CN210437871U

CN210437871U - Book management robot

Info

Publication number: CN210437871U
Application number: CN201921389233.XU
Authority: CN
Inventors: 李爽; 王红波; 翟述智; 陈帮春; 王亚亚
Original assignee: Huanghe Science and Technology College
Current assignee: Huanghe Science and Technology College
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2020-05-01
Anticipated expiration: 2029-08-26

Abstract

The book management robot comprises a vehicle body, a traveling mechanism, a turntable mechanism, a lifting mechanism, a clamping mechanism and a shifting mechanism, wherein a book box is arranged on the front side part of the upper surface of the vehicle body, the traveling mechanism is arranged at the bottom of the vehicle body, the turntable mechanism is connected to the rear side part of the upper surface of the vehicle body in a sliding manner, the lower end of the lifting mechanism is connected to the turntable mechanism in a sliding manner, the clamping mechanism and the shifting mechanism are both arranged on the lifting mechanism, a book clamp adjusting mechanism is arranged in the book box, an obstacle avoidance sensor is arranged on the front side of the bottom of the vehicle body, a storage battery and a controller are arranged on the vehicle body, the storage battery is respectively, the sheet shifting mechanism, the book holder adjusting mechanism, the obstacle avoidance sensor and the controller are electrically connected, and the controller is in signal connection with the traveling mechanism, the turntable mechanism, the lifting mechanism, the clamping mechanism, the sheet shifting mechanism, the book holder adjusting mechanism and the obstacle avoidance sensor respectively. The utility model has the advantages of scientific design, flexible movement, stable operation and high automation degree.

Description

Book management robot

Technical Field

The utility model relates to a books management technical field, specific theory relates to a books management robot.

Background

Books in a library are classified in a large number, particularly, a large number of books are borrowed and returned every day in a library in a college, and in order to manage the books in time so that others can borrow the books again, a large amount of time and energy must be spent every day by library staff for monotonous and repetitive work such as classification, arrangement, shelving and transportation. This is undoubtedly a great burden for library staff, and the full manual operation is not only heavy in workload, but also low in efficiency. Manpower has the hysteresis quality to the books arrangement, great reduction library's efficiency of operation, and the books in library can not keep neat often, is unfavorable for the reader to the retrieval of library collection book, read and guarantee that books and its registration position correspond uniformly.

In order to solve the above problems, people are always seeking an ideal technical solution.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a design science, remove nimble, the operation is stable, the high book management robot of degree of automation.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the book management robot comprises a vehicle body, a traveling mechanism, a turntable mechanism, a lifting mechanism, a clamping mechanism and a shifting sheet mechanism, wherein book boxes arranged along the left and right directions are arranged on the front side part of the upper surface of the vehicle body, the traveling mechanism is arranged at the bottom of the vehicle body, the turntable mechanism is connected to the rear side part of the upper surface of the vehicle body in a sliding manner along the left and right directions, the lower end of the lifting mechanism is connected to the turntable mechanism in a sliding manner along the radial direction of the turntable mechanism, the clamping mechanism and the shifting sheet mechanism are both arranged on the lifting mechanism and move vertically on the lifting mechanism, the rear side of the book boxes is open, a book clamp adjusting mechanism is arranged in the book boxes, an obstacle avoidance sensor is arranged on the front side of the bottom of the vehicle body, a storage battery and a controller are arranged on the vehicle body, and the storage battery is respectively electrically connected with the traveling, the controller is respectively in signal connection with the traveling mechanism, the turntable mechanism, the lifting mechanism, the clamping mechanism, the sheet shifting mechanism, the book holder adjusting mechanism and the obstacle avoidance sensor.

The vehicle body comprises a chassis and a cover plate, the chassis is of a hollow box structure with an open upper side, the cover plate is covered and installed on the upper portion of the chassis, an obstacle avoidance sensor is installed in the middle of the front side face of the chassis, the left side and the right side of the front side of the chassis are symmetrically hinged with a swing support through vertical hinges respectively, notches which are through left and right and located behind the swing support are formed in the left side and the right side of the front side of the chassis, a book box is fixedly connected to the front side portion of the upper surface of the cover plate, a base is horizontally arranged on the rear side portion of the upper surface of the cover plate along the left and right directions, two guide rails are horizontally arranged on the upper surface of the base along the left and right directions, the two guide rails are arranged side by side in front and back, a first driving motor is fixedly installed on the left side portion, the power output shaft of the first driving motor is in transmission connection with the left end of the first transmission screw rod;

the traveling mechanism comprises two front wheels, a driving shaft, two rear wheels, a second driving motor, a horizontal rack, a steering motor, a steering shaft and a steering gear, the two front wheels are respectively and rotatably installed on the two swing supports, the driving shaft is horizontally and rotatably installed on the rear side part of the chassis along the left and right directions, the left and right ends of the driving shaft are respectively positioned on the left and right sides of the chassis, the two rear wheels are respectively and fixedly installed on the left and right ends of the driving shaft, the second driving motor is fixedly installed on the rear side part of the upper surface in the chassis, a power output shaft of the second driving motor is in transmission connection with the driving shaft through a belt transmission mechanism, the horizontal rack horizontally penetrates through two notches along the left and right directions, the left and right ends of the horizontal rack are respectively hinged on the rear side parts of the two swing supports, the steering motor is fixedly installed on the front side part of the upper surface in the chassis, the steering gear is fixedly connected to the front end of the steering shaft and is meshed with the horizontal rack;

the storage battery is respectively electrically connected with the first driving motor, the second driving motor and the steering motor, and the controller is respectively in signal connection with the first driving motor, the second driving motor and the steering motor.

The turntable mechanism comprises a horizontal sliding plate, a rotating motor and a rotating disc, wherein the periphery of the bottom of the horizontal sliding plate is fixedly connected with a first sliding block which is respectively connected with two guide rails in a sliding manner, the center of the bottom of the horizontal sliding plate is provided with a convex block, a first transmission screw rod penetrates through the convex block and is in threaded transmission connection with the convex block, the rotating motor is vertically and fixedly arranged in the middle of the upper surface of the horizontal sliding plate, the center of the lower surface of the rotating disc is in coaxial transmission connection with a rotating shaft at the center of the upper side of the rotating motor, the lower surface of the rotating disc is provided with an annular supporting boss which is in sliding contact with the upper surface of the horizontal sliding plate, the rotating motor is positioned inside the annular supporting boss, the center lines of the rotating motor, the rotating disc and the annular supporting boss are superposed, the upper surface of the rotating disc is radially, a rotating shaft of the transverse moving motor is in transmission connection with a second transmission screw rod; the storage battery is respectively electrically connected with the rotating motor and the transverse moving motor, and the controller is respectively in signal connection with the rotating motor and the transverse moving motor.

The lifting mechanism comprises a second sliding block, a horizontal supporting plate, a third transmission screw rod, a first guide rod, a third driving motor, a fourth transmission screw rod, a second guide rod and a fourth driving motor, the second sliding block is arranged in the sliding long groove in a sliding mode, the second transmission screw rod penetrates through the second sliding block and is in threaded transmission connection with the second sliding block, the third transmission screw rod, the first guide rod, the fourth transmission screw rod and the second guide rod are vertically arranged, the lower ends of the first guide rod and the second guide rod are fixedly connected to the upper surface of the second sliding block, the lower surface of the horizontal supporting plate is fixedly connected to the upper ends of the first guide rod and the second guide rod, the lower ends of the third transmission screw rod and the fourth transmission screw rod are rotatably connected to the upper surface of the second sliding block, the upper ends of the third transmission screw rod and the fourth transmission screw rod are rotatably connected to the lower surface of the horizontal supporting plate, the third driving motor and the fourth driving motor are fixedly installed on the upper surface of the horizontal supporting, a rotating shaft of a third driving motor vertically penetrates through the horizontal support plate and is in transmission connection with the upper end of a third transmission screw rod, a rotating shaft of a fourth driving motor vertically penetrates through the horizontal support plate and is in transmission connection with the upper end of a fourth transmission screw rod, the third transmission screw rod and the first guide rod are arranged at intervals from back to front along the length direction of the sliding long groove, the fourth transmission screw rod and the second guide rod are arranged at intervals from left to right along the width direction of the sliding long groove, the fourth transmission screw rod and the second guide rod are positioned on the front side of the first guide rod, the upper surface of the horizontal support plate is fixedly connected with a shell covering the outer sides of the third driving motor and the fourth driving motor, and the top of the shell is provided with a first scanner; the storage battery is respectively and electrically connected with the third driving motor, the fourth driving motor and the first code scanner, and the controller is respectively and signal-connected with the third driving motor, the fourth driving motor and the first code scanner.

The clamping mechanism comprises a first U-shaped connecting plate, a first bidirectional screw, two third guide rods, a fifth driving motor, two guide plates and two clamping plates, wherein the upper side, the lower side and the rear side of the first U-shaped connecting plate are all open, the middle part of the front side surface of the front side plate of the first U-shaped connecting plate is fixedly connected with a horizontal connecting plate, a third transmission screw and the first guide rod vertically penetrate through the horizontal connecting plate, the horizontal connecting plate is in threaded transmission connection with the third transmission screw, the horizontal connecting plate is in sliding connection with the first guide rods, the first bidirectional screw and the two third guide rods are horizontally arranged along the left and right directions and are positioned on the same horizontal plane, the left and right ends of the first bidirectional screw are respectively and rotatably installed on the left side plate and the right side plate of the first U-shaped connecting plate, the right end of the first bidirectional screw vertically penetrates through the right side plate of the first U-shaped connecting plate, the left and right ends of the two third guide rods are respectively and fixedly connected on the left, the first bidirectional screw rod is positioned between the two third guide rods, the fifth driving motor is horizontally and fixedly connected to the left side surface of the right side plate of the first U-shaped connecting plate along the left-right direction, a rotating shaft of the fifth driving motor vertically penetrates through the right side plate of the first U-shaped connecting plate, the right end of the rotating shaft of the fifth driving motor is in transmission connection with the right end of the first bidirectional screw rod through a belt transmission mechanism, the outer circumference of the left side part of the first bidirectional screw rod is provided with left-handed threads, the outer circumference of the right side part of the first bidirectional screw rod is provided with right-handed threads, the two guide plates are identical in structure and are arranged in bilateral symmetry, the two guide plates and the two clamp plates are vertically arranged along the front-back direction, the first bidirectional screw rod and the two third guide rods vertically penetrate through the two guide plates, and the left guide plate is in transmission connection with the left side thread of the, the left guide plate is connected with the left parts of the two third guide rods in a sliding manner, the rear end of the left guide plate is fixedly connected with the front end of the left clamping plate, and the side part of the rear side of the left clamping plate is provided with a second scanner; the storage battery is respectively and electrically connected with the fifth driving motor and the second scanner, and the controller is respectively and electrically connected with the fifth driving motor and the second scanner.

The plectrum mechanism comprises a second U-shaped connecting plate, a second bidirectional screw rod, a sixth driving motor, two third slide blocks, two electric hydraulic rods and two plectrums, wherein the upper side, the front side and the rear side of the second U-shaped connecting plate are all open, a fourth driving screw rod and a second guide rod vertically penetrate through the lower side plate of the second U-shaped connecting plate, the lower side plate of the second U-shaped connecting plate is in threaded transmission connection with the fourth driving screw rod, the lower side plate of the second U-shaped connecting plate is in sliding connection with the second guide rod, the second bidirectional screw rod is horizontally arranged along the left and right direction, the left end and the right end of the second bidirectional screw rod are respectively and rotatably installed on the left side plate and the right side plate of the second U-shaped connecting plate, the sixth driving motor is horizontally and fixedly connected to the right side surface of the right side plate of the second U-shaped connecting plate along the left and right direction, the rotating shaft of the sixth driving motor is in transmission connection with the right end of the second bidirectional screw rod, the, the left-handed screw thread is arranged on the outer circumference of the left side of the second bidirectional screw rod, the right-handed screw thread is arranged on the outer circumference of the right side of the second bidirectional screw rod, the two third slide blocks are identical in structure and are arranged in bilateral symmetry, the bottoms of the two third slide blocks are both connected to the upper surface of the lower side plate of the second U-shaped connecting plate in a sliding manner, the second bidirectional screw rod vertically penetrates through the two third slide blocks, the left third slide block is in threaded transmission connection with the left side of the second bidirectional screw rod, the right third slide block is in threaded transmission connection with the right side of the second bidirectional screw rod, the two electric hydraulic rods are both horizontally arranged along the front-back direction, the front ends of the cylinder bodies of the two electric hydraulic rods are respectively and fixedly connected to the rear side surfaces of the two third slide blocks, the rear ends of the piston rods of the two electric hydraulic rods are both fixedly, the two shifting pieces are vertically arranged along the front-back direction, the middle part of the front side edge of the left shifting piece is fixedly connected to the right end part of the left connecting rod, the middle part of the front side edge of the right shifting piece is fixedly connected to the right end part of the right connecting rod, and the third transmission screw rod, the first guide rod, the fourth transmission screw rod and the second guide rod are all positioned between the two electric hydraulic rods; the storage battery is respectively and electrically connected with the sixth driving motor and the two electric hydraulic rods, and the controller is respectively and electrically connected with the sixth driving motor and the two electric hydraulic rods.

The lower side of the middle part in the book box is fixedly connected with three book placing plates which are horizontally arranged along the left-right direction, the three book placing plates are positioned on the same horizontal plane and are arranged at intervals from front to back, a first guide long hole is formed between two adjacent book placing plates, two second guide long holes which are through up and down are arranged on the top plate of the book box along the left-right direction, the two second guide long holes and the two first guide long holes are in one-to-one correspondence up and down, the book clamp adjusting mechanism comprises a seventh driving motor, a fifth driving screw rod, a fourth guide rod and a C-shaped pressing plate, the seventh driving motor is fixedly arranged on the left side part of the inner bottom surface of the book box, the fifth driving screw rod and the fourth guide rod are horizontally arranged along the left-right direction, the seventh driving motor, the fifth driving screw rod and the fourth guide rod are all positioned below the three book placing plates, and the left end of the fifth driving screw rod, the right end of a fifth transmission screw is rotatably installed on the lower side part of the right side plate of the book box, a C-shaped pressing plate is vertically arranged along the front-back direction, the opening of the C-shaped pressing plate is upward, the front side plate and the rear side plate of the C-shaped pressing plate respectively penetrate through two first guide long holes and are correspondingly inserted into two second guide long holes, the fifth transmission screw and a fourth guide rod vertically penetrate through the lower side part of the C-shaped pressing plate, the lower side part of the C-shaped pressing plate is in threaded transmission connection with the fifth transmission screw, the lower side part of the C-shaped pressing plate is in sliding connection with the fourth guide rod, and a pressure sensor positioned above the three book placing plates is arranged in the middle of the left side surface; the storage battery is respectively and electrically connected with the seventh driving motor and the pressure sensor, and the controller is respectively and electrically connected with the seventh driving motor and the pressure sensor.

By adopting the technical scheme, the working method of the book management robot comprises the following steps:

(1) placing books to be classified and returned in a book case, driving a clamping mechanism and a shifting piece mechanism to rotate 180 degrees by a turntable mechanism, enabling the clamping mechanism and the shifting piece mechanism to be opposite to the book case, scanning a bar code on a spine on the rear side of a first book by the clamping mechanism to determine the position of a corresponding book case, and controlling a travelling mechanism to move a vehicle body to the front side of the corresponding book case by a controller;

(2) the clamping mechanism takes the first book out of the book box, the piece poking mechanism pokes other books arranged on the book cabinet, and the clamping mechanism places the clamped books on the book cabinet at the positions poked by the pieces;

(3) the turntable mechanism drives the clamping mechanism and the shifting mechanism to rotate 180 degrees again, so that the clamping mechanism and the shifting mechanism are opposite to the book box, the clamping mechanism scans a bar code on a spine at the rear side of a second book in the book box to determine the position of the corresponding book cabinet, the controller controls the traveling mechanism to move the vehicle body to the front side of the corresponding book cabinet, and the clamping mechanism takes out the second book from the book box and places the clamped book on the corresponding book cabinet;

(4) and (4) repeating the steps (2) and (3), and thus continuously classifying and placing all books in the book box on the corresponding book cabinet one by one.

The step (1) is specifically as follows: books to be classified and returned are placed on the three book placing plates in the book box, the right side of the C-shaped pressing plate is tightly pressed on the left side of the leftmost book, so that the books are arranged in order left and right, the rotation of the seventh driving motor is controlled according to a detection signal of the pressure sensor, and the rightward feeding amount of the C-shaped pressing plate is further controlled;

the controller controls the rotating motor to rotate, a rotating shaft of the rotating motor drives the rotating disc to rotate 180 degrees on the upper surface of the horizontal sliding plate, so that the two clamping plates and the two poking sheets face the front and are opposite to the book box, and the rotating motor stops rotating;

the controller controls a third driving motor to rotate, the third driving motor drives a third transmission screw to rotate, the third transmission screw drives a first U-shaped connecting plate to vertically move on a first guide rod, so that the two clamping plates vertically move to positions as high as books in the book box, the controller controls a first driving motor to rotate, the first driving motor drives a first transmission screw to rotate, the first transmission screw drives a horizontal sliding plate to move left and right, the two clamping plates are driven to move left and right, the two clamping plates move to the position right behind a first book on the left side in the book box, and a second scanner is over against a bar code on a spine on the rear side of the first book and scans the bar code, so that the position information of a book cabinet corresponding to the first book is obtained;

the controller plans a walking route according to the bookcase position information, the controller controls a second driving motor to rotate, the second driving motor drives a driving shaft to rotate through a belt transmission mechanism, the driving shaft drives two rear wheels to rotate, then the two rear wheels drive the bookcase to walk, the controller controls a steering motor to rotate at the same time, the steering motor drives a steering shaft to rotate, the steering shaft drives a steering gear to rotate, the steering gear drives a horizontal rack to move left and right, the horizontal rack drives two swing supports to swing synchronously, then the two front wheels swing left and right, and the walking direction of the bookcase is adjusted, therefore, the bookcase walks to the front side of the corresponding bookcase under the matching of the two rear wheels and the two front wheels, a first scanner scans bar codes on the bookcase to determine the information of the bookcase, and in the walking process, an obstacle avoidance sensor can detect whether an obstacle or a pedestrian exists in, if the obstacle or the pedestrian is detected, a signal is sent to the controller, and the controller controls the second driving motor to stop rotating so that the vehicle body stops moving;

the step (2) is specifically as follows: the controller controls the fifth driving motor to rotate in the forward direction, the fifth driving motor drives the first bidirectional screw to rotate in the forward direction through the belt transmission mechanism, the first bidirectional screw drives the two guide plates to move towards the left and right sides respectively, so that the two clamping plates move towards the left and right sides until the two clamping plates are positioned at the left and right sides of the first book respectively, the controller controls the transverse moving motor to rotate in the forward direction, the transverse moving motor drives the second transmission screw to rotate in the forward direction, the second transmission screw drives the second sliding block to move forwards in the sliding long groove, so that the two clamping plates move forwards and are inserted at the left and right sides of the first book, so that the first book is clamped between the two clamping plates, the controller controls the fifth driving motor to rotate in the reverse direction, the fifth driving motor drives the first bidirectional screw to rotate in the reverse direction through the belt transmission mechanism, so that the first bidirectional screw drives the two guide plates to move towards the, the controller controls the seventh driving motor to rotate according to signals of the pressure sensor, the seventh driving motor drives the fifth driving screw to rotate, the fifth driving screw drives the C-shaped pressing plate to move rightwards, the C-shaped pressing plate presses the left side of the second book to move rightwards together, the rest books are kept orderly until the pressure value detected by the pressure sensor reaches a specified value, and the seventh driving motor can stop rotating;

then the controller controls the rotating motor to rotate, a rotating shaft of the rotating motor drives the rotating disc to rotate 180 degrees again on the upper surface of the horizontal sliding plate, so that the two clamping plates and the two shifting pieces face the bookcase towards the rear direction, and the rotating motor stops rotating;

initially, the two poking pieces are mutually attached, the two electric hydraulic rods are in a contraction state, the controller controls a fourth driving motor to rotate, the fourth driving motor drives a fourth transmission screw to rotate, the fourth transmission screw drives a second U-shaped connecting plate to vertically move on a second guide rod, the two poking pieces are enabled to vertically move to positions as high as books in a book cabinet, then the controller controls piston rods of the two electric hydraulic rods to extend, the two poking pieces extend backwards and are inserted between two adjacent books in the book cabinet, the controller controls a sixth driving motor to forwardly rotate, the sixth driving motor drives a second bidirectional screw to forwardly rotate, the second bidirectional screw respectively drives the two third sliding blocks to move towards the left side and the right side, the two electric hydraulic rods drive the two poking pieces to move towards the left side and the right side, the two adjacent poking pieces poke the two books at a certain distance, and then the piston rods of the two electric hydraulic rods contract, the two shifting pieces are pulled out of the book cabinet and are retracted, the controller controls the sixth driving motor to rotate reversely, the sixth driving motor drives the second bidirectional screw to rotate reversely, the second bidirectional screw drives the two third sliding blocks to move towards the center respectively, the two shifting pieces are closed until the two shifting pieces are attached to each other, and the sixth driving motor stops rotating;

the controller controls a third driving motor to rotate, the third driving motor drives a third transmission screw to rotate, the third transmission screw drives a first U-shaped connecting plate to vertically move on a first guide rod, so that two clamping plates vertically move to be opposite to the front and back of a position, which is poked by two poking sheets, in a bookcase, then the controller controls a transverse moving motor to rotate in the forward direction, the transverse moving motor drives a second transmission screw to rotate in the forward direction, the second transmission screw drives a second sliding block to move backwards in a sliding long groove, the two clamping plates move backwards to place a clamped first book between the two adjacent books at the poked position, then the controller controls a fifth driving motor to rotate in the forward direction, the fifth driving motor drives a first bidirectional screw to rotate in the forward direction through a belt transmission mechanism, the first bidirectional screw drives the two guide plates to move in the left and right directions respectively, and further enables the two clamping plates to move in the left and right directions, until the two clamping plates loosen the first book, the controller controls the transverse moving motor to rotate reversely, the transverse moving motor drives the second transmission screw rod to rotate reversely, the second transmission screw rod drives the second sliding block to move forwards in the sliding long groove, and the two clamping plates move forwards and are drawn out of the book cabinet.

The step (3) is specifically as follows: the controller controls the rotating motor to rotate, a rotating shaft of the rotating motor drives the rotating disc to continuously rotate for 180 degrees on the upper surface of the horizontal sliding plate, so that the two clamping plates and the two poking pieces face the front and are opposite to the book box, and the rotating motor stops rotating;

the controller controls a third driving motor to rotate, the third driving motor drives a third transmission screw to rotate, the third transmission screw drives a first U-shaped connecting plate to vertically move on a first guide rod, so that the two clamping plates vertically move to positions as high as books in the book box, the controller controls a first driving motor to rotate, the first driving motor drives a first transmission screw to rotate, the first transmission screw drives a horizontal sliding plate to move left and right, the two clamping plates are driven to move left and right, the two clamping plates move to the position right behind a second book on the left side in the book box, and a second scanner is right opposite to a bar code on a spine on the rear side of the second book and scans the bar code, so that position information of a book cabinet corresponding to the second book is obtained;

the controller controls the fifth driving motor to rotate in the forward direction, the fifth driving motor drives the first bidirectional screw to rotate in the forward direction through the belt transmission mechanism, the first bidirectional screw drives the two guide plates to move towards the left and right sides respectively, so that the two clamping plates move towards the left and right sides until the two clamping plates are positioned at the left and right sides of the second book respectively, the controller controls the transverse moving motor to rotate in the forward direction, the transverse moving motor drives the second transmission screw to rotate in the forward direction, the second transmission screw drives the second sliding block to move forwards in the sliding long groove, the two clamping plates move forwards and are inserted into the left and right sides of the second book, so that the second book is clamped between the two clamping plates, the controller controls the fifth driving motor to rotate in the reverse direction, the fifth driving motor drives the first bidirectional screw to rotate in the reverse direction through the belt transmission mechanism, so that the first bidirectional screw drives the two guide plates to move towards the center respectively, the controller controls the seventh driving motor to rotate according to signals of the pressure sensor, the seventh driving motor drives the fifth driving screw to rotate, the fifth driving screw drives the C-shaped pressing plate to move rightwards, the C-shaped pressing plate presses the left side of the third book to move rightwards together to enable the rest of the books to move rightwards, the rest of the books are kept orderly until the pressure value detected by the pressure sensor reaches a specified value, and the seventh driving motor can stop rotating;

then the controller controls a fourth driving motor to rotate, the fourth driving motor drives a fourth transmission screw to rotate, the fourth transmission screw drives a second U-shaped connecting plate to vertically move on a second guide rod, so that the two plectrums move up and down to a position as high as books in the bookcase, then the controller controls piston rods of the two electric hydraulic rods to extend, so that the two plectrums extend backwards and are inserted between two adjacent books in the bookcase, the controller controls a sixth driving motor to rotate in the forward direction, the sixth driving motor drives a second bidirectional screw to rotate in the forward direction, the second bidirectional screw respectively drives the two third sliding blocks to move towards the left side and the right side, so that the two electric hydraulic rods drive the two plectrums to move towards the left side and the right side, the two plectrums pull the two adjacent books apart for a certain distance, then the piston rods of the two electric hydraulic rods shrink, and the two plectrums are pulled out from the books in the bookcase, the controller controls the sixth driving motor to rotate reversely, the sixth driving motor drives the second bidirectional lead screw to rotate reversely, the second bidirectional lead screw drives the two third sliding blocks to move towards the center respectively, the two shifting pieces are closed until the two shifting pieces are attached to each other, and the sixth driving motor stops rotating;

the controller controls a third driving motor to rotate, the third driving motor drives a third transmission screw to rotate, the third transmission screw drives a first U-shaped connecting plate to vertically move on a first guide rod, so that two clamping plates vertically move to be opposite to the front and back of a position, which is poked by two poking sheets, in a bookcase, then the controller controls a transverse moving motor to rotate in the forward direction, the transverse moving motor drives a second transmission screw to rotate in the forward direction, the second transmission screw drives a second sliding block to move backwards in a sliding long groove, the two clamping plates move backwards to place a clamped second book between the two adjacent books at the poked position, then the controller controls a fifth driving motor to rotate in the forward direction, the fifth driving motor drives a first bidirectional screw to rotate in the forward direction through a belt transmission mechanism, the first bidirectional screw drives the two guide plates to move in the left and right directions respectively, and further enables the two clamping plates to move in the left and right directions, and when the two clamping plates loosen the second book, the controller controls the transverse moving motor to rotate reversely, the transverse moving motor drives the second transmission screw rod to rotate reversely, and the second transmission screw rod drives the second sliding block to move forwards in the sliding long groove, so that the two clamping plates move forwards and are pulled out of the book cabinet.

Compared with the prior art, the utility model has outstanding substantive characteristics and remarkable progress, in particular to the utility model, two rear wheels can drive the vehicle body to move under the drive of a second drive motor, two front wheels can swing left and right under the action of a steering motor, a horizontal rack, a steering motor and a steering gear to realize the steering of the vehicle body, a clamping mechanism and a plectrum mechanism can move left and right, up and down and rotate, books to be arranged are placed in a book box for convenient transportation, a barrier avoiding sensor can sense barriers and pedestrians, when the books are stored, a second scanner on a splint can scan the bar codes on the books to find corresponding book cabinets, the corresponding book cabinets can be determined according to the bar codes on the book cabinets scanned by a first scanner, when the books are placed, the books on the book cabinets are firstly poked by two poked sheets, then the books are clamped by the two splints to be placed at the corresponding positions which are poked by the poked sheets, after the books in the book box are taken out, the seventh driving motor drives the fifth transmission screw rod to rotate, and the fifth transmission screw rod drives the C-shaped pressing plate to move to clamp the rest books; the utility model relates to a science, remove in a flexible way, operate stably, degree of automation is high.

Drawings

Fig. 1 is a first perspective view of the present invention.

Fig. 2 is a second perspective view of the present invention.

Fig. 3 is a schematic structural view of the middle traveling mechanism of the present invention.

Fig. 4 is a left side view of the present invention.

Fig. 5 is a plan view of the present invention.

Fig. 6 is a rear view of the middle book case and the vehicle body part of the present invention.

Fig. 7 is a partial sectional view taken along line a-a in fig. 4.

Fig. 8 is a partial sectional view taken along line B-B in fig. 4.

Fig. 9 is a partially enlarged view of fig. 1 at C.

Detailed Description

The embodiments of the present invention will be further explained with reference to the drawings.

As shown in fig. 1-9, the book management robot comprises a vehicle body, a traveling mechanism, a turntable mechanism, a lifting mechanism, a clamping mechanism and a shifting mechanism, wherein a book box 1 arranged along the left-right direction is arranged on the front side part of the upper surface of the vehicle body, the traveling mechanism is arranged at the bottom of the vehicle body, the turntable mechanism is slidably connected to the rear side part of the upper surface of the vehicle body along the left-right direction, the lower end of the lifting mechanism is slidably connected to the turntable mechanism along the radial direction of the turntable mechanism, the clamping mechanism and the shifting mechanism are both arranged on the lifting mechanism and vertically move on the lifting mechanism, the rear side of the book box 1 is open, a book holder adjusting mechanism is arranged in the book box 1, a barrier avoiding sensor 61 is arranged on the front side of the bottom of the vehicle body, a storage battery and a controller are arranged on the vehicle body, and the storage battery is respectively connected with the, The obstacle avoidance sensor 61 is electrically connected with the controller, and the controller is respectively in signal connection with the travelling mechanism, the turntable mechanism, the lifting mechanism, the clamping mechanism, the sheet shifting mechanism, the book holder adjusting mechanism and the obstacle avoidance sensor 61. The battery and controller are not shown.

The vehicle body comprises a chassis 2 and a cover plate 3, the chassis 2 is a hollow box structure with an open upper side, the cover plate 3 is covered and installed on the upper portion of the chassis 2, an obstacle avoidance sensor 61 is installed in the middle of the front side of the chassis 2, the left and right sides of the front side of the chassis 2 are respectively hinged with a swing bracket 4 through vertical hinges, the left and right sides of the front side of the chassis 2 are respectively provided with a notch 5 which is through from left to right and is positioned behind the swing bracket 4, a book case 1 is fixedly connected to the front side portion of the upper surface of the cover plate 3, the rear side portion of the upper surface of the cover plate 3 is horizontally provided with a base 6 along the left and right direction, the upper surface of the base 6 is horizontally provided with two guide rails 7 along the left and right direction, the two guide rails 7 are arranged side by side and side by side, the left side portion of the upper, the first driving motor 8 and the first transmission screw 9 are both positioned in the middle of the two guide rails 7, and a power output shaft of the first driving motor 8 is in transmission connection with the left end of the first transmission screw 9;

the traveling mechanism comprises two front wheels 10, a driving shaft 11, two rear wheels 12, a second driving motor 13, a horizontal rack 14, a steering motor 15, a steering shaft 16 and a steering gear 17, wherein the two front wheels 10 are respectively and rotatably installed on the two swing supports 4, the driving shaft 11 is horizontally and rotatably installed on the rear side part of the chassis 2 along the left-right direction, the left end and the right end of the driving shaft 11 are respectively positioned on the left side and the right side of the chassis 2, the two rear wheels 12 are respectively and fixedly installed on the left end and the right end of the driving shaft 11, the second driving motor 13 is fixedly installed on the rear side part of the upper surface inside the chassis 2, a power output shaft of the second driving motor 13 is in transmission connection with the driving shaft 11 through a belt transmission mechanism 44, the horizontal rack 14 horizontally penetrates through the two notches 5 along the left-right direction, the left end and the right end of the horizontal rack 14 are, the steering shaft 16 is horizontally arranged along the front-back direction, the rear end of the steering shaft 16 is fixedly connected with a front power output shaft of the steering motor 15, the steering gear 17 is fixedly connected with the front end of the steering shaft 16, and the steering gear 17 is meshed with the horizontal rack 14;

the storage battery is respectively and electrically connected with the first driving motor 8, the second driving motor 13 and the steering motor 15, and the controller is respectively in signal connection with the first driving motor 8, the second driving motor 13 and the steering motor 15.

The turntable mechanism comprises a horizontal sliding plate 18, a rotating motor 19 and a rotating disc 20, wherein the periphery of the bottom of the horizontal sliding plate 18 is fixedly connected with a first sliding block 21 which is respectively connected with two guide rails 7 in a sliding manner, the center of the bottom of the horizontal sliding plate 18 is provided with a convex block 22, a first transmission screw 9 penetrates through the convex block 22 and is in threaded transmission connection with the convex block 22, the rotating motor 19 is vertically and fixedly arranged in the middle of the upper surface of the horizontal sliding plate 18, the center of the lower surface of the rotating disc 20 is in coaxial transmission connection with a rotating shaft at the center of the upper side of the rotating motor 19, the lower surface of the rotating disc 20 is provided with an annular supporting boss 23 in sliding contact with the upper surface of the horizontal sliding plate 18, the rotating motor 19 is positioned inside the annular supporting boss 23, the center lines of the rotating motor 19, the rotating disc 20 and the annular supporting boss 23 are, a horizontally arranged second transmission screw rod 26 is rotatably arranged in the middle of the sliding long groove 24 along the length direction, and a rotating shaft of the traverse motor 25 is in transmission connection with the second transmission screw rod 26; the storage batteries are respectively and electrically connected with the rotating motor 19 and the traversing motor 25, and the controller is respectively and electrically connected with the rotating motor 19 and the traversing motor 25.

The lifting mechanism comprises a second slider 27, a horizontal support plate 28, a third transmission screw 29, a first guide rod 30, a third drive motor 31, a fourth transmission screw 32, a second guide rod 33 and a fourth drive motor 34, the second slider 27 is slidably arranged in the sliding long groove 24, the second transmission screw 26 penetrates through the second slider 27 and is in threaded transmission connection with the second slider 27, the third transmission screw 29, the first guide rod 30, the fourth transmission screw 32 and the second guide rod 33 are vertically arranged, the lower ends of the first guide rod 30 and the second guide rod 33 are fixedly connected to the upper surface of the second slider 27, the lower surface of the horizontal support plate 28 is fixedly connected to the upper ends of the first guide rod 30 and the second guide rod 33, the lower ends of the third transmission screw 29 and the fourth transmission screw 32 are rotatably connected to the upper surface of the second slider 27, the upper ends of the third transmission screw 29 and the fourth transmission screw 32 are rotatably connected to the lower surface of the horizontal support plate 28, a third driving motor 31 and a fourth driving motor 34 are fixedly mounted on the upper surface of the horizontal support plate 28, a rotating shaft of the third driving motor 31 vertically penetrates through the horizontal support plate 28 and is in transmission connection with the upper end of the third transmission screw 29, a rotating shaft of the fourth driving motor 34 vertically penetrates through the horizontal support plate 28 and is in transmission connection with the upper end of the fourth transmission screw 32, the third transmission screw 29 and the first guide rod 30 are arranged from back to front at intervals along the length direction of the sliding long groove 24, the fourth transmission screw 32 and the second guide rod 33 are arranged from left to right at intervals along the width direction of the sliding long groove 24, the fourth transmission screw 32 and the second guide rod 33 are located on the front side of the first guide rod 30, a casing 35 covering the outer sides of the third driving motor 31 and the fourth driving motor 34 is fixedly connected to the upper surface of the horizontal support plate 28, a first code scanning instrument 36 is arranged at the top of the casing 35, and the casing 35 is not shown in fig. 1; the storage battery is electrically connected with the third driving motor 31, the fourth driving motor 34 and the first scanner 36 respectively, and the controller is in signal connection with the third driving motor 31, the fourth driving motor 34 and the first scanner 36 respectively.

The clamping mechanism comprises a first U-shaped connecting plate 37, a first bidirectional screw 38, two third guide rods 39, a fifth driving motor 40, two guide plates 41 and two clamping plates 42, wherein the upper side, the lower side and the rear side of the first U-shaped connecting plate 37 are open, the middle part of the front side surface of the front side plate of the first U-shaped connecting plate 37 is fixedly connected with a horizontal connecting plate 43, the third transmission screw 29 and the first guide rod 30 vertically penetrate through the horizontal connecting plate 43, the horizontal connecting plate 43 is in threaded transmission connection with the third transmission screw 29, the horizontal connecting plate 43 is in sliding connection with the first guide rod 30, the first bidirectional screw 38 and the two third guide rods 39 are horizontally arranged along the left-right direction and are positioned on the same horizontal plane, the left end and the right end of the first bidirectional screw 38 are respectively rotatably installed on the left side plate and the right side plate of the first U-shaped connecting plate 37, the right end of the first bidirectional screw 38 vertically penetrates through the right side plate of the first, the left end and the right end of each of two third guide rods 39 are respectively fixedly connected to the left side plate and the right side plate of the first U-shaped connecting plate 37, the first bidirectional screw 38 is positioned between the two third guide rods 39, the fifth driving motor 40 is horizontally and fixedly connected to the left side surface of the right side plate of the first U-shaped connecting plate 37 along the left-right direction, the rotating shaft of the fifth driving motor 40 vertically penetrates through the right side plate of the first U-shaped connecting plate 37, the right end of the rotating shaft of the fifth driving motor 40 is in transmission connection with the right end of the first bidirectional screw 38 through a belt transmission mechanism 44, the outer circumference of the left side part of the first bidirectional screw 38 is provided with left-handed threads, the outer circumference of the right side part of the first bidirectional screw 38 is provided with right-handed threads, the two guide plates 41 are identical in structure and are arranged in bilateral symmetry, the two clamping plates 42 are identical in structure and are arranged in bilateral symmetry, and the, the first bidirectional screw 38 and the two third guide rods 39 vertically penetrate through the two guide plates 41, the left guide plate 41 is in threaded transmission connection with the left side of the first bidirectional screw 38, the left guide plate 41 is in sliding connection with the left sides of the two third guide rods 39, the rear end of the left guide plate 41 is fixedly connected with the front end of the left clamping plate 42, and the rear side of the left clamping plate 42 is provided with a second scanner 45; the storage battery is respectively and electrically connected with the fifth driving motor 40 and the second scanner 45, and the controller is respectively and electrically connected with the fifth driving motor 40 and the second scanner 45.

The plectrum mechanism comprises a second U-shaped connecting plate 46, a second bidirectional screw 47, a sixth driving motor 48, two third sliders 49, two electric hydraulic rods 50 and two plectrums 51, wherein the upper side, the front side and the rear side of the second U-shaped connecting plate 46 are open, a fourth transmission screw 32 and a second guide rod 33 vertically penetrate through the lower side plate of the second U-shaped connecting plate 46, the lower side plate of the second U-shaped connecting plate 46 is in threaded transmission connection with the fourth transmission screw 32, the lower side plate of the second U-shaped connecting plate 46 is in sliding connection with the second guide rod 33, the second bidirectional screw 47 is horizontally arranged along the left-right direction, the left end and the right end of the second bidirectional screw 47 are respectively and rotatably installed on the left side plate and the right side plate of the second U-shaped connecting plate 46, the sixth driving motor 48 is horizontally and fixedly connected on the right side surface of the right side plate of the second U-shaped connecting plate 46 along the left-right direction, the rotating shaft of the sixth driving motor 48 is in transmission connection with the, the second bidirectional screw 47 is positioned at the front side of the fourth transmission screw 32 and the second guide rod 33, the left-handed thread is arranged on the outer circumference of the left side of the second bidirectional screw 47, the right-handed thread is arranged on the outer circumference of the right side of the second bidirectional screw 47, the two third sliders 49 are identical in structure and are arranged in bilateral symmetry, the bottoms of the two third sliders 49 are both connected to the upper surface of the lower side plate of the second U-shaped connecting plate 46 in a sliding manner, the second bidirectional screw 47 vertically penetrates through the two third sliders 49, the left third slider 49 is in threaded transmission connection with the left side of the second bidirectional screw 47, the right third slider 49 is in threaded transmission connection with the right side of the second bidirectional screw 47, the two electric hydraulic rods 50 are both horizontally arranged along the front-back direction, the front ends of the cylinder bodies of the two electric hydraulic rods 50 are respectively fixedly connected to the rear side surfaces of the two third sliders 49, the rear ends of the piston rods of the two electric hydraulic rods 50 are both fixedly connected with, the two shifting pieces 51 are identical in structure and are arranged symmetrically left and right, the two shifting pieces 51 are vertically arranged along the front-back direction, the middle part of the front side of the left shifting piece 51 is fixedly connected to the right end part of the left connecting rod 52, the middle part of the front side of the right shifting piece 51 is fixedly connected to the right end part of the right connecting rod 52, and the third transmission screw 29, the first guide rod 30, the fourth transmission screw 32 and the second guide rod 33 are all located between the two electric hydraulic rods 50; the storage battery is respectively and electrically connected with the sixth driving motor 48 and the two electric hydraulic rods 50, and the controller is respectively and signal-connected with the sixth driving motor 48 and the two electric hydraulic rods 50.

Three book placing plates 53 horizontally arranged along the left-right direction are fixedly connected with the lower side of the middle part in the book case 1, the three book placing plates 53 are positioned on the same horizontal plane and are arranged at intervals front and back, a first guiding long hole 54 is formed between two adjacent book placing plates 53, two vertically through second guiding long holes 55 are arranged on the top plate of the book case 1 along the left-right direction, the two second guiding long holes 55 and the two first guiding long holes 54 are in one-to-one correspondence up and down, the book clamp adjusting mechanism comprises a seventh driving motor 56, a fifth driving screw 57, a fourth guiding rod 58 and a C-shaped pressing plate 59, the seventh driving motor 56 is fixedly arranged on the left side part of the inner bottom surface of the book case 1, the fifth driving screw 57 and the fourth guiding rod 58 are both horizontally arranged along the left-right direction, the seventh driving motor 56, the fifth driving screw 57 and the fourth guiding rod 58 are all positioned below the three book placing plates 53, the left end of the fifth driving screw 57 is fixedly connected with the right end of the rotating shaft of, the right end of a fifth transmission screw 57 is rotatably installed on the lower side part of the right side plate of the book case 1, a C-shaped pressing plate 59 is vertically arranged along the front-back direction, the opening of the C-shaped pressing plate 59 is upward, the front side plate and the rear side plate of the C-shaped pressing plate 59 respectively penetrate through the two first guide long holes 54 and are correspondingly inserted into the two second guide long holes 55, the fifth transmission screw 57 and a fourth guide rod 58 vertically penetrate through the lower side part of the C-shaped pressing plate 59, the lower side part of the C-shaped pressing plate 59 is in threaded transmission connection with the fifth transmission screw 57, the lower side part of the C-shaped pressing plate 59 is in sliding connection with the fourth guide rod 58, and a pressure sensor 60 positioned above the three book placing plates 53 is arranged in the middle part of the left; the storage battery is electrically connected with the seventh driving motor 56 and the pressure sensor 60 respectively, and the controller is in signal connection with the seventh driving motor 56 and the pressure sensor 60 respectively. The pressure sensor 60 is used to detect the pressure of the C-shaped platen 59 against the book, thereby controlling the rotation of the seventh drive motor 56.

(1) placing books to be classified and returned into the book case 1, driving the clamping mechanism and the shifting mechanism to rotate 180 degrees by the turntable mechanism, enabling the clamping mechanism and the shifting mechanism to be opposite to the book case 1, scanning the bar codes on the book spine at the rear side of the first book by the clamping mechanism to determine the position of the corresponding book case, and controlling the traveling mechanism to move the vehicle body to the front side of the corresponding book case by the controller;

(2) the clamping mechanism takes the first book out of the book box 1, the piece poking mechanism pokes other books arranged on the book cabinet, and the clamping mechanism places the clamped books on the book cabinet at positions poked by the pieces;

(3) the turntable mechanism drives the clamping mechanism and the shifting mechanism to rotate 180 degrees again, so that the clamping mechanism and the shifting mechanism are opposite to the book case 1, the clamping mechanism scans a bar code on a spine at the rear side of a second book in the book case 1 to determine the position of a corresponding book cabinet, the controller controls the traveling mechanism to move the vehicle body to the front side of the corresponding book cabinet, and the clamping mechanism takes the second book out of the book case 1 and places the clamped book on the corresponding book cabinet;

(4) and (5) repeating the steps (2) and (3), and thus continuously placing all the books in the book box 1 on the corresponding book cabinets in a classified manner.

The step (1) is specifically as follows: books to be classified and returned are placed on the three book placing plates 53 in the book case 1, the right side surface of the C-shaped pressing plate 59 is tightly pressed on the left side of the leftmost book, so that the books are arranged in order left and right, the rotation of the seventh driving motor 56 is controlled according to a detection signal of the pressure sensor 60, and the rightward feeding amount of the C-shaped pressing plate 59 is further controlled;

the controller controls the rotating motor 19 to rotate, the rotating shaft of the rotating motor 19 drives the rotating disc 20 to rotate 180 degrees on the upper surface of the horizontal sliding plate 18, so that the two clamping plates 42 and the two poking sheets 51 face the front and are opposite to the book box 1, and the rotating motor 19 stops rotating;

the controller controls the third driving motor 31 to rotate, the third driving motor 31 drives the third transmission screw 29 to rotate, the third transmission screw 29 drives the first U-shaped connecting plate 37 to vertically move on the first guide rod 30, so that the two clamping plates 42 vertically move to positions with the same height as books in the book box 1, the controller controls the first driving motor 8 to rotate, the first driving motor 8 drives the first transmission screw 9 to rotate, the first transmission screw 9 drives the horizontal sliding plate 18 to move left and right, so that the two clamping plates 42 are driven to move left and right, so that the two clamping plates 42 move to the position right behind a first book on the left side in the book box 1, and the second scanner 45 just faces the bar codes on the spine on the rear side of the first book and scans to obtain the position information of the book cabinet corresponding to the first book;

the controller plans a walking route according to the bookcase position information, the controller controls a second driving motor 13 to rotate, the second driving motor 13 drives a driving shaft 11 to rotate through a belt transmission mechanism, the driving shaft 11 drives two rear wheels 12 to rotate, the two rear wheels 12 drive the bookcase to walk, the controller controls a steering motor 15 to rotate at the same time, the steering motor 15 drives a steering shaft 15 to rotate, a steering shaft 16 drives a steering gear 17 to rotate, the steering gear 17 drives a horizontal rack 14 to move left and right, the horizontal rack 14 drives two swing supports 4 to swing synchronously, the two front wheels 10 are controlled to swing left and right, the walking direction of the bookcase is adjusted, so that the bookcase walks to the front side of the corresponding bookcase under the matching of the two rear wheels 12 and the two front wheels 10, a first code scanner 36 scans the barcode on the bookcase to determine the information of the bookcase, and an obstacle avoidance sensor 61 can detect whether an obstacle or a pedestrian exists in front, if the obstacle or the pedestrian is detected, a signal is sent to the controller, and the controller controls the second driving motor 13 to stop rotating so that the vehicle body stops moving;

the step (2) is specifically as follows: the controller controls the fifth driving motor 40 to rotate in the forward direction, the fifth driving motor 40 drives the first bidirectional screw 38 to rotate in the forward direction through the belt transmission mechanism, the first bidirectional screw 38 drives the two guide plates 41 to move towards the left and right sides respectively, and further causes the two clamping plates 42 to move towards the left and right sides until the two clamping plates 42 are located at the left and right sides of the first book respectively, the controller controls the traverse motor 25 to rotate in the forward direction, the traverse motor 25 drives the second transmission screw 26 to rotate in the forward direction, the second transmission screw 26 drives the second slider 27 to move forwards in the sliding long slot 24, the two clamping plates 42 move forwards and are inserted at the left and right sides of the first book, further the first book is clamped between the two clamping plates 42, the controller controls the fifth driving motor 40 to rotate in the reverse direction, the fifth driving motor 40 drives the first bidirectional screw 38 to rotate in the reverse direction through the belt transmission mechanism, and the first bidirectional screw 38 drives the two guide plates 41 to move towards the center respectively, the two clamping plates 42 are further enabled to clamp the first book, the controller controls the transverse moving motor 25 to rotate reversely, the transverse moving motor 25 drives the second transmission screw rod 26 to rotate reversely, the second transmission screw rod 26 drives the second sliding block 27 to move backwards in the sliding long groove 24, the two clamping plates 42 move backwards to take the first book out of the book box 1, the pressure sensor 60 detects that the pressure is reduced, the controller controls the seventh driving motor 56 to rotate according to a signal of the pressure sensor 60, the seventh driving motor 56 drives the fifth transmission screw rod 57 to rotate, the fifth transmission screw rod 57 drives the C-shaped pressing plate 59 to move rightwards, the C-shaped pressing plate 59 presses the left side of the second book to move rightwards together, the remaining books are kept in order until a pressure value detected by the pressure sensor 60 reaches a specified value, and the seventh driving motor 56 can stop rotating;

then the controller controls the rotating motor 19 to rotate, the rotating shaft of the rotating motor 19 drives the rotating disc 20 to rotate 180 degrees again on the upper surface of the horizontal sliding plate 18, so that the two clamping plates 42 and the two shifting pieces 51 face the bookcase towards the rear direction, and the rotating motor 19 stops rotating;

initially, the two shifting pieces 51 are attached to each other, the two electro-hydraulic rods 50 are in a contracted state, the controller controls the fourth driving motor 34 to rotate, the fourth driving motor 34 drives the fourth transmission screw 32 to rotate, the fourth transmission screw 32 drives the second U-shaped connecting plate 46 to vertically move on the second guide rod 33, so that the two shifting pieces 51 move up and down to positions as high as books in the bookcase, then the controller controls the piston rods of the two electro-hydraulic rods 50 to extend, so that the two shifting pieces 51 extend backwards and are inserted between two adjacent books in the bookcase, the controller controls the sixth driving motor 48 to rotate forwards, the sixth driving motor 48 drives the second bidirectional screw 47 to rotate forwards, the second bidirectional screw 47 drives the two third sliding blocks 49 to move towards the left side and the right side respectively, so that the two electro-hydraulic rods 50 drive the two shifting pieces 51 to move towards the left side and the right side, and the two shifting pieces 51 shift the two adjacent books apart by a certain distance, then piston rods of the two electric hydraulic rods 50 contract to draw the two shifting pieces 51 out of books in the bookcase and withdraw the two shifting pieces 51, the controller controls the sixth driving motor 48 to rotate reversely, the sixth driving motor 48 drives the second bidirectional lead screw 47 to rotate reversely, the second bidirectional lead screw 47 drives the two third sliding blocks 49 to move towards the center respectively, the two shifting pieces 51 are closed until the two shifting pieces are attached to each other, and the sixth driving motor 48 stops rotating;

the controller controls the third driving motor 31 to rotate, the third driving motor 31 drives the third transmission screw 29 to rotate, the third transmission screw 29 drives the first U-shaped connecting plate 37 to vertically move on the first guide rod 30, so that the two clamping plates 42 vertically move to be opposite to the front and back of the position, which is poked by the two poking sheets 51, in the bookcase, then the controller controls the transverse moving motor 25 to forwardly rotate, the transverse moving motor 25 drives the second transmission screw 26 to forwardly rotate, the second transmission screw 26 drives the second sliding block 27 to backwardly move in the sliding long groove 24, then the two clamping plates 42 backwardly move to place the clamped first book between the two adjacent books at the poked position, then the controller controls the fifth driving motor 40 to forwardly rotate, the fifth driving motor 40 drives the first bidirectional screw 38 to forwardly rotate through the belt transmission mechanism, and then the first bidirectional screw 38 respectively drives the two guide plates 41 to move to the left and right sides, and then the two clamping plates 42 move to the left and the right until the two clamping plates 42 loosen the first book, the controller controls the traverse motor 25 to rotate reversely, the traverse motor 25 drives the second transmission screw rod 26 to rotate reversely, the second transmission screw rod 26 drives the second slide block 27 to move forwards in the long sliding groove 24, and the two clamping plates 42 move forwards to be drawn out of the book in the book cabinet.

The step (3) is specifically as follows: the controller controls the rotating motor 19 to rotate, the rotating shaft of the rotating motor 19 drives the rotating disc 20 to continuously rotate 180 degrees on the upper surface of the horizontal sliding plate 18, so that the two clamping plates 42 and the two poking sheets 51 face the front and are opposite to the book box 1, and the rotating motor 19 stops rotating;

the controller controls the third driving motor 31 to rotate, the third driving motor 31 drives the third transmission screw 29 to rotate, the third transmission screw 29 drives the first U-shaped connecting plate 37 to vertically move on the first guide rod 30, so that the two clamping plates 42 vertically move to positions with the same height as books in the book box 1, the controller controls the first driving motor 8 to rotate, the first driving motor 8 drives the first transmission screw 9 to rotate, the first transmission screw 9 drives the horizontal sliding plate 18 to move left and right, so that the two clamping plates 42 are driven to move left and right, so that the two clamping plates 42 move to the right back of a second book on the left side in the book box 1, and the second scanner 45 just faces the bar codes on the spine on the back side of the second book and scans to obtain the position information of the book cabinet corresponding to the second book;

the controller controls the fifth driving motor 40 to rotate in the forward direction, the fifth driving motor 40 drives the first bidirectional screw 38 to rotate in the forward direction through the belt transmission mechanism, the first bidirectional screw 38 drives the two guide plates 41 to move towards the left and right sides respectively, and further causes the two clamping plates 42 to move towards the left and right sides until the two clamping plates 42 are located at the left and right sides of the second book respectively, the controller controls the traverse motor 25 to rotate in the forward direction, the traverse motor 25 drives the second transmission screw 26 to rotate in the forward direction, the second transmission screw 26 drives the second slider 27 to move forwards in the sliding long slot 24, the two clamping plates 42 move forwards and are inserted at the left and right sides of the second book, further the second book is clamped between the two clamping plates 42, the controller controls the fifth driving motor 40 to rotate in the reverse direction, the fifth driving motor 40 drives the first bidirectional screw 38 to rotate in the reverse direction through the belt transmission mechanism, and the first bidirectional screw 38 drives the two guide plates 41 to move towards the center respectively, the two clamping plates 42 are further enabled to clamp a second book, the controller controls the transverse moving motor 25 to rotate reversely, the transverse moving motor 25 drives the second transmission screw rod 26 to rotate reversely, the second transmission screw rod 26 drives the second sliding block 27 to move backwards in the sliding long groove 24, the two clamping plates 42 move backwards to take the second book out of the book box 1, the pressure sensor 60 detects that the pressure is reduced, the controller controls the seventh driving motor 56 to rotate according to a signal of the pressure sensor 60, the seventh driving motor 56 drives the fifth transmission screw rod 57 to rotate, the fifth transmission screw rod 57 drives the C-shaped pressing plate 59 to move rightwards, the C-shaped pressing plate 59 presses the left side of the third book to move the rest books rightwards together, the rest books are kept in order until a pressure value detected by the pressure sensor 60 reaches a specified value, and the seventh driving motor 56 can stop rotating;

then the controller controls the fourth driving motor 34 to rotate, the fourth driving motor 34 drives the fourth driving screw 32 to rotate, the fourth driving screw 32 drives the second U-shaped connecting plate 46 to vertically move on the second guide rod 33, so that the two poking pieces 51 move up and down to positions as high as the books in the bookcase, then the controller controls the piston rods of the two electric hydraulic rods 50 to extend, so that the two poking pieces 51 extend backwards and are inserted between two adjacent books in the bookcase, the controller controls the sixth driving motor 48 to rotate in the forward direction, the sixth driving motor 48 drives the second bidirectional screw 47 to rotate in the forward direction, the second bidirectional screw 47 respectively drives the two third sliding blocks 49 to move towards the left side and the right side, so that the two electric hydraulic rods 50 drive the two poking pieces 51 to move towards the left side and the right side, the two poking pieces 51 poke the two adjacent books for a certain distance, and then the piston rods of the two electric hydraulic rods 50 retract, the two shifting pieces 51 are drawn out of the book cabinet and are retracted, the controller controls the sixth driving motor 48 to rotate reversely, the sixth driving motor 48 drives the second bidirectional screw 47 to rotate reversely, the second bidirectional screw 47 drives the two third sliding blocks 49 to move towards the center respectively, then the two shifting pieces 51 are closed until being attached to each other, and the sixth driving motor 48 stops rotating;

the controller controls the third driving motor 31 to rotate, the third driving motor 31 drives the third transmission screw 29 to rotate, the third transmission screw 29 drives the first U-shaped connecting plate 37 to vertically move on the first guide rod 30, so that the two clamping plates 42 vertically move to be opposite to the front and back of the position, which is poked by the two poking sheets 51, in the bookcase, then the controller controls the transverse moving motor 25 to forwardly rotate, the transverse moving motor 25 drives the second transmission screw 26 to forwardly rotate, the second transmission screw 26 drives the second sliding block 27 to backwardly move in the sliding long groove 24, then the two clamping plates 42 backwardly move to place the clamped second book between the two adjacent books at the poked position, then the controller controls the fifth driving motor 40 to forwardly rotate, the fifth driving motor 40 drives the first bidirectional screw 38 to forwardly rotate through the belt transmission mechanism, and then the first bidirectional screw 38 respectively drives the two guide plates 41 to move to the left and right sides, and then the two clamping plates 42 move to the left and the right until the two clamping plates 42 release the second book, the controller controls the traverse motor 25 to rotate reversely, the traverse motor 25 drives the second transmission screw 26 to rotate reversely, the second transmission screw 26 drives the second slide block 27 to move forwards in the long sliding groove 24, and the two clamping plates 42 move forwards and are drawn out of the book in the bookcase.

Controller, battery, obstacle avoidance sensor 61, first driving motor 8, second driving motor 13, turn to motor 15, third driving motor 31, fourth driving motor 34, first code scanner 36, fifth driving motor 40, second scanner 45, sixth driving motor 48, two electronic hydraulic stem 50, seventh driving motor 56 and pressure sensor 60 and be that market can purchase, and concrete structure is no longer repeated, although intelligent automatic control, but the utility model discloses in do not relate to new computer program.

The utility model discloses a two rear wheels 12 can drive the automobile body to remove under the drive of second driving motor 13, two front wheels 10 can the horizontal hunting under the effect of steering motor 15, horizontal rack 14, steering motor 15 and steering gear 17, realize the turning of automobile body, fixture and plectrum 51 mechanism can control, go up and down and rotary motion, the book of waiting to arrange is placed in book case 1 and is conveniently transported, obstacle avoidance sensor 61 can respond to barrier and pedestrian, when depositing the book, second scanner 45 on splint 42 can scan the bar code on the book and then find corresponding book case, can confirm to find corresponding book case according to the bar code on the first scanner scanning book case, when placing, two plectrums 51 are first to pull the book on the book case open, then two splint 42 book clamp place the corresponding position that is pulled by plectrum 51, the book in book case 1 is taken out, the seventh driving motor 56 drives the fifth transmission screw 57 to rotate, and the fifth transmission screw 57 drives the C-shaped pressing plate 59 to move to clamp the rest books; the utility model relates to a science, remove in a flexible way, operate stably, degree of automation is high.

The above embodiments are only used for illustrating but not limiting the technical solution of the present invention, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that; the present invention may be modified or substituted with equivalents without departing from the spirit and scope of the invention, which should be construed as being limited only by the claims.

Claims

1. Book management robot, its characterized in that: the book clamping and picking device comprises a vehicle body, a travelling mechanism, a turntable mechanism, a lifting mechanism, a clamping mechanism and a picking mechanism, wherein a book box arranged along the left-right direction is arranged on the front side part of the upper surface of the vehicle body, the travelling mechanism is installed at the bottom of the vehicle body, the turntable mechanism is connected to the rear side part of the upper surface of the vehicle body in a sliding mode along the left-right direction, the lower end of the lifting mechanism is connected to the turntable mechanism in a sliding mode along the radial direction of the turntable mechanism, the clamping mechanism and the picking mechanism are installed on the lifting mechanism and move vertically on the lifting mechanism, the rear side of the book box is open, a book clamp adjusting mechanism is arranged in the book box, an obstacle avoiding sensor is arranged on the front side of the bottom of the vehicle body, a storage battery and a controller are arranged on the vehicle body, the storage battery is respectively electrically connected with the travelling mechanism, the, The turntable mechanism, the lifting mechanism, the clamping mechanism, the shifting sheet mechanism, the book clamp adjusting mechanism and the obstacle avoidance sensor are in signal connection.

2. The book management robot of claim 1, wherein: the vehicle body comprises a chassis and a cover plate, the chassis is of a hollow box structure with an open upper side, the cover plate is covered and installed on the upper portion of the chassis, an obstacle avoidance sensor is installed in the middle of the front side face of the chassis, the left side and the right side of the front side of the chassis are symmetrically hinged with a swing support through vertical hinges respectively, notches which are through left and right and located behind the swing support are formed in the left side and the right side of the front side of the chassis, a book box is fixedly connected to the front side portion of the upper surface of the cover plate, a base is horizontally arranged on the rear side portion of the upper surface of the cover plate along the left and right directions, two guide rails are horizontally arranged on the upper surface of the base along the left and right directions, the two guide rails are arranged side by side in front and back, a first driving motor is fixedly installed on the left side portion, the power output shaft of the first driving motor is in transmission connection with the left end of the first transmission screw rod;

3. The book management robot of claim 2, wherein: the turntable mechanism comprises a horizontal sliding plate, a rotating motor and a rotating disc, wherein the periphery of the bottom of the horizontal sliding plate is fixedly connected with a first sliding block which is respectively connected with two guide rails in a sliding manner, the center of the bottom of the horizontal sliding plate is provided with a convex block, a first transmission screw rod penetrates through the convex block and is in threaded transmission connection with the convex block, the rotating motor is vertically and fixedly arranged in the middle of the upper surface of the horizontal sliding plate, the center of the lower surface of the rotating disc is in coaxial transmission connection with a rotating shaft at the center of the upper side of the rotating motor, the lower surface of the rotating disc is provided with an annular supporting boss which is in sliding contact with the upper surface of the horizontal sliding plate, the rotating motor is positioned inside the annular supporting boss, the center lines of the rotating motor, the rotating disc and the annular supporting boss are superposed, the upper surface of the rotating disc is radially, a rotating shaft of the transverse moving motor is in transmission connection with a second transmission screw rod; the storage battery is respectively electrically connected with the rotating motor and the transverse moving motor, and the controller is respectively in signal connection with the rotating motor and the transverse moving motor.

4. The book management robot of claim 3, wherein: the lifting mechanism comprises a second sliding block, a horizontal supporting plate, a third transmission screw rod, a first guide rod, a third driving motor, a fourth transmission screw rod, a second guide rod and a fourth driving motor, the second sliding block is arranged in the sliding long groove in a sliding mode, the second transmission screw rod penetrates through the second sliding block and is in threaded transmission connection with the second sliding block, the third transmission screw rod, the first guide rod, the fourth transmission screw rod and the second guide rod are vertically arranged, the lower ends of the first guide rod and the second guide rod are fixedly connected to the upper surface of the second sliding block, the lower surface of the horizontal supporting plate is fixedly connected to the upper ends of the first guide rod and the second guide rod, the lower ends of the third transmission screw rod and the fourth transmission screw rod are rotatably connected to the upper surface of the second sliding block, the upper ends of the third transmission screw rod and the fourth transmission screw rod are rotatably connected to the lower surface of the horizontal supporting plate, the third driving motor and the fourth driving motor are fixedly installed on the upper surface of the horizontal supporting, a rotating shaft of a third driving motor vertically penetrates through the horizontal support plate and is in transmission connection with the upper end of a third transmission screw rod, a rotating shaft of a fourth driving motor vertically penetrates through the horizontal support plate and is in transmission connection with the upper end of a fourth transmission screw rod, the third transmission screw rod and the first guide rod are arranged at intervals from back to front along the length direction of the sliding long groove, the fourth transmission screw rod and the second guide rod are arranged at intervals from left to right along the width direction of the sliding long groove, the fourth transmission screw rod and the second guide rod are positioned on the front side of the first guide rod, the upper surface of the horizontal support plate is fixedly connected with a shell covering the outer sides of the third driving motor and the fourth driving motor, and the top of the shell is provided with a first scanner; the storage battery is respectively and electrically connected with the third driving motor, the fourth driving motor and the first code scanner, and the controller is respectively and signal-connected with the third driving motor, the fourth driving motor and the first code scanner.

5. The book management robot of claim 4, wherein: the clamping mechanism comprises a first U-shaped connecting plate, a first bidirectional screw, two third guide rods, a fifth driving motor, two guide plates and two clamping plates, wherein the upper side, the lower side and the rear side of the first U-shaped connecting plate are all open, the middle part of the front side surface of the front side plate of the first U-shaped connecting plate is fixedly connected with a horizontal connecting plate, a third transmission screw and the first guide rod vertically penetrate through the horizontal connecting plate, the horizontal connecting plate is in threaded transmission connection with the third transmission screw, the horizontal connecting plate is in sliding connection with the first guide rods, the first bidirectional screw and the two third guide rods are horizontally arranged along the left and right directions and are positioned on the same horizontal plane, the left and right ends of the first bidirectional screw are respectively and rotatably installed on the left side plate and the right side plate of the first U-shaped connecting plate, the right end of the first bidirectional screw vertically penetrates through the right side plate of the first U-shaped connecting plate, the left and right ends of the two third guide rods are respectively and fixedly connected on the left, the first bidirectional screw rod is positioned between the two third guide rods, the fifth driving motor is horizontally and fixedly connected to the left side surface of the right side plate of the first U-shaped connecting plate along the left-right direction, a rotating shaft of the fifth driving motor vertically penetrates through the right side plate of the first U-shaped connecting plate, the right end of the rotating shaft of the fifth driving motor is in transmission connection with the right end of the first bidirectional screw rod through a belt transmission mechanism, the outer circumference of the left side part of the first bidirectional screw rod is provided with left-handed threads, the outer circumference of the right side part of the first bidirectional screw rod is provided with right-handed threads, the two guide plates are identical in structure and are arranged in bilateral symmetry, the two guide plates and the two clamp plates are vertically arranged along the front-back direction, the first bidirectional screw rod and the two third guide rods vertically penetrate through the two guide plates, and the left guide plate is in transmission connection with the left side thread of the, the left guide plate is connected with the left parts of the two third guide rods in a sliding manner, the rear end of the left guide plate is fixedly connected with the front end of the left clamping plate, and the side part of the rear side of the left clamping plate is provided with a second scanner; the storage battery is respectively and electrically connected with the fifth driving motor and the second scanner, and the controller is respectively and electrically connected with the fifth driving motor and the second scanner.

6. The book management robot of claim 4, wherein: the plectrum mechanism comprises a second U-shaped connecting plate, a second bidirectional screw rod, a sixth driving motor, two third slide blocks, two electric hydraulic rods and two plectrums, wherein the upper side, the front side and the rear side of the second U-shaped connecting plate are all open, a fourth driving screw rod and a second guide rod vertically penetrate through the lower side plate of the second U-shaped connecting plate, the lower side plate of the second U-shaped connecting plate is in threaded transmission connection with the fourth driving screw rod, the lower side plate of the second U-shaped connecting plate is in sliding connection with the second guide rod, the second bidirectional screw rod is horizontally arranged along the left and right direction, the left end and the right end of the second bidirectional screw rod are respectively and rotatably installed on the left side plate and the right side plate of the second U-shaped connecting plate, the sixth driving motor is horizontally and fixedly connected to the right side surface of the right side plate of the second U-shaped connecting plate along the left and right direction, the rotating shaft of the sixth driving motor is in transmission connection with the right end of the second bidirectional screw rod, the, the left-handed screw thread is arranged on the outer circumference of the left side of the second bidirectional screw rod, the right-handed screw thread is arranged on the outer circumference of the right side of the second bidirectional screw rod, the two third slide blocks are identical in structure and are arranged in bilateral symmetry, the bottoms of the two third slide blocks are both connected to the upper surface of the lower side plate of the second U-shaped connecting plate in a sliding manner, the second bidirectional screw rod vertically penetrates through the two third slide blocks, the left third slide block is in threaded transmission connection with the left side of the second bidirectional screw rod, the right third slide block is in threaded transmission connection with the right side of the second bidirectional screw rod, the two electric hydraulic rods are both horizontally arranged along the front-back direction, the front ends of the cylinder bodies of the two electric hydraulic rods are respectively and fixedly connected to the rear side surfaces of the two third slide blocks, the rear ends of the piston rods of the two electric hydraulic rods are both fixedly, the two shifting pieces are vertically arranged along the front-back direction, the middle part of the front side edge of the left shifting piece is fixedly connected to the right end part of the left connecting rod, the middle part of the front side edge of the right shifting piece is fixedly connected to the right end part of the right connecting rod, and the third transmission screw rod, the first guide rod, the fourth transmission screw rod and the second guide rod are all positioned between the two electric hydraulic rods; the storage battery is respectively and electrically connected with the sixth driving motor and the two electric hydraulic rods, and the controller is respectively and electrically connected with the sixth driving motor and the two electric hydraulic rods.

7. The book management robot of any one of claims 1 to 6, wherein: the lower side of the middle part in the book box is fixedly connected with three book placing plates which are horizontally arranged along the left-right direction, the three book placing plates are positioned on the same horizontal plane and are arranged at intervals from front to back, a first guide long hole is formed between two adjacent book placing plates, two second guide long holes which are through up and down are arranged on the top plate of the book box along the left-right direction, the two second guide long holes and the two first guide long holes are in one-to-one correspondence up and down, the book clamp adjusting mechanism comprises a seventh driving motor, a fifth driving screw rod, a fourth guide rod and a C-shaped pressing plate, the seventh driving motor is fixedly arranged on the left side part of the inner bottom surface of the book box, the fifth driving screw rod and the fourth guide rod are horizontally arranged along the left-right direction, the seventh driving motor, the fifth driving screw rod and the fourth guide rod are all positioned below the three book placing plates, and the left end of the fifth driving screw rod, the right end of a fifth transmission screw is rotatably installed on the lower side part of the right side plate of the book box, a C-shaped pressing plate is vertically arranged along the front-back direction, the opening of the C-shaped pressing plate is upward, the front side plate and the rear side plate of the C-shaped pressing plate respectively penetrate through two first guide long holes and are correspondingly inserted into two second guide long holes, the fifth transmission screw and a fourth guide rod vertically penetrate through the lower side part of the C-shaped pressing plate, the lower side part of the C-shaped pressing plate is in threaded transmission connection with the fifth transmission screw, the lower side part of the C-shaped pressing plate is in sliding connection with the fourth guide rod, and a pressure sensor positioned above the three book placing plates is arranged in the middle of the left side surface; the storage battery is respectively and electrically connected with the seventh driving motor and the pressure sensor, and the controller is respectively and electrically connected with the seventh driving motor and the pressure sensor.