CN106032196B - A kind of library automatic book-return robot and its book returning system - Google Patents
A kind of library automatic book-return robot and its book returning system Download PDFInfo
- Publication number
- CN106032196B CN106032196B CN201610411005.2A CN201610411005A CN106032196B CN 106032196 B CN106032196 B CN 106032196B CN 201610411005 A CN201610411005 A CN 201610411005A CN 106032196 B CN106032196 B CN 106032196B
- Authority
- CN
- China
- Prior art keywords
- book
- books
- lifting
- partition
- lifting platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of library automatic book-return robot and its book returning system, belong to robotic technology field, including being capable of the moving parts with mobile robot mass motion, books loading assembly is provided with moving parts one end, lifting assembly is provided with above moving parts, books are installed on lifting assembly and enter frame component, lifting assembly can drive books to enter frame component and move up and down；The books, which enter frame component, includes lifting platform, books bottom plate is provided with lifting platform, and can on books bottom plate vertical sliding motion the first books push pedal, Book pushing device is provided with the first books push pedal, a point book device is additionally provided with the side of lifting platform, book device is divided to be also equipped with code reader on book device is divided along lifting platform sideways motion.Book return machine device people is reasonable in design, simple to operate, can realize that the automatic of no manual intervention condition Books gives back operation, not only efficiency high, and can save labour turnover, liberate the productive forces, reduce library's operation cost.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of library automatic book-return robot and its also book system
System.
Background technology
In the library of school, it is deposited in also at book through the books given back that often see and is not put back in time on bookshelf, no
Exempt from the waste for causing resource.In order to reduce the long-term operation cost in library, the books in library is fully used, it is necessary to set
Count a kind of book return machine device people, it is possible to achieve automatic also book function.
Existing library management robot is roughly divided into two classes：One kind is full-automatic library, and this needs figure
There is hardware support kit facility in book shop, with high costs；It is another kind of to be the management robot of assist type, although serving certain help,
But it still can not accomplish to exempt the work of people in some flow.Some easy Books disorder machines are also merely capable of completing
Books discharge work, can not complete to specify the also book work of books designated area, so actual application prospect is unsatisfactory.
The content of the invention
It is an object of the invention to provide a kind of library automatic book-return robot and its book returning system, book return machine device people
It is reasonable in design, it is simple to operate, it can realize that the automatic of no manual intervention condition Books gives back 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 being capable of the motion with mobile robot mass motion
Component, books loading assembly is provided with moving parts one end, lifting assembly is provided with above moving parts, is installed on lifting assembly
There are books to enter frame component, lifting assembly can drive books to enter frame component and move up and down；
The books, which enter frame component, includes lifting platform, and books bottom plate is provided with lifting platform, and can be in books bottom plate
First books push pedal of upper vertical sliding motion, is provided with Book pushing device in the first books push pedal, and a point book is additionally provided with the side of lifting platform
Device, book device is divided to be also equipped with code reader on book device is divided along lifting platform sideways motion.
Book pushing device include Book pushing device rack and with Book pushing device rack coordinate gear, Book pushing device rack be provided with push away book bar and
Book pushing device motor, Book pushing device motor, which can drive, to be pushed away book bar and is moved on book rack is pushed away.
The shift length for pushing away book bar OQ t platform is more than the shift length for pushing away book motor OQ t platform.
Divide book device to include dividing book device push rod, divide book device push rod to be provided with and divide book bar and divide book bar motor, divide book device push rod bottom
Portion, which is provided with, divides book motor；Point book bar can the pivoting in the case where dividing the drive of book bar motor, divide book motor driven to divide book device push rod
Moved along the rack on lifting platform.
The moving parts include chassis, and two coaxial driving wheels and control coaxial main are provided with tray bottom center
The driver motor of driving wheel motion, a driven universal wheel is respectively equipped with tray bottom corner.
Control computer, battery, alignment sensor and obstacle sensor are additionally provided with chassis.
Books loading assembly includes books bottom plate and the second books push pedal that can be slided on books bottom plate；Also include using
In the first lifting partition and the second lifting partition of clamping books, the first lifting partition is arranged on lifting platform, the second lifting every
Plate is vertically set on chassis end；
Groove is provided with the first lifting partition and the second lifting partition plate face bottom, is provided with and rises in the second lifting partition bottom
Dividing plate push rod, cylindrical cam and the push-rod electric machine for controlling lifting partition pushrod movement drop, and lifting partition push rod can be logical
Moved back and forth in groove.
When loading books, the first lifting partition and the second lifting partition drop to minimum point, lifting partition push rod and
Groove on one lifting partition and the second lifting partition block and, books are pulled on lifting platform；After books load, first
Lifting partition and the second lifting partition rise to peak, card key card on groove and lifting platform on the first lifting partition and and
Separated with lifting partition push rod, the first lifting partition and the second lifting partition split movement.
The lifting assembly is the lifting unit for being symmetricly set on chassis both sides, and lifting is included per side lifting unit and is connected
Bar, 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 is matched somebody with somebody with screw mandrel link transmission part by screw thread
Close, screw mandrel link transmission part can be promoted to be moved along screw mandrel axis and then drive lifting linking member to lift；
Lifting platform joint element for bar includes the clip and connecting rod being arranged on lifting linking member, and the free end of connecting rod can be worn
Cross the clip and move in the axial direction, the other end of connecting rod is provided with the fixture for entering frame component with books and being connected.
The invention also discloses a kind of automatic book returning system based on above-mentioned library automatic book-return robot, the system by
For automatic book return machine device people with main frame with being combined into, main frame includes reading code identification device, library information management system, control automatically
Computer, books distributor and the network with automatic book return machine device people contact of book return machine device people；Wherein：
Reading code identification device, for providing the barcode scanning service of checking out for reader；
Library information management system, for store the identification informations of books, geological information, place books positional information and
Put in order information, can provide also book positional information for automatic book return machine device people；
The computer of automatic book return machine device people is controlled, the workload for the multiple automatic book return machine device people of overall arrangement；
Books distributor, the books given back for depositing reader, and automatic book return machine device people can be given to distribute books.
Compared with prior art, the present invention has technique effect beneficial below：
The library automatic book-return robot of the present invention, including moving parts, books loading assembly, lifting assembly and books
Enter frame component, moving parts are located at the bottom of robot, can complete mass motion with mobile robot；Books loading assembly is installed
Moving parts end, it is responsible for books and loads work；Lifting assembly is arranged on the top of moving parts, and books can be driven to enter frame group
Part moves up and down, and the books that can complete different height enter frame work.Wherein, books enter frame component include lifting platform, Book pushing device,
Divide book device, code reader, lifting platform is the supporter that books enter frame component, books bottom plate is provided with thereon, and can scheme
The books push pedal of vertical sliding motion on book bottom plate, Book pushing device are arranged in books push pedal, are played a part of pushing away book and are entered frame, divide book device to pacify
Mounted in the side of lifting platform, a point book can be played a part of along the sideways motion of lifting platform；Code reader, which is arranged on, divides on book device,
By dividing book device to drive in lifting platform sideways motion, play a part of scanning bookshelf books.Book return machine device people is reasonable in design,
It is simple to operate, can realize that the automatic of no manual intervention condition Books gives back operation, so as to complete the identification of books, transport,
Deposit operation.Transfer to robot to complete uninteresting book management work, not only efficiency high, and can save labour turnover, solve
Force of labor is freeed, reduces library's operation cost.
Further, Book pushing device of the invention includes Book pushing device rack, Book pushing device motor and pushes away book bar.Push away book tooth device bar peace
In the first books push pedal, Book pushing device motor is arranged on Book pushing device, and Book pushing device can be driven along Book pushing device rack by pushing away book motor
Motion, book bar is pushed away on the Book pushing device, also by pushing away book motor driven, the gear drive inside Book pushing device to push away book bar with pushing away
Book device moves under the drive of Book pushing device motor to same direction, and books books entered on rack device are pushed into bookshelf.
Further, the shift length for pushing away book bar OQ t platform is more than the shift length for pushing away book motor OQ t platform,
To push away book bar and stretch out lifting platform and book is pushed into bookshelf.The purpose so designed is so that the mechanism structure is compact, makes to push away
Book device can promote books under less displacement on lifting platform larger distance, while rack pinion is advantageous to power
Transmission improve efficiency.
Further, divide book device to include dividing book bar motor, dividing book motor, divide book bar, divide book device push rod, divide book motor to install
On book device push rod is divided, point book device can be driven along lifting platform sideways motion, divide book bar to be arranged on and divide on book push rod, can be around dividing book to push away
Bar top rotates along vertical guide, divides book bar motor to be arranged on and divides at the top of book device push rod, drive divides book bar to move.
Further, moving parts of the invention realize book return machine device people positioning in library, mobile and avoidance, bag
Chassis is included, two coaxial driving wheels and the driver motor of the coaxial driving wheel motion of control are provided with tray bottom center,
A driven universal wheel is respectively equipped with tray bottom corner.Driver motor drives two coaxial main wheel rotations, by same
Speed, which rotates, realizes overall straight ahead setback, and overall turning is realized by differential rotation；Four universal wheels are not
Holding power is provided for machine in the case of the influence direction of motion, improves the kinetic stability of machine.
Further, control computer, battery, alignment sensor and obstacle are additionally provided with the chassis of moving parts to pass
Sensor.The location information that control computer can be read according to alignment sensor controls the motion of driving wheel to specify ground so as to reach
Point；Avoidance sensor installed in robot surrounding detects on route whether have reader during book return machine device people moves,
So as to avoid bumping against reader by stopping movement.
Further, books loading assembly of the invention, which can be realized, is loaded into books on lifting platform from chassis, or will
Books on lifting platform are loaded into the work purpose on chassis.Including books bottom plate and can be slided on books bottom plate second
Books push pedal, books bottom plate play a supportive role to books, the smooth friction reduced in books moving process in its surface, make books bottom
The books deposited on plate can be loaded onto on lifting platform, the books on lifting platform is loaded on books bottom plate.Also
Including the first lifting partition and the second lifting partition for clamping books, the first lifting partition is arranged on lifting platform, and second
Lifting partition is vertically set on chassis end, plays a part of providing support with providing kinematic constraint to books push pedal to books,
If the not dividing plate, books are easy to during lifting platform process separated from chassis, lifting platform uphill process, books enter frame
Fall.
Further, lifting assembly of the invention can realize that books enter the raising and lowering motion of rack device.Lifting group
Part is symmetricly set on the lifting unit of chassis both sides, includes lifting linking member, screw mandrel, lead screw motor, screw mandrel per side lifting unit
Link transmission part and the lifting platform joint element for bar being connected with lifting platform；Elevating screw is driven by lead screw motor to be connected by itself and screw mandrel
The screw thread of bar driving member, which coordinates, to be reached promoting screw mandrel link transmission part to be moved along screw mandrel axis and then drives lifting linking member to lift
Purpose, enable lifting platform reach different height bookshelf carry out also book work.Encoder is additionally provided with lead screw motor, with control
Computer processed realizes lifting platform height half-closed loop control so as to more accurately control lifting platform height.
The invention also discloses the book returning system based on above-mentioned library automatic book-return robot, by robot and main frame control
System combines, and main frame includes the calculating of reading code identification device, library information management system, the automatic book return machine device people of control
Machine, books distributor and the network with automatic book return machine device people contact.Reading code identification device checks out for reader's barcode scanning；Figure
Book shop information management system has identification information, geological information, place books positional information and the information that puts in order of books, uses
Borrowing also information management and for book return machine device people provide also book positional information in books；Control the department of computer science of book return machine device people
System, being responsible for the work of the multiple book return machine device people of overall arrangement makes work total amount minimum；Books in stock device, the books distributor of main frame
Formed by books loading attachment and the Book pushing device transformation of book return machine device people, for depositing books that reader gives back and in computer
Under the control of system books are distributed to book return machine device people.Book return machine device people can be contacted by wireless network and main frame；Book return machine
Device people can identify that the mark on ground is positioned and moved by bottom sensor；The energy of machine derives from battery, machine
Device people can arrive the place automatic charging specified in library automatically；Thickness data, the place book of every book are stored in database
The data of frame and adjacent bibliography, machine can obtain the data of book by scanning the bar code at spine；Machine is at main frame
Store the information of book when obtaining book simultaneously, and book puts order；Main frame can be according to the position point for not ibideming place
The different robot of dispensing is operated with optimizing also book；Robot is surrounded by sensor, (is read if running into obstacle during traveling
Person) it will stop advancing, and send information.
Brief description of the drawings
Fig. 1 is the library automatic book-return robot overall structure 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；
The books that Fig. 6 is the present invention enter frame component structure diagram.
Wherein, 1 is moving parts, and 101 be chassis, and 102 be driven universal wheel, and 103 batteries, 104 be driver motor,
105 be coaxial driving wheel, and 106 be alignment sensor, and 107 be control computer；2 be books loading assembly, and 201 be the first lifting
Dividing plate, 202 be the second lifting partition, and 203 be books bottom plate, and 204 be the second books push pedal, and 205 be the second books push pedal motor,
206 be lifting partition push rod, and 207 be cylindrical cam, and 208 be lifting partition motor；3 be lifting assembly, and 301 be that lifting platform bar connects
Fitting, 302 be lifting platform joint element for bar, and 303 be screw mandrel, and 304 be screw mandrel link transmission part, and 305 be lead screw motor；4 be books
Enter frame component, 401 be Book pushing device rack, and 402 be lifting platform, and 403 be Book pushing device motor, and 404 is push away book bar, and 405 be the first figure
Book push pedal, 406 be the first books push pedal motor, and 407 is divide book bar motor, and 408 be code reader, and 409 points of book bars, 410 be to divide book
Device push rod, 411 be to divide book motor.
Embodiment
With reference to specific embodiment, the present invention is described in further detail, it is described be explanation of the invention and
It is not to limit.
Referring to Fig. 1, library automatic book-return robot of the invention, including mass motion can be completed with mobile robot
Moving parts 1, books loading assembly 2 is provided with the one end of moving parts 1, lifting assembly 3 is provided with above moving parts 1, lifted
Books are installed on component 3 and enter frame component 4, lifting assembly 3 can drive books to enter frame component 4 and move up and down；Referring to Fig. 6, figure
Book, which enters frame component 4, includes lifting platform 402, books bottom plate is provided with lifting platform 402, and can vertically be slided on books bottom plate
The first dynamic books push pedal 405, is provided with Book pushing device in the first books push pedal 405, and a point book is additionally provided with the side of lifting platform 402
Device, book device is divided to be also equipped with code reader 408 on book device is divided along the sideways motion of lifting platform 402.Book pushing device includes Book pushing device
Rack 401 and the gear coordinated with Book pushing device rack 401, Book pushing device rack 401 are provided with and push away book bar 404 and Book pushing device motor
403, Book pushing device motor 403, which can drive, to be pushed away book bar 404 and is moved on book rack 401 is pushed away.Push away the OQ t platform 402 of book bar 404
Shift length be more than and push away the shift length of the OQ t platform 402 of book motor 403.Divide book device to include dividing book device push rod 410, divide book
Device push rod 410, which is provided with, to be divided book bar 409 and divides book bar motor 407, is divided the bottom of book device push rod 410 to be provided with and is divided book motor 411；Divide book
Bar 409 can the pivoting in the case where dividing the drive of book bar motor 407, divide book motor 411 drive divide book device push rod 410 along lifting platform
Rack movement on 402.
Books enter frame component and realize the work for entering frame work and books being obtained from main frame for giving back books.Books enter frame component
After the height of target bookshelf is raised to by lifting assembly, code reader 408 will be obtained on bookshelf to existing books barcode scanning on bookshelf
The arrangement information of books, determine that gives back books enters rack position by compareing target array order；After determining position, moving parts
Books are driven to enter frame component movement to correct position.After reaching correct position, divide book motor 411 to drive and divide book device to move to correspondingly
Position so that be divided to book bar 409 be divided under the drive of book bar motor 407 can pivoting cut two books between, divide book bar 409 to cut
After entering between two books, divide book motor 411 to drive and divide book device to be moved along the rack on lifting platform 402, books are separated to vacate and given back
The position of books.For Book pushing device after dividing book device to vacate position, the operating of Book pushing device motor 403 makes Book pushing device edge be fixed on books push pedal
On Book pushing device rack 401 move, and make to push away book bar 404 and enter frame with respect to Book pushing device movement progress books.Tooth inside Book pushing device
Wheel drive mechanism causes the shift length for pushing away the OQ t platform 402 of book bar 404 is more than to push away the OQ t platform 402 of book motor 403
Displacement, and both are into a fixed proportion so that books can enter bookshelf.After books enter frame, divide book bar motor 407 to operate, make
It is divided to book bar 409 to depart from between two books, book return machine device people can leave the position and carry out the next item down also book work.Obtained from main frame
The work of books is then carried out when lifting platform 402 is in extreme lower position, and now book return machine device people books enter frame component conduct
Bookshelf, the books on main frame enter rack device and enter books push-in book return machine device people's books on frame component, books in place after, lift every
Plate declines, and two books push pedals coordinate mobile books are pushed at books bottom plate to deposit, and then books push pedal counter motion, vacate down
The space of one book, complete a work period.
Referring to Fig. 2, the moving parts 1 include chassis 101, and on chassis 101, bottom centre position is provided with two coaxial mains
The driver motor 104 that driving wheel 105 and the coaxial driving wheel 105 of control move, on chassis 101 bottom four corners be respectively equipped with one from
Dynamic universal wheel 102.Control computer 107, battery 103, alignment sensor 106 and obstacle sensing are additionally provided with chassis 101
Device.The moving parts 1 can realize book return machine device people positioning in library, mobile and avoidance.Driver motor 104 drives
Two coaxial driving wheels 105 rotate, and overall straight ahead setback are realized by rotating at the same speed, by differential rotation come real
Now overall turning；Four universal wheels 102 provide holding power in the case where not influenceing the direction of motion for machine, improve machine
Kinetic stability；The motion of location information that control computer 107 is read according to alignment sensor 106 control driving wheel is so as to arriving
Up to appointed place；Installed in robot surrounding avoidance sensor book return machine device people move during detect route on whether
There is reader, so as to avoid bumping against reader by stopping movement.
Referring to Fig. 3 and Fig. 4, books loading assembly 2 includes books bottom plate 203 and can slided on books bottom plate 203
Second books push pedal 204；Also include being used for the first lifting partition 201 and the second lifting partition 202 for clamping books, the first lifting
Dividing plate 201 is arranged on lifting platform 402, and the second lifting partition 202 is vertically set on the end of chassis 101；In the first lifting partition
201 and the plate face bottom of the second lifting partition 202 be provided with groove, be provided with lifting partition push rod in the bottom of the second lifting partition 202
206th, cylindrical cam 207 and the push-rod electric machine for controlling lifting partition push rod 206 to move, lifting partition push rod 206 can be
Moved back and forth in groove.When loading books, the first lifting partition 201 and the second lifting partition 202 drop to minimum point, lifting
Groove on the lifting partition 201 of dividing plate push rod 206 and first and the second lifting partition 202 block and, books are pulled to lifting platform
On 402；After books load, the first lifting partition 201 and the second lifting partition 202 rise to peak, the first lifting every
Groove on plate 201 and the card key card on lifting platform 402 and and separated with lifting partition push rod 206, the He of the first lifting partition 201
The split movement of second lifting partition 202.
Books loading assembly 2, which is realized, is loaded into books on lifting platform from chassis, or the books on lifting platform are loaded into
Work on chassis.Two pieces of books bottom plates are separately mounted on chassis 101 provide support to books with lifting platform 402, playing
Effect with providing kinematic constraint to books push pedal.Second books push pedal 204 is driven in books bottom plate by books push pedal motor 205
Move back and forth on 203, promote books to be moved on books bottom plate 203, the books for enabling to deposit on books bottom plate 203 are loaded
On to lifting platform 402, the books on lifting platform 402 are enable to be loaded on books bottom plate 203.First lifting partition 201 and
Two lifting partitions 202 on lifting platform 402 and chassis 101, play respectively and clamp books jointly with the second books push pedal 204
Effect, if the not dividing plate, books during lifting platform process separated from chassis, lifting platform uphill process, books enter frame very
Easily drop.Books bottom plate 203 plays a supportive role to books, the smooth friction reduced in books moving process in its surface, and gives
Second books push pedal 204 provides kinematic constraint.First lifting partition 201 and the second lifting partition 202 are in lifting partition push rod 206
Under drive, moved up and down in the groove on bottom plate and lifting platform.When loading books, the first lifting partition 201 and the second lifting
Dividing plate 202 drops to minimum point so that books can be smoothly shifted onto on lifting platform by the second books push pedal 204；Books are loaded
After on to lifting platform 402, the first lifting partition 201 and the second lifting partition 202 rise, and separate lifting platform 402 and books bottom plate
Books on 203, and control the cooperation of cylindrical cam 207 and lifting partition push rod 206 to realize at first liter by lifting partition
When the drop lifting partition 202 of dividing plate 201 and second rises to maximum height, the first lifting partition 201 and the card key on lifting platform 402
Card and and with lift push rod 206 separate so that two lifting partition split movements；First lifting partition 201 and lifting platform 402
Together rise clamping and gone back books, the second lifting partition 202 is rested at chassis 101 and clamped jointly with the second books push pedal 204
Books to be given back.When lifting platform completes that also book work drops to initial position, the counter motion of lifting partition push rod is again with the
One lifting partition 201 coordinates, and drives it to drop to minimum point, and then enters next work period.
Referring to Fig. 5, the lifting assembly 3 is the lifting unit for being symmetricly set on the both sides of chassis 101, equal per side lifting unit
Including lifting linking member 302, screw mandrel 303, lead screw motor 305, screw mandrel link transmission part 304 and the lifting being connected with lifting platform 402
Platform joint element for bar 301；Screw mandrel 303 is fixed on chassis 101 and is connected with lifting linking member 302, lead screw motor 305 and screw mandrel connecting rod
Driving member 304 is coordinated by screw thread, and screw mandrel link transmission part 304 can be promoted to be moved along the axis of screw mandrel 303 and then drive lifting
Connecting rod 302 lifts；Lifting platform joint element for bar 301 includes being arranged on clip and connecting rod on lifting linking member 302, connecting rod from
It can be passed through and the clip and moved in the axial direction by end, the other end of connecting rod with what books entered that frame component 4 is connected provided with consolidating
Determine part.Lifting assembly 3 can realize that books enter the raising and lowering motion of rack device, and screw mandrel 303 is driven logical by lead screw motor 305
Crossing it, screw thread of 304 coordinates to reach and promotes screw mandrel link transmission part 304 to enter along what screw mandrel axis moved with screw mandrel link transmission
And the purpose for driving lifting linking member 302 to lift.Lifting linking member 302 drives lifting platform 402 to rise by lifting platform joint element for bar 301
Decline, lifting platform 402 is reached the bookshelf of different height and carry out also book work.Encoder is provided with lead screw motor 305, with
Control computer 107 realizes lifting platform height half-closed loop control so as to more accurately control the height of lifting platform 402.
The invention also discloses the automatic book returning system based on above-mentioned library automatic book-return robot, the system is by automatic
For book return machine device people with main frame with being combined into, main frame includes reading code identification device, library information management system, the automatic also book of control
Computer, books distributor and the network with automatic book return machine device people contact of robot；Wherein：
Reading code identification device, for providing the barcode scanning service of checking out for reader；
Library information management system, for store the identification informations of books, geological information, place books positional information and
Put in order information, can provide also book positional information for automatic book return machine device people；
The computer of automatic book return machine device people is controlled, the workload for the multiple automatic book return machine device people of overall arrangement；
Books distributor, the books given back for depositing reader, and automatic book return machine device people can be given to distribute books.
Book return machine device people can be contacted by wireless network and main frame；Book return machine device people can be identified by bottom sensor
The mark on ground is positioned and moved；The energy of machine derives from battery, and robot can arrive what library specified automatically
Place automatic charging；The data of the thickness data of every book, place bookshelf and adjacent bibliography, machine are stored in database
The data of book can be obtained by scanning the bar code at spine；Book is stored when machine obtains book at main frame simultaneously
Information, and book put order；Main frame can distribute to different robots to optimize also book according to the position for not ibideming place
Operation；Robot is surrounded by sensor, if obstacle (reader) is run into during traveling will stop advancing, and sends letter
Breath.
The course of work of the library automatic book-return robot of the present invention is as follows：
Book return machine device people obtains the books for needing to give back at main frame.
Book return machine device people is moved at the bookshelf where first needs the books given back by moving parts.Orientation sensing
Device is responsible for positioning, control computer control, and driver motor makes driving wheel drive what book return machine device people gave back to first needs
At bookshelf where books.
Books positioned at chassis and lifting platform junction are loaded on lifting platform by books loading assembly.Lifting partition motor
Operating, is rotated down lifting partition push rod, and driving two lifting partitions to decline enables books to shift lifting platform onto by books push pedal
On.After lifting partition declines, two books push pedal routing motions, the books push pedal on chassis is advanced the distances of the book thicknesses, is risen
Books push pedal on drop platform retreats the distance of the book thicknesses, and the books have been loaded onto on lifting platform.Lifting partition motor is anti-
To operating, lifting partition push rod is rotated up, drive two lifting partitions to rise, and when reaching extreme higher position and on lifting platform
Lifting partition separation, while the lifting partition on lifting platform separates with lifting partition push rod with lifting decometer and, and fixation
On lifting platform, books are gone back in clamping jointly with the books push pedal on lifting platform, and books load work and completed.
Lifting assembly is run, and books are entered into frame component is raised to be gone back bookshelf height where book.Two lead screw motors are synchronously transported
Turn, drive the rotation of two screw mandrels, screw mandrel, which rotates, causes screw mandrel link transmission part to be axially moved along screw mandrel, drives lifting linking member group to stretch
It is long, lifting lifting platform connector, and then lifting lifting platform causes books to enter frame component and reach required height.
Books enter frame component and coordinated with moving parts, book return machine device people is reached accurate also book position.Divide the operating of book motor
Drive divides book device along lifting platform sideways motion, and then drives code reader to be moved along bookshelf side, scans the books on bookshelf, obtains existing
Book arrangement order information on bookshelf.Obtain being returned the position that books should be placed by control computer comparison database
Put.Control computer control mass motion device drives book return machine device people mass motion to suitable position so that is gone back books
Alignment is placed position.
Books enter frame component and books are pushed into bookshelf.The operating of point book motor, a point book device is moved to suitable position makes point
Book bar is inserted between specified two books.Divide the operating of book bar motor, drive divides book bar to be pivoted, and inserts two books on bookshelf
Between.Divide the operating of book motor, drive divides book device to move, and then two books are separated, and vacates the required position for giving back books.Push away book
The operating of device motor, Book pushing device motion is driven, drive pushes away the motion of book bar, by books to promotion at bookshelf, until books are placed.
Book pushing device motor antiport, drive Book pushing device to retreat, push away the retraction of book bar, prepared for the frame that enters of next book.Divide book bar electricity
Machine antiport, drive are divided to book bar to be withdrawn from between two books, and books, which enter frame work, to be completed.
Lifting assembly direction operates, and drives books to enter rack device and drops to former height, the operating of lifting partition motor, drives and rise
Drop dividing plate push rod moves downward, and it is coordinated again with the lifting partition on lifting platform.
Control computer controls book return machine device people to be moved to the bookshelf where the next books for needing to give back.
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 (8)
1. a kind of library automatic book-return robot, it is characterised in that including being capable of the exercise group with mobile robot mass motion
Part (1), books loading assembly (2) is provided with moving parts (1) one end, lifting assembly (3) is provided with above moving parts (1),
Books are installed on lifting assembly (3) and enter frame component (4), lifting assembly (3) can drive books to enter and be moved down on frame component (4)
It is dynamic；
The books, which enter frame component (4), includes lifting platform (402), is provided with books bottom plate on lifting platform (402), and can be
The first books push pedal (405) of vertical sliding motion, is provided with Book pushing device in the first books push pedal (405), is lifting on books bottom plate
The side of platform (402) is additionally provided with a point book device, divides book device to be also equipped with along lifting platform (402) sideways motion on book device is divided
Code reader (408)；
The moving parts (1) include chassis (101), and two coaxial driving wheels are provided with chassis (101) bottom centre position
(105) and control coaxial driving wheel (105) motion driver motor (104), in chassis (101), bottom four corners are respectively equipped with one
Individual driven universal wheel (102)；
Books loading assembly (2) includes books bottom plate (203) and the second books push pedal that can be slided on books bottom plate (203)
(204)；Also include being used for the first lifting partition (201) and the second lifting partition (202) for clamping books, the first lifting partition
(201) it is arranged on lifting platform (402), the second lifting partition (202) is vertically set on chassis (101) end；
Groove is provided with the first lifting partition (201) and the second lifting partition (202) plate face bottom, in the second lifting partition
(202) bottom is provided with lifting partition push rod (206), cylindrical cam (207) and for controlling lifting partition push rod (206) motion
Push-rod electric machine, lifting partition push rod (206) can move back and forth in groove.
2. library automatic book-return robot according to claim 1, it is characterised in that Book pushing device includes Book pushing device rack
(401) gear and with Book pushing device rack (401) coordinated, Book pushing device rack (401), which is provided with, pushes away book bar (404) and Book pushing device electricity
Machine (403), Book pushing device motor (403), which can drive, to be pushed away book bar (404) and is moved on book rack (401) is pushed away.
3. library automatic book-return robot according to claim 2, it is characterised in that push away book bar (404) OQ t
The shift length of platform (402) is more than the shift length for pushing away book motor (403) OQ t platform (402).
4. library automatic book-return robot according to claim 1, it is characterised in that divide book device to include dividing book device push rod
(410), divide book device push rod (410) to be provided with to divide book bar (409) and divide book bar motor (407), divide book device push rod (410) bottom to set
There is a point book motor (411)；Point book bar (409) can the pivoting in the case where dividing the drive of book bar motor (407), divide book motor
(411) driving divides book device push rod (410) to be moved along the rack on lifting platform (402).
5. library automatic book-return robot according to claim 1, it is characterised in that be additionally provided with chassis (101)
Control computer (107), battery (103), alignment sensor (106) and obstacle sensor.
6. library automatic book-return robot according to claim 1, it is characterised in that when loading books, first liter
Drop dividing plate (201) and the second lifting partition (202) drop to minimum point, lifting partition push rod (206) and the first lifting partition
(201) and the groove on the second lifting partition (202) block and, books are pulled on lifting platform (402)；Books are loaded and finished
Afterwards, the first lifting partition (201) and the second lifting partition (202) rise to peak, the groove on the first lifting partition (201)
With the card key card on lifting platform (402) and and being separated with lifting partition push rod (206), the first lifting partition (201) and second liter
Dividing plate (202) split movement drops.
7. library automatic book-return robot according to claim 1, it is characterised in that the lifting assembly (3) is pair
Claim the lifting unit for being arranged on chassis (101) both sides, include lifting linking member (302), screw mandrel (303), silk per side lifting unit
Bar 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 is connected with lifting linking member (302), and lead screw motor (305) passes with screw mandrel connecting rod
Moving part (304) is coordinated by screw thread, and screw mandrel link transmission part (304) can be promoted mobile along screw mandrel (303) axis and then driven
Lifting linking member (302) lifts；
Lifting platform joint element for bar (301) includes the clip and connecting rod being arranged on lifting linking member (302), the free end of connecting rod
The clip can be passed through and moved in the axial direction, the other end of connecting rod is provided with the fixation for entering frame component (4) with books and being connected
Part.
8. a kind of automatic book returning system of the library automatic book-return robot based on described in any one in claim 1~7,
It is combined into characterized in that, the system is matched somebody with somebody by automatic book return machine device people with main frame, main frame includes reading code identification device, library believes
Cease management system, the computer of the automatic book return machine device people of control, books distributor and with automatic book return machine device people contact
Network；Wherein：
Reading code identification device, for providing the barcode scanning service of checking out for reader；
Library information management system, for storing identification information, geological information, place books positional information and the arrangement of books
Order information, also book positional information can be provided for automatic book return machine device people；
The computer of automatic book return machine device people is controlled, the workload for the multiple automatic book return machine device people of overall arrangement；
Books distributor, the books given back for depositing reader, and automatic book return machine device people can be given to distribute books.
Priority Applications (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 |
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 CN106032196A (en) | 2016-10-19 |
| CN106032196B true CN106032196B (en) | 2018-03-02 |
Family
ID=57149046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106032196B (en) |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106697017B (en) * | 2017-02-08 | 2023-08-22 | 滨州学院 | Intelligent book carrying system based on WIFI communication |
| CN106903699B (en) * | 2017-03-24 | 2023-03-31 | 昆明理工大学 | Intelligent book arrangement robot |
| 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 |
| CN107934338B (en) * | 2017-12-20 | 2023-05-05 | 西安科技大学 | Book sorting robot structure and operation 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 |
| CN108764393B (en) * | 2018-04-28 | 2021-02-09 | 常熟理工学院 | Library book auxiliary returning robot system |
| CN108996089B (en) * | 2018-05-09 | 2020-03-10 | 湖南工程学院 | Automatic library classification book returning device |
| CN108545391B (en) * | 2018-06-13 | 2020-03-24 | 盐城工学院 | Book returning trolley and book returning 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 |
| 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 |
| CN113120805A (en) * | 2021-04-12 | 2021-07-16 | 日照职业技术学院 | Automatic book storing and taking device for library |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6334752B1 (en) * | 1999-03-17 | 2002-01-01 | Nec Corporation | Hand mechanism and library apparatus |
| US6390756B1 (en) * | 1997-10-29 | 2002-05-21 | Siemens Dematic Postal Automation, L.P. | Transfer of cartridges containing flat articles |
| CN101515391A (en) * | 2009-03-20 | 2009-08-26 | 北京理工大学 | Automatic book management system based on closed stacks |
| CN104443999A (en) * | 2014-11-25 | 2015-03-25 | 北京理工大学 | Book storing and taking window of full-automatic closed-shelf stack room |
| CN204872416U (en) * | 2015-05-22 | 2015-12-16 | 兰州理工大学 | Novel books sequencing device |
| CN105292895A (en) * | 2015-11-18 | 2016-02-03 | 浙江工商职业技术学院 | Book return system with lifting mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11130213A (en) * | 1997-10-27 | 1999-05-18 | San & San:Kk | Management system device by non-contact type ic tag method |
-
2016
- 2016-06-13 CN CN201610411005.2A patent/CN106032196B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6390756B1 (en) * | 1997-10-29 | 2002-05-21 | Siemens Dematic Postal Automation, L.P. | Transfer of cartridges containing flat articles |
| US6334752B1 (en) * | 1999-03-17 | 2002-01-01 | Nec Corporation | Hand mechanism and library apparatus |
| CN101515391A (en) * | 2009-03-20 | 2009-08-26 | 北京理工大学 | Automatic book management system based on closed stacks |
| CN104443999A (en) * | 2014-11-25 | 2015-03-25 | 北京理工大学 | Book storing and taking window of full-automatic closed-shelf stack room |
| CN204872416U (en) * | 2015-05-22 | 2015-12-16 | 兰州理工大学 | Novel books sequencing device |
| CN105292895A (en) * | 2015-11-18 | 2016-02-03 | 浙江工商职业技术学院 | Book return system with lifting mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106032196A (en) | 2016-10-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106032196B (en) | A kind of library automatic book-return robot and its book returning system | |
| CN112093353B (en) | Intelligent book carrying, arranging and shelving robot and carrying, arranging and shelving method thereof | |
| CN106530945B (en) | intelligent manufacturing technology application training platform | |
| CN101515391B (en) | Automatic book management system based on closed stacks | |
| CN105986693B (en) | A kind of intelligent three-dimensional shutdown system based on transfer robot and vehicle-carrying plate | |
| CN103208158B (en) | Full-automatic storage and borrow stack room | |
| CN205713341U (en) | A kind of intelligent parking lot | |
| CN102616703B (en) | Track-free intelligent moving device of goods shelf warehouse | |
| US20010020197A1 (en) | Automated library system with retrieving and repositing robot | |
| CN106088721A (en) | A kind of intelligent parking system and Transport Vehicle method | |
| CN205345971U (en) | Intelligent intensive three -dimensional storehouse | |
| CN202670564U (en) | Physically visual automated inventory system for warehouse goods | |
| CN111618867B (en) | Intelligent book management robot and borrowing method thereof | |
| CN101118599B (en) | Certificates management method and system | |
| CN110745535A (en) | Intelligent double-manipulator library book management shelf robot system | |
| CN112573063B (en) | Intelligent warehousing system | |
| CN104794826A (en) | Automatic invoice vending machine | |
| US9390576B2 (en) | Robotic package lifting assembly and method | |
| CN203740440U (en) | Single-piece cargo selecting device for automation tray stereoscopic warehouse | |
| CN112651694A (en) | Intelligent management system and intelligent management method for warehouse goods | |
| CN110002159A (en) | A kind of cut-to-length automatic feeding cart system and its control method | |
| CN110371566B (en) | Work hand account cyclic access equipment | |
| CN105730955A (en) | Stereoscopic warehouse | |
| CN110414884A (en) | A kind of smart wire storehouse in storehouse access method and line | |
| CN105645102B (en) | Automatic pallet transceiver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180302 |