CN106903699A - A kind of intelligent book conditioning machines people - Google Patents
A kind of intelligent book conditioning machines people Download PDFInfo
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- CN106903699A CN106903699A CN201710180621.6A CN201710180621A CN106903699A CN 106903699 A CN106903699 A CN 106903699A CN 201710180621 A CN201710180621 A CN 201710180621A CN 106903699 A CN106903699 A CN 106903699A
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- 230000003750 conditioning effect Effects 0.000 title claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims description 38
- 230000000694 effects Effects 0.000 description 8
- 230000005611 electricity Effects 0.000 description 6
- 230000003028 elevating effect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 230000006641 stabilisation Effects 0.000 description 4
- 238000011105 stabilization Methods 0.000 description 4
- 101100437784 Drosophila melanogaster bocks gene Proteins 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of intelligent book conditioning machines people, belong to robotics.The present invention is including hollow out chassis, chassis case, books in stock case, independent driving wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system etc..Four-wheel rotating driving system is arranged on hollow out chassis, four independent driving wheels are connected with four-wheel rotating driving system respectively, chassis case is arranged on hollow out chassis, books in stock case is placed on chassis case, jacking system is arranged on hollow out chassis, mechanical arm is arranged in the rotation dish of jacking system, and grasping system is installed on the robotic arm.The invention provides a kind of price economy rationally, Windsor, the intelligent book conditioning machines people that application scenarios are more, accuracy is high, it can provide efficient easily books in stock for librarian or even average reading person, the service that takes book and intelligentized book classification management function.
Description
Technical field
The present invention relates to a kind of intelligent book conditioning machines people, belong to robotics.
Background technology
Library book in current school, society monthly has the lending of up to ten thousand times and gives back, this pipe to library
It is undoubtedly a very big burden for reason personnel, complete hand-manipulated, not only workload is big, and less efficient.Manpower is to figure
Book is arranged has hysteresis quality, and the efficiency of library's operation greatly reduces, and the books in library can not constantly keep neat,
It is unfavorable for retrieval, reading and guarantee books with its registration location corresponding unification of the reader to library collection.For this
Present situation, intelligent book management robot can replace manpower, allow robot to be identified books classification, then having classified
Books are sent on corresponding bookshelf, to reach the purpose for reducing manpower, reducing working strength, improve operating efficiency.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of intelligent book conditioning machines people, and the original of books is given back with solution
Beginning position positioning and complete the crawl of whole books and some problems for putting.With the development and industry in big data epoch
Reform, informationization has incorporated the every aspect of modern society, and efficient work can be replaced by intelligent robot.This taking care of books
Robot has flexible walking turning function, lifting function, crawl function and numerous sensor auxiliary, and it is right to complete
Target location, the treatment of target books.
The technical scheme is that：A kind of intelligent book conditioning machines people includes hollow out chassis, chassis case 5, books in stock
Case 3, independent driving wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system etc..Wheel rotation system is arranged on
On hollow out chassis, four independent driving wheels are connected with wheel rotation system respectively, and chassis case 5 is arranged on hollow out chassis, is deposited
Bookcase 3 is placed on chassis case, and jacking system is arranged on hollow out chassis, and mechanical arm is arranged on the rotation dish of jacking system
On, grasping system is installed on the robotic arm.
Described hollow out chassis by support frame 14, chassis upper bracket 15, battery 16, chassis lower carriage 17, support column 18,
Supporting plate II 25, supporting plate III 26, tracing sensor 27, camera and ultrasonic sensor 29, wheel support frame 33 are constituted.Branch
Support 14 is fixed on chassis upper bracket 15；Connected by 8 support columns 18 between chassis upper bracket 15 and chassis lower carriage 17；
Battery 16 is arranged in supporting plate III 26, and supporting plate III 26 is fixed on chassis lower carriage 17；Tracing sensor 27 and shooting
Head and ultrasonic sensor 29 are arranged in supporting plate II 25；Wheel support frame 33 is arranged on chassis lower carriage 17.
The influence and the control of main screw lift caused to complete machine stability in view of lifting mechanism, described hollow out chassis
By the way of upper and lower plates hollow out adds support column to connect, not only made chassis larger but also can allow weight saving.Followed in vertical support bar
Center of gravity can be produced to incline and slight vibration when robot motion, walking mechanism chassis are relatively low, the work of stabilization can be played
With.There is the vertically movable guide rod of grasping mechanism above chassis, guide rod is Z axis motion guide, the support of mechanical arm and grasping mechanism
Mechanism, length can be according to actual bookshelf Height Adjustment, adjusted value about 140 ~ 200cm.The installation of battery is symmetrically distributed in two
Side, serves the effect of decentralization.4 books in stock casees 3 are placed with support frame 14, books in stock case is sector, and centre has separation to keep off
Plate, prevents books from collapsing.The material of chassis case 5 is acrylic, is characterized in that good, firm light transmission, pure color, color are rich
Smooth, long service life rich, attractive in appearance, do not influence to use.
The independent driving wheel includes wheel 4, fixed block I 34, rotating bar 35, fixed block II 36, stepper motor II 37, electricity
Machine bar 38, gear train I 39, wheel bar 40, fixed block III 41, independent drive wheel bracket 42, fixed block IV 43；Between two wheels 4
Connected by taking turns bar 40, wheel bar is fixed in independent drive wheel bracket 42；Stepper motor II 37 and gear train I 39 pass through motor bar
38 connections, two gears in gear train I 39 are separately fixed on motor bar 38 and wheel bar 40 and engage；The He of fixed block I 34
Push rod II 32 is bolted, fixed block I 34 and the mode connects for screw of rotating bar 35, and rotating bar 35 is rotated with fixed block I 34；
Fixed block II 36 is fixed on chassis for fixing whole wheel group, and fixed block II 36 and wheel support frame 33 are connected；It is fixed
Block III 41 is used to connect rotating bar 35 and independent drive wheel bracket 42；Fixed block IV 43 is fixed on wheel support frame 33.
Described four-wheel rotating driving system includes slide bar I 22, screw mandrel 23, supporting plate I 24, sliding block 28, push rod I 30, company
Connect screw 31, push rod II 32；Four slide bars I 22 are fixed in supporting plate I 24, and screw mandrel 23 is fixed in supporting plate I 24, sliding block 28
Engaged with screw mandrel 23, and be fixed on 4 slide bars I 22, unidirectional to slide, slip bocks system is divided into upper and lower two-layer, before controlling respectively
The rotation of rear wheels；Push rod I 30 is fixed on sliding block 28, and centre is bolted, can relative circumferential rotation, the He of push rod II 32
Connected by attachment screw 31 between push rod I 30, movement relation is ibid.
Library ground is relatively flat, and demand can be met as walking mechanism using common roller.Due to library's tool
Have that bookshelf is more, spacing distance is smaller, be unfavorable for the environment characteristics that robot is integrally turned to, employed in each walking side
Twin tires design with independent driving motor and box of tricks, drives rod member institutional adjustment wheel to assist by vehicle body screw mandrel
The comprehensive steering of car body is capable of achieving with the driving of stepper motor.Four uniform robot surroundings of two-wheel, except the fine twelve Earthly Branches of energy
Support outside the weight of robot, position error can be reduced in time according to the actual route of route adjustment that tracks.Each wheel has drive
Dynamic motor drives one of wheel motion.The steering of wheel is driven by plane rod member mechanism, and mechanism is simple, and functional realiey gets up
It is relatively easy to.Center of gravity can be produced to incline and slight vibration when vertical support bar follows robot motion, walking mechanism
Chassis is relatively low, can play the effect of stabilization.Motor control screw mandrel is rotated, and then band movable slider is translated, while sliding block is translated,
Also the motion of push rod has been driven, push rod can be with the rotation of driven wheel group, and wheel group can rotate respectively with rotation suitable, counterclockwise
In " rhombus position ", can so rotate in place.If realizing that motion is turned, can be with differential principle, i.e. left and right wheel speed not
With realizing, because each wheel is independent driving.
Described jacking system includes mechanical arm support plate 6, lifting disk gear 7, rack bar 8, connection sheet 9, stepper motor I
11st, rotation dish gear 13, rotation dish 19, motor holding tray 20.Rack bar 8 has 4 to be separately fixed on chassis upper bracket 15, it
Between two ends part connection sheet 9 be attached；Stepper motor I 11 and lifting disk gear 7 are connected, gear 7 and tooth bar
Bar 8 is engaged, can relative vertical movement；Stepper motor I 11 and rotation dish gear 13 are connected, and rotation dish gear 13 and rotation dish 19 are nibbled
Close, be mutually rotatable relation for being rotated around rack bar 8, between mechanical arm support plate 6 and rotation dish 19, even
It is connected in the constraint of vertical direction.
Elevating mechanism includes turning to rotating disk, mechanical arm and connection handling module on the robotic arm.The mechanism is by electricity
Machine transmission can allow 360 degree of rotating disk to rotate；Mechanical arm takes multiple degrees of freedom scheme to adapt to the books that various angles are put（It is i.e. smart
It is determined that position target books）；Lifting mechanism track is set up on upright bar, is driven by motor, lifts more convenient.Lifting mechanism
Difference in height is different between solving the problems, such as bookshelf layer, using multivariant design, maximum rising height by elevating lever height
Degree determines that elevating lever height is highly determined by actual bookshelf.
The mechanical arm includes mechanical arm joint I 2, mechanical arm joint II 10, stepper motor I 11, motor cover 12, I-shaped joint
21.Mechanical arm joint I 2 is bolted in mechanical arm support plate 6, and the arm end of mechanical arm joint I 2 is put into stepper motor I 11, two ends
Motor cover 12 is covered, using motor powered motion；Pass through I-shaped joint 21 between mechanical arm joint I 2 and mechanical arm joint II 10
Connection.
The grasping system includes dialling book piece 1, friction pulley 44, scanner 45, book brace 46, fix bar I 47, push rod III
48th, tooth rest I 49, tooth rest II 50, motor box 51, fix bar II 52, stepper motor III 53, gear train II 54, slide bar II 55.
Fix bar II 52 and fix bar I 47 are respectively welded to be dialled on book piece 1 and book brace 46, and fix bar II 52 and fix bar I 47 all connect
Gear train II 54 is connect, gear train is directly driven by a motor；Scanner 45 is arranged on to be dialled on book piece 1；Friction pulley 44 is arranged on folder book
The end of plate 46；The two ends of push rod III 48 connect gear and fix bar II 52 respectively；Gear train II 54 is installed in the He of tooth rest I 49
On tooth rest II 50；Motor box 51 is fixed on tooth rest I 49, and stepper motor III 53 is directly connected with gear train II 54；Slide bar
II 55 are arranged on tooth rest I 49, end connection tooth rest II.
Due to lighter in weight, rod member mechanism is enough to support its weight, clamping machine system to employ many motors and drive general book
Dynamic mode come operate grasping mechanism grip and place books.First, in order to aid in clamp device smoothly to hold books, outer layer
Increased auxiliary body --- gap expanding unit, vision sensor is equipped with outward, its effect is expansion target books and side figure
The distance of book, larger operating space is provided to clamp device, facilitates the work of clamp device.Manipulator motion can be crawl
Mechanism provides bigger operating angle, such as capture it is irregular put bookcase in the case of can more accurately position books
Position.The angle rotatable of mechanical arm is 0 ° ~ 270 °, can realize large range of work.
Operation principle of the invention is：The mode directly driven with stepper motor drive 4 wheel groups, rotating mechanism, mechanical arm with
And clamping device；Each wheel group has a motor direct-drive, so wheel angular speed direction and rotating speed are all different, is capable of achieving
Differential speed rotation on level land is directly walked；Rotating mechanism major function is that four wheel groups of control are rotated simultaneously, but each is taken turns
The rotation direction of group is all different, to reach the effect for rotating in place；The angle rotatable of mechanical arm is 0 ° ~ 270 °, three motors
Control arm joint rotation, the movable scope of clamping device has just reached 700 ° or so；Lifting mechanism motion has two kinds：It is respectively water
Flat rotation and vertical movement, horizontal rotation coordinate the motion on chassis to can be achieved with the complex works such as barcode scanning, vertical movement and machinery
The cooperation of arm can make to take book and put book action to be achieved；Clamping device enables group book piece real by the cooperation of motor and gear
Now translate.Multivariant motion is the groundwork mode of robot.
The beneficial effects of the invention are as follows：
1st, chassis and its motion have and rotate in place, the function of precise motion；
2nd, lifting mechanism good stability, rise and fall are accurate；
3rd, clamping device can recognize that good clamping effect, movement angle is big to book classification；
4th, replace being accomplished manually the operations such as undercarriage on books, carrying, classification, duplicate checking and joint strip code using robot, it performs speed
Degree is fast, efficiency high, the need for can meeting library's daily management mission；
5th, efficient library's conditioning machines people has market popularization value and application prospect higher.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the structural representation that the present invention removes shell and books in stock case；
Fig. 3 is upward view of the present invention；
Fig. 4 is body chassis schematic diagram of the present invention；
Fig. 5 is wheel group schematic diagram of the present invention；
Fig. 6 is clamping device schematic diagram of the present invention；
In figure：1- dials book piece, 2- machinery arm joints I, 3- books in stock casees, 4- wheels, 5- chassis cases, 6- mechanical arm support plates, 7- liters
Drop disk gear, 8- rack bars, 9- connection sheets, 10- machinery arm joints II, 11- stepper motors I, 12- motor covers, 13- rotation dish teeth
Wheel, 14- support frames, 15- chassis upper bracket, 16- batteries, 17- chassis lower carriage, 18- support columns, 19- rotation dish, 20- electricity
Machine holding tray, the I-shaped joints of 21-, 22- slide bars I, 23- screw mandrels, 24- supporting plates I, 25- supporting plates II, 26- supporting plates III,
27- tracing sensors, 28- sliding blocks, 29- cameras and ultrasonic sensor, 30- push rods I, 31- attachment screws, 32- push rods II,
33- wheel support framves, 34- fixed blocks I, 35- rotating bars, 36- fixed blocks II, 37- stepper motors II, 38- motor bars, 39- teeth
Wheel group I, 40- wheel bars, 41- fixed blocks III, 42- independence drive wheel brackets, 43- fixed blocks IV, 44- friction pulleys, 45- scanners,
46- book braces, 47- fix bars I, 48- push rods III, 49- tooth rests I, 50- tooth rests II, 51- motor box, 52- fix bars II,
53- stepper motors III, 54- gear trains II, 55- slide bars II.
Specific embodiment
With reference to the accompanying drawings and detailed description, the invention will be further described.
Embodiment 1：A kind of intelligent book conditioning machines people includes hollow out chassis, chassis case 5, books in stock case 3, independent driving
Wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system etc..Wheel rotation system is arranged on hollow out chassis,
Four independent driving wheels are connected with wheel rotation system respectively, and chassis case 5 is arranged on hollow out chassis, and books in stock case 3 is placed in
On chassis case, jacking system is arranged on hollow out chassis, and mechanical arm is arranged in the rotation dish of jacking system, grasping system peace
Dress is on the robotic arm.
Described hollow out chassis by support frame 14, chassis upper bracket 15, battery 16, chassis lower carriage 17, support column 18,
Supporting plate II 25, supporting plate III 26, tracing sensor 27, camera and ultrasonic sensor 29, wheel support frame 33 are constituted.Branch
Support 14 is fixed on chassis upper bracket 15；Connected by 8 support columns 18 between chassis upper bracket 15 and chassis lower carriage 17；
Battery 16 is arranged in supporting plate III 26, and supporting plate III 26 is fixed on chassis lower carriage 17；Tracing sensor 27 and shooting
Head and ultrasonic sensor 29 are arranged in supporting plate II 25；Wheel support frame 33 is arranged on chassis lower carriage 17.
The influence and the control of main screw lift caused to complete machine stability in view of lifting mechanism, described hollow out chassis
By the way of upper and lower plates hollow out adds support column to connect, not only made chassis larger but also can allow weight saving.Followed in vertical support bar
Center of gravity can be produced to incline and slight vibration when robot motion, walking mechanism chassis are relatively low, the work of stabilization can be played
With.There is the vertically movable guide rod of grasping mechanism above chassis, guide rod is Z axis motion guide, the support of mechanical arm and grasping mechanism
Mechanism, length can be according to actual bookshelf Height Adjustment, adjusted value about 140 ~ 200cm.The installation of battery is symmetrically distributed in two
Side, serves the effect of decentralization.4 books in stock casees 3 are placed with support frame 14, books in stock case is sector, and centre has separation to keep off
Plate, prevents books from collapsing.The material of chassis case 5 is acrylic, is characterized in that good, firm light transmission, pure color, color are rich
Smooth, long service life rich, attractive in appearance, do not influence to use.
The independent driving wheel includes wheel 4, fixed block I 34, rotating bar 35, fixed block II 36, stepper motor II 37, electricity
Machine bar 38, gear train I 39, wheel bar 40, fixed block III 41, independent drive wheel bracket 42, fixed block IV 43；Between two wheels 4
Connected by taking turns bar 40, wheel bar is fixed in independent drive wheel bracket 42；Stepper motor II 37 and gear train I 39 pass through motor bar
38 connections, two gears in gear train I 39 are separately fixed on motor bar 38 and wheel bar 40 and engage；The He of fixed block I 34
Push rod II 32 is bolted, fixed block I 34 and the mode connects for screw of rotating bar 35, and rotating bar 35 is rotated with fixed block I 34；
Fixed block II 36 is fixed on chassis for fixing whole wheel group, and fixed block II 36 and wheel support frame 33 are connected；It is fixed
Block III 41 is used to connect rotating bar 35 and independent drive wheel bracket 42；Fixed block IV 43 is fixed on wheel support frame 33.
Described four-wheel rotating driving system includes slide bar I 22, screw mandrel 23, supporting plate I 24, sliding block 28, push rod I 30, company
Connect screw 31, push rod II 32；Four slide bars I 22 are fixed in supporting plate I 24, and screw mandrel 23 is fixed in supporting plate I 24, sliding block 28
Engaged with screw mandrel 23, and be fixed on 4 slide bars I 22, unidirectional to slide, slip bocks system is divided into upper and lower two-layer, before controlling respectively
The rotation of rear wheels；Push rod I 30 is fixed on sliding block 28, and centre is bolted, can relative circumferential rotation, the He of push rod II 32
Connected by attachment screw 31 between push rod I 30, movement relation is ibid.
Library ground is relatively flat, and demand can be met as walking mechanism using common roller.Due to library's tool
Have that bookshelf is more, spacing distance is smaller, be unfavorable for the environment characteristics that robot is integrally turned to, employed in each walking side
Twin tires design with independent driving motor and box of tricks, drives rod member institutional adjustment wheel to assist by vehicle body screw mandrel
The comprehensive steering of car body is capable of achieving with the driving of stepper motor.Four uniform robot surroundings of two-wheel, except the fine twelve Earthly Branches of energy
Support outside the weight of robot, position error can be reduced in time according to the actual route of route adjustment that tracks.Each wheel has drive
Dynamic motor drives one of wheel motion.The steering of wheel is driven by plane rod member mechanism, and mechanism is simple, and functional realiey gets up
It is relatively easy to.Center of gravity can be produced to incline and slight vibration when vertical support bar follows robot motion, walking mechanism
Chassis is relatively low, can play the effect of stabilization.Motor control screw mandrel is rotated, and then band movable slider is translated, while sliding block is translated,
Also the motion of push rod has been driven, push rod can be with the rotation of driven wheel group, and wheel group can rotate respectively with rotation suitable, counterclockwise
In " rhombus position ", can so rotate in place.If realizing that motion is turned, can be with differential principle, i.e. left and right wheel speed not
With realizing, because each wheel is independent driving.
Described jacking system includes mechanical arm support plate 6, lifting disk gear 7, rack bar 8, connection sheet 9, stepper motor I
11st, rotation dish gear 13, rotation dish 19, motor holding tray 20.Rack bar 8 has 4 to be separately fixed on chassis upper bracket 15, it
Between two ends part connection sheet 9 be attached；Stepper motor I 11 and lifting disk gear 7 are connected, gear 7 and tooth bar
Bar 8 is engaged, can relative vertical movement；Stepper motor I 11 and rotation dish gear 13 are connected, and rotation dish gear 13 and rotation dish 19 are nibbled
Close, be mutually rotatable relation for being rotated around rack bar 8, between mechanical arm support plate 6 and rotation dish 19, even
It is connected in the constraint of vertical direction.
Elevating mechanism includes turning to rotating disk, mechanical arm and connection handling module on the robotic arm.The mechanism is by electricity
Machine transmission can allow 360 degree of rotating disk to rotate；Mechanical arm takes multiple degrees of freedom scheme to adapt to the books that various angles are put（It is i.e. smart
It is determined that position target books）；Lifting mechanism track is set up on upright bar, is driven by motor, lifts more convenient.Lifting mechanism
Difference in height is different between solving the problems, such as bookshelf layer, using multivariant design, maximum rising height by elevating lever height
Degree determines that elevating lever height is highly determined by actual bookshelf.
The mechanical arm includes mechanical arm joint I 2, mechanical arm joint II 10, stepper motor I 11, motor cover 12, I-shaped joint
21.Mechanical arm joint I 2 is bolted in mechanical arm support plate 6, and the arm end of mechanical arm joint I 2 is put into stepper motor I 11, two ends
Motor cover 12 is covered, using motor powered motion；Pass through I-shaped joint 21 between mechanical arm joint I 2 and mechanical arm joint II 10
Connection.
The grasping system includes dialling book piece 1, friction pulley 44, scanner 45, book brace 46, fix bar I 47, push rod III
48th, tooth rest I 49, tooth rest II 50, motor box 51, fix bar II 52, stepper motor III 53, gear train II 54, slide bar II 55.
Fix bar II 52 and fix bar I 47 are respectively welded to be dialled on book piece 1 and book brace 46, and fix bar II 52 and fix bar I 47 all connect
Gear train II 54 is connect, gear train is directly driven by a motor；Scanner 45 is arranged on to be dialled on book piece 1；Friction pulley 44 is arranged on folder book
The end of plate 46；The two ends of push rod III 48 connect gear and fix bar II 52 respectively；Gear train II 54 is installed in the He of tooth rest I 49
On tooth rest II 50；Motor box 51 is fixed on tooth rest I 49, and stepper motor III 53 is directly connected with gear train II 54；Slide bar
II 55 are arranged on tooth rest I 49, end connection tooth rest II.
Due to lighter in weight, rod member mechanism is enough to support its weight, clamping machine system to employ many motors and drive general book
Dynamic mode come operate grasping mechanism grip and place books.First, in order to aid in clamp device smoothly to hold books, outer layer
Increased auxiliary body --- gap expanding unit, vision sensor is equipped with outward, its effect is expansion target books and side figure
The distance of book, larger operating space is provided to clamp device, facilitates the work of clamp device.Manipulator motion can be crawl
Mechanism provides bigger operating angle, such as capture it is irregular put bookcase in the case of can more accurately position books
Position.The angle rotatable of mechanical arm is 0 ° ~ 270 °, can realize large range of work.
Embodiment 2：A kind of intelligent book conditioning machines people includes hollow out chassis, chassis case 5, books in stock case 3, independent driving
Wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system etc..Wheel rotation system is arranged on hollow out chassis,
Four independent driving wheels are connected with wheel rotation system respectively, and chassis case 5 is arranged on hollow out chassis, and books in stock case 3 is placed in
On chassis case, jacking system is arranged on hollow out chassis, and mechanical arm is arranged in the rotation dish of jacking system, grasping system peace
Dress is on the robotic arm.
The grasping system includes dialling book piece 1, friction pulley 44, scanner 45, book brace 46, fix bar I 47, push rod III
48th, tooth rest I 49, tooth rest II 50, motor box 51, fix bar II 52, stepper motor III 53, gear train II 54, slide bar II 55.
Fix bar II 52 and fix bar I 47 are respectively welded to be dialled on book piece 1 and book brace 46, and fix bar II 52 and fix bar I 47 all connect
Gear train II 54 is connect, gear train is directly driven by a motor；Scanner 45 is arranged on to be dialled on book piece 1；Friction pulley 44 is arranged on folder book
The end of plate 46；The two ends of push rod III 48 connect gear and fix bar II 52 respectively；Gear train II 54 is installed in the He of tooth rest I 49
On tooth rest II 50；Motor box 51 is fixed on tooth rest I 49, and stepper motor III 53 is directly connected with gear train II 54；Slide bar
II 55 are arranged on tooth rest I 49, end connection tooth rest II.
Grasping system is divided into two states when working：The first is the state for gripping books, and another is to place books
State.During gripping books, dial book piece 1 and driven to the translation of central point both sides, to the books beside target books from motor, push rod
One thrust, makes target books both sides have the gap of 1 ~ 2cm, and then book brace 46 and friction pulley 44 are advanced to inside book, profit
Make target books " absorption " in the cabin that can accommodate books with the frictional force of rubber on friction pulley, then dial book piece 1 and close up again, machine
Tool arm is moved, and motor-driven rotation disk gear 13 drives rotation dish 19 to rotate in the horizontal plane, until mechanical arm is in 4 books in stock casees
Stop during 3 top, then drive mechanical arm to moving down, if clamping device apart from bottom farther out, can be with the motor in driving rotating disk
Decline along rack bar 8 along rotating disk with gear, target books are placed in books in stock case 3, completion takes book process；Place books
When, manipulator motion takes out books（Take book process and above-mentioned identical）, mechanical arm is first motionless, and motor drives the edge of lifting disk gear 7
Rotating disk is translated along rack bar 8 and risen, and mechanical arm is shunk upwards, and books position is ajusted, and now driving rotating disk rises to again
Correct position, dials book piece and injects in the middle of books and toward both sides translation, and after pushing books aside, book brace 46 and friction pulley 44 are advanced,
Target books is located proximate to inside bookshelf, then drive friction pulley 44 that book is pushed into correct position again, book process is put in completion.
Embodiment 3：A kind of intelligent book conditioning machines people includes hollow out chassis, chassis case 5, books in stock case 3, independent driving
Wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system etc..Wheel rotation system is arranged on hollow out chassis,
Four independent driving wheels are connected with wheel rotation system respectively, and chassis case 5 is arranged on hollow out chassis, and books in stock case 3 is placed in
On chassis case, jacking system is arranged on hollow out chassis, and mechanical arm is arranged in the rotation dish of jacking system, grasping system peace
Dress is on the robotic arm.
Described hollow out chassis by support frame 14, chassis upper bracket 15, battery 16, chassis lower carriage 17, support column 18,
Supporting plate II 25, supporting plate III 26, tracing sensor 27, camera and ultrasonic sensor 29, wheel support frame 33 are constituted.Branch
Support 14 is fixed on chassis upper bracket 15；Connected by 8 support columns 18 between chassis upper bracket 15 and chassis lower carriage 17；
Battery 16 is arranged in supporting plate III 26, and supporting plate III 26 is fixed on chassis lower carriage 17；Tracing sensor 27 and shooting
Head and ultrasonic sensor 29 are arranged in supporting plate II 25；Wheel support frame 33 is arranged on chassis lower carriage 17.
The independent driving wheel includes wheel 4, fixed block I 34, rotating bar 35, fixed block II 36, stepper motor II 37, electricity
Machine bar 38, gear train I 39, wheel bar 40, fixed block III 41, independent drive wheel bracket 42, fixed block IV 43；Between two wheels 4
Connected by taking turns bar 40, wheel bar is fixed in independent drive wheel bracket 42；Stepper motor II 37 and gear train I 39 pass through motor bar
38 connections, two gears in gear train I 39 are separately fixed on motor bar 38 and wheel bar 40 and engage；The He of fixed block I 34
Push rod II 32 is bolted, fixed block I 34 and the mode connects for screw of rotating bar 35, and rotating bar 35 is rotated with fixed block I 34；
Fixed block II 36 is fixed on chassis for fixing whole wheel group, and fixed block II 36 and wheel support frame 33 are connected；It is fixed
Block III 41 is used to connect rotating bar 35 and independent drive wheel bracket 42；Fixed block IV 43 is fixed on wheel support frame 33.
Described four-wheel rotating driving system includes slide bar I 22, screw mandrel 23, supporting plate I 24, sliding block 28, push rod I 30, company
Connect screw 31, push rod II 32；Four slide bars I 22 are fixed in supporting plate I 24, and screw mandrel 23 is fixed in supporting plate I 24, sliding block 28
Engaged with screw mandrel 23, and be fixed on 4 slide bars I 22, unidirectional to slide, slip bocks system is divided into upper and lower two-layer, before controlling respectively
The rotation of rear wheels；Push rod I 30 is fixed on sliding block 28, and centre is bolted, can relative circumferential rotation, the He of push rod II 32
Connected by attachment screw 31 between push rod I 30, movement relation is ibid.
Wheel group motion mode on chassis is divided into two kinds：Formula is rotated in place to turn and differential turning.Formula is rotated in place to turn
Curved is to determine headstock direction by rotating in place, then straight-line travelling again, until next turning point.This mode benefit is can
To realize accurate motion using limited space, but a disadvantage is that motion is relatively slow, determine that direction needs auxiliary equipment.Its fortune
Dynamic process is as follows：Motor control screw mandrel is rotated, and then band movable slider is translated, and while sliding block is translated, has also driven the fortune of push rod
Dynamic, push rod can be with the rotation of driven wheel group, and wheel group can be rotated in " rhombus position ", each wheel respectively with rotation suitable, counterclockwise
Group voluntarily drives wheel motion, as long as the direction of motion is consistent, then can so rotate in place.Differential is turned can be turned with when walking
It is curved, but can only be in the larger plane motion in space, and differential only needs to the rotational speed regulation direction according to left and right two-wheeled；Fixed motion
During track, it is only necessary to be can be achieved with according to the angular speed and radius of curvature that algorithm adjusts left and right two-wheeled.
Specific embodiment of the invention is explained in detail above in association with accompanying drawing, but the present invention be not limited to it is above-mentioned
Implementation method, in the ken that those of ordinary skill in the art possess, can also be before present inventive concept not be departed from
Put that various changes can be made.
Claims (8)
1. a kind of intelligent book conditioning machines people, it is characterised in that：Including hollow out chassis, chassis case（5）, books in stock case（3）, solely
Vertical driving wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system；Wheel rotation system is arranged on hollow out chassis
On, four independent driving wheels are connected with wheel rotation system respectively, chassis case（5）On hollow out chassis, books in stock case（3）
It is placed on chassis case, jacking system is arranged on hollow out chassis, mechanical arm is arranged in the rotation dish of jacking system, clamping
System is installed on the robotic arm.
2. intelligent book conditioning machines people according to claim 1, it is characterised in that：The hollow out chassis is by support frame
（14）, chassis upper bracket（15）, battery（16）, chassis lower carriage（17）, support column（18）, supporting plate II（25）, supporting plate
Ⅲ（26）, tracing sensor（27）, camera and ultrasonic sensor（29）, wheel support frame（33）Composition；Support frame（14）
It is fixed on chassis upper bracket（15）On, chassis upper bracket（15）With chassis lower carriage（17）Between pass through 8 support columns（18）Even
Connect, battery（16）Installed in supporting plate III（26）On, supporting plate III（26）It is fixed on chassis lower carriage（17）On, track sensing
Device（27）With camera and ultrasonic sensor（29）Installed in supporting plate II（25）On, wheel support frame（33）Installed in chassis
On lower carriage 17.
3. intelligent book conditioning machines people according to claim 1, it is characterised in that：The independent driving wheel includes wheel
（4）, fixed block I（34）, rotating bar（35）, fixed block II（36）, stepper motor II（37）, motor bar（38）, gear train I
（39）, wheel bar（40）, fixed block III（41）, independent drive wheel bracket（42）, fixed block IV（43）；Two wheels（4）Between lead to
Third wheel bar（40）Connection, takes turns bar（40）It is fixed on independent drive wheel bracket（42）On, stepper motor II（37）With gear train I（39）
By motor bar（38）Connection, gear train I（39）In two gears be separately fixed at motor bar（38）With wheel bar（40）On simultaneously
And engagement, fixed block I（34）With push rod II（32）It is bolted, fixed block I（34）And rotating bar（35）Mode connects for screw, and
And rotating bar（35）With fixed block I（34）Rotate, fixed block II（36）It is to be fixed on chassis for fixing whole wheel group, Gu
Determine block II（36）With wheel support frame（33）Connection, fixed block III（41）For connecting rotating bar（35）With independent drive wheel bracket
（42）, fixed block IV 43 is fixed on wheel support frame 33.
4. intelligent book conditioning machines people according to claim 1, it is characterised in that：The four-wheel rotating driving system bag
Include slide bar I（22）, screw mandrel（23）, supporting plate I（24）, sliding block（28）, push rod I（30）, attachment screw（31）, push rod II（32）；
Four slide bars I（22）It is fixed on supporting plate I（24）On, screw mandrel（23）It is fixed on supporting plate I（24）On, sliding block（28）And screw mandrel
（23）Engage and be fixed on 4 slide bars I（22）Upper unidirectional slip；Push rod I（30）It is fixed on sliding block（28）It is upper, middle to pass through spiral shell
Tether and connect, can relative circumferential rotation, push rod II（32）With push rod I（30）Between pass through attachment screw（31）Connection.
5. intelligent book conditioning machines people according to claim 1, it is characterised in that：The jacking system includes mechanical arm
Support plate（6）, lifting disk gear（7）, rack bar（8）, connection sheet（9）, stepper motor I（11）, rotation dish gear（13）, rotate
Disk（19）, motor holding tray（20）；Rack bar（8）There are 4, be separately fixed at chassis upper bracket（15）Upper, each rack bar（8）
Between two ends part connection sheet（9）It is attached；Stepper motor I（11）With lifting disk gear（7）Connection, gear（7）
And rack bar（8）Engagement, can relative vertical movement；Stepper motor I（11）With rotation dish gear（13）Connection, rotation dish gear
（13）And rotation dish（19）Engagement simultaneously can be around rack bar（8）Rotate, mechanical arm support plate（6）And rotation dish（19）It
Between be mutually rotatable relation, be connected as the constraint of vertical direction.
6. intelligent book conditioning machines people according to claim 1, it is characterised in that：The mechanical arm includes mechanical arm joint
Ⅰ（2）, mechanical arm joint II（10）, stepper motor I（11）, motor cover（12）, I-shaped joint（21）；Mechanical arm joint I（2）Pass through
It is bolted to mechanical arm support plate（6）On, mechanical arm joint I（2）Arm end is put into stepper motor I（11）, mechanical arm joint I（2）Two
End is equipped with motor cover（12）, mechanical arm joint I（2）With mechanical arm joint II（10）Between pass through I-shaped joint（21）Connection.
7. intelligent book conditioning machines people according to claim 1, it is characterised in that：The grasping system includes dialling book piece
（1）, friction pulley（44）, scanner（45）, book brace（46）, fix bar I（47）, push rod III（48）, tooth rest I（49）, gear
Frame II（50）, motor box（51）, fix bar II（52）, stepper motor III（53）, gear train II（54）, slide bar II（55）；It is fixed
Bar II（52）With fix bar I（47）It is respectively welded at and dials book piece（1）And book brace（46）On, fix bar II（52）With fix bar I
（47）All connect gear train II（54）, gear train is directly driven by a motor；Scanner（45）Installed in group book piece（1）On, friction
Wheel（44）Installed in book brace（46）End, push rod III（48）Two ends connect gear and fix bar II respectively（52）, gear train
Ⅱ（54）It is installed in tooth rest I（49）With tooth rest II（50）On, motor box（51）It is fixed on tooth rest I（49）On, stepping
Motor III（53）Direct and gear train II（54）Connection；Slide bar II（55）Installed in tooth rest I（49）Upper, end connection tooth rest
Ⅱ（50）.
8. intelligent book conditioning machines people according to claim 1 and 2, it is characterised in that：The chassis case（5）Pass through
Bolt connection is arranged on chassis upper bracket（15）On, books in stock case（3）Installed in support frame（14）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710180621.6A CN106903699B (en) | 2017-03-24 | 2017-03-24 | Intelligent book arrangement robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710180621.6A CN106903699B (en) | 2017-03-24 | 2017-03-24 | Intelligent book arrangement robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106903699A true CN106903699A (en) | 2017-06-30 |
| CN106903699B CN106903699B (en) | 2023-03-31 |
Family
ID=59195653
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710180621.6A Active CN106903699B (en) | 2017-03-24 | 2017-03-24 | Intelligent book arrangement robot |
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| CN (1) | CN106903699B (en) |
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| CN107445110A (en) * | 2017-07-26 | 2017-12-08 | 昆明理工大学 | A kind of robot lifting mechanism |
| CN108381509A (en) * | 2018-03-19 | 2018-08-10 | 京东方科技集团股份有限公司 | Intelligent grabbing device and its control method, intelligent grabbing control system |
| CN108994812A (en) * | 2018-08-14 | 2018-12-14 | 河南越盛信息技术有限公司 | Pharmaceutical manufacturing line intelligent robot and Intelligent Production System |
| CN109591027A (en) * | 2018-12-06 | 2019-04-09 | 湖南理工学院 | A kind of intelligent book puts in order robot |
| CN109877845A (en) * | 2019-03-12 | 2019-06-14 | 苏州西部世界机器人有限公司 | A kind of intelligent interaction anthropomorphic robot |
| CN110103239A (en) * | 2019-05-16 | 2019-08-09 | 江南大学 | A kind of library's access book robot |
| CN110216692A (en) * | 2019-06-10 | 2019-09-10 | 陕西科技大学 | It is a kind of to release device with the circumferential books for putting book position |
| CN111300437A (en) * | 2019-12-06 | 2020-06-19 | 西南石油大学 | Library's books intelligence is collected and is stored collection and transportation robot |
| CN112008682A (en) * | 2020-08-28 | 2020-12-01 | 合肥工业大学 | Automatic change library management robot |
| CN112060071A (en) * | 2020-09-11 | 2020-12-11 | 惠安县螺阳林飞燕汽车维修中心 | Robot for automobile maintenance |
| CN113829336A (en) * | 2021-10-18 | 2021-12-24 | 武汉优度智联科技有限公司 | Big data analysis collection system of wisdom campus based on cloud calculates |
| CN117085972A (en) * | 2023-10-19 | 2023-11-21 | 北京大学 | Intelligent long-distance transfer bin sorting and cargo distributing robot |
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| CN109877845A (en) * | 2019-03-12 | 2019-06-14 | 苏州西部世界机器人有限公司 | A kind of intelligent interaction anthropomorphic robot |
| CN110103239A (en) * | 2019-05-16 | 2019-08-09 | 江南大学 | A kind of library's access book robot |
| CN110216692A (en) * | 2019-06-10 | 2019-09-10 | 陕西科技大学 | It is a kind of to release device with the circumferential books for putting book position |
| CN111300437B (en) * | 2019-12-06 | 2022-01-04 | 西南石油大学 | Library's books intelligence is collected and is stored collection and transportation robot |
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| CN112008682A (en) * | 2020-08-28 | 2020-12-01 | 合肥工业大学 | Automatic change library management robot |
| CN112060071A (en) * | 2020-09-11 | 2020-12-11 | 惠安县螺阳林飞燕汽车维修中心 | Robot for automobile maintenance |
| CN113829336A (en) * | 2021-10-18 | 2021-12-24 | 武汉优度智联科技有限公司 | Big data analysis collection system of wisdom campus based on cloud calculates |
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| CN117085972B (en) * | 2023-10-19 | 2023-12-22 | 北京大学 | Intelligent long-distance transfer bin sorting and cargo distributing robot |
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