CN101564241A - Document automatic access device and control method - Google Patents
Document automatic access device and control method Download PDFInfo
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- CN101564241A CN101564241A CNA2009100118341A CN200910011834A CN101564241A CN 101564241 A CN101564241 A CN 101564241A CN A2009100118341 A CNA2009100118341 A CN A2009100118341A CN 200910011834 A CN200910011834 A CN 200910011834A CN 101564241 A CN101564241 A CN 101564241A
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Abstract
The invention relates to a document automatic access device and a control method, which belong to the technical field of automation. The device comprises a support frame, a control panel, a bottom board, a document holder, a guide rail, a driving belt A, a document box, an x-axis movable mechanism, a y-axis movable mechanism and a z-axis movable mechanism. The control method of the device comprises the following steps: (1) determining an initialization parameter; (2) determining whether to debug or run according to a parameter of the position at which the document is; (3) if running, determining picking and placing; (4) if debugging, performing X-axis, Y-axis and Z-axis inching movements of a mechanical arm respectively; (5) determining the moving mode of the document holder; and (6) returning the mechanical arm to an original point. The device and the method have the advantages that the document intelligent intensive access can be achieved through a document storage intensive mechanism, an access mechanical arm and an automatic control system, more storages and error-free high-efficiency access of documents are not needed to be set according to categories, and the technique can be widely applied in similar industries, supermarkets and other public places.
Description
Technical field
The invention belongs to technical field of automation, particularly a kind of document automatic access device and control method.
Background technology
Intensive support body of traditional documents data can be together intensive at present, the staff only need move out the document frame that will pick and place document information and gets final product during work, though saved the space, but rely on manpower to move the document frame and have limitation, and inefficiency, though large-scale Automatic Warehouse uses mechanical automatic access device to solve limitation and efficiency, adopt fixing support body again waste to be caused in the space.
Summary of the invention
Shortcoming and defect at the existence of traditional documents access procedure, the invention provides a kind of document automatic access device and control method, by control device and control method with mechanical arm and document information frame cooperating movably, save the space to reach, improve document access efficiency and accuracy.
Technical scheme of the present invention is achieved in that document automatic access device includes bracing frame, control panel, base plate, document frame, guide rail, rotating band A, file box, x axle travel mechanism, y axle travel mechanism, z axle travel mechanism, wherein x axle travel mechanism comprises stepper motor A, stepper motor B, guide wheel A and guide wheel B, brace summer, this y axle travel mechanism comprises guide wheel C, stepper motor C, and z axle travel mechanism comprises mechanical arm, support bar, rotating band B.
The connection that this device feature is mutual: control panel is perpendicular to base plate, bracing frame is positioned on the base plate, control panel is positioned at bracing frame one side, the document frame is parallel to control panel and is erected on the guide rail, guide rail is between document frame and base plate, guide rail is parallel to x axle or y axle, rotating band A is parallel to guide rail, the two ends of brace summer are erected on the bracing frame by guide wheel A and guide wheel B in the x axle travel mechanism, stepper motor A and stepper motor B lay respectively in guide wheel A and the guide wheel B, guide wheel C in the y axle travel mechanism is positioned on the brace summer, stepper motor C is positioned at guide wheel C, and the support bar in the z axle travel mechanism connects guide wheel C, and support bar is perpendicular to brace summer, mechanical arm is arranged on the support bar lower end, and rotating band B is parallel to support bar.
Described mechanical arm is a hooked scarf shape structure, and hooked scarf is not up and down on same straight line.
Adopt the control method of described a kind of document automatic access device, step is as follows:
(1), determine initiation parameter, determine data place frame according to the file box code, the layer, every;
(2), determine that according to data position parameter debugging still is operation;
(3) if operation is then determined to pick and place, calculate the coordinate figure when putting data, and with X, the coordinate of Y-axis is composed the position coordinates array to linear interpolation, the Z axial coordinate is composed the axle to Z;
(4) if debug, X, Y, the Z axle crawl of then carrying out mechanical arm respectively move;
(5), by data place frame number, determine the move mode of document frame;
(6), finish, mechanical arm returns to initial point.
Wherein step (five), by data place frame number, determine the move mode of document frame, step is as follows:
The first step: X, y-axis motor are carried out linear interpolation and are made mechanical arm move to assigned address, and the controller of operational communications is simultaneously passed to controller with document frame number and move mode, makes the document frame move to assigned address;
Second step: Z axial coordinate and controlling value are passed to servo-driver by module network, make mechanical arm move to assigned address along the Z axle;
The 3rd the step: mechanical arm moves along X-axis, make its next step can accurately mention or put down data;
The 4th step: mechanical arm is moving along y-axis shift, mentions data or data is put in the box;
The 5th step: carry out linear interpolation, mechanical arm is withdrawed from frame;
The 6th step: Z axial coordinate and controlling value are passed to servo-driver by module network, mechanical arm is shifted out between two, return Z axle initial point;
The 7th step: carry out linear interpolation, make mechanical arm return the operation that initial point prepares to get next time or put data, simultaneously each the state flag bit zero clearing in the implementation.
The using method of document automatic access device,: the staff at first imports the document information code, selection is deposited or is got, system begins according to these information document information to be carried out compute location afterwards, and begins to carry out each step action, carries out each action by each module controls each several part motor afterwards, thereby the access procedure of finishing, at any time monitor the running of mechanical arm and document frame, can get back to initial point automatically, avoid mechanical device is damaged in case wrong mechanical arm occurs.
Advantage of the present invention: can reach the access of intelligent file concentrated type by the intensive mechanism of document storage and access mechanical arm and automatic control system, realize that document does not need more storages of category setting and the efficient access of zero defect, but this technology is in similar industries, supermarket and other public place extensive uses.
Description of drawings
Fig. 1 is a kind of document automatic access device structure principle chart of the present invention;
Fig. 2 is a kind of document automatic access device mechanical arm of the present invention structure principle chart;
Fig. 3 a, Fig. 3 b and Fig. 3 c carry out control flow chart for the present invention adopts a kind of document automatic access device of Fig. 2.
Among the figure: 1 control panel, 2 bracing frames, 3 document framves, 4 guide rails, 5 rotating band A, 6 base plates, 7 file box, 8 guide wheel C, 9 guide wheel A, 10 mechanical arms, 11 guide wheel B, 12 brace summers, 13 support bars, 14 rotating band B, 15 hooked scarfs.
The specific embodiment
A kind of document automatic access device of the present invention and control method are illustrated in conjunction with the embodiments.
Document automatic access device structure (as shown in Figure 1), include bracing frame 2, control panel 1, base plate 6, document frame 3, guide rail 4, rotating band A5, file box 7, x axle travel mechanism, y axle travel mechanism, z axle travel mechanism, x axle travel mechanism comprises stepper motor A, stepper motor B, guide wheel A9 and guide wheel B 11, brace summer 12, y axle travel mechanism comprises guide wheel C8, stepper motor C, and z axle travel mechanism comprises mechanical arm 10, support bar 13, rotating band B14.
This device be connected to control panel 1 perpendicular to base plate 6, bracing frame 2 is positioned on the base plate 6, control panel 1 is positioned at bracing frame 2 one sides, document frame 3 is parallel to control panel 1 and is erected on the guide rail 4, guide rail 4 is between document frame 3 and base plate 6, guide rail 4 is parallel to x axle or y axle, rotating band A5 is parallel to guide rail 4, the two ends of brace summer 12 are erected on the bracing frame 2 by guide wheel A9 and guide wheel B11 in the x axle travel mechanism, stepper motor A and stepper motor B lay respectively in guide wheel A9 and the guide wheel B11, guide wheel C8 in the y axle travel mechanism is positioned on the brace summer 12, stepper motor C is positioned at guide wheel C8, and the support bar 13 in the z axle travel mechanism connects guide wheel C8, and support bar 13 is perpendicular to brace summer 12, mechanical arm 10 is arranged on support bar 13 lower ends, and rotating band B14 is parallel to support bar 13.
Described mechanical arm 10 (as shown in Figure 2) is the shape structure of two hooked scarfs 15, two hooked scarfs 15 are not up and down on same straight line, this has just guaranteed the stability in the time of the access data, the raising speed of stability just can be accelerated relatively, thereby also just improved the efficient of system, 10 3 directions of mechanical arm all adopt slide block to fix, and adopting rotating band B14 is transmission mechanism, is furnished with file box 7 on the document frame 3, be plastic construction, data is all put by unified file box 7, and file box 7 one sides are two asymmetric holes up and down, just the hooked scarf 15 with mechanical arm 10 coincide, and uses when picking and placeing book for mechanical arm 10.
The staff imports on control panel 1 and wants the mode of operating, deposit or get, import the code of the document information of the access of wanting again, document frame 3 can be oriented the position of the document frame that will pick and place, one end of guide rail 4 is provided with stepper motor drive rotating band document frame 3 and moves, the document frame 3 that control needs is opened, and other are still together intensive.
The control method of document automatic access device, step is as follows: (as shown in Figure 3)
(1), determine initiation parameter, be 1 according to file box 7 codes 40,40 divided by every sum 36 merchants, determine then that at first obtain remainder 4 divided by every layer of sum 11, the merchant is 0, remainder 4 is then determined at the 0th layer the 4th;
(2), determine that according to data position parameter debugging still is operation;
(3) if operation is then determined to pick and place, calculate the coordinate figure when putting data, and with X, the coordinate of Y-axis is composed the position coordinates array to linear interpolation, the Z axial coordinate is composed the axle to Z;
(4) if debug, X, Y, the Z axle crawl of then carrying out mechanical arm 10 respectively move;
(5), pass through data place document frame No. 3, the next move mode of determining with travel mechanism;
(6), finish, mechanical arm 10 returns to initial point.
Wherein step (five), by data place frame number, determine the move mode of document frame, step is as follows:
The first step: X, y-axis motor are carried out linear interpolation and are made mechanical arm 10 move to first, and enter bookshelf and move to the 4th, and the controller of operational communications is simultaneously passed to controller with No. 3, document frame and move mode, and document frame 3 is moved, open 0 with 1;
Second step: Z axial coordinate and controlling value are passed to servo-driver by module network, make mechanical arm 10 move to the 0th layer along the Z axle;
The 3rd step: mechanical arm 10 moves along X-axis, make its next step can accurately mention or put down data;
The 4th step: mechanical arm 10 is moving along y-axis shift, mentions data or data is put in the box;
The 5th step: carry out linear interpolation, mechanical arm 10 is withdrawed from frame;
The 6th step: Z axial coordinate and controlling value are composed to transmission, passed to servo-driver, mechanical arm 10 is shifted out between two, return Z axle initial point by module network;
The 7th step: carry out linear interpolation, make mechanical arm 10 return the operation that initial point prepares to get next time or put data, simultaneously each the state flag bit zero clearing in the implementation.
The using method of document automatic access device, the staff is the input data code at first, selects to get or put, and system begins according to these information data to be positioned afterwards, and begins to carry out each step action.Carry out each action by each module controls each several part motor afterwards, thereby finish fetching process, monitor the running of mechanical arm and document frame 3 at any time, can get back to initial point automatically, avoid mechanical device is damaged in case wrong mechanical arm occurs.
About the mobile of document frame 3 is related with the mobile phase of mechanical arm 10, the first step, and mechanical arm 10 moves to respective document frame 3, and document frame 3 also moves out the document frame 3 of corresponding number according to the data information that will pick and place simultaneously; At this moment, mechanical arm 10 is simultaneously in place with document frame 3, and in second step, mechanical arm 10 independently movings enter in the document frame 3 data is picked and placeed, and send to driver by communication controler, move thereby make stepper motor drive document frame 3.
Claims (4)
1, a kind of document automatic access device, it is characterized in that: this device includes bracing frame, control panel, base plate, document frame, guide rail, rotating band A, file box, x axle travel mechanism, y axle travel mechanism, z axle travel mechanism, wherein x axle travel mechanism comprises stepper motor A, stepper motor B, guide wheel A and guide wheel B, brace summer, this y axle travel mechanism comprises guide wheel C, stepper motor C, and z axle travel mechanism comprises mechanical arm, support bar, rotating band B; This device feature interconnects: control panel is perpendicular to base plate, bracing frame is positioned on the base plate, control panel is positioned at bracing frame one side, the document frame is parallel to control panel and is erected on the guide rail, guide rail is between document frame and base plate, guide rail is parallel to x axle or y axle, rotating band A is parallel to guide rail, the two ends of brace summer are erected on the bracing frame by guide wheel A and guide wheel B in the x axle travel mechanism, stepper motor A and stepper motor B lay respectively in guide wheel A and the guide wheel B, guide wheel C in the y axle travel mechanism is positioned on the brace summer, stepper motor C is positioned at guide wheel C, and the support bar in the z axle travel mechanism connects guide wheel C, and support bar is perpendicular to brace summer, mechanical arm is arranged on the support bar lower end, and rotating band B is parallel to support bar.
2, by the described a kind of document automatic access device of claim 1, it is characterized in that described mechanical arm is a hooked scarf shape structure, hooked scarf is not up and down on same straight line.
3, the control method of the described document automatic access device of claim 1 is characterized in that step is as follows:
(1), determine initiation parameter, determine data place frame according to the file box code, the layer, every;
(2), determine that according to data position parameter debugging still is operation;
(3) if operation is then determined to pick and place, calculate the coordinate figure when putting data, and with X, the coordinate of Y-axis is composed the position coordinates array to linear interpolation, the Z axial coordinate is composed the axle to Z;
(4) if debug, X, Y, the Z axle crawl of then carrying out mechanical arm respectively move;
(5), by data place frame number, determine the move mode of document frame;
(6), finish, mechanical arm returns to initial point.
4, by the control method of the described document automatic access device of claim 3, it is characterized in that described step (five), by data place frame number, determine the move mode of document frame, step is as follows:
The first step: X, y-axis motor are carried out linear interpolation and are made mechanical arm move to assigned address, and the controller of operational communications is simultaneously passed to controller with document frame number and move mode, makes the document frame move to assigned address;
Second step: Z axial coordinate and controlling value are passed to servo-driver by module network, make mechanical arm move to assigned address along the Z axle;
The 3rd the step: mechanical arm moves along X-axis, make its next step can accurately mention or put down data;
The 4th step: mechanical arm is moving along y-axis shift, mentions data or data is put in the box;
The 5th step: carry out linear interpolation, mechanical arm is withdrawed from frame;
The 6th step: Z axial coordinate and controlling value are passed to servo-driver by module network, mechanical arm is shifted out between two, return Z axle initial point;
The 7th step: carry out linear interpolation, make mechanical arm return the operation that initial point prepares to get next time or put data, simultaneously each the state flag bit zero clearing in the implementation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100118341A CN101564241B (en) | 2009-06-03 | 2009-06-03 | Document automatic access device and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100118341A CN101564241B (en) | 2009-06-03 | 2009-06-03 | Document automatic access device and control method |
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| CN101564241A true CN101564241A (en) | 2009-10-28 |
| CN101564241B CN101564241B (en) | 2011-06-15 |
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| CN2009100118341A Expired - Fee Related CN101564241B (en) | 2009-06-03 | 2009-06-03 | Document automatic access device and control method |
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