CN107259827B

CN107259827B - Book taking method of automatic book taking bookshelf

Info

Publication number: CN107259827B
Application number: CN201710477732.3A
Authority: CN
Inventors: 韩利敏; 肖平; 疏达; 胡红生; 王娟; 欧阳青; 荣超华; 吴凯
Original assignee: Anhui Polytechnic University
Current assignee: Anhui Polytechnic University
Priority date: 2017-06-21
Filing date: 2017-06-21
Publication date: 2020-10-30
Anticipated expiration: 2037-06-21
Also published as: CN107259827A

Abstract

The invention discloses a book taking method of an automatic book taking bookshelf. The book taking method of the automatic book taking bookshelf facilitates taking out books stored on the bookshelf and provides convenience for reading of disabled persons, old people, pregnant women and other persons who are inconvenient to move.

Description

Book taking method of automatic book taking bookshelf

Technical Field

The invention belongs to the technical field of library auxiliary tools, and particularly relates to a book fetching method of an automatic book fetching bookshelf.

Background

With the rapid development of social economy and the gradual improvement of national cultural quality, people desire higher and higher knowledge, the range is wider and wider, and different people who desire knowledge are also wider and wider, so that the existing library service mode cannot conveniently meet the requirements of broad readers. At present, the mode of borrowing corresponding books by readers is more traditional, most readers go to a library to inquire corresponding books and then borrow the books, and the mode is inconvenient. There are, of course, automated libraries that take books in much the same way they take money from an ATM, which is much more convenient than the former way. However, the readers are not always convenient to go to the library, such as disabled persons, old people, pregnant women and other persons with mobility inconvenience. Thus, an automatic book taking bookshelf convenient for people who are inconvenient to move is needed.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a book taking method of an automatic book taking bookshelf, and aims to facilitate book taking.

In order to achieve the purpose, the invention adopts the technical scheme that: the automatic book taking bookshelf comprises a base, a bookshelf body used for storing books and a book taking device arranged on the base, and the books stored on the bookshelf body are taken down by the book taking device.

The bookshelf body comprises bookshelf plates vertically arranged on the base and book storage boxes which are arranged on the bookshelf plates and used for storing books, the book storage boxes are arranged on the bookshelf plates in the horizontal direction and the vertical direction respectively, and when books are taken, the book taking device takes the book storage boxes off the bookshelf plates.

The book storage box is characterized in that hooks for installing the book storage box are arranged on the bookshelf plate, the book storage box is provided with hanging holes for embedding the hooks, two hooks are arranged at positions corresponding to the book storage boxes on the bookshelf plate along the vertical direction at least, when books are taken, the book taking device enables the book storage boxes to move upwards along the vertical direction until the hooks do not hook the book storage boxes, and the book storage boxes and the hooks can be separated.

The book taking device comprises a bracket used for taking down the book storage boxes on the bookshelf plate, a first driving device arranged on the base and used for generating acting force for enabling the bracket to move along a first direction, a second driving device arranged on the first driving device and used for generating acting force for enabling the bracket to move along a second direction, and a third driving device arranged on the second driving device and used for generating acting force for enabling the bracket to move along a third direction, wherein the bracket is arranged on the third driving device.

The first direction and the third direction are both horizontal directions and are perpendicular to each other, the second direction is vertical, when books are taken, the bracket is moved to the designated position aligned with the book storage box along the first direction by the acting force generated by the first driving device, the bracket is moved to cover the book storage box on the bookshelf plate along the third direction by the acting force generated by the third driving device, and the bracket covering the book storage box is moved to separate the book storage box from the bookshelf plate along the second direction by the acting force generated by the second driving device.

The first driving device comprises a lower guide rail arranged on the base, a first sliding seat in sliding connection with the lower guide rail, a first motor arranged on the first sliding seat, a first driving gear arranged on the first motor and a first rack arranged on the base and meshed with the first driving gear, wherein the first rack is parallel to the lower guide rail, when the first motor operates, the first driving gear rolls on the first rack to drive the first sliding seat to linearly move along the first direction, so that the bracket linearly moves along the first direction, and the bracket is moved to be aligned with any one of the book storage boxes on the bookshelf plate.

The second driving device comprises a first guide rod and a second guide rod which are vertically arranged on the first sliding seat, a second sliding seat which is sleeved on the first guide rod and the second guide rod, a second rack which is arranged on the first guide rod, a second motor which is arranged on the second sliding seat and a second driving gear which is arranged on the second motor and is meshed with the second rack, when the second motor operates, the second driving gear rolls on the second rack, and then the second sliding seat is driven to do linear movement along the second direction, so that the bracket can do linear movement along the second direction, the bracket can hold the book storage box, and the lifting of the book storage box can be controlled.

The third driving device comprises a guide seat arranged on the second guide rod, a third sliding seat in sliding connection with the guide seat, a third rack arranged on the third sliding seat, a third motor arranged on the second sliding seat and a third driving gear which is arranged on the third motor and is meshed with the third rack, and the bracket is arranged on the third sliding seat; when the third motor operates to enable the bracket to move towards the direction close to the bookshelf body, the bracket covers the aligned book storage boxes, and then the bracket moves upwards along the third direction by the second driving device to support the book storage boxes and enable the book storage boxes to be separated from the hooks; when the third motor runs reversely, the bracket and the book storage box taken out of the bracket move towards the direction far away from the bookshelf body; and finally, the bracket and the book storage box on the bracket are moved to the book taking opening through the matching of the first driving device, the second driving device and the third driving device, so that the book taking action is finished.

The automatic book fetching bookshelf further comprises a door opening mechanical arm which is arranged on the base and used for controlling the door handle to rotate, the door opening mechanical arm comprises a clamping device used for clamping the door handle and a fourth motor used for generating acting force for enabling the clamping device to rotate, the clamping device comprises a clamping seat connected with the fourth motor through a transmission mechanism, a clamping jaw rotatably arranged on the clamping seat and a first driver which is connected with the clamping seat and the clamping jaw and used for generating acting force for enabling the clamping jaw to rotate, and the clamping jaws are evenly arranged on the clamping seat along the circumferential direction.

The transmission mechanism comprises a first transmission shaft connected with the fourth motor, a second transmission shaft connected with the first transmission shaft through a universal coupling, a third transmission shaft sleeved on the second transmission shaft and synchronously rotating with the second transmission shaft, and a fourth transmission shaft connected with the third transmission shaft through a universal coupling, and the clamping seat is arranged on the fourth transmission shaft.

The book taking method of the automatic book taking bookshelf facilitates taking out books stored on the bookshelf and provides convenience for reading of disabled persons, old people, pregnant women and other persons who are inconvenient to move.

Drawings

The description includes the following figures, the contents shown are respectively:

FIG. 1 is a schematic structural diagram of an automatic book-fetching bookshelf according to the invention;

FIG. 2 is a schematic structural view of the automatic book reading bookshelf of the present invention with the outer cover removed;

FIG. 3 is a schematic structural view of the bookshelf body;

FIG. 4 is an exploded view of the book case and the hook;

FIG. 5 is a schematic view of the structure of the book fetching device;

FIG. 6 is a schematic structural view of a first driving device;

FIG. 7 is a schematic view of the assembly of the second drive means with the third drive means;

FIG. 8 is a schematic view of the assembly of the carriage with the third drive means;

FIG. 9 is a schematic structural view of the locking mechanism;

FIG. 10 is a schematic view of the door opening robot arm;

FIG. 11 is an exploded view of the secondary drive shaft and the tertiary drive shaft;

FIG. 12 is a schematic view of the structure of the clamping device;

FIG. 13 is a schematic view of the structure of the walking device;

FIG. 14 is a schematic configuration diagram of a driving portion of the walking device;

FIG. 15 is a schematic structural view of a steering mechanism;

FIG. 16 is a schematic view showing a state in which the carriage is moved toward the magazine;

FIG. 17 is a schematic view showing the state in which the magazine is removed by the tray;

labeled as:

1. an outer cover body; 2. taking a book opening;

3. a bookshelf body; 31. a bookshelf plate; 32. a book storage box; 33. hooking; 34. a mounting seat; 35. a reinforcing frame;

4. a first driving device; 41. a first sliding seat; 42. a lower guide rail; 43. an upper guide rail; 44. a first motor; 45. a first rack; 46. a first drive gear;

5. a second driving device; 51. a second sliding seat; 52. a first guide bar; 53. a second guide bar; 54. a second motor; 55. a second rack; 56. a second drive gear; 57. a locking pin; 58. a first electromagnet;

6. a third driving device; 61. a third sliding seat; 62. a third motor; 62. a third rack; 64. a third drive gear; 65. a guide seat;

7. a bracket; 71. a support plate; 72. a baffle plate;

8. a door opening mechanical arm; 81. a fourth motor; 82. a first drive shaft; 83. a second drive shaft; 84. a third drive shaft; 85. a fourth drive shaft; 86. a first driver; 87. a second driver; 88. a clamping seat; 89. a clamping jaw; 810. a universal coupling; 811. a first support bar; 812. a second support bar; 813. an internal spline; 814. an external spline;

9. a traveling device; 91. a drive wheel; 92. a differential mechanism; 93. a fifth motor; 94. a steering wheel; 95. a universal wheel; 96. a second electromagnet; 97. a brake pad; 98. a rear axle; 99. a third driver; 910. a kingpin; 911. a front axle; 912. a knuckle;

10. a base.

Detailed Description

The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.

As shown in fig. 1 to 4, the present invention provides a book taking method for an automatic book taking bookshelf, the automatic book taking bookshelf comprises a base 10, a bookshelf body 3 for storing books, an outer cover body 1 for covering the bookshelf body 3, a book taking device arranged on the base 10 and used for taking down the books stored on the bookshelf body 3, and a walking device 9 arranged on the base 10 and used for moving the base 10, wherein the books stored on the bookshelf body are taken down by the book taking device. The bookshelf body 3 comprises a bookshelf plate 31 and a plurality of book storage boxes 32, wherein the bookshelf plates 31 are vertically arranged, the book storage boxes 32 are arranged on the bookshelf plate 31 and used for storing books, the book storage boxes 32 are respectively arranged on the bookshelf plate 31 in the horizontal direction and the vertical direction, and when books are taken, the book storage boxes 32 can be separated from the bookshelf plate 31.

Specifically, as shown in fig. 1 to 4, the outer cover 1 is a rectangular shell structure with a hollow interior, the bookshelf body 3 is vertically disposed on the base 10, the outer cover 1 can be vertically disposed on the base 10 and covers the bookshelf body 3 and the book fetching device together, a book fetching opening 2 for allowing a book to pass through is disposed on a side wall of the outer cover 1, and the book fetching opening 2 is a through hole formed in the side wall of the outer cover 1 in a penetrating manner. After the book taking device takes down the book storage box 32, the book taking device carries the book storage box 32 to the book taking opening 2, at this time, the books in the book storage box 32 can be taken out, or the books can be put into the book storage box 32 through the book taking opening 2 when the books are returned. The bookshelf plate 31 is provided with hooks 33 for mounting the book storage boxes 32, the book storage boxes 32 are provided with hanging holes for embedding the hooks 33, and the bookshelf plate 31 is provided with at least two hooks 33 along the vertical direction at positions corresponding to the book storage boxes 32. The hook 33 is an L-shaped member disposed on the bookshelf plate 31 and extending toward one side of the bookshelf plate 31, and the hook 33 hooks the book storage box 32 to suspend the book storage box 32 on one side of the bookshelf plate 31, so that when the book storage box 32 moves upward in the vertical direction, the hook 33 no longer hooks the book storage box 32, and the book storage box 32 and the hook 33 can be separated.

As shown in fig. 2 and 3, the book storage boxes 32 are distributed on the bookshelf plate 31 in an n × m matrix, the total number of the book storage boxes 32 is n × m, the book storage boxes 32 are hollow boxes, the tops of the book storage boxes 32 are provided with openings, hanging holes are formed in the side walls of the book storage boxes 32 facing the bookshelf plate 31, and each book storage box 32 is hooked by two hooks 33 arranged on the bookshelf plate 31. As shown in fig. 2 and 5, the bookshelf body 3 further includes a mounting seat 34 fixedly disposed on the base 10 and a reinforcing frame 35 disposed on the top of the bookshelf plate 31, the bottom of the bookshelf plate 31 is mounted on the mounting seat 34 by a fastening member composed of a bolt and a nut, and a through hole for passing the bolt is correspondingly disposed on the bottom of the bookshelf plate 31. The reinforcing frame 35 is of a rectangular frame structure, and the reinforcing frame 35 is fixedly connected with the book taking device and the top of the bookshelf plate 31, so that the overall strength is improved.

As shown in fig. 1, the book taking device includes a bracket 7 for holding a book storage box 32 suspended on a bookshelf plate 31, a first driving device 4 provided on a base 10 for generating a force for moving the bracket 7 in a first direction, a second driving device 5 provided on the first driving device 4 for generating a force for moving the bracket 7 in a second direction, and a third driving device 6 provided on the second driving device 5 for generating a force for moving the bracket 7 in a third direction, wherein the bracket 7 is provided on the third driving device 6. The first direction and the third direction are both horizontal directions, the first direction and the third direction are perpendicular to each other, the second direction is vertical, the first direction is parallel to the bookshelf plate 31, and the third direction is perpendicular to the bookshelf plate 31. The first driving means 4 generates a force to move the bracket 7 to a designated position aligned with the magazine 32 in a first direction, the third driving means 6 generates a force to move the bracket 7 in a third direction to cover the magazine 32 on the shelf plate 31, and the second driving means 5 generates a force to move the bracket 7 covering the magazine 32 in a second direction to separate the magazine 32 from the shelf plate 31.

As shown in fig. 2, 5 and 6, the first driving device 4 includes a lower guide rail 42 fixedly disposed on the base 10, a first sliding seat 41 slidably connected to the lower guide rail 42, a first motor 44 fixedly disposed on the first sliding seat 41, a first driving gear 46 fixedly disposed on a motor shaft of the first motor 44, and a first rack 45 fixedly disposed on the base 10 and engaged with the first driving gear 46, wherein the first rack 45 is parallel to the lower guide rail 42. The length directions of the lower guide rail 42 and the first rack 45 are parallel to the first direction and parallel to the book storage boxes 32 in the same row. The lower guide rail 42 guides the movement of the first sliding seat 41, and when the first motor 44 operates, the first driving gear 46 rolls on the first rack 45, so as to drive the first sliding seat 41 to move linearly along the first direction, so as to realize the linear movement of the bracket 7 along the first direction, so that the bracket 7 moves to be aligned with any one of the book storage boxes 32 on the bookshelf plate 31.

As shown in fig. 2, 5 and 7, the second driving device 5 includes a first guide rod 52 and a second guide rod 53 vertically disposed on the first sliding seat 41, a second sliding seat 51 sleeved on the first guide rod 52 and the second guide rod 53, a second rack 55 fixedly disposed on the first guide rod 52, a second motor 54 fixedly disposed on the second sliding seat 51, and a second driving gear 56 fixedly disposed on a motor shaft of the second motor 54 and engaged with the second rack 55. The first guide rod 52 and the second guide rod 53 are fixedly arranged on the first sliding seat 41, the first guide rod 52 and the second guide rod 53 are positioned on the same straight line parallel to the first direction, and the length direction of the second rack 55 is parallel to the length direction of the first guide rod 52. The second sliding seat 51 is located above the first sliding seat 41, the length directions of the second sliding seat 51 and the first sliding seat are parallel to each other, one end of the second sliding seat 51 is provided with a first guide hole through which the first guide rod 52 passes, the other end of the second sliding seat 51 is provided with a second guide hole through which the second guide rod 53 passes, and the first guide rod 52 and the second guide rod 53 provide a guide function for the second sliding seat 51 which moves linearly along the second direction. When the second motor 54 operates, the second driving gear 56 rolls on the second rack 55, and further drives the second sliding seat 51 to move linearly along the second direction, so as to realize the linear movement of the bracket 7 along the second direction, so that the bracket 7 supports the book storage box 32, the book storage box 32 is separated from the hook 33, and the lifting of the book storage box 32 can be controlled.

As shown in fig. 2 and 5, the first driving device 4 further includes an upper guide rail 43 disposed above the lower guide rail 42 and an upper sliding block slidably connected to the upper guide rail 43, the upper guide rail 43 is parallel to the lower guide rail 42, the lower ends of the first guide rod 52 and the second guide rod 53 are fixedly connected to the first sliding seat 41, the upper ends of the first guide rod 52 and the second guide rod 53 are fixedly connected to the sliding block, and the upper guide rail 43 is fixedly connected to the reinforcing frame 35. By providing the upper guide rail 43 and the upper slide block, a guiding function is provided for the movement of the first driving device 4 and the second driving device 5, and stability and reliability are improved.

As shown in fig. 2, 5 and 7, the third driving device 6 includes a guide seat 65 sleeved on the second guide rod 53, a third sliding seat 61 slidably connected to the guide seat 65, a third rack 63 fixedly disposed on the third sliding seat 61, a third motor 62 fixedly disposed on the second sliding seat 51, and a third driving gear 64 fixedly disposed on a motor shaft of the third motor 62 and engaged with the third rack 63, the bracket 7 is fixedly disposed on the third sliding seat 61, and the third sliding seat 61 is located above the second sliding seat 51. The third motor 62 is fixedly disposed on the top surface of the second sliding seat 51, the second motor 54 is fixedly disposed on the bottom surface of the second sliding seat 51, and the third sliding seat 61 and the third motor 62 are located between the first guide rod 52 and the second guide rod 53. The third rack 63 is fixedly disposed on the bottom surface of the third sliding seat 61, and the length direction of the third rack 63 is parallel to the third direction. One end of the guide seat 65 is provided with a guide hole for the second guide rod 53 to pass through, the other end of the guide seat 65 is provided with a guide groove for the third sliding seat 61 to be embedded in, and the guide seat 65 is located above the second sliding seat 51 and is kept relatively fixed with the second sliding seat 51. When the third motor 62 operates, the third driving gear 64 drives the third rack 63 to move linearly along the third direction, and the third rack 63 drives the third sliding seat 61 to move linearly along the third direction, so that the bracket 7 moves linearly in a direction away from or close to the bookshelf body 3. When the third motor 62 is operated to move the bracket 7 towards the direction close to the bookshelf body 3, the bracket 7 can cover the aligned book storage box 32, and then the bracket 7 is moved upwards along the third direction by the second driving device 5 to support the book storage box 32 and separate the book storage box 32 from the hook 33; when the third motor 62 runs reversely, the bracket 7 and the book storage box 32 taken out of the bracket 7 can move towards the direction far away from the bookshelf body 3; and finally, the bracket 7 and the book storage box 32 on the bracket are moved to the book taking opening 2 through the matching of the first driving device 4, the second driving device 5 and the third driving device 6, so that the book taking action is finished.

As shown in fig. 7 and 8, the guide seat 65 is fixedly connected with the second sliding seat 51 through a plurality of connecting rods, the length direction of the connecting rods is parallel to the length direction of the second guide rod 53, the upper ends of the connecting rods are fixedly connected with the guide seat 65, the lower ends of the connecting rods are fixedly connected with the second sliding seat 51, and the connecting rods are a structure in which the guide seat 65 and the second sliding seat 51 are connected into a whole, so that the third driving device 6 and the bracket 7 move synchronously with the moving part of the second driving device 5, and the stability and the reliability are improved.

As shown in fig. 8, the bracket 7 includes a supporting plate 71 disposed along a horizontal direction and two blocking plates 72 vertically disposed on the supporting plate 71 and disposed oppositely, the two blocking plates 72 are parallel, a containing groove for containing the book storage box 32 is disposed between the two blocking plates 72, the two blocking plates 72 are used for limiting the book storage box 32 in a first direction, and the supporting plate 71 is used for supporting the book storage box 32 and contacts with a bottom surface of the book storage box 32. The baffle 72 is a fan-shaped flat plate, and the first direction is perpendicular to the baffle 72. The bracket 7 is a rectangular flat plate, and the longitudinal direction of the pallet 71 is parallel to the third direction. The supporting plate 71 is mounted on the top surface of the third sliding seat 61 through a fastening piece composed of a bolt and a nut, a mounting hole for allowing the bolt to pass through is correspondingly formed in the supporting plate 71, preferably, the mounting hole in the supporting plate 71 is a kidney-shaped hole, and the length direction of the mounting hole is parallel to the third direction, so that when the bracket 7 is mounted, the position of the bracket 7 can be conveniently adjusted, and the bracket 7 can be conveniently adjusted to a position suitable for bearing and taking out the book storage box 32. When the book storage boxes 32 on the bookshelf body 3 are taken out, the third driving device 6 operates, firstly, the bracket 7 moves to the position covering the book storage boxes 32, after the bracket 7 covers the book storage boxes 32, the supporting plate 71 is positioned below the book storage boxes 32, the two baffles 72 are respectively positioned at one side of the book storage boxes 32, and a gap for inserting the baffles 72 is formed between every two adjacent book storage boxes 32 in the same row on the bookshelf body 3; then the second driving device 5 operates to make the third driving device 6 and the bracket 7 thereon move upwards and lift the book storage box 32 upwards by the bracket 7, so that the book storage box 32 is separated from the hook 33; finally, the third driving device 6 operates again to move the bracket 7 and the book storage box 32 supported by the bracket 7 toward the direction of the bookshelf body 3, thereby completing the taking-out operation of the book storage box 32.

Preferably, the first motor 44, the second motor 54 and the third motor 62 of the cartridge extraction device are all stepper motors.

As shown in fig. 7 and 9, the second driving device 5 further includes a locking mechanism disposed on the second sliding seat 51, the locking mechanism is used for controlling the second sliding seat 51 and the third driving device 6 thereon to be relatively fixed with the first sliding seat 41, the locking mechanism includes a locking pin 57 movably disposed on the second sliding seat 51, a first electromagnet 58 disposed on the second sliding seat 51 and applying an attractive force to the locking pin 57, and a spring sleeved on the locking pin 57, and the locking pin 57 is made of a material that is easily attracted by a magnetic force, such as a metal material such as iron. The movement direction of the lock pin 57 when moving relative to the second slider block 51 is parallel to the third direction, and the end of the lock pin 57 has a tooth that engages with the second rack 55. When the first electromagnet 58 is not energized, the spring acts to generate a force that moves the locking pin 57 in the third direction toward the position of the second rack 55 until the end of the locking pin 57 having the convex teeth engages the second rack 55. When the teeth of the locking pin 57 engage with the second rack 55, the second driving device 5 is locked, and the second sliding seat 51 can not move in the vertical direction any more. When the first electromagnet 58 is energized, the first electromagnet 58 applies an attractive force to the lock pin 57 to move the lock pin 57 in a direction away from the second rack 55, so that the convex teeth on the lock pin 57 disengage from the second rack 55, and the lock of the second drive device 5 is released. The locking mechanism is arranged to ensure that the box taking device can be stopped in emergency, thereby improving the safety and reliability.

When the automatic book fetching bookshelf disclosed by the invention is used in a plurality of rooms, the automatic book fetching bookshelf needs to shuttle among the rooms, and in order to ensure that the automatic book fetching bookshelf can open a door automatically when a book is conveyed from one room to another room under the condition that the rooms are provided with doors, as shown in fig. 1 and 2, the automatic book fetching bookshelf further comprises a door opening mechanical arm 8 which is arranged on a base 10 and is used for controlling a door handle on the door to rotate, the door handle is rotated through the door opening mechanical arm 8 to unlock the door, and the door is pushed or pulled to open the door. As shown in fig. 10, the door opening robot arm 8 includes a clamping device for clamping the door handle and a fourth motor 81 for generating an acting force for rotating the clamping device, the fourth motor 81 is fixedly disposed on the base 10 and located inside the outer cover 1, and an axis of the fourth motor 81 is parallel to the first direction. As shown in fig. 12, the clamping device includes a clamping base 88 which is connected to the fourth motor 81 through a transmission mechanism and is rotatable, a clamping jaw 89 which is rotatably provided on the clamping base 88, and a first driver 86 which is connected to the clamping base 88 and the clamping jaw 89 and is used for generating an acting force for rotating the clamping jaw 89, wherein the clamping jaw 89 is uniformly provided on the clamping base 88 along a circumferential direction with a rotation center line of the clamping base 88 as a center line, and the plurality of clamping jaws 89 are matched for clamping the door handle. The first driver 86 is a telescopic member and is used for controlling the opening and closing of a plurality of clamping jaws 89, each clamping jaw 89 is respectively connected with one first driver 86, one end of each first driver 86 is rotatably connected with the clamping seat 88, the other end of each driver is rotatably connected with the clamping jaw 89, the end part of the clamping jaw 89 is rotatably connected with the clamping seat 88, and the rotating center line of the clamping jaw 89 when rotating relative to the clamping seat 88 is vertical to the rotating center line of the clamping seat 88.

The first actuator 86 may be one of a hydraulic cylinder, an air cylinder, or an electric telescopic rod. As shown in fig. 12, all the first actuators 86 of the gripping device are simultaneously telescopic, all the first actuators 86 being distributed around all the gripping jaws 89. When the first driver 86 extends, all the clamping jaws 89 can be pushed to rotate towards the direction of approaching each other, so that all the clamping jaws 89 are closed, and the door handle can be clamped; when the first driver 86 is retracted, all the jaws 89 can be pulled to rotate away from each other, causing all the jaws 89 to open to release the door handle.

As shown in fig. 10, the transmission mechanism includes a first transmission shaft 82 connected to the fourth motor 81, a second transmission shaft 83 connected to the first transmission shaft 82 through a universal coupling, a third transmission shaft 84 sleeved on the second transmission shaft 83 and rotating synchronously with the second transmission shaft 83, and a fourth transmission shaft 85 connected to the third transmission shaft 84 through a universal coupling, and the clamping seat 88 is disposed on the fourth transmission shaft 85. The first transmission shaft 82 is rotatably disposed on the base 10, the length direction of the first transmission shaft 82 is parallel to the first direction, one end of the first transmission shaft 82 is fixedly connected with a motor shaft of the fourth motor 81, and the other end of the first transmission shaft 82 is connected with the lower end of the second transmission shaft 83 through a universal coupling. As shown in fig. 11, the second transmission shaft 83 and the third transmission shaft 84 are obliquely arranged above the base 10, the third transmission shaft 84 extends to the outside of the outer cover 1, the second transmission shaft 83 and the third transmission shaft 84 are connected through a spline, an external spline 814 is arranged at the end of the second transmission shaft 83, an internal spline 813 is arranged at the end of the third transmission shaft 84, the end of the second transmission shaft 83 provided with the external spline 814 is inserted into the end of the third transmission shaft 84 provided with the internal spline 813, the external spline 814 is engaged with the internal spline 813, and synchronous rotation of the second transmission shaft 83 and the third transmission shaft 84 is realized. And the second transmission shaft 83 and the third transmission shaft 84 are spline-connected so that the third transmission shaft 84 can axially move relative to the second transmission shaft 83. The clamping seat 88 is fixedly arranged at one end of the fourth transmission shaft 85, the other end of the fourth transmission shaft 85 is connected with the other end of the third transmission shaft 84 through a universal coupling, and the clamping device and the fourth transmission shaft 85 are both positioned outside the outer cover body 1. When the fourth motor 81 operates, power is transmitted to the clamping device through the transmission mechanism, and then the clamping device is driven to integrally rotate, so that the door handle can be screwed by the clamping device.

As shown in fig. 10, the door opening mechanical arm 8 further includes a first supporting rod 811 rotatably disposed on the base 10 and sleeved on the second transmission shaft 83, a second retractable driver 87 rotatably disposed on the base 10, and a second supporting rod 812 rotatably connected to the second driver 87, one end of the second supporting rod 812 is sleeved on the third transmission shaft 84, the other end of the second supporting rod 812 is sleeved on the fourth transmission shaft 85, the first supporting rod 811 provides a supporting function for the second transmission shaft 83, and the second supporting rod 812 provides a supporting function for the third transmission shaft 84 and the fourth transmission shaft 85. The second actuator 87 is a retractable member for controlling the raising and lowering of the clamping device to accommodate the clamping of door handles of different heights. The second driver 87 can be one of a hydraulic cylinder, an air cylinder or an electric telescopic rod, the upper end of the second driver 87 is rotatably connected with the second supporting rod 812 at a position between two ends of the second supporting rod 812, the lower end of the second driver 87 is rotatably connected with the base 10, and the rotation center line of the second driver 87 is parallel to the third direction. The first supporting rod 811 is located between the second driver 87 and the first transmission shaft 82, the upper end of the first supporting rod 811 has a circular through hole for the second transmission shaft 83 to pass through, the lower end of the first supporting rod 811 is rotatably connected to the base 10, and the rotation center line of the first supporting rod 811 is parallel to the third direction. The second support rod 812 has a circular through-hole at one end through which the third transmission shaft 84 passes and a circular through-hole at the other end through which the fourth transmission shaft 85 passes.

The walking device 9 is used for realizing the integral self-moving of the automatic book taking bookshelf when a book is taken, and the automatic book taking bookshelf can automatically move to a specified position through the running of the walking device. As shown in fig. 13 to 15, the traveling device 9 includes a fifth motor 93 disposed on the base 10, a drive axle connected to the fifth motor 93, two driving wheels 91 disposed on the drive axle, a steering mechanism disposed on the base 10, and a steering wheel 94 disposed on the steering mechanism and used for steering. The driving axle, the fifth motor 93 and the steering mechanism are arranged below the base 10, the steering mechanism is arranged at one end of the base 10, and the driving axle and the fifth motor 93 are arranged at the other end of the base 10. The drive axle comprises a main speed reducer, a differential gear 92 and two rear axle shafts 98, wherein the main speed reducer is composed of a driving bevel gear and a driven bevel gear which are meshed with each other, the differential gear 92 is arranged on the driven bevel gear, the driving bevel gear is connected with a motor shaft of a fifth motor 93, one ends of the two rear axle shafts 98 are connected with the differential gear 92, the other ends of the two rear axle shafts 98 are respectively provided with a driving wheel 91, and the axes of the rear axle shafts 98 are parallel to the third direction. The differential 92 is mainly composed of a left side gear, a right side gear, two planet gears and a gear carrier, and the differential 92 has the function of enabling the left driving wheel 91 and the right driving wheel 91 to roll at different rotating speeds when the automatic book taking bookshelf turns or runs on an uneven road surface, namely ensuring that the driving wheels 91 on the two sides do pure rolling motion. The steering mechanism includes a front axle 911 provided on the base 10, a knuckle 912 rotatably connected to an end of the front axle 911 via a kingpin 910, and a third actuator 99 connected to the front axle 911 and the knuckle 912 and generating a force for rotating the knuckle 912, the front axle 911 being disposed in parallel with the rear axle 98 and coaxially with the steerable wheels 94, and an axis of the kingpin 910 being parallel with the second direction. The third actuator 99 is a retractable member for controlling the deflection of the steering knuckle 912 and the steering wheel 94 to effect steering. The third driver 99 can be one of a hydraulic cylinder, an air cylinder or an electric telescopic rod, one end of the third driver 99 is rotatably connected to the front axle 911, and the other end of the third driver 99 is rotatably connected to the knuckle 912.

As shown in fig. 13, the traveling device 9 further includes a universal wheel 95 disposed on the front axle 911, and the universal wheel 95 can rotate 360 degrees horizontally, and the structure thereof is well known to those skilled in the art and will not be described herein again. The universal wheel 95 is provided at one end of the front axle 911, and the knuckle 912 is provided at the other end of the front axle 911. The universal wheels 95, the steering wheels 94 and the two driving wheels 91 are distributed below the base 10 in a rectangular shape. By providing the universal wheels 95, the steerable wheels 94 can be rotated synchronously when deflected, and support the steerable wheels to improve overall stability.

As shown in fig. 14, the traveling device 9 further includes a brake mechanism disposed on the base 10 for controlling the driving wheel 91 to stop rotating, the brake mechanism includes a brake disc disposed on the motor shaft of the fifth motor 93, a brake block 97 movably disposed for contacting with the surface of the brake disc, and a second electromagnet 96 for generating an acting force to make the brake block 97 perform a reciprocating linear motion in the third direction, the brake block 97 is disposed at two, and the two brake blocks 97 are respectively disposed at one side of the brake disc, when the two brake blocks 97 contact with the brake disc, the two brake blocks 97 clamp the brake disc, so as to generate a braking force, and the driving axle and the driving wheel 91 are stopped, so that the automatic book reading shelf is stopped. The second electromagnets 96 are preferably push-pull electromagnets, two second electromagnets 96 are provided at the bottom of the base 10, and the two second electromagnets 96 are respectively located at one side of the brake disc, and each second electromagnet 96 is respectively used for controlling one brake pad 97 and respectively used for generating acting force for enabling the adjacent brake pads 97 to do reciprocating linear motion along the third direction.

The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.

Claims

1. The book taking method of the automatic book taking bookshelf comprises a base, a bookshelf body for storing books and a book taking device arranged on the base, and is characterized in that the books stored on the bookshelf body are taken down by the book taking device;

the automatic book taking bookshelf further comprises an outer cover body for covering the bookshelf body, and a book taking opening for allowing books to pass through is formed in the side wall of the outer cover body;

the bookshelf body comprises bookshelf plates vertically arranged on the base and book storage boxes arranged on the bookshelf plates and used for storing books, the book storage boxes are distributed on the bookshelf plates in an n x m matrix shape, hooks for installing the book storage boxes are arranged on the bookshelf plates, the book storage boxes are provided with hanging holes for embedding the hooks, and at least two hooks are respectively arranged on the bookshelf plates along the vertical direction at positions corresponding to the book storage boxes;

the book taking device comprises a bracket for taking down the book storage boxes on the bookshelf plate, a first driving device, a second driving device and a third driving device, wherein the first driving device is arranged on the base and is used for generating acting force for enabling the bracket to move along a first direction; the first direction and the third direction are both horizontal directions and are perpendicular to each other, the second direction is vertical direction, when books are taken, the bracket is moved to the specified position aligned with the book storage box along the first direction by the acting force generated by the first driving device, the bracket is moved along the third direction by the acting force generated by the third driving device so as to cover the book storage box on the bookshelf plate, and the bracket covering the book storage box is moved along the second direction by the acting force generated by the second driving device so as to separate the book storage box from the bookshelf plate;

when books are taken, the book taking device enables the book storage box to move upwards along the vertical direction until the hook is not hooked on the book storage box any more, the book storage box and the hook can be separated at the moment, the book taking device takes down the book storage box from the bookshelf plate, the book taking device carries the book storage box to move to a book taking opening, and books in the book storage box can be taken out at the moment;

the automatic book fetching bookshelf further comprises a door opening mechanical arm and a walking device, wherein the door opening mechanical arm is arranged on the base and used for controlling the door handle to rotate, and the walking device is arranged on the base and used for enabling the base to move; the traveling device is used for realizing the integral self-moving of the automatic book taking bookshelf, and comprises a fifth motor arranged on the base, a drive axle connected with the fifth motor, two driving wheels arranged on the drive axle, a steering mechanism arranged on the base, a steering wheel arranged on the steering mechanism and used for realizing steering, and a brake mechanism arranged on the base and used for controlling the driving wheels to stop rotating, wherein the drive axle, the fifth motor and the steering mechanism are arranged below the base;

the steering mechanism comprises a front axle arranged on the base, a steering knuckle rotationally connected with the end part of the front axle through a main pin, and a third driver which is connected with the front axle and the steering knuckle and used for generating acting force for rotating the steering knuckle, wherein the third driver is a telescopic component and used for controlling the deflection of the steering knuckle and a steering wheel, one end of the third driver is rotationally connected with the front axle, and the other end of the third driver is rotationally connected with the steering knuckle;

the walking device also comprises a universal wheel arranged on the front axle, and the universal wheel can horizontally rotate for 360 degrees; the universal wheel is arranged at one end of the front axle, the steering knuckle is arranged at the other end of the front axle, and the universal wheel, the steering wheel and the two driving wheels are distributed below the base in a rectangular shape;

the door opening mechanical arm comprises a clamping device for clamping the door handle and a fourth motor for generating acting force for rotating the clamping device, the clamping device comprises a clamping seat connected with the fourth motor through a transmission mechanism, a clamping jaw rotatably arranged on the clamping seat and a first driver connected with the clamping seat and the clamping jaw and used for generating acting force for rotating the clamping jaw, and a plurality of clamping jaws are uniformly arranged on the clamping seat along the circumferential direction;

the transmission mechanism comprises a first transmission shaft connected with the fourth motor, a second transmission shaft connected with the first transmission shaft through a universal coupling, a third transmission shaft sleeved on the second transmission shaft and rotating synchronously with the second transmission shaft, and a fourth transmission shaft connected with the third transmission shaft through the universal coupling, the clamping seat is arranged on the fourth transmission shaft, the second transmission shaft and the third transmission shaft are obliquely arranged above the base, and the third transmission shaft can axially move relative to the second transmission shaft;

the mechanical arm of opening a door still including rotatable set up in on the base and the cover is located the epaxial first bracing piece of second transmission, rotatable set up on the base and telescopic second driver and with the second driver rotate the second bracing piece of being connected, a pot head of second bracing piece is located on the third transmission shaft, another pot head of second bracing piece is located on the fourth transmission shaft.

2. The method as claimed in claim 1, wherein the hook is an L-shaped member formed on the shelf plate and extending toward one side of the shelf plate, and when the book storage box moves upward in the vertical direction, the hook does not catch the book storage box, and the book storage box is separated from the hook.

3. The method as claimed in claim 1, wherein the bookshelf body further comprises a mounting seat fixed on the base and a reinforcing frame arranged on the top of the bookshelf plate, the bottom of the bookshelf plate is mounted on the mounting seat by a fastening member comprising a bolt and a nut, and a through hole for passing the bolt is correspondingly arranged on the bottom of the bookshelf plate.

4. The method as claimed in claim 3, wherein the first driving device includes a lower rail disposed on the base, a first sliding seat slidably connected to the lower rail, a first motor disposed on the first sliding seat, a first driving gear disposed on the first motor, and a first rack disposed on the base and engaged with the first driving gear, the first rack being parallel to the lower rail, and when the first motor is operated, the first driving gear rolls on the first rack to drive the first sliding seat to move linearly along the first direction, so as to move the bracket linearly along the first direction, and thus move the bracket to align with any one of the book storage boxes on the bookshelf plate.

5. The book taking method of the automatic book taking bookshelf according to claim 4, wherein: the second driving device comprises a first guide rod and a second guide rod which are vertically arranged on the first sliding seat, a second sliding seat which is sleeved on the first guide rod and the second guide rod, a second rack which is arranged on the first guide rod, a second motor which is arranged on the second sliding seat and a second driving gear which is arranged on the second motor and is meshed with the second rack, when the second motor operates, the second driving gear rolls on the second rack, and then the second sliding seat is driven to do linear movement along the second direction, so that the bracket can do linear movement along the second direction, the bracket can hold the book storage box, and the lifting of the book storage box can be controlled.

6. The method as claimed in claim 5, wherein the second driving means further comprises a locking mechanism disposed on the second sliding seat for controlling the second sliding seat and the third driving means thereon to be fixed relative to the first sliding seat, the locking mechanism comprises a locking pin movably disposed on the second sliding seat, a first electromagnet disposed on the second sliding seat for exerting an attractive force on the locking pin, and a spring fitted over the locking pin, the locking pin moves relative to the second sliding seat in a direction parallel to the third direction, and the locking pin has a protruding tooth at an end thereof for engaging with the second rack; when the first electromagnet is not electrified, the spring is used for generating acting force for enabling the locking pin to move towards the position where the second rack is located along the third direction until the end part with the convex teeth on the locking pin is meshed with the second rack; when the convex teeth on the locking pin are meshed with the second rack, the locking of the second driving device is realized, and the second sliding seat can not move along the vertical direction any more; when the first electromagnet is electrified, the first electromagnet exerts attractive force on the locking pin so that the locking pin moves towards the direction away from the second rack, the convex teeth on the locking pin are separated from the second rack, and the locking of the second driving device is released.

7. The method as claimed in claim 5, wherein the third driving means includes a guide seat disposed on the second guide bar, a third sliding seat slidably connected to the guide seat, a third rack disposed on the third sliding seat, a third motor disposed on the second sliding seat, and a third driving gear disposed on the third motor and engaged with the third rack, the bracket being disposed on the third sliding seat; when the third motor operates to enable the bracket to move towards the direction close to the bookshelf body, the bracket covers the aligned book storage boxes, and then the bracket moves upwards along the third direction by the second driving device to support the book storage boxes and enable the book storage boxes to be separated from the hooks; when the third motor runs reversely, the bracket and the book storage box taken out of the bracket move towards the direction far away from the bookshelf body; and finally, the bracket and the book storage box on the bracket are moved to the book taking opening through the matching of the first driving device, the second driving device and the third driving device, so that the book taking action is finished.

8. The method as claimed in any one of claims 1 to 7, wherein the second transmission shaft and the third transmission shaft are connected by a spline, the second transmission shaft has an external spline at an end thereof, the third transmission shaft has an internal spline at an end thereof, and the external spline is engaged with the internal spline.

9. The method as claimed in any one of claims 1 to 7, wherein the brake mechanism includes a brake disc disposed on a motor shaft of the fifth motor, a brake pad movably disposed to contact a surface of the brake disc, and a second electromagnet for generating a force for linearly reciprocating the brake pad in a third direction, the brake pad is disposed at two positions, and the two brake pads are disposed at one side of the brake disc.