 is connected with the second horizontal transfer device 213, and therefore, the gripping device 220 is driven to move along the first horizontal direction.

The first driving assembly 2111 comprises a first power source 21111, a first gear 21112 and a first rack 21113, the first power source 21111 is fixed on the first support 2113, a power output shaft of the first power source is connected with the first gear 21112, and the power output shaft can drive the first gear 21112 to synchronously rotate forwards and backwards. The first rack 21113 is fixed to the mounting bracket 100 and is engaged with the first gear 21112. Thus, the forward and reverse meshing movement of the first gear 21112 with the first rack 21113 is converted into forward and reverse movement of the first support 2113 with respect to the first rack 21113. The extending direction of the first rack 21113 is a first horizontal direction. In this embodiment, the first power source 21111 is a drive motor. The main control unit controls the starting time and the forward rotation or the reverse rotation of the driving motor according to the acquired signal.

The first gear 21112 and the first rack 21113 may be engaged by straight teeth or helical teeth.

In order to achieve stable movement and accurate directional transmission effect, a matching manner of the slide rail 10 and the slide block 20 is usually adopted, and two structural schemes are generally adopted, namely: the slide rail 10 is long, the slide block 20 is short, the extending direction of the slide rail 10 is consistent with the preset conveying direction, and the slide block 20 is in sliding engagement with the slide rail 10 and slides directionally along the extending direction of the slide rail 10; scheme II: the slide rail 10 is short, the slide block 20 is long, the extending direction of the slide block 20 is consistent with the preset conveying direction, and the slide rail 10 is in sliding engagement with the slide block 20 and slides directionally along the extending direction of the slide block 20. The sliding connection structure of the sliding rail 10 and the sliding block 20 generally includes a sliding connection groove 11 and a sliding connection protrusion 21, the sliding connection protrusion 21 is inserted in the sliding connection groove 11 and can slide relatively, and the two can be respectively disposed on the sliding rail 10 and the sliding block 20, so as to realize the sliding connection and matching relationship between the sliding rail 10 and the sliding block 21, as shown in fig. 3 in particular.

Referring to fig. 1 to 3, the first sliding connection assembly 2112 includes at least one first sliding rail 21121 and at least one first sliding block 21122, and the specific structural scheme may be one or two of the above-mentioned structural schemes of the sliding rail 10 and the sliding block 20, the long member (the sliding rail 10 in the first scheme or the sliding block 20 in the second scheme) is fixed on the mounting frame 100, the short member (the sliding block 20 in the first scheme or the sliding rail 10 in the second scheme) is fixed on the first supporting frame 2113, the short member slides along the extending direction of the long member, and the extending direction of the long member is the same as the extending direction of the first rack 21113. In this way, the first support frame 2113 and the mounting frame 100 are connected by the first sliding connection assembly 2112, so that on one hand, stable support of the first support frame 2113 is realized, and on the other hand, the first support frame 2113 directionally reciprocates along the first horizontal direction, and the moving stability of the first support frame 2113 is improved, namely the moving stability of the grabbing device 220 along the first horizontal direction is improved.

In this embodiment, the first sliding contact assembly 2112 adopts the first scheme described above. The longitudinal direction of each first slide rail 21121 and the longitudinal direction of the first rack 21113 are the same as the first horizontal direction.

Preferably, at least one first sliding block 21122 is provided to slidably engage with each first sliding rail 21121, depending on the specific requirements.

Preferably, the first sliding connection assemblies 2112 are arranged in two and have the same sliding direction, and are arranged in parallel and at intervals, and both connect the first support frame 2113 and the mounting frame 100, so that the stability of the movement of the grabbing device 220 along the first horizontal direction can be further improved. Preferably, first drive assembly 2111 is positioned between two first trolley assemblies 2112.

Referring to fig. 1 to 3, in order to better improve the transmission stability of the grabbing device 220 along the first horizontal direction, the first horizontal conveying device 211 further includes a second driving assembly 2114, a second sliding contact assembly 2115 and a second supporting frame 2116, wherein the second sliding contact assembly 2115 is connected between the mounting frame 100 and the second supporting frame 2116, so that the sliding direction of the second supporting frame 2116 relative to the mounting frame 100 is the first horizontal direction. The second driving assembly 2114 drives the second supporting frame 2116 to synchronously slide back and forth along the first horizontal direction with the first supporting frame 2113 under the control of the main control unit, and the vertical conveying device 212 is fixedly connected with the second supporting frame 2116. Thus, the first driving assembly 2111 and the second driving assembly 2114 are simultaneously started, the first supporting frame 2113 and the second supporting frame 2116 are driven to synchronously slide in a reciprocating manner along the first horizontal direction, and the vertical conveying device 212 is driven to synchronously slide in the reciprocating manner along the first horizontal direction, so that the smoothness and the smoothness of sliding along the first horizontal direction are better improved, one end is prevented from being started, the other end has hysteresis and deviates, the conveying is unstable, the precision is reduced, and the service life of the whole machine is also reduced. In addition, the conveying stroke of the gripping device 220 in the vertical direction is effectively enlarged, and the use requirement is met. The vertical transfer device 212 is secured at its two ends to a first support 2113 and a second support 2116, respectively.

The mounting bracket 100 includes an upper cross member 110 and a lower cross member 120, wherein the upper cross member 110 and the lower cross member 120 are parallel to each other and spaced apart from each other. The first sliding connection assembly 2112 connects the lower beam 120 and the first support frame 2113, the second sliding connection assembly 2115 connects the upper beam 110 and the second support frame 2116, and two ends of the vertical transfer device 212 are respectively fixed to the first support frame 2113 and the second support frame 2116. The distance between the upper and lower beams (110, 120) is determined by the vertical travel of the grasping means 220.

The second driving assembly 2114 includes a second power source 21141, a second gear 21142 and a second rack (not shown), the second power source 21141 is fixed to the second supporting frame 2116, and a power output shaft thereof is connected to the second gear 21142, and the power output shaft can drive the second gear 21142 to rotate synchronously in the forward and reverse directions. The second rack is fixed to the mounting bracket 100 and engaged with the second gear 21142. In this way, the forward and reverse meshing movement of the second gear 21142 with the second rack is converted into forward and reverse movement of the first support 2113 with respect to the second rack. The extending direction of the second rack is a first horizontal direction. In this embodiment, the second power source 21141 is a drive motor. The main control unit controls the first power source 21111 and the second power source 21141 to start time synchronously and rotate forward or backward synchronously according to the acquired signals, so that the moving directions and speeds of the first support frame 2113 and the second support frame 2116 are the same, and a synchronous effect is achieved.

The second gear 21142 and the second rack gear may be engaged by straight teeth or helical teeth.

Referring to fig. 1 to 3, the second sliding connection assembly 2115 includes at least one second sliding rail (not shown) and at least one second sliding block 21151, the specific structure scheme may be one or two of the above-mentioned sliding rail 10 and sliding block 20, the long piece (the sliding rail 10 in the first scheme or the sliding block 20 in the second scheme) is fixed on the mounting frame 100, the short piece (the sliding block 20 in the first scheme or the sliding rail 10 in the second scheme) is fixed on the second supporting frame 2116, the short piece slides along the extending direction of the long piece, and the extending direction of the long piece is the same as the extending direction of the second rack. In this way, the second support frame 2116 and the mounting frame 100 are connected by the second sliding connection assembly 2115, so that on one hand, the second support frame 2116 is stably supported, on the other hand, the second support frame 2116 directionally reciprocates along the first horizontal direction, and the moving stability of the second support frame 2116 is improved, namely the moving stability of the grabbing device 220 reciprocating along the first horizontal direction is improved better.

Preferably, the second sliding connection assemblies 2115 are arranged in two and have the same sliding direction, and are arranged in parallel and at intervals, and both connect the second support frame 2116 and the mounting frame 100, so that the stability of the grabbing device 220 moving along the first horizontal direction can be better improved. Preferably, second drive assembly 2114 is positioned between second trolley assemblies 2115.

As an alternative to the first driving assembly 2111 and/or the second driving assembly 2114, a lead screw and a nut can be selected for matching to drive the support frame, and the support frame specifically includes a lead screw, a power source and a nut, wherein a power output shaft of the power source is in butt joint with one end of the lead screw, the lead screw is driven to rotate, the nut is sleeved on the lead screw and in threaded connection with the lead screw, meanwhile, the nut is circumferentially limited, when the lead screw rotates, the nut does not rotate along with the rotation of the lead screw, but moves along with the rotation of the lead screw, and the moving direction is the extending direction of the lead screw. The first and second support frames can be fixedly connected with the nut, the vertical conveying device 212 is fixed on the upper side of the support frames, the vertical conveying device 212 is driven to reciprocate along a first horizontal direction, and the first horizontal direction is the same as the length direction of the screw rod.

Referring to fig. 2 to 4, the vertical transmission device 212 includes a vertical driving assembly 2121, a vertical fixing frame 2122 and a vertical supporting frame 2123, wherein two ends of the vertical fixing frame 2122 are respectively fixedly connected to the first supporting frame 2113 and the second supporting frame 2116; the vertical driving assembly 2121 drives the vertical supporting frame 2123 to slide back and forth along the vertical direction relative to the vertical fixing frame 2122 under the control of the main control unit, and the second horizontal transmission device 213 is fixedly connected to the vertical supporting frame 2123, that is, indirectly drives the grabbing device 220 to move along the vertical direction.

In this embodiment, vertical drive assembly 2121 is a linear motor, i.e., vertical drive assembly 2121 includes a primary winding and a secondary winding. The working principle is as follows: when the primary winding is connected with an AC power supply, a travelling wave magnetic field is generated in the air gap, and the secondary winding is cut by the travelling wave magnetic field to induce electromotive force and generate current, and the current and the magnetic field in the air gap act to generate electromagnetic thrust, i.e. electric energy is converted into mechanical energy of linear motion. If the primary (stator 21211) is stationary, the secondary (mover 21212) moves linearly under thrust; otherwise, the primary stage moves linearly. The former is selected in this embodiment. The stator 21211 is fixed to the vertical mount 2122, and the mover 21212 is fixed to the vertical support 2123, and when the electric power is applied, the mover 21212 drives the vertical support 2123 to slide in the vertical direction relative to the vertical mount 2122 under the thrust.

As an alternative, the vertical driving assembly 2121 may be a screw rod and a nut, which is specifically the above alternative of the first and second driving assemblies (2111, 2114), and will not be described herein again.

Referring to fig. 2 to 4, preferably, the vertical transmission device 212 further includes a vertical sliding assembly 2124, and the vertical sliding assembly 2124 connects the vertical mount 2122 and the vertical support 2123 for sliding the vertical support 2123 relative to the vertical mount 2122 in a vertical direction, i.e. the vertical support 2123 and the vertical mount 2122 are slidably engaged with each other through the vertical sliding assembly 2124. Thus, on the one hand, directional sliding is achieved, and on the other hand, the vertical support 2123 can be displaced more stably, and moreover, the effect of connecting the vertical support 2123 and the vertical fixing mount 2122 is achieved.

The vertical mount 2122 includes a vertical frame 21221 having two ends respectively fixed to the first support 2113 and the second support 2116, and the stator 21211 is fixed to the vertical frame 21221. The vertical sliding assembly 2124 includes at least one vertical sliding rail 21241 and one vertical sliding block 21242, and the specific structural scheme may be one or two of the above structural schemes of the sliding rail 10 and the sliding block 20, for example, in the case of the first scheme, the vertical sliding rail 21241 fixes the vertical frame body 21221, the vertical sliding block 21242 is fixed to the vertical support frame 2123, and the vertical sliding block 21242 is in sliding connection with the vertical sliding rail 21241, and the sliding direction is the vertical direction. Thus, driven by the vertical driving assembly 2121, the vertical support 2123 and the vertical mount 2122 are slidably connected via the vertical sliding assembly 2124, so as to better realize the stable and directional (vertical) reciprocating sliding of the grasping device 220.

Specifically, the vertical frame 21221 has a U-shaped groove 201 penetrating vertically, and the stator 21211 is fixed to a groove bottom of the U-shaped groove 201 to protect the stator 21211.

Preferably, two vertical slide rails 21241 are provided and are respectively fixed to two end surfaces of the vertical frame 21221, which are located at the transverse notch of the vertical frame, and the extending direction of each vertical slide rail 21241 is the same as the extending direction of the vertical frame 21221, and both the extending directions are vertical. At least one vertical slider 21242 slidably engaged with each vertical slide rail 21241 is fixedly connected to the vertical support 2123, and the mover 21212 is fixed between the two rows of vertical slide rails 21241 and opposite to the stator 21211. Thus, the support and sliding stability of the vertical support 2123 is improved, and the vertical driving assembly 2121 is protected.

As an alternative to the sliding connection between the vertical mount 2122 and the vertical support 2123, the vertical support 2123 may be directly used to be in sliding connection with the vertical mount 2122 without adding the vertical sliding connection assembly 2124, and the specific sliding connection structure may refer to the sliding connection structure between the sliding rail 10 and the sliding block 20.

Referring to fig. 4, the vertical transmission device 212 further includes a position detecting assembly 2125, the position detecting assembly 2125 includes a lower detecting element 21251 for detecting that the vertical supporting frame 2123 slides to a lower limit of the vertical fixing frame 2122, and an upper detecting element 21252 for detecting that the vertical supporting frame 2123 slides to an upper limit of the vertical fixing frame 2122, the lower detecting element 21251 is fixed to the lower limit of the vertical fixing frame 2122, the upper detecting element 21252 is fixed to the upper limit of the vertical fixing frame 2122, and a distance between the upper limit and the lower limit of the vertical fixing frame 2122 is a maximum sliding distance of the vertical supporting frame 2123 in the vertical direction, that is, a sliding distance of the grabbing device 220 in the vertical direction. When the vertical support 2123 is detected to slide to the upper limit position or the lower limit position, the main control unit controls the vertical support 2123 to stop. In this embodiment, the upper and lower detecting elements are position sensors, the position detecting assembly 2125 further includes a positioning element 21253 fixed to the vertical support 2123, and the positioning element 21253 is fixed to one side of the vertical support 2123. When the vertical support 2123 slides to the upper limit position under the driving of the vertical driving assembly 2121, the upper detecting element 21252 at the upper limit position senses the positioning element 21253, and controls the vertical driving assembly 2121 to stop driving; similarly, when slipping to the lower limit, the slipping is also detected and stopped. In this way, on the one hand, the vertical stroke can be determined; on the other hand, the safety of vertical sliding is better protected.

Referring to fig. 4, the vertical support 2123 is provided with an upper buffer 2126 and a lower buffer 2127, at least one upper buffer 2126 is fixed to an upper side of the vertical support 2123, at least one lower buffer 2127 is fixed to a lower side of the vertical support 2123, and the upper and lower buffers (2126, 2127) have a certain buffering performance. When the vertical support 2123 slides to the upper limit position and the lower limit position of the vertical mount 2122, the upper buffer 2126 and the lower buffer 2127 can directly abut against the limit end of the vertical mount 2122 or the first support 2113 and the second support 2116, so as to avoid the damage of the rigid member due to the direct contact of the rigid member, reduce the service life, generate collision noise, and the like. Thus, it serves to protect the vertical support 2123 and the vertical mount 2122.

The upper and lower buffer parts (2126, 2127) can be made of rubber or silica gel, and can be made of different materials according to different forces.

Referring to fig. 4, the vertical fixing frame 2122 further includes side wing plates 21222 respectively formed by extending from two end surfaces of the horizontal slot in the vertical frame body 21221, each side wing plate 21222 extends along the length direction of the vertical frame body 21221, and the vertical sliding assembly 2124 is located between the two side wing plates 21222. Thus, the two side wing plates 21222 can protect the parts between the two side wing plates 21222, and prevent dust, metal parts, etc. from entering and affecting the normal operation of the vertical conveying device 212. Preferably, both ends of each side wing 21222 extend to the first support frame 2113 and the second support frame 2116 respectively and are fixedly connected.

Referring to fig. 4, the vertical fixing frame 2122 further includes a dust cloth 21223, one end of the dust cloth 21223 is fixed to the first support frame 2113, the other end of the dust cloth 21223 is fixed to the second support frame 2116, the dust cloth 21223 is tightly stretched between the first support frame 2113 and the second support frame 2116, and the width of the dust cloth 21223 is greater than or equal to the distance between the two side wing plates 21222. The vertical support 2123 slides inside the dust cloth 21223. Therefore, the components in the vertical mount 2122 are better protected, and the components such as dust and metal parts are better prevented from entering, which affects the normal operation of the vertical transmission device 212, especially, the vertical driving assembly 2121 selects a linear motor, and the stator 21211 is fixed at the bottom of the vertical frame body 21221, and has a certain magnetic attraction force, which needs to be emphasized for protection.

Referring to fig. 4, preferably, the vertical support 2123 has a vertically through receiving groove 202, and the receiving groove 202 is opposite to the vertical driving assembly 2121 for allowing the dust cloth 21223 to pass through the receiving groove 202 for being fixedly connected to the second horizontal transmission device 213.

Referring to fig. 4 to 6, the vertical transport device 212 further includes a power-off protection structure 2128, the power-off protection structure 2128 includes a locking head 21281, an elastic member 21282, a transmission assembly 21283, a driving member 21284, and a mounting housing 21285 fixed to the vertical support 2123, the mounting housing 21285 has a through hole 203 at a side wall thereof facing the vertical fixing support 2122, the transmission assembly 21283 is disposed in the mounting housing 21285 and electrically connected to the driving member 21284, a transmission end of the transmission assembly 21283 extends through the through hole 203 and is connected to the locking head 21281, and the elastic member 21282 is disposed on the transmission end of the transmission assembly 21283 and compressed between the locking head 21281 and the mounting housing 21285.

The vertical fixing frame 2122 has a plurality of locking positions 204 arranged at intervals along the vertical direction on a surface facing the lock head 21281, so as to prevent the vertical driving assembly 2121 from having one locking position 204 corresponding thereto when power is cut off at any position, thereby achieving power-off protection.

The end of the locking head 21281 opposite to the locking position 204 is provided with a locking inclined surface 205, and the locking inclined surface 205 can be used for fast guiding when being connected with the locking position 204, so that the locking efficiency is improved. The locking ramp 205 is a chamfered or tapered surface, and in this embodiment, a chamfered surface is used, as shown in fig. 5 and 6.

When the driving element 21284 is powered on, the driving element 21283 is pulled to displace, so that the locking head 21281 moves towards the mounting housing 21285 and compresses the elastic element 21282, and at the moment, a safe distance is kept between the locking head 21281 and each locking position 204, so that the vertical supporting frame 2123 can vertically slide back and forth under the driving of the vertical driving element 2121, and the locking head 21281 does not touch any part; when the driving member 21284 is powered off, the locking head 21281 is pushed by the elastic restoring force of the elastic member 21282 to rapidly extend to the opposite locking position 204 when the driving member is powered off, so as to be locked and matched with the locking position 204, and the driving member 21284 is powered on the same as the vertical driving assembly 2121. It will be appreciated that when the driving member 21284 is energized, the driving member 21284 drives the transmission assembly 21283 to pull the locking head 21281, the locking head 21281 moves toward the mounting housing 21285, and the locking head 21281 and the mounting housing 21285 together compress the elastic member 21282, at this time, a certain distance is provided between the locking head 21281 and each locking position 204, so as to ensure that the vertical support 2123 can slide vertically and reciprocally smoothly under the driving of the vertical driving assembly 2121. When the driving member is powered off, the elastic member 21282 has a certain elastic restoring force, and the driving member 21284, due to the power off, causes the pulling force applied by the transmission assembly 21283 to the locking head 21281 to disappear, so that the locking head 21281 is rapidly ejected under the elastic restoring force of the elastic member 21282 and locked with the locking position 204 when the power off, so as to fix the vertical support 2123, and prevent the vertical transmission device 212 from being damaged due to the falling or free falling caused by the power off.

The driving member 21284 is a stepping motor, i.e., an open-loop control motor that converts an electric pulse signal into an angular displacement. It will be appreciated that when the drive 21284 is energized, its output shaft rotates through an angular displacement, and the drive assembly 21283 connected to it is displaced linearly, pulling the locking head 21281 along; when the driving member 21284 is powered off, the power source of the output shaft disappears, and under the action of the elastic restoring force of the elastic member 21282, the locking head 21281 is instantly ejected out and locked with the corresponding locking position 204 during power off, and the output shaft is reversely rotated to the initial position by the action of the elastic restoring force, so as to achieve the resetting effect.

In this embodiment, the elastic member 21282 is a spring, which may be a cylindrical coil spring or a conical coil spring, and is selected as required.

Referring to fig. 4 and 5, the driving assembly 21283 includes a push rod 21286 and a driving member 21287 threadedly coupled to the output shaft of the driving member 21284, wherein one end of the push rod 21286 is fixedly connected to the driving member 21287, the other end of the push rod 21286 extends from the through hole 203 and is fixedly connected to the locking head 21281, the elastic member 21282 is sleeved on the extending end of the push rod 21286, and the driving member 21287 is circumferentially retained in the mounting housing 21285.

In this embodiment, the centerline of the push rod 21286 is the same as the output shaft axis of the driver 21284.

In this embodiment, the transmission member 21287 has an opening cavity 206, the output shaft of the driving member 21284 is inserted into the opening cavity 206 through the opening and is in threaded connection with the opening, and at the same time, the outer contour of the cross section of the transmission member 21287 is non-circular and is adapted to the inner wall of the mounting shell 21285, so as to circumferentially limit the transmission member 21287, and when the power output shaft is angularly displaced, the transmission member 21287 is displaced along the axial direction of the power output shaft, so as to pull the push rod 21286.

Referring to fig. 4 to 6, alternatively, the transmission assembly 21283 includes a push rod 21286 and a transmission member 21287 moving synchronously with the output shaft of the driving member 21284, one end of the push rod 21286 is hinged to the transmission member 21287 and has a certain distance between the hinge position and the axis, the other end of the push rod 21286 extends from the through hole 203 and is fixedly connected to the locking head 21281, and the elastic member 21282 is sleeved on the extending end of the push rod 21286. Specifically, the driver 21287 is a rotating wheel that is angularly displaced with the power take-off shaft, and may be a cam or other conventional member. One end of the push rod 21286 is hinged to the rotating member 21287, and has a certain distance with the rotating axis of the transmission member 21287, the distance is a rotating radius, when the power output shaft is angularly displaced, the transmission member 21287 is also angularly displaced, and the push rod 21286 having a certain distance with the rotating axis is pulled to displace, so as to achieve the purpose of pulling the push rod 21286.

Referring to fig. 2, fig. 4, fig. 7 and fig. 8, the second horizontal transmission device 213 includes a third driving assembly 2131, a third sliding assembly 2132 and a third supporting frame 2133, wherein the third sliding assembly 2132 is connected between the vertical supporting frame 2123 and the third supporting frame 2133, so that the third supporting frame 2133 slides relative to the vertical supporting frame 2123, and the sliding direction is the second horizontal direction. The third driving assembly 2131 drives the third supporting frame 2133 to slide back and forth along the second horizontal direction under the control of the main control unit, and the grabbing device 220 is connected with the third supporting frame 2133 and slides back and forth along the second horizontal direction together with the third supporting frame 2133, so that the freedom degree of movement of the grabbing device 220 is increased. The second horizontal direction forms an included angle theta with the first horizontal direction, theta is more than 0 degrees and less than 180 degrees, and the theta is generally 90 degrees.

The second horizontal transmission device 213 further includes a third fixing frame 2134, and one end of the third fixing frame 2134 is fixed to the vertical support 2123. Specifically, the third fixing frame 2134 is fixed on a side of the vertical support 2123 opposite to the vertical driving assembly 2121, and encloses a receiving cavity together with the receiving cavity 202 of the vertical support 2123 for the dust cloth 21223 to pass through.

Referring to fig. 7 and 8, the third driving assembly 2131 includes a third power source 21311, a third gear 21312 and a third rack 21313, the third power source 21311 is fixed to the other end of the third fixing frame 2134, the third gear 21312 is located between the third fixing frame 2134 and the third supporting frame 2133 and is connected to a power output shaft of the third power source 21311, and the power output shaft can drive the third gear 21312 to rotate in a forward and reverse direction synchronously. The third rack 21313 is fixed to the third support 2133 and engages with the third gear 21312. In this way, the forward and reverse engagement motion of the third gear 21312 and the third rack 21313 is converted into the reciprocating motion of the third support 2133 relative to the third fixed frame 2134. The third rack 21313 extends in a second horizontal direction. In this embodiment, the third power source 21311 is a drive motor. The main control unit controls the starting time and the forward rotation or the reverse rotation of the driving motor according to the acquired signal. The third rack 21313 can be integrally formed with the third support 2133.

In this embodiment, the third supporting frame 2133 is provided with a bar-shaped window 207, the length direction of the bar-shaped window 207 is the second horizontal direction, and both the tooth-shaped portion of the third rack 21313 and the third gear 21312 are exposed through the bar-shaped window 207. This is because the third fixing frame 2134 faces the third supporting frame 2133, the third power source 21311 is fixed to a side of the third fixing frame 2134 opposite to the third supporting frame 2133, and is located on the same side as the vertical supporting frame 2123, an end of a power output shaft of the third power source 21311 extends transversely between the third fixing frame 2134 and the third supporting frame 2133, a tooth-shaped portion of the third rack 21313 faces upward or downward, and a strip-shaped window 207 is provided, so that on one hand, whether the third gear 21312 and the third rack 21313 are assembled in place or not can be conveniently observed, and adjustment is facilitated; on the other hand, the third gear 21312 is avoided, the position interference between the third gear 21312 and the third support frame 2133 during movement is avoided, and the service life of parts is shortened. The length of the bar-shaped window 207 may be the maximum stroke of the gripping means 220 sliding in the second horizontal direction. If the strip-shaped window 207 is too long, a plurality of reinforcing ribs can be additionally arranged in the middle of the strip-shaped window. In addition, the overall assembly structure between the third driving assembly 2131 and the third fixing frame 2134 and the third supporting frame 2133 is compact, and the space occupancy rate is reduced.

The third gear 21312 and the third rack 21313 may be straight gears or helical gears.

Please refer to fig. 3 and fig. 7, the third sliding assembly 2132 includes at least one third sliding rail 21321 and at least one third sliding block 21322, the specific structural scheme may be one or two of the above-mentioned structural schemes of the sliding rail 10 and the sliding block 20, for example, in the first scheme, the third sliding rail 21321 is fixed on the third supporting frame 2133, the third sliding block 21322 is fixed on the third fixing frame 2134, and the sliding direction of the third sliding block 21322 and the third sliding rail 21321 is the second horizontal direction. Thus, under the driving of the third driving assembly 2131, the third supporting frame 2133 and the third fixing frame 2134 are slidably connected through the third sliding connection assembly 2132, so as to better realize the stable and directional (second horizontal direction) reciprocating sliding of the grabbing device 220.

Preferably, the third sliding connection assembly 2132 is provided with two sliding components which are arranged in the same sliding direction, are parallel to each other and are arranged at intervals, and are both connected with the third supporting frame 2133 and the third fixing frame 2134, so that the moving stability of the grabbing device 220 along the second horizontal direction can be better improved. Preferably, third drive assembly 2131 is located between two third slip assemblies 2132.

Referring to fig. 7, the second horizontal transmission device 213 further includes a limit position detector 2135, and the limit position detector 2135 fixes the third supporting frame 2133 or the third fixing frame 2134 for detecting the limit position of the third supporting frame 2133 during the recovery, which may also be recorded as a zero point position.

The limit position detecting element 2135 is fixed to the transmitting end of the third supporting frame 2133, and the detecting end is opposite to the end of the third fixing frame 2134, but of course, a sensing element may be additionally disposed to fix the sensing element to the third fixing frame 2134. When the limit position detector 2135 is in a return stroke of the third support 2133 and approaches to a target object (an end of the third support 2134 or another sensing element), it indicates that the third support 2133 has returned to the limit position or the zero position, and the main control unit controls the third power source 21311 to stop outputting power, so as to achieve a protection effect.

Referring to fig. 2, 4, 7 and 8, the transfer mechanism 210 includes a rotary transfer assembly 214, and the rotary transfer assembly 214 is fixed to the second horizontal transfer device 213 and drives the grabbing device 220 to rotate around the power output axis of the rotary transfer assembly 214 under the control of the main control unit. The second horizontal transfer device 213 drives the rotating transfer component 214 and the grabbing device 220 to reciprocate along the second horizontal direction. In combination with the above, the transfer mechanism 210 is used to drive the gripping device 220, so that the gripping device 220 can be transferred in the first horizontal direction, the second horizontal direction, the vertical direction and the rotating direction, four degrees of freedom are achieved, and the space and flexibility of the transfer are improved.

In this embodiment, the main control unit controls the rotary conveying assembly 214 to drive the gripping device 220 to rotate back and forth between the loading area 101 and the target area 102, so as to improve the flexibility of the gripping device 220 in conveying documents. The angle of rotation is generally 0 ° to 180 °, although the range of angles of rotation may be expanded as desired.

Referring to fig. 7 and 8, the rotation transmission assembly 214 includes a rotation driving source 2141, the rotation driving source 2141 is fixed to the transmission end of the third supporting frame 2133, and a power output shaft of the rotation driving source 2141 is connected to the grabbing device 220 and drives the grabbing device 220 to rotate synchronously.

The rotating transmission assembly 214 further includes a speed reducer 2142, a power output shaft of the rotating driving source 2141 is connected to a power input end of the speed reducer 2142, the gripping device 220 is connected to a power output end of the speed reducer 2142, and the rotating speed output by the rotating driving source 2141 can be effectively regulated and controlled by the speed reducer 2142, so that the gripping device 220 can transmit more stably. In the present embodiment, the rotation driving source 2141 is a driving motor, and the reducer 2142 is a harmonic reducer 2142.

The rotating transmission assembly 214 further includes a first roller 2143, a second roller 2144, and a transmission belt 2145, the first roller 2143 is sleeved on the power output shaft of the rotating drive source 2141 and rotates synchronously with the power output shaft, the second roller 2144 is connected to the power input end of the speed reducer 2142, the speed reducer 2142 is also fixed to the transmission end of the third support frame 2133, the first roller 2143 and the second roller 2144 are located on the same side of the third support frame 2133, the transmission belt 2145 is sleeved on the two rollers, and power transmission is performed by the transmission belt 2145. The belt 2145 may be a toothed belt, and the first roller 2143 and the second roller 2144 are toothed wheels matching with each other.

In order to avoid the position interference between the rotation driving source 2141 and the third fixing frame 2134, the rotation driving source 2141 is fixed to the upper side or the lower side of the third supporting frame 2133. Thus, the whole structure is more compact.

In order to adjust the tension of the belt, the fixed position of the rotary drive source 2141 is adjustable to achieve adjustability of the tension of the belt 2145; or, a tensioning wheel (not shown) is additionally arranged, the tensioning wheel is rotatably connected to the transmission end of the third support frame 2133 and located on the same side as the first roller 2143 and the second roller 2144, the transmission belt 2145 is sleeved on the tensioning wheel at the same time, the tensioning wheel, the first roller 2143 and the second roller 2144 form a triangle together, the tensioning degree of the transmission belt 2145 is adjusted by adjusting the connecting line of the axes of the first roller 2143 and the second roller 2144 to be close to or far away from the tensioning wheel, and the use requirement is met.

The reducer 2142 has a threading hole 208 along the axial direction thereof, and the threading hole 208 can allow each connecting wire to pass through, so that the routing is more standard and safe.

The third supporting frame 2133 is provided with a limiting block 2136 on a surface of the third fixing frame 2134 facing each other, the limiting block 2136 is fixed between the reducer 2142 and the extreme end of the third rack 21313, and when the third supporting frame 2133 returns to the extreme end, the limiting block 2136 is close to the end of the third fixing frame 2134. The limit detector 2135 is fixed on the limit block 2136, and the detection head is opposite to the end of the third fixing frame 2134.

The position of the rotating conveyor assembly 214 can be arranged as desired, and is set according to the rotation range of the gripping device 220, so that the gripping device 220 can rotate in a vertical plane, a horizontal plane, or any other plane. The embodiment adopts rotation in a vertical plane, the feeding area 101 is arranged below the gripping device 220, and the target area 102 is arranged on the side opposite to the gripping device 220.

Referring to fig. 8, the rotating and transferring assembly 214 further includes an angular limit detecting assembly 2145, and the angular limit detecting assembly 2145 includes a first angular limit detecting element 21451 and a second angular limit detecting element 21452, both of which are fixed on the third supporting frame 2133 and located near the connection between the gripping device 220 and the rotating and transferring assembly 214. Therefore, the rotation angle limit position of the grabbing device 220 can be detected, when the detection reaches the limit position, the main control unit controls the rotation transmission assembly 214 to stop power output, other parts outside the limit rotation range can be protected, and position interference is avoided. The first and second angular limit detection pieces are both sensors, which are similar to a magnetic induction switch.

Referring to fig. 2, 4, 7 and 8, the grabbing device 220 includes a grabbing power source 221, a grabbing component 222 and a grabbing support 223, and the grabbing support 223 is connected to the power output shaft of the rotating transmission component 214 and rotates synchronously with the power output shaft. The grabbing power source 221 is fixed on the grabbing support frame 223 and connected with the grabbing component 222, and under the control of the main control unit, the grabbing power source 221 drives the grabbing component 222 to clamp and release. The grasping power source 221 is a driving motor.

The grabbing assembly 222 includes a first grabbing part 2221 and a second grabbing part 2222, one end of which is fixedly connected to the two power output ends of the grabbing power source 221, and the other ends of the first grabbing part 2221 and the second grabbing part 2222 face each other and together form a clamping opening for clamping the document. In this embodiment, the gripping ends of the first and second gripping members 2221 and 2222 are provided with guide slopes 209 on the surfaces opposite to the nip, and the guide slopes 209 are guide surfaces inclined toward the gripping end surfaces of the first and second gripping members (2221 and 2222) and in the direction close to the nip. Therefore, the grabbing component 222 can smoothly and quickly perform evidence storage and evidence collection operations between the loading area 101 and the target area 102.

Referring to fig. 7 and 8, the first grabbing part 2221 extends from the grabbing end to the second grabbing part 2222 to form a first positioning block 2223, and the first positioning block 2223 is located at the tail end of the clamping opening for the certificate to abut against when the certificate is clamped, so as to perform clamping and positioning. First locating piece 2223 is the plane with the certificate contact surface, increases with certificate area of contact, improves the location precision.

The second grabbing part 2222 extends from the grabbing end to the first grabbing part 2221 to form a second positioning block 2224, and the second positioning block 2224 is located at the inner end of the clamping opening and is used for supporting the certificate when the certificate is clamped and clamping the certificate, so as to clamp and position the certificate. The first positioning block and the second positioning block (2223, 2224) are coplanar with the contact plane of the certificate, so that the positioning stability of the certificate is better increased, and the positioning accuracy is better improved.

In this embodiment, when the first grabbing element 2221 is separated from the second grabbing element 2222, the first positioning block 2223 and the second positioning block 2224 are exposed at the inner end of the clamping opening.

Referring to fig. 7 and 8, the capturing device 220 further includes a reading unit 224 for identifying and/or reading information of the document, the reading unit 224 is opposite to the document when the capturing component 222 captures the document, and the reading unit 224 is disposed on the capturing support 223 or the mounting frame 100. When the intelligent manipulator 200 is applied to a storage device, the identification unit 224 is used for acquiring certificate information captured by the capture component 222, the server matches a storage location for the certificate in the target area 102, and associates the location information of the storage location with the certificate information, so that when the certificate is conveniently captured, the specific location of the target certificate can be known at the first time, and when the certificate is taken out, the certificate information is read, and whether the certificate is the target certificate is checked; when the intelligent manipulator 200 is applied to the evidence obtaining device, the identification unit 224 is used for obtaining certificate information, whether the certificate is a target certificate is checked, when the certificate in the target area 102 exceeds the preset receiving time, the certificate is captured, information is obtained, and the server automatically records delay and non-receiving. In the present embodiment, the first corner limit detecting member 21451 is used to detect a position where the grasping end portion of the grasping apparatus 220 is vertically upward, and the second corner limit detecting member 21452 is used to detect a position where the grasping end portion of the grasping apparatus 220 is vertically downward.

The reading unit 224 is an RFID module 2241 and/or an OCR module 2242, some certificate information is stored on a chip inside the certificate, and the certificate information in the chip can be read by the RFID module 2241; some certificate information is printed or printed on the certificate, for example, in the form of special codes such as bar codes, two-dimensional codes, special check codes, etc., or text information, etc., the printed or printed information on the certificate can be acquired through the recognition mode of the OCR module 2242, and the certificate information includes the certificate number, type, identity information of the person to whom the certificate belongs, etc., but is not limited thereto.

Referring to fig. 7 and 8, the capturing device 220 further includes a capturing detection unit 225 for detecting whether the document is on the capturing component 222 and for detecting whether the document is inserted into a designated position of the capturing component 222 when capturing the document, and the capturing detection unit 225 is disposed on the capturing support 223. Therefore, on one hand, the position of the certificate is convenient to control, and the certificate is ensured to be clamped; on the other hand, the normal conveying is prevented from being influenced by scraping other parts during conveying.

In the present embodiment, the grasping detection unit 225 is a sensor that can emit a laser beam. Specifically, the detection end of the capture detection unit 225 is opposite to the inner end of the nip of the document insertion capture assembly 222, and is used for detecting whether the document is inserted in place and whether the document is on the capture assembly 222.

Referring to fig. 7 and 8, the capturing device 220 further includes an object detecting unit 226 for detecting whether the object position of the object region 102 and the loading position of the loading region 101 have the certificates when the certificates are accessed, and the object detecting unit 226 is disposed on the capturing support 223. When the intelligent manipulator 200 is applied to a storage device, the grabbing device 220 grabs certificates and transmits the certificates to the target area 102, whether the certificates exist in the appointed target position is detected, if the certificates exist, the storage is stopped, the certificates are fed back to the server, the storage addresses are matched again, and the certificates are prevented from being directly stored to cause certificate damage; when the certificate is taken, whether the target storage position has the certificate or not is detected, if the certificate does not exist, the evidence taking action is stopped, and the system detects the reason. Therefore, abnormal condition monitoring is facilitated, and the certificate storage and taking can be carried out smoothly. The object detection unit 226 is a sensor that can emit a laser beam.

Referring to fig. 7 and 8, the grasping apparatus 220 further includes a guiding frame 227, the guiding frame 227 is disposed on the grasping support 223 and can elastically extend and retract relative to the grasping assembly 222, the guiding frame 227 has a guiding structure 2271 for guiding the certificate in and out in an oriented manner, and the guiding structure 2271 is opposite to the grasping assembly 222. The guide structure 2271 can be used for guiding the certificate in a directional way when the grabbing component 222 grabs the certificate; when the document is sent out by the grabbing component 222, the guiding structure 2271 can be used for guiding out the document; the guide structure 2271 can cooperate with the gripper assembly 222 to support or grip the end of the document as the gripper assembly 222 conveys the document. Like this, can assist and snatch subassembly 222, when the certificate was taken out and is sent out, can realize directional leading-in, derive, when conveying the certificate, can support or the tip of centre gripping certificate, better improve the stability and the accuracy that the certificate was taken out, was carried, was deposited the operation, especially this type certificate can better rule this type certificate, avoids turning over the page, the condition of folding paper produces.

The reading unit 224 is disposed on the guiding frame 227 and opposite to the guiding structure 2271, and is used for identifying and reading the certificate information on the certificate located on the guiding structure 2271 when the capturing device 220 obtains the certificate. Thus, before storing in the target area 102, matching a designated storage location address for the certificate, so that the certificate is stored in the target area 102 in an oriented manner; when the storage bit is used for taking out the certificate, whether the taken out certificate is the target certificate is checked, so that the whole operation is quicker and more accurate.

Referring to fig. 7 and 8, the guiding structure 2271 includes two guiding grooves 2001 respectively disposed on the guiding frame 227, and the two grooves are opposite to each other and extend in the same direction as the direction in which the grabbing assembly 222 grabs or sends out the document. The two side portions of the document are inserted into the two guide grooves 2001, respectively, and can slide in a direction relative to the guide grooves 2001.

Referring to fig. 7 and 8, the grasping apparatus 220 further includes a connecting assembly 228 connecting the guide frame 227 and the grasping support frame 223, the connecting assembly 228 includes a guide rod 2281, an elastic member and a guide sliding assembly 2283, wherein the guide frame 227 has a head end portion 2002 facing the grasping end portion of the grasping assembly 222 and a tail end portion 2003 facing the head end portion 2002, the guide frame 227 has a guide hole (not labeled) for the guide rod 2281 to extend into from an end surface of the tail end portion 2003 to the head end portion 2002, one end portion of the guide rod 2281 is fixed to the grasping support frame 223, and the other end portion extends into the guide hole and is limited in the guide hole. The elastic component is arranged on the guide rod 2281, two ends of the elastic component respectively abut against the guide frame 227 and the grabbing support frame 223, the elastic component is in a compression state in a natural state, the guide frame 227 is far away from the tail part of the grabbing support frame 223, and the grabbing component 222 can be positioned between the two guide grooves 2001 and can be far away from the two guide grooves 2001. When the grabbing assembly 222 grabs or stores the certificate, the guiding frame 227 moves along the guiding rod 2281 to the tail of the grabbing supporting frame, the grabbing end of the grabbing assembly 222 extends from the head end 2002 of the guiding frame 227 to grab or store the certificate, at this time, the elastic member is compressed, and the end of the guiding frame 227 is abutted against the target area 102 or the loading area 101. The guide sliding assembly 2283 is connected between the guide frame 227 and the grabbing support frame 223, so that the guide frame 227 can slide directionally, and the smoothness and stability of the telescopic movement of the guide frame 227 are improved.

In this embodiment, the RFID module is fixed to the guide 227 and faces the space between the two guide grooves 2001 for reading the certificate with the chip. The guide 227 is also provided with a U-shaped frame 2272, and the OCR module is fixed on the U-shaped frame 2272 and is opposite to the space between the two guide grooves 2001 for identifying the certificate with special codes or character information.

In this embodiment, the grasping detection unit is fixed to the guide frame 227, and is opposed to the inner end portion of the grasping assembly 222 in a natural state. The object detection unit 226 is also fixed to the guide frame 227 at the leading end portion of the guide frame 227.

The intelligent manipulator 200 further comprises a visual detection unit (not shown in the figure) for acquiring the image of the document to be grabbed in the feeding area 101 and calculating the offset thereof, and the visual detection unit is arranged on the grabbing device 220. The control unit controls the movement of the transport mechanism 210 according to the offset amount and transports the gripper 220 to a position aligned with the document to be gripped. Therefore, the certificate in the feeding area 101 can be accurately positioned, and the whole structure is more intelligent.

Example two:

referring to fig. 1 and 10 in the first embodiment, a second embodiment of the present invention provides another intelligent storage device 300, which is different from the first embodiment in that the structure of the storage device 310 and the arrangement of the intelligent robot 200 corresponding to the storage device 310 are different, and the same parts are not described again. The specific difference lies in that: the mounting rack 100 is provided with a conveying area 103, the conveying area 103 is provided with at least one intelligent manipulator 200, the feeding area 101 is positioned in the conveying area 103 and is provided with at least one conveying opening 104 for conveying certificates, and each intelligent manipulator 200 at least corresponds to one conveying opening 104; the target zone 102 is adjacent to the transfer zone 103, with one insertion port for each storage bit 301 facing the robot 200. Therefore, the access efficiency of the equipment is effectively improved. Each storage bit 301 of storage device 310 is a storage slot provided on storage device 310. The storage slots of the storage device 310 are arranged in an array, and are single-plug-in type, and the plug-in is toward the transmission area 103.

The storage device 310 may be rotatable relative to the mounting bracket 100 to increase storage.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (19)

1. An intelligent storage device is in communication connection with a server and comprises a mounting frame, wherein the mounting frame is provided with a feeding area and a target area; the intelligent manipulator comprises a main control unit, a conveying mechanism and a grabbing device, wherein the conveying mechanism and the grabbing device are connected with the main control unit in a control mode, the conveying mechanism is arranged on the mounting frame and connected with the grabbing device, the main control unit is in communication connection with the server, the conveying mechanism drives the grabbing device to move in a reciprocating mode between the target area and each storage position, and the main control unit controls the grabbing device to grab and release.

2. The smart storage device of claim 1 wherein the transfer mechanism comprises a first horizontal transfer mechanism, a vertical transfer mechanism, and a second horizontal transfer mechanism, each in control connection with the master control unit;

the first horizontal conveying device is arranged on the mounting frame, is connected with the vertical conveying device and drives the vertical conveying device to reciprocate in a horizontal plane along a first horizontal direction;

the vertical conveying device is connected with the second horizontal conveying device and drives the second horizontal conveying device to reciprocate along the vertical direction;

the second horizontal conveying device is connected with the grabbing device and drives the grabbing device to move in a reciprocating mode in a horizontal plane along a second horizontal direction, an included angle theta is formed between the second horizontal direction and the first horizontal direction, and theta is larger than 0 degree and smaller than 180 degrees.

3. The smart storage device of claim 2 wherein the first horizontal transport comprises a first drive assembly, a first trolley assembly and a first support frame, the first trolley assembly being coupled between the mount and the first support frame such that a sliding direction of the first support frame relative to the mount is the first horizontal direction; the first driving assembly drives the first support frame to slide in a reciprocating mode along the first horizontal direction under the control of the main control unit, and the vertical conveying device is fixedly connected with the first support frame.

4. The smart storage device of claim 3 wherein the first horizontal transport further comprises a second drive assembly, a second trolley assembly and a second support frame, the second trolley assembly being coupled between the mounting frame and the second support frame such that the sliding direction of the second support frame relative to the mounting frame is the first horizontal direction; the second driving assembly drives the second support frame to synchronously slide back and forth with the first support frame along the first horizontal direction under the control of the main control unit, and the vertical conveying device is fixedly connected with the second support frame.

5. The smart storage device of claim 4, wherein the vertical transport mechanism comprises a vertical driving assembly, a vertical fixing frame and a vertical supporting frame, and two ends of the vertical fixing frame are fixedly connected with the first supporting frame and the second supporting frame respectively; the vertical driving assembly drives the vertical supporting frame to slide in a reciprocating mode along the vertical direction relative to the vertical fixing frame under the control of the main control unit, and the second horizontal conveying device is fixedly connected with the vertical supporting frame.

6. The intelligent storage device according to claim 5, wherein the vertical transport apparatus further comprises a power-off protection structure, the power-off protection structure comprises a lock head, an elastic member, a transmission assembly, a driving member, and a mounting shell fixed to the vertical support frame, the mounting shell is provided with a through hole on a side wall thereof facing the vertical support frame, the transmission assembly is disposed in the mounting shell and electrically connected to the driving member, a transmission end of the transmission assembly penetrates through the through hole and is connected to the lock head, and the elastic member is disposed on a transmission end of the transmission assembly and compressed between the lock head and the mounting shell;

the vertical fixing frame is provided with a plurality of locking positions at intervals along the vertical direction on the surface opposite to the lock head;

the lock head is provided with a retraction state which is pulled by the transmission assembly and keeps a safe distance with each locking position when the driving piece is electrified, and a locking state which is stretched out under the action of elastic restoring force of the elastic piece and locked with the corresponding locking position when the driving piece is powered off.

7. The smart storage device as claimed in claim 6, wherein the transmission assembly includes a push rod and a transmission member threadedly coupled to the output shaft of the driving member, one end of the push rod is fixedly coupled to the transmission member, the other end of the push rod extends from the through hole and is fixedly coupled to the lock head, the elastic member is sleeved on the extending end of the push rod, and the transmission member is circumferentially retained in the mounting housing.

8. The intelligent storage device as claimed in claim 6, wherein the transmission assembly comprises a push rod and a transmission member moving synchronously with the output shaft of the driving member, one end of the push rod is hinged to the transmission member and has a certain distance between the hinge position and the axis, the other end of the push rod extends from the through hole and is fixedly connected to the lock head, and the elastic member is sleeved on the extending end of the push rod.

9. The smart storage device of claim 5 wherein the second horizontal conveyor comprises a third drive assembly, a third trolley assembly and a third support frame, the third trolley assembly being connected between the vertical support frame and the third support frame such that the sliding direction of the third support frame relative to the vertical support frame is the second horizontal direction; the third driving assembly drives the third support frame to slide in a reciprocating mode along the second horizontal direction under the control of the main control unit, and the grabbing device is connected with the third support frame.

10. The intelligent storage device according to any one of claims 2 to 9, wherein the transfer mechanism further comprises a rotary transfer assembly, the rotary transfer assembly being fixed to the second horizontal transfer device and driving the gripping device to rotate about a power output axis of the rotary transfer assembly under the control of the master control unit; the second horizontal conveying device drives the rotating conveying assembly and the grabbing device to move back and forth along the second horizontal direction.

11. The smart storage device of claim 10 wherein the grasping means comprises a grasping power source, a grasping assembly, and a grasping support frame, the grasping support frame being coupled to and rotating synchronously with the power output shaft of the rotating conveyor assembly; the grabbing power source is fixed on the grabbing support frame and connected with the grabbing component, and the grabbing component is driven to grasp and release under the control of the main control unit.

12. The smart storage device as claimed in claim 11, wherein the grasping apparatus further comprises a reading unit for recognizing and/or reading information of the document, the reading unit is opposite to the document when the grasping assembly grasps the document, and the reading unit is disposed on the grasping support frame or the mounting frame.

13. The smart storage device as claimed in claim 11, wherein the grasping apparatus further comprises a grasping position detecting unit for detecting whether the document is present on the grasping assembly and for detecting whether the document is inserted into a designated position of the grasping assembly when the document is grasped, the grasping position detecting unit being provided to the grasping support frame.

14. The intelligent storage device as claimed in claim 11, wherein the gripping device further comprises an object detection unit for detecting whether the object position of the object region and the loading position of the loading region have certificates, and the object detection unit is disposed on the gripping support frame.

15. The smart storage device of claim 11 wherein the gripper further comprises a guide frame, the guide frame being disposed on the gripper support and being elastically extendable and retractable with respect to the gripper assembly, the guide frame being provided with a guide structure, the guide structure being opposite to the gripper assembly and being configured to allow the document to be displaced in an oriented manner when the gripper assembly grips the document or feeds the document, and to support or hold the end of the document when the gripper assembly conveys the document.

16. The smart storage device according to any one of claims 1 to 9, wherein the smart manipulator further comprises a vision detection unit for acquiring an image of a document to be grabbed positioned at the loading area and calculating an offset amount thereof, the vision detection unit being provided at the grabbing device; the control unit controls the conveying mechanism to move according to the deviation amount and conveys the grabbing device to the position aligned with the certificate to be grabbed.

17. The intelligent storage device according to any one of claims 1 to 9, wherein the mounting rack has a transfer area, the transfer area is provided with at least one intelligent manipulator, the loading area is positioned in the transfer area and is provided with at least one conveying port for conveying documents, and each intelligent manipulator corresponds to at least one conveying port; the target area is adjacent to the conveying area, and an insertion opening of each storage position is provided with one insertion opening and faces the intelligent manipulator.

18. The intelligent storage device according to any one of claims 1 to 9, wherein the mounting rack has two transfer areas, each transfer area is provided with at least one intelligent manipulator, the loading areas are provided with two intelligent manipulators and are respectively positioned in the two transfer areas, each loading area is provided with at least one conveying port for conveying a document, and each intelligent manipulator corresponds to at least one conveying port; the two conveying areas are arranged on two opposite sides of the target area, and each storage position of the storage device is provided with two communicated insertion openings and faces to the intelligent manipulator on each side.

19. The smart storage device of any one of claims 1 to 9 wherein each storage location is provided at least one side thereof with a clamping structure for clamping a document, a clamping end of the clamping structure projecting into the storage location.

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