CN107183953A - The method of swinging intelligent bookshelf and its control with reducing motor rotational torque - Google Patents
The method of swinging intelligent bookshelf and its control with reducing motor rotational torque Download PDFInfo
- Publication number
- CN107183953A CN107183953A CN201710579122.4A CN201710579122A CN107183953A CN 107183953 A CN107183953 A CN 107183953A CN 201710579122 A CN201710579122 A CN 201710579122A CN 107183953 A CN107183953 A CN 107183953A
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- China
- Prior art keywords
- books
- book
- revolving body
- servomotor
- drive shaft
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B63/00—Cabinets, racks or shelf units, specially adapted for storing books, documents, forms, or the like
- A47B63/06—Cabinets, racks or shelf units, specially adapted for storing books, documents, forms, or the like with parts, e.g. trays, card containers, movable on pivots or on chains or belts
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B65/00—Book-troughs; Accessories specially adapted for book-storing, e.g. book-ends
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
- H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
Abstract
The present invention relates to swinging intelligent bookshelf and its method for the reduction motor rotational torque of control and its application, revolving body is provided with shell, revolving body includes drive shaft, in drive shaft along its it is axially arranged side by side be provided with several rotary disks, rotary disk is provided with several book panels；The lower end of drive shaft is connected by deceleration device with servomotor；Electromagnetism stabilising arrangement includes the controllable electromagnet of the magnetic force on the downside of the rotary disk of bottom, and the rotary disk of at least bottom is made up of magnetic material；The size of current of electromagnet is adjusted in real time to control its magnetic force size according to the load change of servomotor, realizes the rotary inertia offset by the electromagnetic attraction between electromagnet and rotary disk in revolving body moderating process；Also include RFID Intelligent rotary recognition units, RFID Intelligent rotary recognition units, control system record and store book lattice when putting books corresponding to RFID tag and using the corresponding relation of RFID tag and book lattice as judge also book when the whether correct foundation of books placement location.
Description
Technical field
The present invention relates to the reduction in intelligent storage cabinet field, more particularly to swinging intelligent bookshelf and its control and its application
The method of motor rotational torque.
Background technology
Intelligent books or the automatic cabinet of file are contacted we are daily, substantially all using the similar express delivery cabinet of fixed bookcase
Mode, books quantity is few for storage, floor space is big；And existing swinging bookcase storage books quantity is few, positioning precision is low, no
Intelligent Recognition can be carried out to every books, must be correspondingly placed into, take time and effort, easily error by book lattice numbering when being allowed to deliver.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of rational in infrastructure, compact and storage books amount is big, and revolution is fixed
Position precision is high, convenient access swinging intelligent bookshelf.
In order to solve the above technical problems, the technical scheme is that：A kind of swinging intelligent bookshelf, including shell, institute
Shell is stated provided with books slot；Revolving body is rotatablely equipped with the shell, the revolving body includes drive shaft, described
In drive shaft along its it is axially arranged side by side be provided with several rotary disks, the rotary disk is provided with several book panels, and the book panel will
Space on the upside of the rotary disk is divided into the book lattice of several receiving books；The drive shaft passes through deceleration device and servomotor
Connection；Also include electromagnetism stabilising arrangement, the electromagnetism stabilising arrangement includes the magnetic force on the downside of the rotary disk of bottom
The rotary disk of controllable electromagnet, at least bottom is made up of magnetic material；Changed according to the load of the servomotor
The size of current of the electromagnet is adjusted in real time to control its magnetic force size, realize by the electromagnet and the rotary disk it
Between electromagnetic attraction offset rotary inertia in the revolving body moderating process；Also include RFID Intelligent rotary recognition units, institute
Stating RFID Intelligent rotaries recognition unit includes the complement one another control system used, RFID reader and the RFID being attached on books
Label, the RFID reader is arranged on the outside of the rotary disk；The control system records and stores RFID when putting books
Book lattice corresponding to label and using the corresponding relation of RFID tag and the book lattice as judging that books placement location is during also book
No correct foundation.
As preferred technical scheme, auxiliary locator is provided between the drive shaft and the deceleration device, it is described
Auxiliary locator includes being located at the fixed plate on the upside of the deceleration device, and the fixed plate is provided with to be passed through for the drive shaft
T-shaped mounting hole, be provided with the mounting hole on thrust bearing, the thrust bearing and be supported by driving neck bush, the driving
Neck bush is fixed in the drive shaft；The outside of the driving neck bush is provided with positioning support bushing.
As preferred technical scheme, the positioning support bushing uses copper or adds the oil-free bushing of graphite.
As preferred technical scheme, the book panel is made up of metal material, described in every layer of book lattice correspondence one
RFID reader.
As preferred technical scheme, the drive shaft is provided with the origin sensing chip turned round together, the revolution
External side is provided with the origin sensor being engaged with the origin sensing chip；The origin sensor is electrically connected with the control system
Connect.
As preferred technical scheme, the outer rim that the electromagnet closes on the rotary disk is set.
As preferred technical scheme, the deceleration device is orthogonal reductor, the horizontal conveyor of the orthogonal reductor
Axle is connected with the servomotor by key；The horizontal drive shaft be worm screw, in addition to it is described driving axle key be connected erect
Direct transfer moving axis, and the vertical power transmission shaft is provided with the turbine with the worm engaging.
A kind of swinging intelligent bookshelf, drive shaft directly passes through key with deceleration device and deceleration device with servomotor
Connection, saves middle coupling mechanism, connecting mode is simpler, and error is smaller；RFID Intelligent rotaries recognition unit and servomotor
Coordinate, the dispensing of book file, take out, give back and can carry out Intelligent Recognition, it is simple to operate, the books release time is greatly shortened,
Accessing operation precision is high；Servomotor is connected by deceleration device with drive shaft, the vertical direction height of equipment is saved, beneficial to cloth
Multilayer rotary disk is put, books in stock amount is big, and floor space is small；Electromagnetism stabilising arrangement ensure that servomotor drives the stabilization of process, subtract
Influence of the small load change to servomotor.
Another technical problem to be solved by this invention is to provide a kind of method for reducing motor rotational torque.
It is big to the additional magnetic force of revolving body in a kind of method for reducing motor rotational torque, motor deceleration stopped process
The electromagnetic attraction that I is adjusted in real time is used for offsetting torque of the reaction on motor in revolving body moderating process, makes motor whole
Torque reduction in individual running.
The above method can make motor steady running, reduce motor torque, and running power is small, and effect is obvious.
Another technical problem to be solved by this invention is to provide a kind of control method applied to swinging intelligent bookshelf.
Applied to the control method of swinging intelligent bookshelf, including control system, RFID reader, RFID tag, storage
The servomotor that the revolving body and driving rotary body of books are rotated；
When putting books, the books for posting RFID tag are first put into revolving body, servomotor driving rotary body is rotated simultaneously
Books are driven together to rotate, books can be identified when passing through RFID reader, the book corresponding to control system record books
Lattice, and control system also using RFID tag and book lattice one-to-one relationship as books when judging also book whether correct placement according to
According to；
Also book when, books are put into after revolving body, and revolving body turns round under the drive of servomotor and drives books together to turn
It is dynamic；When books reach RFID reader position, the RFID tag on books is read, control system will now RFID tag with
And book lattice when being deposited with last time the corresponding relation of RFID tag and book lattice compare, be confirmed whether to place mistake；
When taking book, the information that the RFID tag of books to be taken is included is inputted, control system is according to RFID tag and book lattice
Corresponding relation books are presented at slot.
As preferred technical scheme, the revolving body start and stop position is fixed, and the revolving body is up and down side by side provided with more
Layer book lattice, the positions of the book lattice is started to RFID tag by servomotor known during the angle that rotates of servomotor and
The corresponding RFID reader information of the layer is limited jointly；The control system is by the positions of book lattice by book lattice and RFID tag one
One correspondence.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the surface structure schematic diagram of the embodiment of the present invention；
Fig. 2 is the internal structure schematic diagram of the embodiment of the present invention；
Fig. 3 is the structural representation of revolving body in the embodiment of the present invention；
Fig. 4 is Fig. 3 top view；
Fig. 5 is the zoomed-in view of a-quadrant in Fig. 4；
Fig. 6 is the lower end zoomed-in view of revolving body in the embodiment of the present invention；
Fig. 7 is the upper end zoomed-in view of revolving body in the embodiment of the present invention；
Fig. 8 is drive shaft and the attachment structure schematic diagram of servomotor in the embodiment of the present invention；
Fig. 9 is Fig. 8 top view；
Figure 10 is the force analysis figure of servomotor.
In figure：1- shells；2- revolving bodies；201- rotary disks；202- book panels；203- drive shafts；204- flanges；301- pacifies
Fill support；302-RFID read write lines；401- servomotors；402- deceleration devices；403- horizontal drive shafts；404- is driven vertically
Axle；405- turbines；501- electromagnet；502- supports；601- fixed plates；602- thrust bearings；603- positions support bushing；604-
Drive neck bush；701- origin sensing chips；702- origin sensors.
Embodiment
As shown in figure 1, a kind of swinging intelligent bookshelf, including shell 1, the shell 1 is provided with books slot
102.Revolving body 2 is rotatably installed in shell 1, and multilayer book lattice are provided with revolving body 2, accordingly, every layer of book of correspondence on shell 1
Lattice set books slot 102.Maintenance door 101 is additionally provided with shell 1, maintenance door 101 is used to assemble revolving body 2 and maintenance
Equipment, maintenance door 101 is from books slot 102 on the different side of shell 1, and outward appearance is clean and tidy, rational in infrastructure.Such as Fig. 2,
Shown in Fig. 3, Fig. 4 and Fig. 5, the revolving body 2 includes drive shaft 203, axially arranged side by side provided with number along it in the drive shaft 203
Individual rotary disk 201, rotary disk 201 is fixed in drive shaft 203 by flange 204, is driven and turned round together by drive shaft 203.It is excellent
Choosing, the rotary disk 201 is made using metal plate or engineering plastics shaping, and cost is low.The rotary disk 201 is provided with several books
The space of the upside of rotary disk 201 is divided into the book lattice of several receiving books by panel 202, the book panel 202.According to depositing
The characteristics of putting books, the storage needs of different sizes to adapt to different size books of book lattice are set, and storage books amount is big, takes up an area
Area is small.The lower end of the drive shaft 203 is connected by deceleration device 402 with servomotor 401.
As shown in Figure 8 and Figure 9, the deceleration device 402 is orthogonal reductor, the horizontal drive shaft of the orthogonal reductor
403 are connected with the servomotor 401 by key；The horizontal drive shaft 403 be worm screw, in addition to the drive shaft 203
The vertical power transmission shaft 404 of key connection, the vertical power transmission shaft 404 is provided with the turbine 405 with the worm engaging.Servomotor
401 driving deceleration devices 402 drive direct-connected drive shaft 203 to do gyration.The direct-connected mode of drive shaft 203 is to greatest extent
Reduction driving error；Due to using servomotor 401 and deceleration device 402, deceleration device 402 can save vertical direction installation
Highly, it is laid out beneficial to multilayer bookcase.
The weight of revolving body 2, which is acted directly on, can cause the service life reduction of deceleration device 402 on deceleration device 402.Therefore,
In order to which the load force of deceleration device 402 is decomposed, Stability Analysis of Structures is provided between the drive shaft 203 and the deceleration device 402
Auxiliary locator.As shown in figure 8, the auxiliary locator includes being located at the fixed plate of the upside of deceleration device 402
601, the fixed plate 601, which is provided with the T-shaped mounting hole passed through for the drive shaft 203, the mounting hole, is provided with thrust shaft
Hold and driving neck bush 604 is supported by 602, the thrust bearing 602, the driving neck bush 604 is fixed on the drive shaft
Together turned round with drive shaft 203 on 203.The outside of the driving neck bush 604 is provided with positioning support bushing 603.It is preferred that, institute
Positioning support bushing 603 is stated to use copper or add the oil-free bushing of graphite.Thrust bearing 602 bears revolving body and is applied to deceleration device
The load of vertical direction on 402, limits the position of drive shaft 203, to deceleration device 402 with positioning support bushing 603 in addition
Bearing itself is protected, and deceleration device 402 is damaged to prevent abnormal load.Auxiliary locator bears the weight of revolving body 2, no
The weight of revolving body 2 can be acted on deceleration device 402, steady efficient, the accurate positioning of driving.
Further, main support 104 is provided with the shell 1, the upper end of the main support 104 is provided with installation in drive shaft
Plate 105, the upper end of the drive shaft 203 is rotatably installed on the drive shaft upper mounting plate 105.Adopted in the upper end of drive shaft 203
It is arranged on rolling bearing units on drive shaft upper mounting plate 105, installation axle center and the deceleration device 402 of drive shaft upper mounting plate 105
Revolving body 2 is supported, positioned jointly.Axle center and band of the center of drive shaft 203 with the vertical power transmission shaft 404 of deceleration device 402
The center superposition of seat bearing, it is to avoid distortion power caused by axle center decentraction or abnormal offset load is to deceleration device 402 during assembling
Impact.
Equipment energy can will be directly affected in the turning course of revolving body 2 in books slot 102 for display library
No convenient use, in order to improve the positioning precision of revolving body 2, the drive shaft 203 is provided with origin sensing chip 701, described time
The outside of swivel 2 is provided with the origin sensor 702 being engaged with the origin sensing chip 701.The origin sensor 702 with it is described
Control panel 103 is electrically connected, and by revolving body 2, whether parking position accuracy feeds back to control panel 103, realizes that each revolving body 2 is turned round
Accurate control, and can all remove turn error in each circle, it is to avoid due to 402, orthogonal deceleration device after turning round for a long time
Body error and cause position error excessive.
Because revolving body 2 by servomotor 401 drives revolution, servomotor 401 needs the main moment load overcome
The revolution inertia of revolving body 2 is come from, the mass of revolving body 2 is bigger, rotating speed is higher, radius is more big, servomotor 401 needs to overcome
Revolution inertia it is bigger.The books deposited on revolving body 2 are different, the quantity of books difference can all cause revolving body 2 to be applied to watch
The revolution inertia taken on motor 401 is different, thus the load that servomotor 401 is born is also different.Revolving body 2 was entirely turned round
Cheng Zhong, with the difference of the speed of revolving body 2, the load of servomotor 401 is also at any time in change.Accordingly, it would be desirable to which a kind of reduce electricity
The method of motivation rotational torque solves the above problems.Specifically, in motor deceleration stopped process, to the additional magnetic force of revolving body
The electromagnetic attraction that big I is adjusted in real time is used for offsetting torque of the reaction on motor in revolving body moderating process, makes motor
Torque reduction during whole service.
Analysis on Torque in the whole operation process of servomotor of swinging intelligent bookshelf as shown in Figure 10, can from figure
Know, its torque is continually changing during servomotor starts and stopped.Start and stopped to optimize servomotor
Torque in journey, presetting total load inertia is JL, servo motor rotor inertia is J0(fixation), the equipment constant-speed operation time is
NM, accelerating torque is Ta, deceleration torque is Td, the acceleration time is t1, deceleration time is t3, the locating periodically time is tF,It is wherein fixed
Bit period time tf=acceleration time t1+ constant-speed operation time NM+ deceleration time t3.Wherein,
The torque calculation formula of servomotor boost phase：
The torque calculation formula in servomotor decelerating phase：
In total load inertia JL, servo motor rotor inertia J0(fixation), constant-speed operation time NMThree condition tf are constant
Under the conditions of, Acceleration and deceleration time and acceleration and deceleration torque are inversely.Increase acceleration time t1, can directly reduce required turn of acceleration
Square, is allowed to actual detent torque and reduces.Now deceleration time t3It is shortened, then required deceleration torque increase, to ensure servo electricity
Machine can quickly stop and will not overload, and loaded and changed according to servomotor, and it is negative to servomotor to apply electromagnetic force by outside
Load situation is adjusted, and the electromagnetic attraction between electromagnet 501 and rotary disk 201 counteracts turn that servomotor 401 is born
Dynamic inertia, reduces servomotor by revolving body by the torque that overcomes from high-speed motion to required for stopping.
As shown in figure 3, in order that servomotor 401 operate steadily, using the above method bottom the revolution
The downside of disk 201 sets the controllable electromagnet 501 of magnetic force, and electromagnet 501 is fixed on by support 502 on the bottom plate of shell 1.Extremely
The rotary disk 201 positioned at bottom uses magnetic material, particularly Ferrious material material less, and electromagnet 501, which is powered, to be produced
Magnetic force produces the suction-combining force with rotary disk 201.The electromagnet 501 is adjusted according to the load of the servomotor 401 change in real time
Electric current size so that realize and offset or reduce the servo by electromagnetic attraction between electromagnet 501 and rotary disk 201
Torque of the motor 401 when slowing down.Because its speed changes at any time in the moderating process of revolving body 2, thus in real time to electromagnet
501 electric current is adjusted can the more accurate rotary inertia counteracting by revolving body 2；The electric current of electromagnet 501 is adjusted in real time
Value can not only offset the excessive load of servomotor 401 while also can be by due to negative to adjust the magnetic force size of electromagnet 501
The change of load and the destabilizing factor that is applied on servomotor 401 overcomes, maintain stabilization that servomotor 401 rotates, reduce
The driving power of servomotor 401.The position that electromagnet 501 is acted on rotary disk 201 is closer to the outside of rotary disk 201, electricity
Magnet 501 give the active force of rotary disk 201 the arm of force it is longer, it is necessary to electromagnetic attraction it is smaller.Therefore, the electromagnet 501
The outer rim for closing on the rotary disk 201 is set, and electromagnet 501 can eliminate the rotation of decay revolving body 2 with smaller controling power
Inertia, saves energy consumption.
Also include RFID Intelligent rotary recognition units, the RFID Intelligent rotaries recognition unit includes complementing one another what is used
Control system, RFID reader 302 and the RFID tag being attached on books, the RFID reader 302 are arranged on the revolution
The outside of disk 201；The control system records and stores the position of book lattice when putting books corresponding to RFID tag and judge also
Whether books placement location is correct during book.The outside of revolving body 2 is provided with mounting bracket 301, and RFID reader 302, which is arranged on, to be installed
On support 301.The book panel 202 is made up of metal material, shields adjacent book lattice books RFID interference；So each book lattice
RFID information only can be read, therefore, one RFID reader 301 of every layer of book lattice correspondence, revolution is read,
Reduce the quantity of RFID reader 301.
Applied to the control method of swinging intelligent bookshelf, including：
When putting books, the books for posting RFID tag are first sequentially placed into revolving body 2 by staff, and RFID tag is included
The unique identifier of books.The driving rotary body 2 of servomotor 401 is rotated and drives books together to rotate, and books are read by RFID
It can be identified when writing device.Because the start and stop position of the rotation of each revolving body 2 is fixed, from the original position of revolving body to book
The angle information that servomotor is rotated during the RFID tag of lattice is identified is recorded by control system.It is provided with when on revolving body 2
During one layer of book lattice, the angle that the positional information of book lattice is rotated by servomotor 401 can be used as the mark that book case is put；Work as revolution
When multilayer book lattice are provided with body 2, because book lattice are not only along the position in the circumference of revolving body 2, while also having vertically
On positional information, the RFID reader 301 for now needing will to arrange in the angle of revolution of servomotor 401 and vertical direction
Mark of the information collectively as book lattice positional information.During books are put, control system by RFID tag and book lattice one by one
Correspond to and store the position of each book lattice；Control system also makees the one-to-one relation of the positional information of RFID tag and book lattice
For judge also book when books whether the foundation of correct placement, it is to avoid misplace.
Also book when, books are put into after revolving body 2, and revolving body 2 turns round under the drive of servomotor 401 and drives book together
Rotate；When books reach 301 position of RFID reader, the RFID tag on books is read, and control system will now book lattice
Positional information compared with RFID tag content, be confirmed whether place mistake；
When taking book, the information that the RFID tag of books to be taken is included is inputted, control system will according to FRID label information
Book lattice corresponding with books are rotated to slot, and books exhibition is taken out from slot.
Control panel 103 comprising control system is fixed on shell 1, and the books slot 102 closes on the control
Panel 103 processed is set, convenient operation, convenient access books.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (10)
1. swinging intelligent bookshelf, it is characterised in that：Including shell, the shell is provided with books slot；The shell
Inside it is rotatablely equipped with revolving body, the revolving body includes in drive shaft, the drive shaft axially arranged side by side being provided with several times along it
Rotating disk, the rotary disk is provided with several book panels, and the space on the upside of the rotary disk is divided into several appearances by the book panel
Receive the book lattice of books；The drive shaft is connected by deceleration device with servomotor；Also include electromagnetism stabilising arrangement, the electromagnetism
Stabilising arrangement includes the revolution of the controllable electromagnet, at least bottom of the magnetic force on the downside of the rotary disk of bottom
Disk is made up of magnetic material；Adjust the size of current of the electromagnet in real time to control according to the load change of the servomotor
Its magnetic force size, realizes and offsets the revolving body moderating process by the electromagnetic attraction between the electromagnet and the rotary disk
In rotary inertia；Also include RFID Intelligent rotary recognition units, the RFID Intelligent rotaries recognition unit includes complementing one another
Control system, RFID reader and the RFID tag being attached on books used, the RFID reader is arranged on the revolution
On the outside of disk；The control system records and stores book lattice when putting books corresponding to RFID tag and by RFID tag and described
The corresponding relation of book lattice as judge also book when the whether correct foundation of books placement location.
2. swinging intelligent bookshelf as claimed in claim 1, it is characterised in that：It is provided between the drive shaft and the deceleration device
Auxiliary locator, the auxiliary locator, which includes being located in the fixed plate on the upside of the deceleration device, the fixed plate, to be set
Have to be provided with the T-shaped mounting hole passed through for the drive shaft, the mounting hole on thrust bearing, the thrust bearing and be supported by drive
Moving axis bushing, the driving neck bush is fixed in the drive shaft；The outside of the driving neck bush is provided with positioning support lining
Set.
3. swinging intelligent bookshelf as claimed in claim 2, it is characterised in that：The positioning support bushing is using copper or adds stone
The oil-free bushing of ink.
4. swinging intelligent bookshelf as claimed any one in claims 1 to 3, it is characterised in that：The book panel is by metal
Material is made, one RFID reader of every layer of book lattice correspondence.
5. swinging intelligent bookshelf as claimed in claim 1, it is characterised in that：The drive shaft is provided with and turned round together
Origin sensing chip, provided with the origin sensor being engaged with the origin sensing chip on the outside of the revolving body；The origin sense
Device is answered to be electrically connected with the control system.
6. swinging intelligent bookshelf as claimed in claim 1, it is characterised in that：The electromagnet closes on the outer of the rotary disk
Edge is set.
7. swinging intelligent bookshelf as claimed in claim 1, it is characterised in that：The deceleration device is orthogonal reductor, institute
The horizontal drive shaft for stating orthogonal reductor is connected with the servomotor by key；The horizontal drive shaft is worm screw, in addition to
The vertical power transmission shaft being connected with the driving axle key, the vertical power transmission shaft is provided with the turbine with the worm engaging.
8. a kind of method for reducing motor rotational torque, it is characterised in that：It is attached to revolving body in motor deceleration stopped process
Plus the electromagnetic attraction that the big I of magnetic force is adjusted in real time is used for offsetting torque of the reaction on motor in revolving body moderating process,
Make the torque reduction during motor whole service.
9. the control method applied to swinging intelligent bookshelf, it is characterised in that：Including control system, RFID reader, RFID
The servomotor of label, the revolving body for depositing books and driving rotary body rotation；
When putting books, the books for posting RFID tag are first put into revolving body, servomotor driving rotary body is rotated and driven
Books are together rotated, and books can be identified when passing through RFID reader, the book lattice corresponding to control system record books, and
Control system also using RFID tag and book lattice one-to-one relationship as books when judging also book whether the foundation of correct placement；
Also book when, books are put into after revolving body, and revolving body turns round under the drive of servomotor and drives books together to rotate；When
When books reach RFID reader position, the RFID tag on books is read, and control system will now RFID tag and book
The corresponding relation of RFID tag and book lattice is compared when lattice were deposited with last time, is confirmed whether to place mistake；
When taking book, the information that the RFID tag of books to be taken is included is inputted, control system is according to RFID tag and pair of book lattice
It should be related to and books are presented at slot.
10. the control method of swinging intelligent bookshelf is applied to as claimed in claim 9, it is characterised in that：The revolving body
Start and stop position is fixed, and the revolving body is provided with multilayer book lattice side by side up and down, the positions of the book lattice by servomotor start to
The angle and the corresponding RFID reader information of the layer that servomotor is rotated during RFID tag is known are limited jointly；It is described
Control system is corresponded book lattice and RFID tag by the position of book lattice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710579122.4A CN107183953A (en) | 2017-07-17 | 2017-07-17 | The method of swinging intelligent bookshelf and its control with reducing motor rotational torque |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710579122.4A CN107183953A (en) | 2017-07-17 | 2017-07-17 | The method of swinging intelligent bookshelf and its control with reducing motor rotational torque |
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| CN107183953A true CN107183953A (en) | 2017-09-22 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN108062831A (en) * | 2018-02-05 | 2018-05-22 | 湖南贝享教育科技有限公司 | It is automatic to rent book machine |
| CN108062831B (en) * | 2018-02-05 | 2023-08-18 | 湖南映享科技有限公司 | Automatic book renting machine |
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| CN110897376B (en) * | 2019-12-09 | 2021-07-06 | 江西世安科技发展有限公司 | Filing cabinet convenient to get piece |
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