CN104354155A - Intelligent trolley for saving and taking books in library - Google Patents

Intelligent trolley for saving and taking books in library Download PDF

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Publication number
CN104354155A
CN104354155A CN201410534683.9A CN201410534683A CN104354155A CN 104354155 A CN104354155 A CN 104354155A CN 201410534683 A CN201410534683 A CN 201410534683A CN 104354155 A CN104354155 A CN 104354155A
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CN
China
Prior art keywords
mechanical arm
books
stepper motor
described
telescopic arm
Prior art date
Application number
CN201410534683.9A
Other languages
Chinese (zh)
Inventor
李明辉
胡亚南
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陕西科技大学
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Publication date
Application filed by 陕西科技大学 filed Critical 陕西科技大学
Priority to CN201410534683.9A priority Critical patent/CN104354155A/en
Publication of CN104354155A publication Critical patent/CN104354155A/en

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Abstract

An intelligent trolley for saving and taking books in a library comprises a trolley body with a book saving drawer; an engine and a hydraulic oil tank are arranged in the trolley body; a manipulator is connected to the top of the trolley body through a mechanical arm; the mechanical arm comprises three stages of telescopic arms; the first stage of telescopic arm is connected with the top of the trolley body and one end of the second stage of telescopic arm; the other end of the second stage of telescopic arm is connected with one end of the last stage of telescopic arm; the other end of the last stage of telescopic arm is connected with the manipulator; the engine and the hydraulic oil tank are connected with a PLC (Programmable Logic Controller); a book bar code scanner connected with the PLC is mounted on the manipulator. The intelligent trolley can work uninterruptedly, the shelving speed is high, and no error occurs.

Description

A kind of library's intellectual access book dolly

Technical field

The present invention relates to a kind of library's intellectual access book dolly.

Background technology

Current library all adopts advanced Information technology, and establish bibliographic database, bar code scan technology achieves the information system management of books, facilitates book borrowing and reading and gives back work.But the borrow rate of books increases year by year, the particularly library of colleges and universities, classification and added needs of books spend a large amount of manpowers, and this will cause efficiency low, and labour intensity increases, and also may occur books putting position mistake.

Summary of the invention

In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of library's intellectual access book dolly, can non-stop run be carried out, and added speed is fast, there will not be mistake.

To achieve these goals, the technical solution used in the present invention is:

A kind of library's intellectual access book dolly, comprise the car body 1 with books in stock drawer 2, engine 7 and hydraulic pressure oil tank 8 is had in car body 1, described car body 1 top connects manipulator 6 by mechanical arm, wherein said mechanical arm has three grades, one end of one-level telescopic arm 3 connection body 1 top and secondary telescopic arm 4, the other end of secondary telescopic arm 4 connects one end of final stage telescopic arm 5, the other end of final stage telescopic arm 5 connects manipulator 6, described engine 7 is connected PLC with hydraulic pressure oil tank 8, described manipulator 6 is provided with the books bar code scanner be connected with PLC.

Described one-level telescopic arm 3 comprises stepper motor one 3-1, stepper motor one 3-1 output shaft connects internal gear 3-4, internal gear 3-4 is engaged with external gear 3-5, external gear 3-5 and mechanical arm one 3-2 is welded to connect, mechanical arm two 3-3 is controlled flexible in mechanical arm one 3-2 by hydraulic oil, hydraulic oil is provided by described hydraulic pressure oil tank 8.

Described secondary mechanical arm 4 comprises stepper motor two 4-1 be connected on mechanical arm two 3-3, stepper motor two 4-1 controls its direction of motion by internal-external gear drive mechanism junctor mechanical arm three 4-2, mechanical arm four 4-3 is controlled flexible in mechanical arm three 4-2 by hydraulic oil, hydraulic oil is provided by described hydraulic pressure oil tank 8.

Described final stage telescopic arm 5 comprises stepper motor three 5-1 be connected on mechanical arm four 4-3, and stepper motor three 5-1 connects piston 5-2, and piston 5-2 connects manipulator 6 by hinge arrangement.

Described books in stock drawer 2 has unique number, and each books in stock drawer 2 connects an independent hydraulic telescopic machanism and controls its folding, and the stepper motor of hydraulic control telescoping mechanism connects described PLC.

Compared with prior art, the present invention utilizes automatic access dolly to read and shelving to replace traditional artificial books, and first machinery work substitutes a large amount of and heavy manual physical labor, alleviates the amount of labour of book bidding personnel; Secondly shelving and undercarriage are by scanning barcode, there will not be and get book mistake and shelving positional fault; Last intellectual access dolly operating rate is fast, and efficiency is high, and can work long hours.

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention.

Fig. 2 is the left view of Fig. 1.

Fig. 3 is one-level telescopic arm structure schematic diagram.

Fig. 4 is one-level telescopic arm and secondary telescopic arm connection diagram.

Fig. 5 is that after final stage telescopic arm is connected with manipulator, view decontroled by manipulator.

Fig. 6 is manipulator 6 seized condition schematic diagram after final stage telescopic arm is connected with manipulator.

Detailed description of the invention

Embodiments of the present invention are described in detail below in conjunction with drawings and Examples.

As depicted in figs. 1 and 2, the present invention is a kind of intellectual access book dolly for library, comprises car body 1, books in stock drawer 2, PLC, mechanical arm, manipulator 6, engine 7, hydraulic pressure oil tank 8 and books bar code scanner.Books in stock drawer 2 has unique number, and each books in stock drawer 2 connects an independent hydraulic telescopic machanism and controls its folding, and the stepper motor of hydraulic control telescoping mechanism connects PLC.

Wherein mechanical arm has three grades, engine 7 drives hydraulic pressure oil tank 8 internal hydraulic pressure oil to complete expanding-contracting action, one end of one-level telescopic arm 3 connection body 1 top and secondary telescopic arm 4, the other end of secondary telescopic arm 4 connects one end of final stage telescopic arm 5, the other end of final stage telescopic arm 5 connects manipulator 6, engine 7 is connected PLC with hydraulic pressure oil tank 8, manipulator 6 is provided with the books bar code scanner be connected with PLC, the action that manipulator 6 can complete books in stock and check out.Manipulator 6 drives piston movement by hydraulic pressure, drives hinge and pole motion, makes its expanding-contracting action.Bar code scanner is arranged in the middle of manipulator 6, and when scanning target, the information that transmits is to PLC, and then PLC controls manipulator motion.

When books deposited by needs, it is inner that librarian puts into books in stock drawer 2 the books that will access, then books in stock instruction is sent at workbench, PLC controls dolly and arrives bookshelf, books in stock drawer 2 is opened in order under the control of PLC, mechanical arm driving mechanical hand 6 captures the books of books in stock drawer 2 inside, is put into position corresponding to bar code.When the instruction of getting book received by dolly, dolly controls to arrive target bookshelf according to PLC, searches number bar code, finds rear manipulator 6 to capture.

As shown in Figure 3, one-level telescopic arm 3 comprises stepper motor one 3-1, stepper motor one 3-1 output shaft connects internal gear 3-4, internal gear 3-4 is engaged with external gear 3-5, external gear 3-5 and mechanical arm one 3-2 is welded to connect, mechanical arm two 3-3 is controlled flexible in mechanical arm one 3-2 by hydraulic oil, hydraulic oil is provided by hydraulic pressure oil tank 8.Stepper motor one 3-1 drives internal gear 3-4 to rotate, and internal gear 3-4 drives external gear 3-5 to rotate, and when external gear 3-5 rotates, mechanical arm one 3-2 rotary motion regulates the direction of manipulator 6.Driving stepper motor hydraulic oil carrys out the flexible of controller mechanical arm two 3-3, and when books deposit position is higher, one-level telescopic arm 3 extends, and length is mechanical arm two 3-3 that the length of mechanical arm one 3-2 adds elongation.

As shown in Figure 4, secondary mechanical arm 4 comprises stepper motor two 4-1 be connected on mechanical arm two 3-3, stepper motor two 4-1 controls its direction of motion by internal-external gear drive mechanism junctor mechanical arm three 4-2, mechanical arm four 4-3 is controlled flexible in mechanical arm three 4-2 by hydraulic oil, hydraulic oil is provided by hydraulic pressure oil tank 8.Stepper motor two 4-1 is equally by the direction of motion of gear drive controller mechanical arm three 4-2, and the stretching motion of mechanical arm three 4-3 is hydraulic control, and mechanical arm three 4-3 is connected with stepper motor three 5-1.

As shown in Figure 5 and Figure 6, final stage telescopic arm 5 comprises stepper motor three 5-1 be connected on mechanical arm four 4-3, and stepper motor three 5-1 connects piston 5-2, and piston 5-2 connects manipulator 6 by hinge arrangement.Opening of manipulator 6 is mainly controlled by stepper motor three 5-1.When manipulator 6 captures books, stepper motor three 5-1 driven plunger 5-2 is toward internal motion, pull hinge 5-6 to move backward, hinge 5-6 pulls rod member to move, hinge 5-5-1 and hinge 5-5-2 closes up toward centre, hinge 5-4-1 and hinge 5-4-2 closes up simultaneously, and the claw of manipulator 6 is merged, and captures books.Hinge 5-3-1 and hinge 5-3-2 can make pole above rotate, and carrys out firmly grasping and opening of cooperative mechanical hand 6.Hinge 5-7 makes the claw of manipulator 6 be fixed together, and keeps the free degree rotated simultaneously.

In three grades of mechanical arm mechanisms, the first stepping electricity realizes the rotation of one-level telescopic arm by gear drive, one-level telescopic arm inside is hydraulic mechanism, and the hydraulic oil of the first stepping driven by motor hydraulic cylinder realizes the Telescopic of first-level machine mechanical arm; Secondary Telescopic boom mechanism comprises the second stepper motor, and the second stepping motor is connected with one-level telescopic arm, can stretch and rotate in the free degree under the driving of motor; Three grades of telescopic arms complete motion under the effect of the 3rd stepper motor, and manipulator is connected with telescopic arm.Mechanical arm and manipulator 6 under the control of PLC, coordination complete access book task.

PLC controls the track route of dolly, vehicle body wheel driving motor moves, the car body left and right sides is books in stock drawer 2, books in stock drawer 2 is three-deckers, librarian can batch by means of the book returned, put into books in stock drawer 2 inner, intelligent carriage can disposable book band to bookshelf, then from books in stock drawer 2, get book, put back to bookshelf, add operating efficiency.

The course of work of the present invention:

When getting book, console send get book magnetic stripe encode to intellectual access dolly, as Fig. 1, PLC is passed to after dolly Received signal strength, PLC is given an order, motor internal drives dolly to arrive books position, magnetic strip scanner scans books position, the angle of Motor Control mechanical arm and the flexible of hydraulic control mechanical arm make manipulator 6 move to books position, as Fig. 5, final stage telescopic arm inner carrier moves forward, promote linkage hand to be grabbed open, mechanical arm movement forward makes book between two claws, as Fig. 6, final stage telescopic arm inner carrier moves backward, promoting linkage makes hand promptly, taking out postscript is put in books in stock drawer 2, then the crawl of next this book is carried out.During shelving, it is inner that keeper all puts into books in stock drawer 2 wanted added books, magnetic strip scanner obtains book information and sends PLC to, PLC controls dolly and arrives tram, hydraulic mechanism on books in stock drawer 2 opens books in stock drawer 2, manipulator 6 captures the books of books in stock drawer 2 inside, is put into the position that bar code is correct.Then the added of next this book is carried out.The present invention mainly uses motor to drive, hydraulic control, Based Intelligent Control, and linkage principle realizes.

PLC of the present invention receives the order from workbench, the bibliography that will access stored in CPU inside, then according to the bookshelf position at bibliography place, dolly is driven to arrive the target of specifying by the program of PLC, coded scanning device on mechanical arm, search coding on the shelf, then manipulator is put into the position of specifying book or gets book at assigned address.

The present invention has multiple stepper motor to drive respective telescopic arm or manipulator respectively, and it is drive hydraulic cylinder internal hydraulic pressure oil to realize by stepper motor that the stretching of mechanical arm is sent.The present invention not only can be applied to field, library, also can be applied in warehouse or unmanned supermarket.

Claims (5)

1. library's intellectual access book dolly, comprise the car body (1) with books in stock drawer (2), engine (7) and hydraulic pressure oil tank (8) is had in car body (1), it is characterized in that, described car body (1) top connects manipulator (6) by mechanical arm, wherein said mechanical arm has three grades, one end of one-level telescopic arm (3) connection body (1) top and secondary telescopic arm (4), the other end of secondary telescopic arm (4) connects one end of final stage telescopic arm (5), the other end of final stage telescopic arm (5) connects manipulator (6), described engine (7) is connected PLC with hydraulic pressure oil tank (8), described manipulator (6) is provided with the books bar code scanner be connected with PLC.
2. library's intellectual access book dolly according to claim 1, it is characterized in that, described one-level telescopic arm (3) comprises stepper motor one (3-1), stepper motor one (3-1) output shaft connects internal gear (3-4), internal gear (3-4) is engaged with external gear (3-5), external gear (3-5) and mechanical arm one (3-2) are welded to connect, mechanical arm two (3-3) is controlled flexible in mechanical arm one (3-2) by hydraulic oil, hydraulic oil is provided by described hydraulic pressure oil tank (8).
3. library's intellectual access book dolly according to claim 2, it is characterized in that, described secondary mechanical arm (4) comprises the stepper motor two (4-1) be connected on mechanical arm two (3-3), stepper motor two (4-1) controls its direction of motion by internal-external gear drive mechanism junctor mechanical arm three (4-2), mechanical arm four (4-3) is controlled flexible in mechanical arm three (4-2) by hydraulic oil, hydraulic oil is provided by described hydraulic pressure oil tank (8).
4. library's intellectual access book dolly according to claim 3, it is characterized in that, described final stage telescopic arm (5) comprises the stepper motor three (5-1) be connected on mechanical arm four (4-3), stepper motor three (5-1) connects piston (5-2), and piston (5-2) connects manipulator (6) by hinge arrangement.
5. library's intellectual access book dolly according to claim 1, it is characterized in that, described books in stock drawer (2) has unique number, each books in stock drawer (2) connects an independent hydraulic telescopic machanism and controls its folding, and the stepper motor of hydraulic control telescoping mechanism connects described PLC.
CN201410534683.9A 2014-10-11 2014-10-11 Intelligent trolley for saving and taking books in library CN104354155A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410534683.9A CN104354155A (en) 2014-10-11 2014-10-11 Intelligent trolley for saving and taking books in library

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Application Number Priority Date Filing Date Title
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104647342A (en) * 2015-03-04 2015-05-27 湖北工业大学 Shelving robot for library
CN104851211A (en) * 2015-06-12 2015-08-19 刘子腾 System for automatically storing and fetching book for library
CN105500357A (en) * 2016-01-15 2016-04-20 苏州艾力光电科技有限公司 Loading and unloading mechanical arm
CN105858565A (en) * 2016-06-01 2016-08-17 浙江万昇光电科技有限公司 Intelligent LED (Light Emitting Diode) street lamp maintaining mechanical arm
CN106361069A (en) * 2016-08-17 2017-02-01 吴用镜 Superstore clothing classification apparatus
CN106419113A (en) * 2016-12-07 2017-02-22 山东理工大学 Device for automatically fetching books
CN106426202A (en) * 2016-10-31 2017-02-22 宋奕潼 Automatic tidying device for books of library
WO2017121747A1 (en) * 2016-01-14 2017-07-20 Magazino Gmbh Robot to pick up and transport objects and method using such a robot
CN107169545A (en) * 2017-06-12 2017-09-15 上海斐讯数据通信技术有限公司 A kind of Intelligent bookshelf managing and control system and method
CN107571238A (en) * 2016-03-10 2018-01-12 福州米鱼信息科技有限公司 A kind of new Qu Wu robots
CN107571264A (en) * 2017-07-31 2018-01-12 青岛万祥如光机械技术研究有限公司 A kind of books position adjust automatically machine people

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1979519A (en) * 2005-11-30 2007-06-13 中国科学院自动化研究所 Automatic crusing robot system based on radio-frequency identification technology
CN103197674A (en) * 2013-03-11 2013-07-10 祁伟 Automatic walking robot
CN203328760U (en) * 2013-07-03 2013-12-11 青岛理工大学 Medical six-freedom-degree automatic adjustment mechanical arm grinding and clamping device for surgical operations
US20140249676A1 (en) * 2013-03-04 2014-09-04 Microsoft Corporation Adapting robot behavior based upon human-robot interaction

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1979519A (en) * 2005-11-30 2007-06-13 中国科学院自动化研究所 Automatic crusing robot system based on radio-frequency identification technology
US20140249676A1 (en) * 2013-03-04 2014-09-04 Microsoft Corporation Adapting robot behavior based upon human-robot interaction
CN103197674A (en) * 2013-03-11 2013-07-10 祁伟 Automatic walking robot
CN203328760U (en) * 2013-07-03 2013-12-11 青岛理工大学 Medical six-freedom-degree automatic adjustment mechanical arm grinding and clamping device for surgical operations

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104647342A (en) * 2015-03-04 2015-05-27 湖北工业大学 Shelving robot for library
CN104647342B (en) * 2015-03-04 2016-01-20 湖北工业大学 Framed bent robot of a kind of library
CN104851211A (en) * 2015-06-12 2015-08-19 刘子腾 System for automatically storing and fetching book for library
WO2017121747A1 (en) * 2016-01-14 2017-07-20 Magazino Gmbh Robot to pick up and transport objects and method using such a robot
CN105500357A (en) * 2016-01-15 2016-04-20 苏州艾力光电科技有限公司 Loading and unloading mechanical arm
CN107717944A (en) * 2016-03-10 2018-02-23 福州米鱼信息科技有限公司 A kind of accurate Qu Wu robots
CN107571238A (en) * 2016-03-10 2018-01-12 福州米鱼信息科技有限公司 A kind of new Qu Wu robots
CN107825394A (en) * 2016-03-10 2018-03-23 福州米鱼信息科技有限公司 A kind of quick Qu Wu robots
CN105858565A (en) * 2016-06-01 2016-08-17 浙江万昇光电科技有限公司 Intelligent LED (Light Emitting Diode) street lamp maintaining mechanical arm
CN106361069A (en) * 2016-08-17 2017-02-01 吴用镜 Superstore clothing classification apparatus
CN106426202A (en) * 2016-10-31 2017-02-22 宋奕潼 Automatic tidying device for books of library
CN106419113A (en) * 2016-12-07 2017-02-22 山东理工大学 Device for automatically fetching books
CN107169545A (en) * 2017-06-12 2017-09-15 上海斐讯数据通信技术有限公司 A kind of Intelligent bookshelf managing and control system and method
CN107571264A (en) * 2017-07-31 2018-01-12 青岛万祥如光机械技术研究有限公司 A kind of books position adjust automatically machine people

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Application publication date: 20150218