CN107378985A - A kind of Intelligent management device - Google Patents

A kind of Intelligent management device Download PDF

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Publication number
CN107378985A
CN107378985A CN201710642558.3A CN201710642558A CN107378985A CN 107378985 A CN107378985 A CN 107378985A CN 201710642558 A CN201710642558 A CN 201710642558A CN 107378985 A CN107378985 A CN 107378985A
Authority
CN
China
Prior art keywords
books
arranged
book
clamping jaw
push rod
Prior art date
Application number
CN201710642558.3A
Other languages
Chinese (zh)
Inventor
王尚
Original Assignee
青岛万祥如光机械技术研究有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 青岛万祥如光机械技术研究有限公司 filed Critical 青岛万祥如光机械技术研究有限公司
Priority to CN201710642558.3A priority Critical patent/CN107378985A/en
Publication of CN107378985A publication Critical patent/CN107378985A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0253Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/026Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears

Abstract

The invention discloses a kind of Intelligent management device, including dolly, mechanical arm, clamping jaw, books identifier, support book device, switch board, battery are provided with dolly, mechanical arm is arranged on dolly, mechanical arm is the Multi-freedom-degreemanipulator manipulator of multiple motor drivens, mounting blocks are provided with mechanical arm, rotating mechanism is provided with mounting blocks, clamping jaw is arranged on rotating mechanism by extension board, and clamping jaw can clamp and overturn books;Books identifier is arranged on clamping jaw;Supportting book device includes push rod, support book frame, pinboard, and push rod is arranged on mounting blocks by pinboard, and support book frame is arranged on the expansion link of push rod, and the main body of support book frame is a horizontal U-frame, and the remote push rod end of support book frame is the tip of opening.The present invention can recognize that problem books, and problem books are taken out, overturns to correct direction, put to correct position, effectively increases the service quality in library, facilitates reader and look for book, while reduce the work load of books administrative staff.

Description

A kind of Intelligent management device

Technical field

The present invention relates to library automation equipment technical field, more particularly to a kind of library use can automatic neatening book Intelligent management device.

Background technology

Book is searched in order to facilitate reader by various regions library at present, and generally all books are vertically disposed in bookshelf and by spine It is positive towards the word on reader, spine.And reader when placing books often by spine towards bookshelf, or often do not note , often there is situation about putting upside down in the words direction anticipated on spine;Book is looked for for convenience of reader, the books in library are all that classification is put , and reader often position of random Altered Graphs book during book is selected, look for book to bring inconvenience to other readers.

Existing library is all by manually arranging, wasting time and energy, prior art does not have also to the books on bookshelf There is the equipment that the books on library bookshelf can be carried out with automatic arranging.

The content of the invention

The present invention is directed to the deficiency of existing library book collator, develops a kind of Intelligent management device, the device energy The books for putting mistake are enough automatically identified, and the clothes for correct position, effectively increasing library are put after books are turned to Business quality, facilitates reader and looks for book, while reduce the work load of books administrative staff.

The present invention solve technical problem technical scheme be:A kind of Intelligent management device, is arranged in library, books pendulum Put on the shelf, the robot includes dolly, mechanical arm, clamping jaw, books identifier, support book device, and control is provided with dolly Cabinet, battery, mechanical arm are arranged on dolly, and mechanical arm is the Multi-freedom-degreemanipulator manipulator of multiple motor drivens, is set on mechanical arm It is equipped with mounting blocks, rotating mechanism is provided with mounting blocks, clamping jaw is arranged on rotating mechanism by extension board, and clamping jaw can clamp And overturn books;Books identifier is arranged on clamping jaw;Supportting book device includes push rod, support book frame, pinboard, and push rod passes through pinboard On mounting blocks, support book frame is arranged on the expansion link of push rod, and the main body of support book frame is a horizontal U-frame, supports book frame Remote push rod end be opening tip.

As optimization, the clamping jaw includes left claw, right pawl, and left claw is symmetrical arranged with right pawl, and left claw and right pawl all include pawl Arm, folder book wheel, upset motor, folder book wheel are arranged on pawl arm by rotating shaft, the motor shaft of folder book wheel connection upset motor, left claw It is oppositely arranged with the folder book wheel on right pawl;The clamping jaw also includes screw rod, guide rod, clamping motor, screw rod connection clamping motor Motor shafts, two sections are provided with screw rod and turns to opposite external screw threads, left claw, right pawl pawl arm on be respectively arranged with corresponding in spiral shell Line, guide rod is parallel with screw rod, and corresponding pilot hole is provided with pawl arm.

As optimization, the folder book wheel is arranged on the nearly bookshelf end of pawl arm, and folder book wheel is higher by the opposite face of pawl arm, pawl arm Nearly bookshelf end is tip shape.

As optimization, the contact surface of the folder book wheel and books is disc, and the profile side of disc is provided with chamfering, presss from both sides book wheel The contact surface of books is provided with wearing layer.

As optimization, the left claw also includes power wheel with right pawl, and power wheel connects the motor shaft of upset motor, presss from both sides book wheel It is connected by timing belt or center tooth with power wheel.

As optimization, code plate is additionally provided with the clamping jaw, code plate is perpendicular to clamping jaw main body.

As optimization, the dolly, mechanical arm, clamping motor, books identifier, upset motor, the control port of push rod Or FPDP all connects switch board.

As optimization, the push rod is arranged on the side of mounting blocks, and the horizontal range of push rod center line and mounting blocks is equal to The distance between the vertical median plane of books identifier and rotating mechanism rotary shaft.

As optimization, the books identifier is bar code scanner, and the central cross of books spine is provided with bar code.

As optimization, the bar code scanner is arranged in guide sleeve, and spring, one end of spring are provided with guide sleeve Contact bar code scanner rear end, end thereof contacts guide sleeve inwall.

As optimization, the books identifier is camera, and image identification system is provided with switch board.

As optimization, the wheel of the dolly is Mecanum wheel.

As optimization, the robot also includes holding tank, and holding tank is arranged on dolly.

Beneficial effects of the present invention:

1. books identifier is delivered to operating position by the dolly of the present invention, mechanical arm, books identifier, which can recognize that, asks Books are inscribed, problem books can be taken out, overturn to correct direction by equipment automatically, and be put to correct position, effectively increase figure The service quality in book shop, facilitate reader and look for book, while reduce the work load of books administrative staff.

2. by setting support book device to strut the books on bookshelf, facilitate equipment that books are put back into bookshelf.

3. by being tip shape in folder book wheel and the profile side setting chamfering of books contact surface, the nearly bookshelf end of pawl arm, side Folder book wheel go deep into books gap.

4. by setting code plate, after books are placed, rotation clamping jaw makes the spine of code plate face books, then Equipment is overall close to books, and the front and rear code of books can be achieved;By controlling dolly, mechanical arm, clamping jaw is inserted above books With in the space of bookshelf, then mechanical arm decline, the code up and down of books can be achieved.

5. by setting guide sleeve, spring, bar code scanner is moved forward and backward, avoids and is collided with books The problem of causing, bar code scanner is protected, ensured and taken being smoothed out for book.

6. by installing camera, judge whether books put back using image recognition technology, batch identification can be carried out, had Effect improves operating efficiency.

7. by the way that the wheel of dolly is arranged into Mecanum wheel, dolly is set easily all around to move freely, The flexibility ratio of equipment is added, improves operating efficiency.

8. by setting holding tank, the problem of can temporarily depositing placement location mistake books, treat that robot is moved to pair Answer and uniformly put again during bookshelf.

Brief description of the drawings

Fig. 1 is the overall construction drawing of an embodiment of the present invention working condition.

Fig. 2 is the partial enlarged drawing in Fig. 1 D regions.

Fig. 3, Fig. 5 be present invention discover that spine towards bookshelf books when, take the overall construction drawing of book-like state.

Fig. 4 is the partial enlarged drawing in Fig. 3 E regions.

Fig. 6 is that clamping jaw of the present invention clamps and overturns the overall construction drawing after " books of the spine towards bookshelf ".

Fig. 7 is the overall construction drawing that the present invention puts book-like state.

Fig. 8 is the overall construction drawing of clamping jaw.

Fig. 9 is the cut-away view of clamping jaw.

Figure 10 is the top view of clamping jaw.

Figure 11 is sectional views of the Figure 10 along F-F directions.

Figure 12 is sectional views of the Figure 11 along G-G directions.

Figure 13,14 are the overall construction drawing for pressing from both sides book wheel.

Embodiment

For a better understanding of the present invention, embodiments of the present invention are explained in detail below in conjunction with the accompanying drawings.

Fig. 1 to Figure 14 is a kind of embodiment of the present invention, as shown in Figures 1 to 4, a kind of Intelligent management device, is arranged on In library, books 2 are placed on bookshelf 1, and the robot includes dolly 3, mechanical arm 4, clamping jaw 5, books identifier 6, support Book device 8, switch board 301, battery is provided with dolly 3, mechanical arm 4 is arranged on dolly 3, and mechanical arm 4 is multiple motor belt motors Dynamic Multi-freedom-degreemanipulator manipulator, mounting blocks 401 are provided with mechanical arm 4, are provided with rotating mechanism 402, clamping jaw on mounting blocks 401 5 are arranged on rotating mechanism 402 by extension board 406, and clamping jaw 5 can clamp and overturn books 2;Books identifier 6 is arranged on On clamping jaw 5;Supportting book device 8 includes push rod 801, support book frame 802, pinboard 803, and push rod 801 is arranged on installation by pinboard 803 On block 401, support book frame 802 is arranged on the expansion link of push rod 801, and the main body of support book frame 802 is a horizontal U-frame, supports book The end of remote push rod 801 of frame 802 is the tip of opening.The dolly 3, mechanical arm 4, clamping motor 55, books identifier 6, upset Motor 514, the control port of push rod 801 or FPDP all connect switch board 301.The wheel of the dolly 3 is Mecanum Wheel.

The push rod 801 is arranged on the side of mounting blocks 401, the center line of push rod 801 and horizontal range of mounting blocks 401 etc. In the distance between 6 vertical median plane of books identifier and the rotary shaft of rotating mechanism 402.

The books identifier 6 is bar code scanner 601, and the central cross of the spine of books 2 is provided with bar code 201. Bookshelf 1, the height of books 2 are all known, and mutually level books 2 are placed on into one layer as far as possible, bar code scanner 601 The bar code 201 that can read one layer of books one by one need to be only scanned along certain height, bar code also can be if books 2 are put back Anti-.

Books identifier is delivered to operating position by dolly, mechanical arm 4, and books identifier can recognize that problem books, if It is standby problem books to be taken out automatically, overturn to correct direction, and put to correct position, effectively increase the service in library Quality, facilitate reader and look for book, while reduce the work load of books administrative staff.By setting support book device can be by bookshelf On books strut, facilitate equipment that books are put back into bookshelf.By the way that the wheel of dolly is arranged into Mecanum wheel, make dolly can Easily all around to move freely, the flexibility ratio of equipment is added, improves operating efficiency.

Mechanical arm 4 is the Multi-freedom-degreemanipulator manipulator of multiple motor drivens, as shown in figure 3, mechanical arm 4 is provided with first level Rotary joint a, the second vertical rotary joint b, the 3rd vertical rotary joint c, the 4th rotary joint d, the 5th rotary joint e, rotation Rotation mechanism 402, by the motion for controlling each joint, it is possible to achieve the lifting of clamping jaw 5.

As shown in Fig. 8 to Figure 14, the clamping jaw 5 includes left claw 51, right pawl 52, and left claw 51 is symmetrical arranged with right pawl 52, left Pawl 51 and right pawl 52 all include pawl arm 515, folder book wheel 511, upset motor 514, and folder book wheel 511 is arranged on pawl arm by rotating shaft On 515, folder book wheel 511 connects the motor shaft of upset motor 514, and left claw 51 is oppositely arranged with the folder book wheel 511 on right pawl 52;Institute Stating clamping jaw 5 also includes screw rod 53, guide rod 54, clamping motor 55, and the connection of screw rod 53 clamps the motor shaft of motor 55, set on screw rod 53 Be equipped with two sections and turn to opposite external screw threads, left claw 51, right pawl 52 pawl arm 515 on be respectively arranged with corresponding internal thread, guide rod 54 is parallel with screw rod 53, and corresponding pilot hole is provided with pawl arm 515.

The folder book wheel 511 is arranged on the end of nearly bookshelf 1 of pawl arm 515, and folder book wheel 511 is higher by the opposite face of pawl arm 515, pawl The end of nearly bookshelf 1 of arm 515 is tip shape.

The left claw 51 also includes power wheel 513 with right pawl 52, and power wheel 513 connects the motor shaft of upset motor 514, folder Book wheel 511 is connected by timing belt 512 or center tooth with power wheel 513.

Code plate 507 is additionally provided with the clamping jaw 5, code plate 507 is perpendicular to the main body of clamping jaw 5.By setting code plate, After books are placed, rotation clamping jaw makes the spine of code plate face books, and then equipment is overall close to books, and figure can be achieved The front and rear code of book;By controlling dolly, mechanical arm, clamping jaw 5 is entered above books and in the space of bookshelf, then under mechanical arm Drop, the code up and down of books can be achieved.

Upset motor 514, rotates the upset that books 2 can be achieved, and the rotation of clamping motor 55 can control left claw by screw rod 53 51 with the folding of right pawl 52.

The bar code scanner 601 is arranged in guide sleeve 602, and spring 603, spring 603 are provided with guide sleeve 602 The rear end of end thereof contacts bar code scanner 601, the inwall of end thereof contacts guide sleeve 602.Due to effective knowledge of bar code scanner Not apart from limited, during books are gripped, bar code scanner is possible to collide with books clamping jaw, passes through to set and is oriented to Set, spring, move forward and backward bar code scanner, avoid and are collided the problem of causing with books, protect bar shaped Code scanner, has ensured and has taken being smoothed out for book.

Clamping jaw 5 takes book step:Push rod 801 shrinks first, and the control alignment of clamping jaw 5 prefetches books 2, and clamping jaw 5 is flared to bigger Yu Shuhou;Then equipment is overall inserts the segment distance of 2 gap of books one close to bookshelf 1 to clamping jaw 5;The closure gripping books 2 of clamping jaw 5, Equipment is overall to take book away from bookshelf 1, completion.

Fig. 3, Fig. 5 be present invention discover that spine towards bookshelf books when, take the overall construction drawing of book-like state, clamping jaw 5 with The both sides that book device 8 is located at mounting blocks 401 respectively are supportted, and push rod 801 is in contraction state, finds books of the spine towards bookshelf When, processing step is as follows:1), clamping jaw 5 moves up, and control clamping jaw 5 takes book;2), as shown in fig. 6, upset motor 514 controls books rotation Turnback, while push rod 801 stretches out;3), the rotated mechanism 901 of books 2 is rotated to support book device 8 side, now if books Direction is correct, then the books 2 is placed into bookshelf 1;If words direction is anti-on spine, according on spine The books 2 that words direction is put back are handled.The purpose that control clamping jaw 5 moves up in step 1) is to realize that step 2) is completed Afterwards, bar code scanner 601 can be with the bar code face on books.

It is correct for spine direction, but book device 8 is extremely supportted in the books 2 that the words direction on spine is put back, the control rotation of clamping jaw 5 Opposite side carry out taking book, take and the rotation of clamping jaw 5 controlled after the completion of book to the side of support book device 8, now on books spine word direction Correctly, books are placed into the correct position of bookshelf 1.

The books 2 for putting mistake in correct but position are placed for direction, control clamping jaw 5 rotation to the side of support book device 8 is taken Book, then books 2 are placed into the correct position of bookshelf 1.

The state that equipment puts back to books 2 on bookshelf 1 is illustrated in figure 7, clamping jaw 5 is positioned at the side of support book device 8, push rod under the state 801 are in stretching state, and books 2 support distance of the front end tip apart from bookshelf 1 of book frame 802 directly over support book frame 802 It is nearer apart from the distance of bookshelf 1 than to place books 2 in advance.It is as follows that books 2 place step:1st, equipment integrally moves to bookshelf 1, supports book Frame 802 first struts the books 2 on bookshelf 1, while to place books 2 in advance and enter the space;2nd, clamping jaw 5 is unclamped, and books 2 are fallen into Support in book frame 802;3rd, clamping books 2 again of clamping jaw 5, push rod 801, which shrinks, hauls out support book frame 802;4th, clamping jaw 5 is taken out.

Although above-mentioned the embodiment of invention is described with reference to accompanying drawing, not to the scope of the present invention Limitation, on the basis of technical scheme, those skilled in the art need not pay creative work and can make Various modifications or deformation still within protection scope of the present invention.

Claims (10)

1. a kind of Intelligent management device, is arranged in library, books (2) are placed on bookshelf (1), it is characterised in that:It is described Robot includes dolly (3), mechanical arm (4), clamping jaw (5), books identifier (6), support book device (8), and dolly is provided with control on (3) Cabinet (301) processed, battery, mechanical arm (4) are arranged on dolly (3), and mechanical arm (4) is the multiple degrees of freedom machine of multiple motor drivens Tool hand, mounting blocks (401) are provided with mechanical arm (4), are provided with rotating mechanism (402) on mounting blocks (401), clamping jaw (5) is logical Extension board (406) is crossed on rotating mechanism (402), clamping jaw (5) can clamp and overturn books (2);Books identifier (6) It is arranged on clamping jaw (5);Supportting book device (8) includes push rod (801), support book frame (802), pinboard (803), and push rod (801) passes through Pinboard (803) is arranged on mounting blocks (401), and support book frame (802) is arranged on the expansion link of push rod (801), supports book frame (802) main body is a horizontal U-frame, and remote push rod (801) end of support book frame (802) is the tip of opening.
2. a kind of Intelligent management device according to claim 1, it is characterized in that, the clamping jaw (5) includes left claw (51), the right side Pawl (52), left claw (51) are symmetrical arranged with right pawl (52), and left claw (51) all includes pawl arm (515), folder book wheel with right pawl (52) (511), upset motor (514), folder book wheel (511) are arranged on pawl arm (515) by rotating shaft, folder book wheel (511) connection upset The motor shaft of motor (514), left claw (51) are oppositely arranged with the folder book wheel (511) on right pawl (52);The clamping jaw (5) also includes Screw rod (53), guide rod (54), clamping motor (55), the motor shaft of screw rod (53) connection clamping motor (55), screw rod are set on (53) Be equipped with two sections and turn to opposite external screw threads, left claw (51), right pawl (52) pawl arm (515) on be respectively arranged with corresponding in spiral shell Line, guide rod (54) is parallel with screw rod (53), and pawl arm is provided with corresponding pilot hole on (515).
3. a kind of Intelligent management device according to claim 2, it is characterized in that, the folder book wheel (511) is arranged on pawl arm (515) nearly bookshelf (1) end, folder book wheel (511) are higher by the opposite face of pawl arm (515), and nearly bookshelf (1) end of pawl arm (515) is Tip shape.
4. a kind of Intelligent management device according to claim 2, it is characterized in that, the left claw (51) is also wrapped with right pawl (52) Power wheel (513), the motor shaft of power wheel (513) connection upset motor (514) are included, folder book wheel (511) passes through timing belt (512) Or center tooth is connected with power wheel (513).
5. a kind of Intelligent management device according to claim 2, it is characterized in that, it is additionally provided with code on the clamping jaw (5) Plate (507), code plate (507) is perpendicular to clamping jaw (5) main body.
6. a kind of Intelligent management device according to claim 1, it is characterized in that, the push rod (801) is arranged on mounting blocks (401) side, the horizontal range of push rod (801) center line and mounting blocks (401) are equal to books identifier (6) vertical median plane The distance between rotating mechanism (402) rotary shaft.
7. a kind of Intelligent management device according to claim 1, it is characterized in that, the books identifier (6) is bar code Scanner (601), the central cross of books (2) spine are provided with bar code (201).
8. a kind of Intelligent management device according to claim 7, it is characterized in that, bar code scanner (601) installation In guide sleeve (602), spring (603), the end thereof contacts bar code scanner of spring (603) are provided with guide sleeve (602) (601) rear end, end thereof contacts guide sleeve (602) inwall.
9. a kind of Intelligent management device according to claim 1, it is characterized in that, the books identifier (6) is camera, Switch board is provided with image identification system in (301).
10. a kind of Intelligent management device according to claim 1, it is characterized in that, the robot also includes holding tank, temporarily Case is deposited to be arranged on dolly (3).
CN201710642558.3A 2017-07-31 2017-07-31 A kind of Intelligent management device CN107378985A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710642558.3A CN107378985A (en) 2017-07-31 2017-07-31 A kind of Intelligent management device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710642558.3A CN107378985A (en) 2017-07-31 2017-07-31 A kind of Intelligent management device

Publications (1)

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CN107378985A true CN107378985A (en) 2017-11-24

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CN201710642558.3A CN107378985A (en) 2017-07-31 2017-07-31 A kind of Intelligent management device

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10329121A (en) * 1997-06-04 1998-12-15 Tiger Mach Seisakusho:Kk Mold release device for concrete finished product
US20010020197A1 (en) * 2000-02-21 2001-09-06 Yoshiyuki Nakano Automated library system with retrieving and repositing robot
CN202400531U (en) * 2011-07-22 2012-08-29 张晔 An automatic fetch and return device for books in libraries
CN205068635U (en) * 2015-09-25 2016-03-02 吉林农业大学 Book inquiry unit is got to library's serial number
CN106426202A (en) * 2016-10-31 2017-02-22 宋奕潼 Automatic tidying device for books of library
CN106625696A (en) * 2016-10-31 2017-05-10 宋奕潼 Bookshelf capable of automatically arranging and classifying books
JP2017109271A (en) * 2015-12-17 2017-06-22 パナソニックIpマネジメント株式会社 Work device and work method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10329121A (en) * 1997-06-04 1998-12-15 Tiger Mach Seisakusho:Kk Mold release device for concrete finished product
US20010020197A1 (en) * 2000-02-21 2001-09-06 Yoshiyuki Nakano Automated library system with retrieving and repositing robot
CN202400531U (en) * 2011-07-22 2012-08-29 张晔 An automatic fetch and return device for books in libraries
CN205068635U (en) * 2015-09-25 2016-03-02 吉林农业大学 Book inquiry unit is got to library's serial number
JP2017109271A (en) * 2015-12-17 2017-06-22 パナソニックIpマネジメント株式会社 Work device and work method
CN106426202A (en) * 2016-10-31 2017-02-22 宋奕潼 Automatic tidying device for books of library
CN106625696A (en) * 2016-10-31 2017-05-10 宋奕潼 Bookshelf capable of automatically arranging and classifying books

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