CN106891342B - A kind of intelligent robot for library book storage - Google Patents
A kind of intelligent robot for library book storage Download PDFInfo
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- CN106891342B CN106891342B CN201710085850.XA CN201710085850A CN106891342B CN 106891342 B CN106891342 B CN 106891342B CN 201710085850 A CN201710085850 A CN 201710085850A CN 106891342 B CN106891342 B CN 106891342B
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- 238000003860 storage Methods 0.000 title claims abstract description 32
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 52
- 230000003028 elevating effect Effects 0.000 claims abstract description 26
- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 230000000087 stabilizing effect Effects 0.000 claims description 19
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 239000003990 capacitor Substances 0.000 claims description 11
- 230000001939 inductive effect Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000001276 controlling effect Effects 0.000 description 13
- 238000004891 communication Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000005070 sampling Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The present invention relates to a kind of intelligent robots for library book storage, including standing frame, support column, pedestal and Zhong Kong mechanism, elevating mechanism includes the first electromagnetic coil, second electromagnetic coil, elevator and several slide assemblies, mobile mechanism includes fixed plate, driving assembly and guidance set, driving assembly includes first motor, two drive shafts and two driving wheels, guidance set includes the second motor and directive wheel, working power module includes working power circuit, in the intelligent robot stored for library book, staff is realized by elevating mechanism, and storage book is carried out to different height collected books cabinet, pass through mobile mechanism, it realizes and storage book is carried out to the collected books cabinet of different location, to realize the intelligence of intelligent robot；Moreover, in working power circuit, using conventional component, while having feedback detection, realize operating voltage stablizes output, improves the practical value of robot.
Description
Technical field
The present invention relates to robot field, in particular to a kind of intelligent robot for library book storage.
Background technique
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run
The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.
In China, with continually developing to intelligent robot, application range is also increasingly wider.In existing library
In, when storing to books, when the collected books cabinet relatively high to height carries out storage book, or pass through simple aerial ladder
It is stored, so not only low efficiency, thus also staff is needed to be moved manually, it is very laborious；Moreover, existing
In some robots, when being designed to working power, generally it can all be fed back using expensive integrated circuit
Acquisition to realize that stablizing for working power exports, but since the cost of present robot is excessively high, thus limits significantly
Its scope of application, reduces its practical value.
Summary of the invention
The technical problem to be solved by the present invention is for overcome the deficiencies in the prior art, providing a kind of for library's figure
The intelligent robot of book storage.
The technical solution adopted by the present invention to solve the technical problems is: a kind of intelligent machine for library book storage
The inside of device people, including standing frame, support column, pedestal and Zhong Kong mechanism, the support column are equipped with elevating mechanism, the elevator
Structure and standing frame are sequentially connected, and the support column is arranged in the top of pedestal, mobile mechanism, institute are additionally provided with below the pedestal
Shu Zhongkong mechanism is arranged in the inside of pedestal and is electrically connected respectively with elevating mechanism and mobile mechanism, and the side of the standing frame is set
There is books in stock basket；
Wherein, staff stands in the inside of standing frame, while by elevating mechanism come the lifting of control station stile, from
And enable to staff can the book inside the collected books cabinet to different height store；Meanwhile passing through mobile mechanism's reality
Show and the collected books cabinet of different location has been operated, to improve intelligence and the practicability of robot.
The elevating mechanism includes the first electromagnetic coil, the second electromagnetic coil, elevator and several slide assemblies, and described the
The top of the inside of support column is arranged in one electromagnetic coil, and the bottom of the inside of support column is arranged in second electromagnetic coil,
The transversal cross-section of the elevator is T shape, and the support column is equipped with guide groove, and the elevator passes through guide groove and standing frame
It is fixedly connected, the two sides of elevator are arranged in the slide assemblies；
Wherein, when needing that the height of standing frame is adjusted, the first electromagnetic coil and the second electromagnetic coil are just
Can start to work, herein, elevator is magnet, thus can using the same sex attracting, the anisotropic characteristic repelled each other, realize pair
The height of standing frame controls.
The mobile mechanism includes fixed plate, driving assembly and guidance set, and the driving component and guidance set are logical
Cross the lower section that pedestal is arranged in fixed plate, the driving component includes first motor, two drive shafts and two driving wheels, described
Driving wheel and drive shaft correspond, and described two drive shafts are located at the two sides of first motor, and the first motor passes through
Drive shaft is sequentially connected with corresponding driving wheel, and reset assembly, the guiding are additionally provided between the first motor and fixed plate
Component includes the second motor and directive wheel, and second motor and directive wheel are sequentially connected, the horizontal middle spindle of the directive wheel
For the horizontal center line axis of line and fixed plate in same straight line, the driving component is symmetrical about the horizontal center line axis of directive wheel；
Wherein, first motor controls the rotation of driving wheel by drive shaft, so as to realize the movement of pedestal, while the
Two motors improve the reliable of the movement of intelligent robot to realize the steering of pedestal by the rotation of control directive wheel
Property.
The side of the pedestal is additionally provided with positioning component；
The Zhong Kong mechanism includes central control module, the motor control module connecting with central control module, channel radio
Module, elevating control module, display control module, key control module, state indicator module and working power module are interrogated, it is described
First motor and the second motor are electrically connected with motor control module, first electromagnetic coil and the second electromagnetic coil with liter
Control module electrical connection is dropped, and the central control module is PLC；
The working power module includes working power circuit, and the working power circuit includes transformer, rectifier bridge,
One resistance, second resistance, adjustable resistance, first capacitor, the second capacitor, pressure stabilizing triode and triode, the pressure stabilizing triode
Model TL431, the input terminal of the output end of the transformer and rectifier bridge connects, the anode of the output end of the rectifier bridge
It is connect with the collector of triode, the cathode ground connection of the output end of the rectifier bridge, the collector of the triode passes through first
Capacity earth, the collector of the triode are connected by first resistor and the base stage of triode, the base stage of the triode with
The cathode of pressure stabilizing triode connects, the plus earth of the pressure stabilizing triode, the reference edge and adjustable electric of the pressure stabilizing triode
The adjustable end connection of resistance, the series circuit ground connection that the emitter of the triode is made up of adjustable resistance and second resistance, institute
The emitter for stating triode passes through the second capacity earth.
Wherein, central control module, for controlling the module of the operation of the modules intelligence in intelligent robot, at this
In, central control module is not only PLC, can also be single-chip microcontroller, to improve the intelligence of intelligent robot operation；Motor
Control module herein, by controlling the rotation of first motor, realizes the shifting of pedestal for carrying out the module of motor control
It is dynamic, by controlling the rotation of the second motor, realize the steering of pedestal；Wireless communication module, by with external communication terminal into
The connection of row long distance wireless, to realize data exchange, can be realized long-range monitoring of the staff to intelligent robot；Lifting
Control module, for controlling the module of lifting, herein, by the first electromagnetic coil of control and the second electromagnetic coil to elevator
Carry out elevating control, herein, elevator is magnet, thus can using the same sex attracting, the anisotropic characteristic repelled each other, realize
Height control to standing frame；Display control module, it is herein, aobvious for controlling display interface for controlling the module of display
The related work information for showing intelligent robot improves the reliability of intelligent robot work；Key control module, for carrying out
By the module of key control, herein, for being acquired to manipulation information of the user to intelligent robot, to improve intelligence
The operability of robot；State indicator module herein, is used to intelligent robot for carrying out the module of state instruction
Working condition indicated in real time, to improve intelligence machine human reriability；Working power module is used to intelligent machine
The module of device people offer stable operating voltage.
In working power circuit, output voltage is sampled by adjustable resistance and second resistance, is applied to pressure stabilizing three
The reference edge of pole pipe, when sampling voltage is greater than 2.5V, then triode will end, and sampling voltage decreases, when taking
When sample voltage is less than 2.5V, then triode will be connected, and output voltage gos up, to realize the pressure stabilizing tune of voltage output
Section, improves the stability of working power circuit, improves intelligence machine human reriability, in the circuit, using conventional member
Device, while having feedback detection, realize operating voltage stablizes output, improves the practical value of robot.
Preferably, elevator contacts during lifting, through idler wheel with the inner wall of support column, so that
Elevator will not shift, and improve the reliability of standing frame lifting, and the slide assemblies include connecting rod and idler wheel, described
Idler wheel is fixedly connected by connecting rod with elevator, and idler wheel is contacted with the inner wall of support column.
Preferably, pedestal rotates when the rotation of the second motor, pedestal occurs excessive to incline in order to prevent
Tiltedly, then torsional spring will be because of frictional ground force to the active force of first motor, so that steering of the first motor according to the second motor
It rotates, after the second motor homing, torsional spring will make first motor reset, and the reset assembly includes fixing
Block and torsional spring, the fixed block are connect by torsional spring with first motor.
Preferably, pedestal is in the process of moving, in fact, there is guide rail on ground, it is arranged by locating piece in guide rail
Inside, while enabling to locating piece to connect always with pedestal by the first spring, the positioning component includes the first spring
And locating piece, the locating piece are connect by the first spring with pedestal.
Preferably, being contacted in real time by steel ball with the generation of the inner wall of guide rail, to just be capable of detecting when the position of pedestal
It sets, to can regulate and control to the position of robot, the periphery of the locating piece is equipped with several inductive components, the induction
Component includes steel ball, second spring and shell, and the inside of the shell is equipped with groove, and the steel ball passes through second spring and groove
Bottom connection, the notch of groove is arranged in the steel ball.
Preferably, the telescopic direction of the second spring is consistent with the moving direction of steel ball, the second spring is always
In compressive state, the diameter of the steel ball is greater than the maximum distance of the notch of groove.
Preferably, being additionally provided with display interface on the pedestal, the display interface is electrically connected with display control module.
Preferably, being additionally provided with control button on the pedestal, the control button is electrically connected with key control module.
Preferably, several status indicator lamps are additionally provided on the pedestal, the status indicator lamp and state indicator module
Electrical connection.
Preferably, in order to improve the cruising ability of robot, the inside of the pedestal is additionally provided with battery, the electric power storage
Pond is electrically connected with working power module.
The invention has the advantages that this is used in the intelligent robot of library book storage, pass through elevating mechanism reality
Show staff and storage book is carried out to different height collected books cabinet, by mobile mechanism, realizes the collected books cabinet to different location
Storage book is carried out, to realize the intelligence of intelligent robot；Moreover, it in working power circuit, uses conventional
Component, have feedback detection while, realize operating voltage stablize output, improve the practical valence of robot
Value.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the intelligent robot for library book storage of the invention；
Fig. 2 is the structural schematic diagram of the elevating mechanism of the intelligent robot for library book storage of the invention；
Fig. 3 is the structural schematic diagram of the mobile mechanism of the intelligent robot for library book storage of the invention；
Fig. 4 is the structural schematic diagram of the inductive component of the intelligent robot for library book storage of the invention；
Fig. 5 is the systematic schematic diagram of the intelligent robot for library book storage of the invention；
Fig. 6 is the circuit theory of the working power circuit of the intelligent robot for library book storage of the invention
Figure；
In figure: 1. support columns, 2. standing frames, 3. guide grooves, 4. books in stock baskets, 5. pedestals, 6. display interfaces, 7. controls are pressed
Key, 8. status indicator lamps, 9. first springs, 10. locating pieces, 11. inductive components, 12. first electromagnetic coils, 13. second electromagnetism
Coil, 14. elevators, 15. connecting rods, 16. idler wheels, 17. fixed plates, 18. driving wheels, 19. drive shafts, 20. first motors,
21. reset assembly, 22. second motors, 23. directive wheels, 24. steel balls, 25. second springs, 26. shells, 27. center control moulds
Block, 28. motor control modules, 29. wireless communication modules, 30. elevating control modules, 31. display control modules, 32. press keying
Molding block, 33. state indicator modules, 34. working power modules, 35. batteries, T1. transformer, N1. rectifier bridge, R1. first
Resistance, R2. second resistance, RP1. adjustable resistance, C1. first capacitor, the second capacitor of C2., VD1. pressure stabilizing triode, tri- pole VT1.
Pipe.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As shown in figs 1 to 6, it is a kind of for library book storage intelligent robot, including standing frame 2, support column 1,
Pedestal 5 and Zhong Kong mechanism, the inside of the support column 1 are equipped with elevating mechanism, and the elevating mechanism and standing frame 2 are sequentially connected,
The top of pedestal 5 is arranged in the support column 1, and the lower section of the pedestal 5 is additionally provided with mobile mechanism, and the Zhong Kong mechanism setting exists
It the inside of pedestal 5 and is electrically connected respectively with elevating mechanism and mobile mechanism, the side of the standing frame 2 is equipped with books in stock basket 4；
Wherein, staff stands in the inside of standing frame 2, while by elevating mechanism come the lifting of control station stile 2,
So that staff can the book inside the collected books cabinet to different height store；Meanwhile passing through mobile mechanism
It realizes and the collected books cabinet of different location is operated, to improve intelligence and the practicability of robot.
The elevating mechanism includes the first electromagnetic coil 12, the second electromagnetic coil 13, elevator 14 and several slide assemblies,
The top of the inside of support column 1 is arranged in first electromagnetic coil 12, and support column 1 is arranged in second electromagnetic coil 13
Internal bottom, the transversal cross-section of the elevator 14 are T shape, and the support column 1 is equipped with guide groove 3, the elevator 14
It is fixedly connected by guide groove 3 with standing frame 2, the two sides of elevator 14 are arranged in the slide assemblies；
Wherein, when needing that the height of standing frame 2 is adjusted, the first electromagnetic coil 12 and the second electromagnetic coil
13 will start to work, and herein, elevator 14 is magnet, thus can using the same sex attracting, the anisotropic characteristic repelled each other, it is real
The height control to standing frame 2 is showed.
The mobile mechanism includes fixed plate 17, driving assembly and guidance set, and the driving component and guidance set are equal
The lower section of pedestal 5 is set by fixed plate 17, and the driving component includes 20, two drive shafts 19 of first motor and two drives
Driving wheel 18, the driving wheel 18 are corresponded with drive shaft 19, and described two drive shafts 19 are located at the two of first motor 20
Side, the first motor 20 are sequentially connected by drive shaft 19 with corresponding driving wheel 18, the first motor 20 and fixed plate
Be additionally provided with reset assembly 21 between 17, the guidance set includes the second motor 22 and directive wheel 23, second motor 22 with
Directive wheel 23 is sequentially connected, and the horizontal center line axis of the directive wheel 23 and the horizontal center line axis of fixed plate 17 are the same as always
Line, the driving component are symmetrical about the horizontal center line axis of directive wheel 23；
Wherein, first motor 20 controls the rotation of driving wheel 18 by drive shaft 19, so as to realize the shifting of pedestal 5
It is dynamic, while the second motor 22 improves intelligence machine to realize the steering of pedestal 5 by the rotation of control directive wheel 23
The reliability of the movement of people.
The side of the pedestal 5 is additionally provided with positioning component,
The Zhong Kong mechanism include central control module 27, the motor control module being connect with central control module 27 28,
Wireless communication module 29, elevating control module 30, display control module 31, key control module 32,33 and of state indicator module
Working power module 34, the first motor 20 and the second motor 22 are electrically connected with motor control module 28, first electricity
Magnetic coil 12 and the second electromagnetic coil 13 are electrically connected with elevating control module 30, and the central control module 27 is PLC；
The working power module 34 includes working power circuit, and the working power circuit includes transformer T1, rectification
Bridge N1, first resistor R1, second resistance R2, adjustable resistance RP1, first capacitor C1, the second capacitor C2, pressure stabilizing triode VD1 and
The input of the output end and rectifier bridge N1 of the model TL431, the transformer T1 of triode VT1, the pressure stabilizing triode VD1
The anode of end connection, the output end of the rectifier bridge N1 is connect with the collector of triode VT1, the output end of the rectifier bridge N1
Cathode ground connection, the collector of the triode VT1 is grounded by first capacitor C1, and the collector of the triode VT1 passes through
First resistor R1 is connect with the base stage of triode VT1, and the base stage of the triode VT1 is connect with the cathode of pressure stabilizing triode VD1,
The plus earth of the pressure stabilizing triode VD1, the reference edge of the pressure stabilizing triode VD1 and the adjustable end of adjustable resistance RP1 connect
It connects, the series circuit ground connection that the emitter of the triode VT1 is made up of adjustable resistance RP1 and second resistance R2, described three
The emitter of pole pipe VT1 is grounded by the second capacitor C2.
Wherein, central control module 27, for controlling the module of the operation of the modules intelligence in intelligent robot,
Here, central control module 27 is not only PLC, can also be single-chip microcontroller, to improve the intelligence of intelligent robot operation；
Motor control module 28 herein, by controlling the rotation of first motor 20, realizes for carrying out the module of motor control
The movement of pedestal 5 realizes the steering of pedestal 5 by controlling the rotation of the second motor 22；Wireless communication module 29, by with
External communication terminal carries out long distance wireless connection and can be realized staff to intelligent robot to realize data exchange
Long-range monitoring；Elevating control module 30, for controlling the module of lifting, herein, by controlling 12 He of the first electromagnetic coil
Second electromagnetic coil 13 carries out elevating control to elevator 14, and herein, elevator 14 is magnet, so that the same sex can be utilized
Attracting, the anisotropic characteristic repelled each other realizes the height control to standing frame 2；Display control module 31, for controlling the mould of display
Block for controlling the related work information that display interface 6 shows intelligent robot, improves intelligent robot work herein
Reliability；Key control module 32 herein, is used to user to intelligent robot for carrying out the module by key control
Manipulation information be acquired, to improve the operability of intelligent robot；State indicator module 33, for carrying out state
The module of instruction is indicated for the working condition to intelligent robot in real time herein, to improve intelligent robot
Reliability；Working power module 34, for providing the module of stable operating voltage to intelligent robot.
In working power circuit, output voltage is sampled by adjustable resistance RP1 and second resistance R2, is applied to steady
The reference edge for pressing triode VD1, when sampling voltage is greater than 2.5V, then triode VT1 will end, and sampling voltage is therewith
It reduces, when sampling voltage is less than 2.5V, then triode VT1 will be connected, and output voltage gos up, to realize voltage
The pressure stabilizing of output is adjusted, and is improved the stability of working power circuit, is improved intelligence machine human reriability, in the circuit, adopts
With conventional component, while having feedback detection, realize operating voltage stablizes output, improves robot
Practical value.
Preferably, the slide assemblies include connecting rod 15 and idler wheel 16, the idler wheel 16 is by connecting rod 15 and rises
Drop block 14 is fixedly connected, and idler wheel 16 is contacted with the inner wall of support column 1, elevator 14 during lifting, by idler wheel 16 and
The inner wall of support column 1 contacts, so that elevator 14 will not shift, improves the reliability of the lifting of standing frame 2.
Preferably, the reset assembly 21 includes fixed block and torsional spring, the fixed block passes through torsional spring and first motor
20 connections, when the rotation of the second motor 22, pedestal 5 rotates, and excessive inclination occurs for pedestal 5 in order to prevent, then turns round
Spring will be because of frictional ground force to the active force of first motor 20, so that first motor 20 is sent out according to the steering of the second motor 22
Raw rotation, after 22 homing of the second motor, torsional spring will make first motor 20 reset.
Preferably, the positioning component includes the first spring 9 and locating piece 10, the locating piece 10 passes through the first spring
9 connect with pedestal 5, and in the process of moving, in fact, there is guide rail on ground, guide rail is arranged in by locating piece 10 in pedestal 5
Inside, while enabling to locating piece 10 to connect always with pedestal 5 by the first spring 9.
Preferably, the inductive component 11 includes steel ball 24, second spring 25 and shell 26, the inside of the shell 26
Equipped with groove, the steel ball 24 is connect by second spring 25 with the bottom of groove, and the notch of groove is arranged in the steel ball 24,
It is contacted in real time by steel ball 24 with the generation of the inner wall of guide rail, so that the position of pedestal 5 is just capable of detecting when, thus can be right
The position of robot is regulated and controled, and the periphery of the locating piece 10 is equipped with several inductive components 11.
Preferably, the telescopic direction of the second spring 25 is consistent with the moving direction of steel ball 24, the second spring
25 are in compressive state always, and the diameter of the steel ball 24 is greater than the maximum distance of the notch of groove.
Preferably, being additionally provided with display interface 6 on the pedestal 5, the display interface 6 is electrically connected with display control module 31
It connects.
Preferably, being additionally provided with control button 7 on the pedestal 5, the control button 7 is electrically connected with key control module 32
It connects.
Preferably, several status indicator lamps 8 are additionally provided on the pedestal 5, the status indicator lamp 8 and state instruction mould
Block 33 is electrically connected.
Preferably, the inside of the pedestal 5 is additionally provided with battery 35, described in order to improve the cruising ability of robot
Battery 35 is electrically connected with working power module 34.
Compared with prior art, this is used in the intelligent robot of library book storage, is realized by elevating mechanism
Staff carries out storage book to different height collected books cabinet, by mobile mechanism, realizes the collected books cabinet progress to different location
Book is stored, to realize the intelligence of intelligent robot；Moreover, in working power circuit, using conventional member
Device, while having feedback detection, realize operating voltage stablizes output, improves the practical value of robot.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. it is a kind of for library book storage intelligent robot, which is characterized in that including standing frame, support column, pedestal and
Zhong Kong mechanism, the inside of the support column are equipped with elevating mechanism, and the elevating mechanism and standing frame are sequentially connected, the support column
The top of pedestal is set, is additionally provided with mobile mechanism below the pedestal, the Zhong Kong mechanism be arranged in the inside of pedestal and
It is electrically connected respectively with elevating mechanism and mobile mechanism, the side of the standing frame is equipped with books in stock basket；
The elevating mechanism includes the first electromagnetic coil, the second electromagnetic coil, elevator and several slide assemblies, first electricity
The top of the inside of support column is arranged in magnetic coil, and the bottom of the inside of support column is arranged in second electromagnetic coil, described
The transversal cross-section of elevator is T shape, and the support column is equipped with guide groove, and the elevator is fixed by guide groove and standing frame
The two sides of elevator are arranged in connection, the slide assemblies；
The mobile mechanism includes fixed plate, driving assembly and guidance set, and the driving component and guidance set pass through solid
The lower section of pedestal is arranged in fixed board, and the driving component includes first motor, two drive shafts and two driving wheels, the driving
Wheel is corresponded with drive shaft, and described two drive shafts are located at the two sides of first motor, and the first motor passes through driving
Axis is sequentially connected with corresponding driving wheel, and reset assembly, the guidance set are additionally provided between the first motor and fixed plate
Including the second motor and directive wheel, second motor and directive wheel are sequentially connected, the horizontal center line axis of the directive wheel with
For the horizontal center line axis of fixed plate in same straight line, the driving component is symmetrical about the horizontal center line axis of directive wheel；
The side of the pedestal is additionally provided with positioning component；
The Zhong Kong mechanism includes central control module, the motor control module connecting with central control module, wireless telecommunications mould
Block, elevating control module, display control module, key control module, state indicator module and working power module, described first
Motor and the second motor are electrically connected with motor control module, and first electromagnetic coil and the second electromagnetic coil are controlled with lifting
The electrical connection of molding block, the central control module are PLC；
The working power module includes working power circuit, and the working power circuit includes transformer, rectifier bridge, the first electricity
Resistance, second resistance, adjustable resistance, first capacitor, the second capacitor, pressure stabilizing triode and triode, the type of the pressure stabilizing triode
It number is TL431, the input terminal of the output end of the transformer and rectifier bridge connects, the anode and three of the output end of the rectifier bridge
The collector of pole pipe connects, and the cathode ground connection of the output end of the rectifier bridge, the collector of the triode passes through first capacitor
The collector of ground connection, the triode is connected by first resistor and the base stage of triode, the base stage and pressure stabilizing of the triode
The cathode of triode connects, the plus earth of the pressure stabilizing triode, the reference edge of the pressure stabilizing triode and adjustable resistance
Adjustable end connection, the series circuit ground connection that the emitter of the triode is made up of adjustable resistance and second resistance, described three
The emitter of pole pipe passes through the second capacity earth.
2. the intelligent robot for library book storage as described in claim 1, which is characterized in that the slide assemblies
Including connecting rod and idler wheel, the idler wheel is fixedly connected by connecting rod with elevator, and idler wheel is contacted with the inner wall of support column.
3. the intelligent robot for library book storage as described in claim 1, which is characterized in that the reset assembly
Including fixed block and torsional spring, the fixed block is connect by torsional spring with first motor.
4. the intelligent robot for library book storage as described in claim 1, which is characterized in that the positioning component
Including the first spring and locating piece, the locating piece is connect by the first spring with pedestal.
5. the intelligent robot for library book storage as claimed in claim 4, which is characterized in that the locating piece
Periphery is equipped with several inductive components, and the inductive component includes steel ball, second spring and shell, and the inside of the shell is equipped with recessed
Slot, the steel ball are connected by the bottom of second spring and groove, and the notch of groove is arranged in the steel ball.
6. the intelligent robot for library book storage as claimed in claim 5, which is characterized in that the second spring
Telescopic direction it is consistent with the moving direction of steel ball, the second spring is in compressive state always, and the diameter of the steel ball is big
In the maximum distance of the notch of groove.
7. the intelligent robot for library book storage as described in claim 1, which is characterized in that on the pedestal also
Equipped with display interface, the display interface is electrically connected with display control module.
8. the intelligent robot for library book storage as described in claim 1, which is characterized in that on the pedestal also
Equipped with control button, the control button is electrically connected with key control module.
9. the intelligent robot for library book storage as described in claim 1, which is characterized in that on the pedestal also
Equipped with several status indicator lamps, the status indicator lamp is electrically connected with state indicator module.
10. the intelligent robot for library book storage as described in claim 1, which is characterized in that the pedestal
Inside is additionally provided with battery, and the battery is electrically connected with working power module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710085850.XA CN106891342B (en) | 2017-02-17 | 2017-02-17 | A kind of intelligent robot for library book storage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710085850.XA CN106891342B (en) | 2017-02-17 | 2017-02-17 | A kind of intelligent robot for library book storage |
Publications (2)
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| CN107168224A (en) * | 2017-05-19 | 2017-09-15 | 常州轻工职业技术学院 | A kind of intelligent robot for being used to produce parts storage |
| CN107443371A (en) * | 2017-07-18 | 2017-12-08 | 深圳市晓控通信科技有限公司 | A kind of intelligent robot with automatic also book function based on Internet of Things |
| CN107495966A (en) * | 2017-07-18 | 2017-12-22 | 深圳市贝优通新能源技术开发有限公司 | A kind of suspension type intelligence NMR based on Internet of Things |
| CN110640767A (en) * | 2019-09-27 | 2020-01-03 | 山东职业学院 | Control system of intelligent book returning robot |
| CN115723153B (en) * | 2022-11-23 | 2023-11-10 | 北京梦天门科技股份有限公司 | Public health law enforcement supervision intelligent robot |
| CN115626410B (en) * | 2022-12-19 | 2023-03-17 | 中国矿业大学 | Lifting equipment for book classification and transportation |
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| JP4735955B2 (en) * | 2005-06-09 | 2011-07-27 | 独立行政法人産業技術総合研究所 | Article classification storage system and manipulation system |
| CN201174677Y (en) * | 2008-04-03 | 2008-12-31 | 上海交通大学 | Magnetic suspension lifting and lowering device |
| CN201458681U (en) * | 2009-07-01 | 2010-05-12 | 中国石油天然气集团公司 | Multifunctional operation trolley for metal storage tank |
| CN202400531U (en) * | 2011-07-22 | 2012-08-29 | 方建军 | An automatic fetch and return device for books in libraries |
| US9242796B1 (en) * | 2014-09-10 | 2016-01-26 | International Business Machines Corporation | Dynamic tape storage library for data management |
| CN204868876U (en) * | 2015-06-19 | 2015-12-16 | 北亚美亚电子科技（深圳）有限公司 | A controlling means for intelligent machine hand |
| CN105869313A (en) * | 2016-04-01 | 2016-08-17 | 广西科技大学 | Automatic access device for books |
| CN106346495A (en) * | 2016-11-16 | 2017-01-25 | 南京景曜智能科技有限公司 | Smart inventory-taking robot |
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