CN106032196A - Automatic library book returning robot and book returning system thereof - Google Patents
Automatic library book returning robot and book returning system thereof Download PDFInfo
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- CN106032196A CN106032196A CN201610411005.2A CN201610411005A CN106032196A CN 106032196 A CN106032196 A CN 106032196A CN 201610411005 A CN201610411005 A CN 201610411005A CN 106032196 A CN106032196 A CN 106032196A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0288—Signatures, i.e. sections of printed magazines, papers or books
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses an automatic library book returning robot and a book returning system thereof, and belongs to the technical field of robots. The automatic library book returning robot comprises a moving assembly capable of driving the robot to move as a whole. A book loading assembly is arranged at one end of the moving assembly, a lifting assembly is arranged above the moving assembly, a book putting-in-rack assembly is installed on the lifting assembly, and the lifting assembly can drive the book putting-in-rack assembly to move vertically. The book putting-in-rack assembly comprises a lifting table, a book bottom plate and a first book pushing plate capable of sliding vertically on the book bottom plate are arranged on the lifting table, a book pushing device is arranged on the first book pushing plate, a book dividing device is further arranged on one side of the lifting table and can move along the side edge of the lifting table, and a code scanner is further installed on the book dividing device. The book returning robot is reasonable in structural design, easy to operate, capable of automatically rerunning books without manual intervention, high in efficiency and capable of reducing labor cost, emancipating productivity and reducing the operating cost of a library.
Description
Technical field
The invention belongs to robotics, be specifically related to a kind of library automatic book-return robot and go back
Book system.
Background technology
In the library of school, the books given back through often seeing are deposited in also is not put back to bookshelf at book in time
On, unavoidably cause the waste of resource.In order to reduce the long-term operation cost of library, make the books of library obtain
To making full use of, need a kind of book return machine device people of design, it is possible to achieve the most also book function.
Existing library management robot is roughly divided into two classes: a class is full-automatic library, this
Library is needed to have hardware support kit facility, with high costs；Another kind of is the management robot of assist type, although
Serve certain help, but or can not accomplish to exempt the work of people in certain flow process.Some are simple
Books disorder machine be also merely capable of books discharge work, can not complete specify books specify region
Also book work, so actual application prospect is unsatisfactory.
Summary of the invention
It is an object of the invention to provide a kind of library automatic book-return robot and book returning system thereof, this also book
Robot architecture is reasonable in design, simple to operate, it is possible to realize automatically giving back of books under the conditions of prosthetic intervention
Operation.
The present invention is to be achieved through the following technical solutions:
A kind of library automatic book-return robot disclosed by the invention, including can band mobile robot mass motion
Moving parts, be provided with books loading assembly in moving parts one end, moving parts be arranged over rise come down to a lower group
Part, lifting assembly is provided with books and enters frame assembly, and lifting assembly can drive books to enter on frame assembly and move down
Dynamic；
Described books enter frame assembly and include lifting platform, are provided with books base plate on lifting platform, and can be at figure
On book base plate, the first books push pedal of vertical sliding motion, is provided with Book pushing device, at lifting platform in the first books push pedal
Side be additionally provided with a point book device, point book device can be also equipped with sweeping along lifting platform sideways motion on point book device
Code device.
Book pushing device includes Book pushing device tooth bar and the gear coordinated with Book pushing device tooth bar, and Book pushing device tooth bar is provided with and pushes away
Book bar and Book pushing device motor, Book pushing device motor can drive and push away book bar and move on book tooth bar pushing away.
Push away the shift length of book bar OQ t platform more than the shift length pushing away book motor OQ t platform.
Dividing book device to include a point book device push rod, a point book device push rod is provided with point book bar and point book bar motor, point book device
A point book motor it is provided with bottom push rod；Point book bar can pivoting under the drive of point book bar motor, point book electricity
Machine drives a point book device push rod tooth bar along lifting platform to move.
Described moving parts includes chassis, is provided with two coaxial main driving wheels and control in tray bottom center
The driver motor of coaxial main driving wheel motion, is respectively equipped with a driven universal wheel in tray bottom corner.
Chassis is additionally provided with control computer, accumulator, alignment sensor and obstacle sensor.
Books loading assembly includes books base plate and the second books push pedal can slided on books base plate；Also
Including the first lifting partition and the second lifting partition for clamping books, the first lifting partition is arranged on lifting
On platform, the second lifting partition is vertically set on end, chassis；
It is provided with groove, bottom the second lifting partition bottom the first lifting partition and the second lifting partition plate face
It is provided with lifting partition push rod, cylindrical cam and for controlling the push-rod electric machine of lifting partition pushrod movement, lifting
Dividing plate push rod can move back and forth in groove.
When loading books, the first lifting partition and the second lifting partition drop to minimum point, and lifting partition pushes away
Groove on bar and the first lifting partition and the second lifting partition all block and, books are pulled on lifting platform；Book
After this loading, the first lifting partition and the second lifting partition rise to peak, on the first lifting partition
Groove and the card key card on lifting platform and and separate with lifting partition push rod, the first lifting partition and second liter
Fall dividing plate split movement.
Described lifting assembly is the lifting unit being symmetricly set on both sides, chassis, and every side lifting unit all includes rising
Fall connecting rod, screw mandrel, lead screw motor, screw mandrel link transmission part and the lifting platform joint element for bar being connected with lifting platform；
Screw mandrel is fixed on chassis and is connected with lifting linking member, and lead screw motor and screw mandrel link transmission part pass through spiral shell
Stricture of vagina coordinates, it is possible to promote screw mandrel link transmission part to move into along screw mandrel axis and drive lifting linking member to lift；
Lifting platform joint element for bar includes clip and the connecting rod being arranged on lifting linking member, the free end of connecting rod
Can be through this clip moving in the axial direction, the other end of connecting rod is provided with and enters frame assembly with books and be connected
Fixture.
The invention also discloses a kind of automatic book returning system based on above-mentioned library automatic book-return robot, should
System is coordinated with main frame from automatic book return machine device people and forms, and main frame includes reading code recognition device, library's information
Management system, control the computer of automatic book return machine device people, books distributor and with automatic book return machine device
The network of people's contact；Wherein:
Read code recognition device, for providing the barcode scanning service of checking out for reader；
Library information management system, for storing the identification information of books, geological information, books position, place
Confidence breath and the information that puts in order, it is possible to provide also book positional information for automatic book return machine device people；
Control the computer of automatic book return machine device people, for the work of the multiple automatic book return machine device people of overall arrangement
Amount；
Books distributor, for depositing the books that reader gives back, and distributes to automatic book return machine device people
Books.
Compared with prior art, the present invention has a following useful technique effect:
The library automatic book-return robot of the present invention, including moving parts, books loading assembly, rises and comes down to a lower group
Part and books enter frame assembly, and moving parts is positioned at the bottom of robot, it is possible to band mobile robot completes overall fortune
Dynamic；Books loading assembly installs moving parts end, is responsible for books loading work；Lifting assembly is arranged on fortune
The top of dynamic assembly, it is possible to driving books to enter frame assembly and move up and down, the books that can complete differing heights enter
Frame works.Wherein, books enter frame assembly and include lifting platform, Book pushing device, point book device, code reader, lifting platform
Enter the supporter of frame assembly for books, mounted thereon have books base plate, and can hang down on books base plate
The straight books push pedal slided, Book pushing device is arranged in books push pedal, plays pushing away book and enter the effect of frame, point book device
It is arranged on the side of lifting platform, the effect of point book can be played along the sideways motion of lifting platform；Code reader is pacified
It is contained on point book device, point book device drives at lifting platform sideways motion, play the effect of scanning bookshelf books.
This book return machine device people's reasonable in design, simple to operate, it is possible to realize prosthetic intervene under the conditions of books from
Move and give back operation, thus complete the identification of books, transport, deposit operation.By uninteresting book management work
Transferring to robot to complete, not only efficiency is high, and can save labour turnover, liberate the productive forces, and reduces books
Shop operation cost.
Further, the Book pushing device of the present invention includes Book pushing device tooth bar, Book pushing device motor and pushes away book bar.Push away book
Tooth device bar is arranged in the first books push pedal, and Book pushing device motor is arranged on Book pushing device, and pushing away book motor can drive
Book pushing device moves along Book pushing device tooth bar, pushes away book bar and is arranged on Book pushing device, also by pushing away book driven by motor, pushes away book
Gear drive within device makes to push away book bar and Book pushing device under the drive of Book pushing device motor to same direction
Motion, the books entered by books on rack device push bookshelf.
Further, the shift length of book bar OQ t platform is pushed away more than the displacement pushing away book motor OQ t platform
Distance so that push away book bar and can stretch out lifting platform book is pushed bookshelf.So purpose of design is so that this machine
Structure compact conformation, enable Book pushing device under less displacement, books are promoted on lifting platform bigger away from
From, rack pinion is conducive to the transmission of power to improve efficiency simultaneously.
Further, a point book device includes a point book bar motor, point book motor, point book bar, point book device push rod, point
Book motor is arranged on point book device push rod, and point book device can be driven along lifting platform sideways motion, and a point book bar is arranged on
Dividing on book push rod, can rotate along vertical guide around point book push rod top, a point book bar motor be arranged on a point book device push rod
Top, drives a point book bar motion.
Further, the moving parts of the present invention realize book return machine device people location in library, movement and
Avoidance, including chassis, is provided with two coaxial main driving wheels and controls coaxial main driving wheel in tray bottom center
The driver motor of motion, is respectively equipped with a driven universal wheel in tray bottom corner.Driver motor band
Dynamic two coaxial main wheel rotation, realize overall straight ahead setback, by difference by synchronized rotation
Speed rotates the turning realizing entirety；Four universal wheels provide for machine in the case of not affecting the direction of motion
Holding power, improves the kinetic stability of machine.
Further, the chassis of moving parts is additionally provided with control computer, accumulator, alignment sensor
And obstacle sensor.Control computer and can control drivewheel according to the location information that alignment sensor reads
Move thus arrive appointed place；It is arranged on what the avoidance sensor of robot surrounding moved book return machine device people
During detect whether there is reader on route, thus mobile avoid bumping against reader by stopping.
Further, the books loading assembly of the present invention is capable of from chassis, books are loaded into lifting platform
On, or the work purpose that the books on lifting platform are loaded on chassis.Including books base plate and can figure
The the second books push pedal slided on book base plate, books are played a supportive role by books base plate, and its smooth surface reduces
Friction in books moving process, enables the books deposited on books base plate to be loaded onto on lifting platform, also
The books on lifting platform are enable to be loaded on books base plate.Also include for clamp books first lifting every
Plate and the second lifting partition, the first lifting partition is arranged on lifting platform, and the second lifting partition is vertically set on
End, chassis, plays and provides the effect supporting with providing kinematic constraint to books push pedal to books, if should not
Dividing plate, books hold during lifting platform process separated from chassis, lifting platform uphill process, books enter frame very much
Easily drop.
Further, the lifting assembly of the present invention can realize books enter rack device raising and lowering motion.
Lifting assembly is symmetricly set on the lifting unit of both sides, chassis, and every side lifting unit all includes lifting linking member, silk
Bar, lead screw motor, screw mandrel link transmission part and the lifting platform joint element for bar being connected with lifting platform；Elevating screw
Driven by lead screw motor and reach to promote screw mandrel link transmission with the threaded engagement of screw mandrel link transmission part by it
Purpose that is that part moves along screw mandrel axis and then that drive lifting linking member to lift, enables lifting platform to arrive different high
The bookshelf of degree carries out also book work.It is additionally provided with encoder in lead screw motor, realizes lifting platform with controlling computer
Highly half-closed loop control thus more accurately control lifting platform height.
The invention also discloses book returning system based on above-mentioned library automatic book-return robot, by robot with
Host computer control combines, and it is automatic that main frame includes reading code recognition device, library information management system, control
The computer of book return machine device people, books distributor and the network with automatic book return machine device people contact.Reading code
Identify that device checks out for reader's barcode scanning；Library information management system has the identification information of books, geometry
Information, place books positional information and the information that puts in order, borrowing also information management and be also book for books
Robot provides also book positional information；Control the computer system of book return machine device people, be responsible for overall arrangement multiple
The work of book return machine device people makes work total amount minimum；The books in stock device of main frame, books distributor are by book return machine
The books loading attachment of device people and Book pushing device transformation form, for depositing books that reader gives back and calculating
Books are distributed to book return machine device people under the control of machine system.Book return machine device people can pass through wireless network and main frame
Contact；Book return machine device people can be positioned by the mark on bottom sensor identification ground and be moved；Machine
Energy source can automatically arrive, in accumulator, robot, the place automatic charging that library is specified；Data base
In store the thickness data of every book, place bookshelf and the data of adjacent bibliography, machine by scanning
Bar code at spine can obtain the data of book；Machine stores book when of obtaining book at main frame simultaneously
Information, and book put order；Main frame can distribute to different machines according to the position not ibideming place
People is to optimize also book operation；Robot is formed around sensor, if running into obstacle (reader) during advancing
Will stop advancing, and send information.
Accompanying drawing explanation
Fig. 1 is the library automatic book-return robot overall structure schematic diagram of the present invention；
Fig. 2 is the moving parts structural representation of the present invention；
Fig. 3 is the books loading assembly structural representation of the present invention；
Fig. 4 is the books loading assembly structure right view of the present invention；
Fig. 5 is the lifting assembly structural front view of the present invention；
Fig. 6 is that the books of the present invention enter frame modular construction schematic diagram.
Wherein, 1 is moving parts, and 101 is chassis, and 102 is driven universal wheel, 103 accumulator, 104
For driver motor, 105 is coaxial main driving wheel, and 106 is alignment sensor, and 107 for controlling computer；2
For books loading assembly, 201 is the first lifting partition, and 202 is the second lifting partition, and 203 is books base plate,
204 is the second books push pedal, and 205 is the second books push pedal motor, and 206 is lifting partition push rod, and 207 are
Cylindrical cam, 208 is lifting partition motor；3 is lifting assembly, and 301 is lifting platform joint element for bar, 302
For lifting platform joint element for bar, 303 is screw mandrel, and 304 is screw mandrel link transmission part, and 305 is lead screw motor；4
Entering frame assembly for books, 401 is Book pushing device tooth bar, and 402 is lifting platform, and 403 is Book pushing device motor, 404
For pushing away book bar, 405 is the first books push pedal, and 406 is the first books push pedal motor, and 407 is a point book bar motor,
408 is code reader, 409 points of book bars, and 410 is a point book device push rod, and 411 is a point book motor.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in further detail, described in the present invention
Explain rather than limit.
Seeing Fig. 1, the library automatic book-return robot of the present invention, including completing whole by band mobile robot
The moving parts 1 of body motion, is provided with books loading assembly 2 in moving parts 1 one end, at moving parts 1
Being arranged over lifting assembly 3, lifting assembly 3 is provided with books and enters frame assembly 4, lifting assembly 3 can
Drive books to enter frame assembly 4 to move up and down；Seeing Fig. 6, books enter frame assembly 4 and include lifting platform 402,
Lifting platform 402 is provided with books base plate, and can push away by the first books of vertical sliding motion on books base plate
Plate 405, is provided with Book pushing device in the first books push pedal 405, is additionally provided with a point book in the side of lifting platform 402
Device, point book device can be also equipped with code reader 408 along lifting platform 402 sideways motion on point book device.Push away
Book device includes Book pushing device tooth bar 401 and the gear coordinated with Book pushing device tooth bar 401, on Book pushing device tooth bar 401
Being provided with and push away book bar 404 and Book pushing device motor 403, Book pushing device motor 403 can drive and push away book bar 404 and pushing away
Move on book tooth bar 401.Push away the shift length of book bar 404 OQ t platform 402 more than pushing away book motor 403
The shift length of OQ t platform 402.Book device is divided to include a point book device push rod 410, on point book device push rod 410
It is provided with point book bar 409 and point book bar motor 407, bottom point book device push rod 410, is provided with a point book motor 411；
Point book bar 409 can pivoting under the drive of point book bar motor 407, point book motor 411 drives a point book
The device push rod 410 tooth bar along lifting platform 402 moves.
Books enter frame assembly and realize giving back entering frame work and obtaining the work of books from main frame of books.Books enter
Frame assembly is after the height being raised to target bookshelf by lifting assembly, and code reader 408 will be to existing book on bookshelf
This barcode scanning, obtains the arrangement information of books on bookshelf, is determined by comparison target array order and gives back books
Enter rack position；After determining position, moving parts drives books to enter frame component movement to correct position.Arrive and close
Right position postpones, and point book motor 411 drives a point book device to move to correspondence position so that point book bar 409 is at a point book
Can pivoting cut between two books under the drive of bar motor 407, after a point book bar 409 is cut between two books,
Divide book motor 411 to drive a point book device tooth bar along lifting platform 402 to move, books are separately vacated and gives back book
This position.Book pushing device is after position vacated by a point book device, and Book pushing device motor 403 operating makes Book pushing device along fixing
Book pushing device tooth bar 401 in books push pedal moves, and makes to push away the relative Book pushing device movement progress book of book bar 404
Originally frame is entered.Gear transmission structure within Book pushing device make the displacement pushing away book bar 404 OQ t platform 402 away from
From being more than the displacement pushing away book motor 403 OQ t platform 402, and both become a fixed proportion so that books
Bookshelf can be entered.After books enter frame, a point book bar motor 407 operates, and makes point book bar 409 between two books
Departing from, book return machine device people just can leave this position and carry out the work of the next item down also book.The work of books is obtained from main frame
Then carrying out when lifting platform 402 is in extreme lower position, now book return machine device people books enter frame assembly work
For bookshelf, the books on main frame enter rack device and books push book return machine device people's books enter on frame assembly, books
After putting in place, lifting partition declines, and two books push pedals coordinate mobile being pushed by books to deposit at books base plate, and
Rear books push pedal adverse movement, vacates the space of next this book, completes a working cycle.
Seeing Fig. 2, described moving parts 1 includes chassis 101, and on chassis 101, bottom centre position is provided with
Two coaxial main driving wheels 105 and the driver motor 104 of control coaxial main driving wheel 105 motion, on chassis 101
Corner, bottom is respectively equipped with a driven universal wheel 102.Chassis 101 is additionally provided with control computer 107,
Accumulator 103, alignment sensor 106 and obstacle sensor.This moving parts 1 is capable of book return machine device
People's location, movement and avoidance in library.Driver motor 104 drives two coaxial main driving wheels 105
Rotate, realize overall straight ahead setback by synchronized rotation, rotated by differential and realize entirety
Turning；Four universal wheels 102 provide holding power for machine in the case of not affecting the direction of motion, improve
The kinetic stability of machine；Control the location information control that computer 107 reads according to alignment sensor 106
The motion of drivewheel thus arrive appointed place；It is arranged on the avoidance sensor of robot surrounding at book return machine device
People detects whether there is reader on route during moving, thus avoids bumping against reader by stopping moving.
Seeing Fig. 3 and Fig. 4, books loading assembly 2 includes books base plate 203 and can be at books base plate 203
Second books push pedal 204 of upper slip；Also include the first lifting partition 201 and second for clamping books
Lifting partition 202, the first lifting partition 201 is arranged on lifting platform 402, and the second lifting partition 202 hangs down
Directly it is arranged on end, chassis 101；Set bottom the first lifting partition 201 and the second lifting partition 202 plate face
There is groove, bottom the second lifting partition 202, be provided with lifting partition push rod 206, cylindrical cam 207 and use
In controlling the push-rod electric machine that lifting partition push rod 206 moves, lifting partition push rod 206 can be past in groove
Multiple motion.When loading books, the first lifting partition 201 and the second lifting partition 202 drop to minimum point,
Groove on lifting partition push rod 206 and the first lifting partition 201 and the second lifting partition 202 all block and,
Books are pulled on lifting platform 402；After books load, the first lifting partition 201 and the second lifting every
Plate 202 rises to peak, card key card on the groove on the first lifting partition 201 and lifting platform 402 and
And separate with lifting partition push rod 206, the first lifting partition 201 and the second lifting partition 202 split movement.
Books loading assembly 2 realizes being loaded into lifting platform books from chassis, or by the books on lifting platform
The work being loaded on chassis.Two pieces of books base plates be separately mounted on chassis 101 with on lifting platform 402,
Play and the effect supporting with providing kinematic constraint to books push pedal is provided to books.Second books push pedal 204 by
Books push pedal motor 205 drives and moves back and forth on books base plate 203, promotes books at books base plate 203
Upper movement, enables the books deposited on books base plate 203 to be loaded onto on lifting platform 402, to make lifting platform
Books on 402 can be loaded on books base plate 203.First lifting partition 201 and the second lifting partition
202 are embedded on lifting platform 402 and chassis 101 respectively, play and jointly clamp book with the second books push pedal 204
This effect, if not this dividing plate, books lifting platform process separated from chassis, lifting platform uphill process,
Books are easy to drop during entering frame.Books are played a supportive role by books base plate 203, and its smooth surface subtracts
Friction in few books moving process, and provide kinematic constraint to the second books push pedal 204.First lifting every
Plate 201 and the second lifting partition 202 are under lifting partition push rod 206 drives, on base plate and lifting platform
Move up and down in groove.When loading books, the first lifting partition 201 and the second lifting partition 202 drop to
Minimum point so that books can be shifted onto on lifting platform smoothly by the second books push pedal 204；Books are loaded onto
After on lifting platform 402, the first lifting partition 201 and the second lifting partition 202 rise, and separate lifting platform 402
With the books on books base plate 203, and control cylindrical cam 207 and lifting partition push rod by lifting partition
The cooperation of 206 realizes when the first lifting partition 201 and the second lifting partition 202 rise to maximum height,
First lifting partition 201 and the card key card on lifting platform 402 and and separate with lifting push rod 206 so that
Obtain two lifting partition split movements；First lifting partition 201 together rises clamping and is gone back book with lifting platform 402
This, the second lifting partition 202 rests on jointly to clamp with the second books push pedal 204 at chassis 101 and waits to give back
Books.When lifting platform complete also book work drop to initial position time, lifting partition push rod adverse movement is again
Coordinate with the first lifting partition 201, and drive it to drop to minimum point, and then enter the next working cycle.
Seeing Fig. 5, described lifting assembly 3 is the lifting unit being symmetricly set on both sides, chassis 101, every side
Lifting unit all includes lifting linking member 302, screw mandrel 303, lead screw motor 305, screw mandrel link transmission part 304
And the lifting platform joint element for bar 301 being connected with lifting platform 402；Screw mandrel 303 be fixed on chassis 101 and with
Lifting linking member 302 is connected, and lead screw motor 305 and screw mandrel link transmission part 304 pass through threaded engagement, it is possible to
Screw mandrel link transmission part 304 is promoted to move along screw mandrel 303 axis and then drive lifting linking member 302 to lift；Rise
Fall platform joint element for bar 301 includes being arranged on the clip on lifting linking member 302 and connecting rod, the freedom of connecting rod
End through this clip and can move in the axial direction, and the other end of connecting rod is provided with and enters frame assembly 4 with books
The fixture being connected.Lifting assembly 3 can realize books and enter the raising and lowering motion of rack device, screw mandrel 303
Driven by lead screw motor 305 and reach to promote screw mandrel even with the threaded engagement of screw mandrel link transmission 304 by it
Purpose that is that bar driving member 304 moves along screw mandrel axis and then that drive lifting linking member 302 to lift.Lifting linking member
302 drive lifting platform 402 rise and fall by lifting platform joint element for bar 301, make lifting platform 402 to get at
The bookshelf reaching differing heights carries out also book work.It is provided with encoder, with control computer in lead screw motor 305
107 realize lifting platform height half-closed loop control thus more accurately control lifting platform 402 height.
The invention also discloses automatic book returning system based on above-mentioned library automatic book-return robot, this system
Being coordinated with main frame from automatic book return machine device people and form, main frame includes reading code recognition device, information management system for library
System, control the computer of automatic book return machine device people, books distributor and with automatic book return machine device people join
The network of network；Wherein:
Read code recognition device, for providing the barcode scanning service of checking out for reader；
Library information management system, for storing the identification information of books, geological information, books position, place
Confidence breath and the information that puts in order, it is possible to provide also book positional information for automatic book return machine device people；
Control the computer of automatic book return machine device people, for the work of the multiple automatic book return machine device people of overall arrangement
Amount；
Books distributor, for depositing the books that reader gives back, and distributes to automatic book return machine device people
Books.
Book return machine device people can be contacted with main frame by wireless network；Book return machine device people can pass through bottom sensors
The mark on device identification ground positions and moves；The energy source of machine is in accumulator, and robot can be certainly
Move the place automatic charging that library is specified；Data base stores the thickness data of every book, place book
Frame and the data of adjacent bibliography, machine can obtain the data of book by the bar code at scanning spine；
Machine stores the information of book simultaneously when of obtaining book at main frame, and book put order；Main frame meeting
Different robots is distributed to optimize also book operation according to the position not ibideming place；Robot is formed around
Sensor, will stop advancing if running into obstacle (reader) during advancing, and send information.
The work process of the library automatic book-return robot of the present invention is as follows:
Book return machine device people obtains the books needing to give back at main frame.
Book return machine device people moves at the bookshelf at the books place that first needs to give back by moving parts.Fixed
Level sensor is responsible for location, controls computer and controls, and driver motor makes drivewheel drive book return machine device people to arrive
At the bookshelf at the books place that first needs are given back.
Books loading assembly will be located in the books of chassis and lifting platform junction and is loaded on lifting platform.Lift every
Board motor operates, and makes lifting partition push rod be rotated down, and drives two lifting partitions to decline and enables books to be schemed
Book push pedal is shifted onto on lifting platform.After lifting partition declines, two books push pedal routing motions, the books on chassis
Push pedal is advanced the distance of this book thicknesses, and the books push pedal on lifting platform retreats the distance of this book thicknesses, should
Books have been loaded onto on lifting platform.Lifting partition motor antiport, makes lifting partition push rod rotate up,
Drive two lifting partitions to rise, and separate with the lifting partition on lifting platform when arriving extreme higher position, lifting
Lifting partition on platform separate with lifting partition push rod while with lifting decometer and, and be fixed on lifting platform
On, jointly clamping with the books push pedal on lifting platform and gone back books, books loading work completes.
Lifting assembly runs, and books enters frame assembly and is raised to be gone back book place bookshelf height.Two lead screw motor
Run-in synchronism, drive two screw mandrels rotate, screw mandrel rotate make screw mandrel link transmission part along screw mandrel axially-movable,
The elongation of lifting linking member group, lifting lifting platform connector, and then lifting lifting platform is driven to make books enter frame assembly
Arrive desired height.
Books enter frame assembly and coordinate with moving parts, make book return machine device people arrive the most also book position.Divide book electricity
Machine operating drive point book device is along lifting platform sideways motion, and then drives code reader to move along bookshelf limit, scans book
Books on frame, obtain the book arrangement order information on existing bookshelf.Obtained by controlling computer comparison database
To being returned the position that books should be placed.Control computer and control mass motion device drive book return machine device
People's mass motion is to suitable position so that is gone back books alignment and is placed position.
Books enter frame assembly and books are pushed bookshelf.Divide book motor rotation, make a point book device move to suitable position
Put and make a point book bar be inserted into specifying between two books.Divide book bar motor rotation, drive a point book bar to pivot,
On insertion bookshelf between two books.Divide book motor rotation, drive a point book device motion, and then two books are separated,
The position of books is given back needed for vacating.Book pushing device motor rotation, drives Book pushing device motion, drives and pushes away book bar fortune
Dynamic, books are promoted at bookshelf, until books are placed.Book pushing device motor antiport, drive pushes away
Book device retreats, and pushes away book bar and retracts, and the frame that enters for next this book is prepared.Divide book bar motor antiport, band
A dynamic point book bar is withdrawn between two books, and books enter frame and worked.
Lifting assembly direction operates, and drives books to enter rack device and drops to former height, lifting partition motor rotation,
Lifting partition push rod is driven to move downward so that it is again to coordinate with the lifting partition on lifting platform.
Control computer and control the bookshelf motion at the books place that book return machine device people gives back to next these needs.
After the upper all books of book return machine device people are given back, robot will automatically return to main frame and go out to await orders.
Claims (10)
1. a library automatic book-return robot, it is characterised in that including can band mobile robot entirety
The moving parts (1) of motion, is provided with books loading assembly (2) in moving parts (1) one end, in motion
Assembly (1) is arranged over lifting assembly (3), lifting assembly (3) is provided with books and enters frame assembly (4),
Lifting assembly (3) can drive books to enter frame assembly (4) and move up and down；
Described books enter frame assembly (4) and include lifting platform (402), are provided with books on lifting platform (402)
Base plate, and can the first books push pedal (405) of vertical sliding motion on books base plate, push away at the first books
Plate (405) is provided with Book pushing device, is additionally provided with a point book device in the side of lifting platform (402), and a point book device can
Along lifting platform (402) sideways motion, point book device is also equipped with code reader (408).
Library automatic book-return robot the most according to claim 1, it is characterised in that Book pushing device
Including Book pushing device tooth bar (401) and the gear that coordinates with Book pushing device tooth bar (401), Book pushing device tooth bar (401)
Being provided with and push away book bar (404) and Book pushing device motor (403), Book pushing device motor (403) can drive and push away book
Bar (404) is pushing away movement on book tooth bar (401).
Library automatic book-return robot the most according to claim 2, it is characterised in that push away book bar
(404) shift length of OQ t platform (402) is more than pushing away book motor (403) OQ t platform (402)
Shift length.
Library automatic book-return robot the most according to claim 1, it is characterised in that point book device
Including point book device push rod (410), point book device push rod (410) is provided with point book bar (409) and point book bar electricity
Machine (407), point book device push rod (410) bottom is provided with a point book motor (411)；Point book bar (409) can
Pivoting under the drive of point book bar motor (407), point book motor (411) drives point book device push rod (410)
Tooth bar along lifting platform (402) moves.
Library automatic book-return robot the most according to claim 1, it is characterised in that described fortune
Dynamic assembly (1) includes chassis (101), is provided with two coaxial actives at chassis (101) bottom centre position
The driver motor (104) that wheel (105) and control coaxial main driving wheel (105) are moved, in chassis (101)
Corner, bottom is respectively equipped with a driven universal wheel (102).
Library automatic book-return robot the most according to claim 5, it is characterised in that on chassis
(101) control computer (107), accumulator (103), alignment sensor (106) and wall it are additionally provided with on
Barrier sensor.
Library automatic book-return robot the most according to claim 5, it is characterised in that books fill
Carry assembly (2) and include books base plate (203) and the second figure that above can slide at books base plate (203)
Book push pedal (204)；Also include the first lifting partition (201) for clamping books and the second lifting partition
(202), the first lifting partition (201) is arranged on lifting platform (402), the second lifting partition (202)
It is vertically set on chassis (101) end；
It is provided with groove, bottom the first lifting partition (201) and the second lifting partition (202) plate face
Two lifting partitions (202) bottom is provided with lifting partition push rod (206), cylindrical cam (207) and is used for controlling
The push-rod electric machine that lifting partition push rod (206) processed is moved, lifting partition push rod (206) can be in groove
Move back and forth.
Library automatic book-return robot the most according to claim 7, it is characterised in that loading
During books, the first lifting partition (201) and the second lifting partition (202) drop to minimum point, lift every
Plate push rod (206) all blocks with the groove on the first lifting partition (201) and the second lifting partition (202)
With, books are pulled on lifting platform (402)；Books load after, the first lifting partition (201) and
Second lifting partition (202) rises to peak, the groove on the first lifting partition (201) and lifting platform
(402) the card key card on and and separate with lifting partition push rod (206), the first lifting partition (201)
With the second lifting partition (202) split movement.
Library automatic book-return robot the most according to claim 5, it is characterised in that described liter
Part (3) of coming down to a lower group is the lifting unit being symmetricly set on chassis (101) both sides, and every side lifting unit all includes
Lifting linking member (302), screw mandrel (303), lead screw motor (305), screw mandrel link transmission part (304) and
The lifting platform joint element for bar (301) being connected with lifting platform (402)；
Screw mandrel (303) is fixed on chassis (101) and above and is connected with lifting linking member (302), lead screw motor
(305) threaded engagement is passed through with screw mandrel link transmission part (304), it is possible to promote screw mandrel link transmission part (304)
Move along screw mandrel (303) axis and then drive lifting linking member (302) to lift；
Lifting platform joint element for bar (301) includes being arranged on the clip on lifting linking member (302) and connecting rod,
The free end of connecting rod through this clip and can move in the axial direction, and the other end of connecting rod is provided with and books
Enter the fixture that frame assembly (4) is connected.
10. based on an automatic book returning system for library automatic book-return robot described in claim 1～9,
It is characterized in that, this system is coordinated with main frame from automatic book return machine device people and forms, and main frame includes that reading code identification fills
Put, library information management system, the computer of control automatic book return machine device people, books distributor and
Network with automatic book return machine device people contact；Wherein:
Read code recognition device, for providing the barcode scanning service of checking out for reader；
Library information management system, for storing the identification information of books, geological information, books position, place
Confidence breath and the information that puts in order, it is possible to provide also book positional information for automatic book return machine device people；
Control the computer of automatic book return machine device people, for the work of the multiple automatic book return machine device people of overall arrangement
Amount；
Books distributor, for depositing the books that reader gives back, and distributes to automatic book return machine device people
Books.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610411005.2A CN106032196B (en) | 2016-06-13 | 2016-06-13 | A kind of library automatic book-return robot and its book returning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610411005.2A CN106032196B (en) | 2016-06-13 | 2016-06-13 | A kind of library automatic book-return robot and its book returning system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106032196A true CN106032196A (en) | 2016-10-19 |
| CN106032196B CN106032196B (en) | 2018-03-02 |
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|---|---|---|---|
| CN201610411005.2A Expired - Fee Related CN106032196B (en) | 2016-06-13 | 2016-06-13 | A kind of library automatic book-return robot and its book returning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106697017A (en) * | 2017-02-08 | 2017-05-24 | 滨州学院 | Intelligent book carrying system based on WIFI communication |
| CN106903699A (en) * | 2017-03-24 | 2017-06-30 | 昆明理工大学 | A kind of intelligent book conditioning machines people |
| CN106903061A (en) * | 2017-04-13 | 2017-06-30 | 无锡职业技术学院 | Library book intelligent classification system |
| CN107256468A (en) * | 2017-04-21 | 2017-10-17 | 仓智（上海）智能科技有限公司 | Warehouse management system and management method based on intelligent robot |
| CN107811424A (en) * | 2017-11-27 | 2018-03-20 | 三峡大学 | Self-help library book returning and method |
| CN107934338A (en) * | 2017-12-20 | 2018-04-20 | 西安科技大学 | A kind of book bidding robot architecture and operating method |
| CN108510108A (en) * | 2018-03-12 | 2018-09-07 | 中国人民解放军战略支援部队信息工程大学 | A kind of library also book method and device |
| CN108545391A (en) * | 2018-06-13 | 2018-09-18 | 盐城工学院 | Also book trolley and also book control method |
| CN108764393A (en) * | 2018-04-28 | 2018-11-06 | 常熟理工学院 | Books in libraries auxiliary gives back robot system |
| CN108789437A (en) * | 2018-06-25 | 2018-11-13 | 天津大学 | A kind of quick books of multi-arm based on RFID technique are made an inventory robot |
| CN108846460A (en) * | 2018-06-29 | 2018-11-20 | 泰山医学院 | A kind of self-help library book returning |
| CN108996089A (en) * | 2018-05-09 | 2018-12-14 | 湖南工程学院 | Library classifies book-return device automatically |
| CN109292341A (en) * | 2018-11-03 | 2019-02-01 | 蔡永宾 | Rack device above and below realizing object automatically |
| CN111166057A (en) * | 2020-02-18 | 2020-05-19 | 枣庄学院 | Library transport vehicle |
| CN111540140A (en) * | 2020-04-21 | 2020-08-14 | 郑州工业应用技术学院 | Unattended self-service library |
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| CN107256468A (en) * | 2017-04-21 | 2017-10-17 | 仓智（上海）智能科技有限公司 | Warehouse management system and management method based on intelligent robot |
| CN107811424A (en) * | 2017-11-27 | 2018-03-20 | 三峡大学 | Self-help library book returning and method |
| CN107934338A (en) * | 2017-12-20 | 2018-04-20 | 西安科技大学 | A kind of book bidding robot architecture and operating method |
| CN107934338B (en) * | 2017-12-20 | 2023-05-05 | 西安科技大学 | Book sorting robot structure and operation method |
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| CN108764393A (en) * | 2018-04-28 | 2018-11-06 | 常熟理工学院 | Books in libraries auxiliary gives back robot system |
| CN108996089A (en) * | 2018-05-09 | 2018-12-14 | 湖南工程学院 | Library classifies book-return device automatically |
| CN108545391A (en) * | 2018-06-13 | 2018-09-18 | 盐城工学院 | Also book trolley and also book control method |
| CN108789437A (en) * | 2018-06-25 | 2018-11-13 | 天津大学 | A kind of quick books of multi-arm based on RFID technique are made an inventory robot |
| CN108846460A (en) * | 2018-06-29 | 2018-11-20 | 泰山医学院 | A kind of self-help library book returning |
| CN109292341A (en) * | 2018-11-03 | 2019-02-01 | 蔡永宾 | Rack device above and below realizing object automatically |
| CN111166057A (en) * | 2020-02-18 | 2020-05-19 | 枣庄学院 | Library transport vehicle |
| CN111540140A (en) * | 2020-04-21 | 2020-08-14 | 郑州工业应用技术学院 | Unattended self-service library |
| CN111540140B (en) * | 2020-04-21 | 2021-09-03 | 郑州工业应用技术学院 | Unattended self-service library |
| CN112536809A (en) * | 2021-01-21 | 2021-03-23 | 东北林业大学 | Library intelligent robot capable of taking and returning books |
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