概述

  全(quan)自(zi)(zi)动保(bao)管箱是一种(zhong)能为租用人提供24小时服(fu)务(wu)的操作(zuo)自(zi)(zi)动化、管理无人化的银(yin)行代保(bao)管设备保(bao)管箱服(fu)务(wu)、具(ju)有(you)监控和(he)公安联(lian)网、防震传(chuan)(chuan)感器(qi)，十三(san)层防火(huo)防钻(zuan)六面金库体，库体能具(ju)有(you)恒(heng)温恒(heng)湿，汇集多项技术为一体，操作(zuo)过程包括客户身份识(shi)别，人脸识(shi)别，指纹(wen)识(shi)别，密码识(shi)别、加上机械(xie)锁，五(wu)层防护(hu)。相对传(chuan)(chuan)统保(bao)管箱具(ju)有(you)更加安全(quan)、空间利用率更高、服(fu)务(wu)时间更长、管理更加便捷，运(yun)营成本(ben)更低的优点。

  一、 系统环境

  硬件：

  工业一体机(ji)电脑(nao)(2个(ge)串口(kou))、嵌入式打(da)印机(ji)

  软件：

  客户端windows7 64位操作系统、.net 4.5运行库、嵌入式数据库SQLite3

  客(ke)户端系(xi)统名称：SsaTouch.exe

  通讯(xun)：

  工(gong)业(ye)一体机分别和PLC采用(yong)modbus协议，嵌入(ru)式打(da)印机采用(yong)rs485通讯

  二、 操作流程

  1、先到柜台开户(hu)(登记身份信息，采集指纹、人脸等信息及办(ban)理缴费或其他相关手续)

  2、人脸识别(bie)，进入客户等待(dai)厅(ting)

  3、当(dang)有取物间(jian)空闲时，刷卡进入存取室(shi)

  4、中英文选择

  5、输入密码和(he)指纹，等待箱体传送到取物口

  6、用(yong)机械钥匙打开保管箱存取物品

  7、存取好后并拔出钥匙点(dian)完成按钮，系(xi)统(tong)自动将(jiang)箱体传送(song)回库房(fang)

  8、按打印按钮(niu)可打印此(ci)次存取凭(ping)证

  9、按(an)出门按(an)钮离开(kai)

  三、 箱(xiang)体规格

  3、1 小箱(xiang) 460mm *260mm *65mm

  3、2 中(zhong)小(xiao)箱 460mm *260mm *85mm

  3、3 中箱 460mm *260mm *135mm

  3、4 大(da)箱(xiang) 460mm *260mm *175mm

  3、5 特(te)大(da)箱 460mm *260mm *210mm

  四、 功能特点

  空间利(li)用率高：

  尺寸为长(zhang)6m * 宽2m *高(gao)2.5m的库(ku)房能容纳410个(ge)小箱、170个(ge)中箱、25个(ge)特大(da)箱，共605箱子，存取室建议尺寸2m *1.5m ，配(pei)置两个(ge)看物间(jian)则(ze)乘以(yi)二。

  安全防(fang)护等级高：

  保管箱库(ku)房(fang)墙体为多层复(fu)合材料组(zu)成(cheng)六面金库(ku)体具有防(fang)(fang)(fang)火、防(fang)(fang)(fang)钻(zuan)、防(fang)(fang)(fang)盗(dao)等多种功能(neng) 。通过(guo)国(guo)家(jia)C级认证。墙体有十三(san)层防(fang)(fang)(fang)火防(fang)(fang)(fang)钻(zuan)板(防(fang)(fang)(fang)钻(zuan)钢板7层多层复(fu)合材料防(fang)(fang)(fang)火板层交(jiao)措叠(die)加而成(cheng)，每一块墙体有100颗左右定做特定制殊螺丝螺母)

  承重低：

  库体内(nei)基(ji)本采用合金框架设计(ji)，减少(shao)了(le)安(an)装空间 降低了(le)地面(mian)承重标准。 

  高精(jing)度定位：

  采用光栅尺全封闭定位系统可实(shi)现微米级(ji)精确定位实(shi)现智能(neng)机械取物(wu)，其中智能(neng)取物(wu)机械手目前(qian)已取得了多项(xiang)国家专(zhuan)利。

  恒温恒湿：

  库体(ti)内采用先(xian)进的恒(heng)温(wen)恒(heng)湿系统，使得库房内持续保持恒(heng)温(wen)恒(heng)湿，保证物品保管(guan)的更(geng)好(hao)更(geng)安全。

  库房实时(shi)监控：

  库体内(nei)布有两个和(he)公(gong)安联网的(de)摄像头，随时方便工作人员(yuan)检测库房内(nei)存取(qu)箱体的(de)动态，

  防震监控：

  库房内安装(zhuang) 8个防震(zhen)(zhen)传(chuan)感器，能及时反应(ying)由于(yu)地震(zhen)(zhen)等自然灾害导(dao)致库体震(zhen)(zhen)动(dong)，并防止墙体破坏震(zhen)(zhen)动(dong)起到很好的监控(kong)和防盗。

  配件质量保障：

  各个(ge)关(guan)键(jian)部位的配(pei)件(jian)选择采(cai)(cai)(cai)用(yong)(yong)国际知名(ming)品(pin)牌，电(dian)机采(cai)(cai)(cai)用(yong)(yong)东(dong)方(fang)马(ma)达电(dian)机，控制器及模(mo)块采(cai)(cai)(cai)用(yong)(yong)高(gao)端PLC，各种(zhong)(zhong)现线材及其他辅助配(pei)件(jian)采(cai)(cai)(cai)用(yong)(yong)米思(si)米，各种(zhong)(zhong)材料均(jun)采(cai)(cai)(cai)用(yong)(yong)耐(nai)(nai)(nai)震、耐(nai)(nai)(nai)磨、耐(nai)(nai)(nai)扭抗弯曲的材料。合金部件(jian)均(jun)经过阳极氧化表面处理，美观耐(nai)(nai)(nai)用(yong)(yong)。

  称重(zhong)保护：

  对每个(ge)箱体(ti)在(zai)存取物品前(qian)系统会自动(dong)称重(zhong)，并自动(dong)登记记录，对于存放超重(zhong)的物品系统自动(dong)报警，并对一些对重(zhong)量有特殊要求的物品，起到警示作用。

  开门及取物防夹：

  系统在开关(guan)门时(shi)能(neng)自动判断，具有防(fang)夹功能(neng)。对于取(qu)物台操作取(qu)物时(shi)，箱体盒(he)盖未关(guan)上(shang)或钥匙(chi)未拔等具有取(qu)物防(fang)夹功能(neng)。

  系统(tong)自检：

  系(xi)统(tong)(tong)(tong)在每次上电，或设置定(ding)时时，会自动对系(xi)统(tong)(tong)(tong)内的(de)各(ge)(ge)(ge)种开关及各(ge)(ge)(ge)个模块进(jin)行自检，能保(bao)证系(xi)统(tong)(tong)(tong)安全高效的(de)运行，系(xi)统(tong)(tong)(tong)能对自检过程中出(chu)现的(de)各(ge)(ge)(ge)种问题进(jin)行报警提(ti)示(shi)。

  断电保护：

  系统内置(zhi)UPS电源，当在取物或存物过(guo)程中，突(tu)然停电，系统启用ups电源，持续完成(cheng)本次操作。

  存取时间短(duan)：

  系统从(cong)进入取(qu)物间(jian)至(zhi)完成验证到箱体传送到位(wei)，平均用(yong)时45秒，短时间(jian)可(ke)达25秒。

  噪音小，运行平稳：

  系(xi)统在(zai)运(yun)动过程中(zhong)匀速运(yun)行，采用进口(kou)的(de)滑(hua)块和丝杆及(ji)滚轴(zhou)并在(zai)各个碰撞环(huan)境安(an)装有缓冲装置(zhi)，减(jian)少噪音。保证系(xi)统运(yun)行时的(de)平(ping)稳及(ji)安(an)全。

  高效的箱体传送方式：

  机(ji)械臂采用拉、推方式进行箱体的运行，保(bao)(bao)证箱体在(zai)传送过程中，使(shi)得箱体在(zai)传送过程中确保(bao)(bao)位置、流畅、安全、高效。

  防(fang)尘(chen)保护：

  在每(mei)排(pai)箱体上(shang)均安装防(fang)尘(chen)板，以保(bao)证灰尘(chen)杂质不会散(san)落到箱体上(shang)，保(bao)持箱体整(zheng)洁。

  库房整体布(bu)局灵活：

  存取室(shi)的设(she)计(ji)位置可根据(ju)库(ku)(ku)房实际(ji)情况，安装于库(ku)(ku)房墙体的任意一侧。

  库房(fang)取物的安全性：

  每次取(qu)物存物时只有当箱体传送到库(ku)房(fang)边上时，安全门才会开启，不(bu)在工作(zuo)状(zhuang)态时，安全门处于关(guan)闭(bi)状(zhuang)态。

  传送承重能力强(qiang)：

  每个箱体承(cheng)重(zhong)及传送承(cheng)重(zhong)为30KG.

  综合布线：

  全(quan)部(bu)的布线(xian)都焊接而成，接触(chu)更加牢(lao)靠，稳定性(xing)更好，设备使用寿命更长(zhang)等特(te)点(dian)，库房内布线(xian)均按综合布线(xian)要求布置，安全(quan)规范(fan)。

  图像追踪(zong)定位系统：(选配(pei))

  采(cai)用高清摄像头采(cai)集保(bao)(bao)管箱(xiang)内盒(he)图片，进行(xing)快速对比分析，实现对盒(he)位位置及传送过程(cheng)中的传送过程(cheng)全程(cheng)监控、精确定位，形(xing)成采(cai)集过程(cheng)的二次(ci)校(xiao)验，保(bao)(bao)证(zheng)系(xi)统(tong)运行(xing)的精确、安全。

  五(wu)、 安全防护说明：

  1. 库(ku)体说明

  全自动保管箱库壁安(an)防(fang)(fang)强度达到公安(an)部C级防(fang)(fang)护要求。

  组成：

  金库墙(qiang)体由顶层墙(qiang)体、四周墙(qiang)体、底层钢筋混凝土(tu)结(jie)构、底层水平铺(pu)板、内盒储存架等组(zu)成(cheng)。

  库体表面材(cai)料：

  库体(ti)金(jin)库防护壁采用2mm厚冷轧钢板 +10mm防火板(五层)+3.5mm厚防钻板(六层)+2mm冷轧钢板防火板与(yu)防钻板交(jiao)替(ti)放置。如(ru)下图所(suo)示：

  加(jia)工(gong)工(gong)艺：

  钢板表(biao)面经过水磨抛(pao)光，拉丝、酸洗磷化处理等(deng)工艺处理，形(xing)成粗细均(jun)匀的横条丝纹(wen)(wen)，纹(wen)(wen)路(lu)清晰，无(wu)划伤、凹(ao)陷(xian)、乱纹(wen)(wen)、裂纹(wen)(wen)等(deng)缺(que)(que)陷(xian)。表(biao)面细密均(jun)匀，无(wu)缺(que)(que)损(sun)、烧焦、脱落(luo)、划痕、针孔(kong)等(deng)现(xian)象，抗盐雾实验(NSS实验)24小时无(wu)异常。

  底(di)层(ceng)钢(gang)筋(jin)混(hun)凝土结构(gou)+底(di)层(ceng)水平铺板(ban)：

  由10#槽(cao)钢(gang)、40*60方管为骨(gu)架(jia)的混凝(ning)土(tu)结构，上面(mian)辅(fu)12mm厚铁(tie)板水平基准，竖立80*80*8角(jiao)铁(tie)的骨(gu)架(jia)立柱为垂直方向基准。用80*80*8角(jiao)铁(tie)固定金(jin)库(ku)顶层各面(mian)。如图所示：

  内(nei)盒储存架(jia)：

  由40*20方(fang)铁和20*40铝合铝型(xing)材为(wei)骨架(jia)，以1.5mm优质冷(leng)轧板为(wei)材料，以特(te)殊(shu)(shu)模具冷(leng)拉铝合金(jin)型(xing)材为(wei)立柱，以30*30特(te)殊(shu)(shu)模具冷(leng)拉铝合金(jin)型(xing)材为(wei)立柱底座(zuo)固定，中(zhong)间用内(nei)箱加强支架(jia)连接，外端的立柱配置内(nei)盒限位(wei)装(zhuang)置，来固定储物盒的位(wei)置。如(ru)图所示：

  四周(zhou)墙体和顶层墙体：

  均用2.3mm优(you)质冷轧(ya)板(ban)(ban)(ban)(ban)(ban)经以折弯成型(xing)、表(biao)面喷(pen)塑(su)等工艺制作，墙体分为(wei)两层，为(wei)镶嵌结构，墙体总厚(hou)度(du)为(wei)90mm(不包外部(bu)槽钢厚(hou)度(du))，内(nei)部(bu)装配(pei)形式为(wei)：2.3mm优(you)质冷轧(ya)板(ban)(ban)(ban)(ban)(ban)+40mm防(fang)(fang)火(huo)防(fang)(fang)钻板(ban)(ban)(ban)(ban)(ban)+2.3mm优(you)质冷轧(ya)板(ban)(ban)(ban)(ban)(ban)+2.3mm优(you)质冷轧(ya)板(ban)(ban)(ban)(ban)(ban)+40mm防(fang)(fang)火(huo)防(fang)(fang)钻板(ban)(ban)(ban)(ban)(ban)+2.3mm优(you)质冷轧(ya)板(ban)(ban)(ban)(ban)(ban)。

  2. 看(kan)物间详细描述：

  看物间基本说明(ming)：

  包含门(men)禁、看(kan)物(wu)(wu)(wu)台(tai)、客户操作终端、出入箱口、看(kan)物(wu)(wu)(wu)间壁(bi)等(deng)。看(kan)物(wu)(wu)(wu)间房内封顶(ding)，外包严，装璜美观舒适，内可配(pei)(pei)置感(gan)应灯光。配(pei)(pei)套(tao)看(kan)物(wu)(wu)(wu)间、展示柜等(deng)，库(ku)外设验(yan)证区及等(deng)候休闲区。

  材质(zhi):

  主(zhu)体钢(gang)结(jie)构。设计说明(ming)：操作便捷(jie)，使(shi)用(yong)方便，私(si)密安全，易使(shi)用(yong)。 

  看物间结构图示参考：

  看(kan)物间的操作(zuo)流程：

  看物间(jian)功能(neng)描述

  1)自动安全系(xi)统能详实记录顾客进(jin)出、箱体内(nei)盒(he)出入前后的重(zhong)量变(bian)化(hua)信(xin)息及操作(zuo)等(deng)历史记录。

  2)顾(gu)客身份的鉴别，操(cao)作引导，保(bao)管箱内(nei)盒的取出及退回，使用状(zhuang)况的记录等全(quan)部(bu)操(cao)作程序全(quan)部(bu)自(zi)动化。

  3)进(jin)入(ru)看物房(fang)必须(xu)持保管箱专用RFID卡刷卡进(jin)行身份(fen)验证，看物间(jian)具有(you)独占性，如果当前看物间(jian)在(zai)使(shi)(shi)用，则其(qi)他客(ke)户(hu)无法同时使(shi)(shi)用，门禁(jin)刷卡器会提示(shi)有(you)客(ke)户(hu)正(zheng)在(zai)使(shi)(shi)用，看物房(fang)电(dian)控门不会开启;

  4)客户(hu)进入看物房后电控(kong)门(men)自动锁闭，客户(hu)需要(yao)进行二次验(yan)证(zheng)(密码或(huo)指纹)确(que)认身份(fen)，保管(guan)箱内盒自动由库(ku)内传送至取物窗口平台内，保管(guan)箱取物闸门(men)自动打开(kai)

  5)若客户在看物(wu)房内滞留时(shi)间(jian)过长(限制(zhi)时(shi)间(jian)可自行设置(zhi))系统会自动报警。

  6)客户(hu)存取结束(shu)后(hou)按(an)开(kai)门键(jian)，保管箱存取口(kou)自动关闭，保管箱内盒(he)自动传送回库内，电(dian)控门自动解锁。

  7)为客户提供紧急情况下的报(bao)警(jing)按钮和求助电话(hua)，可连接银行内部(bu)报(bao)警(jing)系(xi)统或110联网(wang)报(bao)警(jing)系(xi)统。

  入口门(men)禁方案：电(dian)控铜(tong)门(men)(刷(shua)卡开(kai)启，自动关闭(bi))

  1、RFID读卡器(qi)(录入相关开户信息)、非接触(chu)式IC卡 (mifare 0ne IS50 IS70系列)

  2、RFID门禁人(ren)(ren)脸识(shi)别:通(tong)过人(ren)(ren)脸识(shi)别，开启休息室电(dian)控门。

  (RFID读卡(ka)器(qi))                                         (RFID门禁(jin)人(ren)脸(lian)识别(bie))

  六、 工作原理(li)说明

  全(quan)自动保管箱是将机(ji)械、电控、软件结合起(qi)来的机(ji)电一体化(hua)产品。系统(tong)由库房、内(nei)盒、机(ji)械臂(bei)、输送通道(dao)，看物间组成。

  客户凭卡进入看物(wu)间，通(tong)过(guo)输(shu)入密码、指(zhi)纹(wen)等验证后，通(tong)过(guo)多个伺服控制一个机(ji)(ji)械(xie)(xie)(xie)手。通(tong)过(guo)PLC或刷卡发送指(zhi)令，机(ji)(ji)械(xie)(xie)(xie)臂(bei)平(ping)移(yi)到(dao)(dao)指(zhi)定(ding)箱(xiang)(xiang)(xiang)体位置(zhi)取(qu)(qu)(qu)箱(xiang)(xiang)(xiang)，机(ji)(ji)械(xie)(xie)(xie)手钩住箱(xiang)(xiang)(xiang)子传(chuan)送到(dao)(dao)机(ji)(ji)械(xie)(xie)(xie)臂(bei)上(shang)，机(ji)(ji)械(xie)(xie)(xie)臂(bei)平(ping)移(yi)到(dao)(dao)指(zhi)定(ding)出箱(xiang)(xiang)(xiang)口，机(ji)(ji)械(xie)(xie)(xie)手钩住箱(xiang)(xiang)(xiang)子传(chuan)送到(dao)(dao)传(chuan)送带，在由传(chuan)送带传(chuan)送到(dao)(dao)取(qu)(qu)(qu)物(wu)平(ping)台，取(qu)(qu)(qu)物(wu)窗(chuang)口打开取(qu)(qu)(qu)物(wu)完成。还箱(xiang)(xiang)(xiang)操作(zuo)则与取(qu)(qu)(qu)箱(xiang)(xiang)(xiang)动(dong)作(zuo)相反。

  操作流程图:

  全自动保(bao)管箱结构(gou):包(bao)含有库(ku)房墙体(ti)，箱体(ti)货架，内盒，智(zhi)能机(ji)械(xie)臂，传送(song)机(ji)构(gou)，2个控制柜组成。

  智能机械臂(bei)由滑轨、通道(dao)传送结构(gou)、智能机械手组成。

  1、 滑轨分为上滑道和下滑道。

  上滑(hua)(hua)道(dao)(dao)由平移导轨，滑(hua)(hua)块(kuai)，特制(zhi)铝型(xing)安(an)(an)装板组成;智能机械臂通(tong)过(guo)特制(zhi)铝型(xing)安(an)(an)装板将上下滑(hua)(hua)块(kuai)固(gu)定，使通(tong)道(dao)(dao)传送结构中(zhong)的上下两(liang)个滑(hua)(hua)块(kuai)带动(dong)(dong)同步皮带传动(dong)(dong)，上滑(hua)(hua)道(dao)(dao)和下滑(hua)(hua)道(dao)(dao)中(zhong)的滑(hua)(hua)块(kuai)同步制(zhi)动(dong)(dong)，实现了智能机械臂在滑(hua)(hua)轨上进行水平方向左右移动(dong)(dong)。

  2、 通(tong)道(dao)传送结构包括框架、水平X轴(zhou)驱(qu)动组件、垂直Y轴(zhou)驱(qu)动组件、电气布(bu)线系统。

  (1) 框架采用高强度硬铝，通过高强的L板(ban)连(lian)接件和(he)防(fang)松动螺丝拼接组合而成。

  (2) 水平(ping)X轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)驱(qu)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)组件(jian)(jian)(jian)由(you)(you)传(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)、上(shang)(shang)(shang)(shang)下(xia)(xia)同步(bu)驱(qu)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)(chi)轮(lun)(lun)(lun)、传(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)(chi)轮(lun)(lun)(lun)、主动(dong)(dong)(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)(chi)轮(lun)(lun)(lun)、驱(qu)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)电(dian)机(ji)部(bu)(bu)件(jian)(jian)(jian)、上(shang)(shang)(shang)(shang)下(xia)(xia)固定(ding)轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)承(cheng)座(zuo)部(bu)(bu)件(jian)(jian)(jian)和导(dao)向轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)承(cheng)座(zuo)部(bu)(bu)件(jian)(jian)(jian)组成(cheng);上(shang)(shang)(shang)(shang)下(xia)(xia)同步(bu)驱(qu)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)(chi)轮(lun)(lun)(lun)固定(ding)在(zai)(zai)传(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)的(de)(de)两(liang)端，传(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)通过上(shang)(shang)(shang)(shang)下(xia)(xia)固定(ding)轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)承(cheng)座(zuo)部(bu)(bu)件(jian)(jian)(jian)连接在(zai)(zai)铝型材架(jia)体上(shang)(shang)(shang)(shang)，传(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)(chi)轮(lun)(lun)(lun)固定(ding)在(zai)(zai)传(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)的(de)(de)中下(xia)(xia)部(bu)(bu)，主动(dong)(dong)(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)(chi)轮(lun)(lun)(lun)固定(ding)在(zai)(zai)驱(qu)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)电(dian)机(ji)部(bu)(bu)件(jian)(jian)(jian)的(de)(de)输(shu)出(chu)(chu)轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)上(shang)(shang)(shang)(shang)，电(dian)机(ji)部(bu)(bu)件(jian)(jian)(jian)固定(ding)在(zai)(zai)车(che)(che)体上(shang)(shang)(shang)(shang);电(dian)机(ji)部(bu)(bu)件(jian)(jian)(jian)输(shu)出(chu)(chu)轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)通过主动(dong)(dong)(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)(chi)轮(lun)(lun)(lun)和传(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)(chi)轮(lun)(lun)(lun)的(de)(de)啮(nie)合驱(qu)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)传(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)旋(xuan)转(zhuan)，经由(you)(you)传(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)两(liang)端的(de)(de)上(shang)(shang)(shang)(shang)下(xia)(xia)同步(bu)驱(qu)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)(chi)轮(lun)(lun)(lun)配合上(shang)(shang)(shang)(shang)下(xia)(xia)滑轨中的(de)(de)齿(chi)(chi)(chi)条(tiao)将(jiang)传(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)轴(zhou)(zhou)(zhou)(zhou)(zhou)(zhou)的(de)(de)旋(xuan)转(zhuan)运(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)转(zhuan)换为直线(xian)运(yun)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)，驱(qu)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)巷道车(che)(che)水平(ping)往(wang)复运(yun)行;驱(qu)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)电(dian)机(ji)采用(yong)伺服电(dian)机(ji)，保证巷道车(che)(che)的(de)(de)定(ding)位(wei)精(jing)确(que);所有传(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)件(jian)(jian)(jian)采用(yong)精(jing)密齿(chi)(chi)(chi)轮(lun)(lun)(lun)，保证长寿命高精(jing)度。

  (3) 垂直(zhi)Y轴(zhou)(zhou)驱(qu)(qu)(qu)(qu)动(dong)(dong)(dong)(dong)(dong)组件由导(dao)(dao)向直(zhi)线(xian)导(dao)(dao)轨(gui)两(liang)组、滚(gun)(gun)珠(zhu)(zhu)丝(si)(si)(si)(si)杆(gan)(gan)(gan)、升(sheng)降(jiang)(jiang)板(ban)、丝(si)(si)(si)(si)杆(gan)(gan)(gan)固(gu)定(ding)轴(zhou)(zhou)承座(zuo)、从动(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)轮(lun)(lun)、主(zhu)动(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)轮(lun)(lun)、驱(qu)(qu)(qu)(qu)动(dong)(dong)(dong)(dong)(dong)电(dian)机(ji)部(bu)件。两(liang)组直(zhi)线(xian)导(dao)(dao)轨(gui)安(an)装(zhuang)在(zai)(zai)架体的(de)(de)两(liang)侧边，为(wei)垂直(zhi)升(sheng)降(jiang)(jiang)提供导(dao)(dao)向;滚(gun)(gun)珠(zhu)(zhu)丝(si)(si)(si)(si)杆(gan)(gan)(gan)通(tong)过丝(si)(si)(si)(si)杆(gan)(gan)(gan)固(gu)定(ding)轴(zhou)(zhou)承座(zuo)连(lian)接(jie)(jie)在(zai)(zai)架体上(shang)，跟(gen)直(zhi)线(xian)导(dao)(dao)轨(gui)平行方向安(an)装(zhuang)在(zai)(zai)两(liang)组直(zhi)线(xian)导(dao)(dao)轨(gui)之(zhi)间位置;从动(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)轮(lun)(lun)固(gu)定(ding)在(zai)(zai)滚(gun)(gun)珠(zhu)(zhu)丝(si)(si)(si)(si)杆(gan)(gan)(gan)的(de)(de)底(di)面，主(zhu)动(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)轮(lun)(lun)固(gu)定(ding)在(zai)(zai)驱(qu)(qu)(qu)(qu)动(dong)(dong)(dong)(dong)(dong)电(dian)机(ji)部(bu)件的(de)(de)输出轴(zhou)(zhou)上(shang)驱(qu)(qu)(qu)(qu)动(dong)(dong)(dong)(dong)(dong)电(dian)机(ji)部(bu)件通(tong)过安(an)装(zhuang)底(di)板(ban)固(gu)定(ding)在(zai)(zai)架体上(shang)，升(sheng)降(jiang)(jiang)板(ban)连(lian)接(jie)(jie)在(zai)(zai)两(liang)组直(zhi)线(xian)导(dao)(dao)轨(gui)滑(hua)块上(shang)，滚(gun)(gun)珠(zhu)(zhu)丝(si)(si)(si)(si)杆(gan)(gan)(gan)的(de)(de)螺母(mu)也(ye)连(lian)接(jie)(jie)在(zai)(zai)升(sheng)降(jiang)(jiang)板(ban)上(shang)。驱(qu)(qu)(qu)(qu)动(dong)(dong)(dong)(dong)(dong)电(dian)机(ji)部(bu)件输出轴(zhou)(zhou)通(tong)过主(zhu)动(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)轮(lun)(lun)和(he)传动(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)轮(lun)(lun)的(de)(de)啮合驱(qu)(qu)(qu)(qu)动(dong)(dong)(dong)(dong)(dong)滚(gun)(gun)珠(zhu)(zhu)丝(si)(si)(si)(si)杆(gan)(gan)(gan)旋(xuan)(xuan)转，经由两(liang)侧的(de)(de)直(zhi)线(xian)导(dao)(dao)轨(gui)导(dao)(dao)向的(de)(de)升(sheng)降(jiang)(jiang)板(ban)以及和(he)升(sheng)降(jiang)(jiang)板(ban)连(lian)接(jie)(jie)的(de)(de)滚(gun)(gun)珠(zhu)(zhu)丝(si)(si)(si)(si)杆(gan)(gan)(gan)螺母(mu)，将(jiang)丝(si)(si)(si)(si)杆(gan)(gan)(gan)的(de)(de)旋(xuan)(xuan)转的(de)(de)运(yun)动(dong)(dong)(dong)(dong)(dong)转换为(wei)垂直(zhi)升(sheng)降(jiang)(jiang)运(yun)动(dong)(dong)(dong)(dong)(dong)，驱(qu)(qu)(qu)(qu)动(dong)(dong)(dong)(dong)(dong)升(sheng)降(jiang)(jiang)板(ban)垂直(zhi)往复动(dong)(dong)(dong)(dong)(dong)行;驱(qu)(qu)(qu)(qu)动(dong)(dong)(dong)(dong)(dong)电(dian)机(ji)采用伺(si)服电(dian)机(ji)，保证(zheng)(zheng)升(sheng)降(jiang)(jiang)板(ban)定(ding)位精(jing)确;所有传动(dong)(dong)(dong)(dong)(dong)部(bu)件采用精(jing)密齿(chi)(chi)轮(lun)(lun)，保证(zheng)(zheng)长寿命(ming)高精(jing)度。

  (4) 电(dian)气布线(xian)系统分为水平走线(xian)拖链(lian)(lian)和垂(chui)直走线(xian)拖链(lian)(lian)以及(ji)为拖链(lian)(lian)提(ti)供(gong)(gong)导向的拖链(lian)(lian)槽组成。拖链(lian)(lian)采用稳定可(ke)靠的塑料尼龙拖链(lian)(lian)，为移(yi)动系统部件(jian)提(ti)供(gong)(gong)供(gong)(gong)电(dian)和信(xin)号传(chuan)输。

  3、 取(qu)盒(he)机械手分为(wei)机械手底架、内(nei)盒(he)输送系统(tong)、拉钩系统(tong)、拉钩顶升系统(tong)和内(nei)盒(he)导向(xiang)板。取(qu)盒(he)机械手固(gu)定在升降板上，由机械臂(bei)控(kong)制(zhi)，到达指定的(de)位置执行(xing)动作。

  (1) 机械手底(di)架(jia)由(you)多(duo)块铝(lv)合金板(ban)材精加工(gong)成(cheng)形，装配组合而成(cheng)。底(di)架(jia)采用铝(lv)合金板(ban)加工(gong)确保了底(di)板(ban)的强(qiang)度和自重的轻量化。

  (2) 内盒输(shu)(shu)送(song)系(xi)统由两组同(tong)步(bu)(bu)带输(shu)(shu)送(song)部(bu)(bu)件(jian)、传(chuan)动部(bu)(bu)件(jian)、驱(qu)动电(dian)(dian)机部(bu)(bu)件(jian)、固(gu)定(ding)支(zhi)架组成。驱(qu)动电(dian)(dian)机部(bu)(bu)件(jian)固(gu)定(ding)在(zai)机械(xie)手底(di)架上，同(tong)步(bu)(bu)带输(shu)(shu)送(song)部(bu)(bu)件(jian)通过固(gu)定(ding)支(zhi)架固(gu)定(ding)在(zai)底(di)架上;驱(qu)动电(dian)(dian)机通过同(tong)步(bu)(bu)带轮、同(tong)步(bu)(bu)带经由传(chuan)动部(bu)(bu)件(jian)将(jiang)旋转运动传(chuan)递到(dao)同(tong)步(bu)(bu)带输(shu)(shu)送(song)部(bu)(bu)件(jian)上，由同(tong)步(bu)(bu)带输(shu)(shu)送(song)内盒进(jin)出机械(xie)手。

  (3) 拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)系(xi)统由(you)两(liang)组(zu)(zu)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)、传(chuan)(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)、连(lian)(lian)接支架(jia)(jia)和驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)电机部(bu)(bu)(bu)件(jian)(jian)(jian)组(zu)(zu)成。两(liang)组(zu)(zu)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)分别位于(yu)内盒(he)输(shu)送系(xi)统的(de)(de)(de)左(zuo)右两(liang)侧(ce)(ce)，每组(zu)(zu)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)由(you)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)侧(ce)(ce)板、拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)平(ping)(ping)移导(dao)(dao)(dao)向直(zhi)(zhi)线导(dao)(dao)(dao)轨、拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)、拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)平(ping)(ping)移同(tong)步带(dai)(dai)(dai)驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)，顶升直(zhi)(zhi)线导(dao)(dao)(dao)轨组(zu)(zu)成;两(liang)组(zu)(zu)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)通过连(lian)(lian)接支架(jia)(jia)将左(zuo)右两(liang)侧(ce)(ce)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)连(lian)(lian)接成一个整(zheng)体，每组(zu)(zu)顶升直(zhi)(zhi)线导(dao)(dao)(dao)轨的(de)(de)(de)导(dao)(dao)(dao)轨道固(gu)(gu)定在(zai)(zai)机械手底(di)架(jia)(jia)上(shang)(shang)(shang)，滑块固(gu)(gu)定在(zai)(zai)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)侧(ce)(ce)板上(shang)(shang)(shang)，使整(zheng)个拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)在(zai)(zai)直(zhi)(zhi)线导(dao)(dao)(dao)轨的(de)(de)(de)导(dao)(dao)(dao)向能够做上(shang)(shang)(shang)下升降运(yun)动(dong)(dong)(dong)(dong)(dong)(dong);两(liang)组(zu)(zu)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)通过传(chuan)(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)中的(de)(de)(de)传(chuan)(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)轴将两(liang)组(zu)(zu)的(de)(de)(de)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)平(ping)(ping)移同(tong)步带(dai)(dai)(dai)驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)连(lian)(lian)接起来，使两(liang)侧(ce)(ce)的(de)(de)(de)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)达(da)到同(tong)步运(yun)行;驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)电机部(bu)(bu)(bu)件(jian)(jian)(jian)安装在(zai)(zai)连(lian)(lian)接支架(jia)(jia)上(shang)(shang)(shang)，通过输(shu)出轴上(shang)(shang)(shang)固(gu)(gu)定的(de)(de)(de)主动(dong)(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)轮和传(chuan)(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)上(shang)(shang)(shang)固(gu)(gu)定的(de)(de)(de)传(chuan)(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)齿(chi)(chi)轮啮合，驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)传(chuan)(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)轴旋转运(yun)动(dong)(dong)(dong)(dong)(dong)(dong)，传(chuan)(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)轴带(dai)(dai)(dai)动(dong)(dong)(dong)(dong)(dong)(dong)两(liang)侧(ce)(ce)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)(bu)(bu)件(jian)(jian)(jian)中的(de)(de)(de)传(chuan)(chuan)动(dong)(dong)(dong)(dong)(dong)(dong)同(tong)步带(dai)(dai)(dai)轮，驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)同(tong)步带(dai)(dai)(dai)运(yun)行，同(tong)步带(dai)(dai)(dai)带(dai)(dai)(dai)动(dong)(dong)(dong)(dong)(dong)(dong)拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)，在(zai)(zai)直(zhi)(zhi)线导(dao)(dao)(dao)轨的(de)(de)(de)导(dao)(dao)(dao)向下，往(wang)复(fu)运(yun)动(dong)(dong)(dong)(dong)(dong)(dong);驱(qu)(qu)动(dong)(dong)(dong)(dong)(dong)(dong)电机采用(yong)伺服电机，保证拉(la)(la)(la)(la)(la)钩(gou)(gou)(gou)(gou)(gou)(gou)动(dong)(dong)(dong)(dong)(dong)(dong)作精(jing)确、迅速(su)、平(ping)(ping)滑。

  (4) 拉(la)钩(gou)(gou)顶(ding)(ding)升(sheng)系统由(you)两(liang)(liang)(liang)组顶(ding)(ding)升(sheng)部(bu)件(jian)(jian)、两(liang)(liang)(liang)组固(gu)定(ding)(ding)(ding)轴(zhou)(zhou)承(cheng)座、和驱(qu)(qu)动(dong)电(dian)机部(bu)件(jian)(jian)组成。驱(qu)(qu)动(dong)电(dian)机部(bu)件(jian)(jian)固(gu)定(ding)(ding)(ding)在(zai)(zai)机械手底(di)架(jia)上的(de)中(zhong)心(xin)(xin)位置(zhi)，两(liang)(liang)(liang)组顶(ding)(ding)升(sheng)部(bu)件(jian)(jian)位于驱(qu)(qu)动(dong)电(dian)机部(bu)件(jian)(jian)的(de)两(liang)(liang)(liang)侧。顶(ding)(ding)升(sheng)部(bu)件(jian)(jian)由(you)传(chuan)(chuan)动(dong)轴(zhou)(zhou)、传(chuan)(chuan)动(dong)齿轮(lun)、偏(pian)(pian)心(xin)(xin)轮(lun)，顶(ding)(ding)升(sheng)轮(lun)组成;偏(pian)(pian)心(xin)(xin)轮(lun)固(gu)定(ding)(ding)(ding)在(zai)(zai)传(chuan)(chuan)动(dong)轴(zhou)(zhou)的(de)两(liang)(liang)(liang)端，传(chuan)(chuan)动(dong)齿轮(lun)固(gu)定(ding)(ding)(ding)在(zai)(zai)传(chuan)(chuan)动(dong)轴(zhou)(zhou)两(liang)(liang)(liang)个偏(pian)(pian)心(xin)(xin)轮(lun)之(zhi)间，顶(ding)(ding)升(sheng)轮(lun)组安装在(zai)(zai)偏(pian)(pian)心(xin)(xin)轮(lun)的(de)偏(pian)(pian)心(xin)(xin)孔上。两(liang)(liang)(liang)组固(gu)定(ding)(ding)(ding)轴(zhou)(zhou)承(cheng)座固(gu)定(ding)(ding)(ding)在(zai)(zai)机械手底(di)架(jia)上，传(chuan)(chuan)动(dong)轴(zhou)(zhou)连接在(zai)(zai)两(liang)(liang)(liang)组轴(zhou)(zhou)承(cheng)座之(zhi)间，使(shi)传(chuan)(chuan)动(dong)轴(zhou)(zhou)只能旋(xuan)转运动(dong)。驱(qu)(qu)动(dong)电(dian)机输出轴(zhou)(zhou)上固(gu)定(ding)(ding)(ding)的(de)主动(dong)齿轮(lun)和固(gu)定(ding)(ding)(ding)在(zai)(zai)传(chuan)(chuan)动(dong)轴(zhou)(zhou)上的(de)传(chuan)(chuan)动(dong)齿轮(lun)啮合，将旋(xuan)转运行传(chuan)(chuan)递(di)到传(chuan)(chuan)动(dong)轴(zhou)(zhou)上，驱(qu)(qu)动(dong)偏(pian)(pian)心(xin)(xin)轮(lun)转动(dong)，顶(ding)(ding)升(sheng)轮(lun)顶(ding)(ding)起拉(la)钩(gou)(gou)侧板，在(zai)(zai)顶(ding)(ding)升(sheng)直线导(dao)轨的(de)导(dao)向(xiang)下，使(shi)拉(la)钩(gou)(gou)系统垂(chui)直上下运动(dong)。

  (5) 内(nei)盒导向板固定在机械手底架上，位(wei)于内(nei)盒输(shu)送(song)系统(tong)上部(bu)的两(liang)侧(ce)，为输(shu)送(song)内(nei)盒作导向。

  4、 输送(song)通道由滚筒输送(song)线(xian)、顶升机(ji)构、开门机(ji)构组成(cheng)。 

  (1) 滚(gun)筒(tong)输送线由铝(lv)型材搭建(jian)架体，电机驱(qu)动(dong)(dong)链条将动(dong)(dong)力传递到滚(gun)筒(tong)，滚(gun)筒(tong)驱(qu)动(dong)(dong)内盒进出通道。

  (2) 顶(ding)(ding)(ding)升(sheng)(sheng)机构(gou)由(you)直(zhi)线减(jian)(jian)(jian)速电(dian)(dian)机、顶(ding)(ding)(ding)升(sheng)(sheng)板(ban)(ban)、导(dao)柱部件、顶(ding)(ding)(ding)升(sheng)(sheng)块组成。直(zhi)线减(jian)(jian)(jian)速电(dian)(dian)机固定在(zai)(zai)(zai)输送线架(jia)体上，直(zhi)线减(jian)(jian)(jian)速器(qi)出轴连(lian)(lian)接(jie)在(zai)(zai)(zai)顶(ding)(ding)(ding)升(sheng)(sheng)板(ban)(ban)上，连(lian)(lian)接(jie)采用浮(fu)动(dong)(dong)连(lian)(lian)接(jie);导(dao)柱固定在(zai)(zai)(zai)顶(ding)(ding)(ding)升(sheng)(sheng)板(ban)(ban)上，四个导(dao)套(tao)固定在(zai)(zai)(zai)输送线架(jia)体上，在(zai)(zai)(zai)四个导(dao)套(tao)的导(dao)向(xiang)下(xia)，顶(ding)(ding)(ding)升(sheng)(sheng)板(ban)(ban)由(you)直(zhi)线减(jian)(jian)(jian)速器(qi)驱动(dong)(dong)带动(dong)(dong)四根(gen)导(dao)柱上下(xia)运行;顶(ding)(ding)(ding)升(sheng)(sheng)块连(lian)(lian)接(jie)在(zai)(zai)(zai)导(dao)柱，顶(ding)(ding)(ding)升(sheng)(sheng)块铣有定位槽口，将内盒顶(ding)(ding)(ding)起(qi)，同(tong)时对内盒定位，使内盒不(bu)会移(yi)动(dong)(dong)。

  开(kai)门(men)(men)(men)机构(gou)由活(huo)动(dong)(dong)门(men)(men)(men)板、导(dao)(dao)向(xiang)部件、直线(xian)减速(su)器组(zu)成。导(dao)(dao)向(xiang)部件中的导(dao)(dao)槽固(gu)定在台面板下，四组(zu)导(dao)(dao)轮固(gu)定在活(huo)动(dong)(dong)门(men)(men)(men)板底部，在导(dao)(dao)向(xiang)部件的导(dao)(dao)向(xiang)下，活(huo)动(dong)(dong)门(men)(men)(men)板由直线(xian)减速(su)器驱动(dong)(dong)进行开(kai)门(men)(men)(men)。