CN107443371A - A kind of intelligent robot with automatic also book function based on Internet of Things - Google Patents
A kind of intelligent robot with automatic also book function based on Internet of Things Download PDFInfo
- Publication number
- CN107443371A CN107443371A CN201710584785.5A CN201710584785A CN107443371A CN 107443371 A CN107443371 A CN 107443371A CN 201710584785 A CN201710584785 A CN 201710584785A CN 107443371 A CN107443371 A CN 107443371A
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- book
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of intelligent robot with automatic also book function based on Internet of Things, including main body, travel mechanism, Zhong Kong mechanisms, elevating mechanism, camera and book return machine structure, elevating mechanism includes the first motor, screw mandrel and lifter plate, book return machine structure includes support bar, hatch arrangement, rotary components and folder book component, hatch arrangement includes two turnover units, rotary components include fixed block, the 3rd motor, the second drive shaft and fixture block, and folder book component includes spill spin block, driver element and clamping unit.The having in the automatic also intelligent robot of book function based on Internet of Things, pass through book return machine structure, can be to bookshelf, the books on desk are captured, and carry out position angle regulation, pass through elevating mechanism, being matched for clamping tightly pawl can capture to the books on the bookshelf of different height, desk, by these mechanisms, reduce manpower management cost, it is more convenient firm, improve the practicality of robot.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of intelligent machine with automatic also book function based on Internet of Things
Device people.
Background technology
In many libraries, generally it is required for administrative staff to carry out arrangement classification to books, and many times, due to
Bookshelf is very high, and administrative staff carry out books arrangement and returned to become very troublesome when putting, although also having some to be used for now
The robot of books pipe management, but still there are problems that, for example for bookshelf higher position, robot is difficult to touch work
Make, also when giving back books, it is desired nonetheless to which administrative staff are put into the place specified, robot ability after now books are put in order
Followed by work, it so still can not preferably mitigate the labor intensity of librarian, greatly reduce machine
The practicality of people.
The content of the invention
The technical problem to be solved in the present invention is：For overcome the deficiencies in the prior art, there is provided a kind of based on Internet of Things
With the also intelligent robot of book function automatically.
The technical solution adopted for the present invention to solve the technical problems is：It is a kind of that automatic also book work(is had based on Internet of Things
The intelligent robot of energy, including main body, travel mechanism, Zhong Kong mechanisms, elevating mechanism, camera and book return machine structure, the movement
Mechanism is arranged on the lower section of main body, and the Zhong Kong mechanisms are arranged in main body, and the elevating mechanism is arranged on the top of main body, institute
The top that camera is arranged on elevating mechanism is stated, the book return machine structure is arranged on elevating mechanism, the travel mechanism, lift
Structure and book return machine structure electrically connect with Zhong Kong mechanisms；
The elevating mechanism includes the first motor, screw mandrel and lifter plate, and first motor is arranged on the inside of main body, institute
State that screw mandrel is vertically arranged, perforate is provided with the center of the lifter plate, the inside of the perforate is provided with internal thread, the internal thread
Matched with screw mandrel, first motor is connected by screw mandrel and lifter plate；
When also book needs robot to be lifted to needs, now the first motor, which rotates forward, starts, screw mandrel concomitant rotation, because
Screw mandrel is vertically arranged, and perforate is provided with the center of lifter plate, and the inside of perforate is provided with internal thread, and internal thread matches with screw mandrel, the
One motor is connected by screw mandrel and lifter plate, therefore lifter plate moves up along guide rod, drives book return machine structure to move up, when
First motor reversal, lifter plate drive book return machine structure to move down, and such lifting moving is steady, and passes through elevating mechanism so that
Books can be put on the bookshelf of different height by robot.
The book return machine structure includes support bar, hatch arrangement, rotary components and folder book component, one end water of the support bar
Flat to be arranged on lifter plate, the support bar, hatch arrangement, rotary components and folder book component are sequentially connected from left to right；
The hatch arrangement is arranged on support bar, and the hatch arrangement includes two turnover units, two turnover units
Both sides up and down of support bar and symmetrical on support bar are separately positioned on, the turnover unit includes the second motor, the first driving
Axle, driving wheel and connecting line, second motor are fixed on support bar, and second motor passes through the first drive shaft and driving
Wheel drive connection, the driving wheel are connected by connecting line with rotary components；
The rotary components include fixed block, the 3rd motor, the second drive shaft and fixture block, and the driving wheel passes through connecting line
It is connected with fixed block side, the other end and the fixed block of the support bar are hinged, and the 3rd motor is arranged on the interior of fixed block
Portion, one end of second drive shaft are arranged on the inside of fixed block, and the other end of second drive shaft is arranged on folder book group
The inside of part, the fixture block are fixed on the inside of folder book component, and the 3rd motor is connected by the second drive shaft and fixture block transmission
Connect；
The folder book component includes spill spin block, driver element and clamping unit, and the fixture block is arranged on the inside of spill spin block,
The driver element is arranged on the inside of spill spin block, and the clamping unit is connected with spill spin block, and the driver element is single with clamping
Member drive connection, the driver element include the 4th motor, the 3rd drive shaft and roller gear, and the 4th motor is arranged on rotation
The inside of switch block, the 4th motor are connected by the 3rd drive shaft with column gear transmission；
The clamping unit includes mobile bar, two connecting rods, two support bases and two clamp jaws, and the mobile bar is horizontal
It is arranged on the lower section of roller gear, the top of the mobile bar is provided with the driven tooth engaged with roller gear, two connecting rods, two
Support base and two clamp jaws are corresponded and symmetrical on the horizontal center line axis of mobile bar, and one end of the support base is set
Put on spill spin block, the other end of the clamp jaw and support base is hinged, away from cylinder on one end of the connecting rod and mobile bar
One end of gear is hinged, and the other end of the connecting rod is hinged with the middle part of corresponding clamp jaw.
When needing to carry out taking the book on book or more desks to give back to the book on bookshelf, robot moves close to,
In the two clamp jaws insertion books opened, now the 4th motor, which rotates forward, starts, roller gear concomitant rotation, because mobile bar water
The flat lower section for being arranged on roller gear, the top of mobile bar is provided with the driven tooth engaged with roller gear, therefore mobile bar level is past
Move left, and because two connecting rods, two support bases and two clamp jaws correspond and on the horizontal centre of mobile bar
Axisymmetrical, one end of support base are arranged on spill spin block, and the other end of clamp jaw and support base is hinged, one end of connecting rod and shifting
One end away from roller gear is hinged in lever, and the other end of connecting rod is hinged with the middle part of corresponding clamp jaw, Gu Yidongganshui
To put down toward when moving left, connecting rod also therewith toward moving left, clamp jaw closure, the books on desk is clamped, after clamping, the 3rd motor
Start, fixture block concomitant rotation, because fixture block is arranged on the inside of spill spin block, therefore be arranged on the 3rd motor driven inside fixed block
Spill spin block rotates, and spill spin block drives clamp jaw to rotate, when the bar code wand of the surface positioned at clamp jaw detects books
During the bar code at back, the 3rd motor stalls, now books back faces bar code wand, if books position side
To the position for conforming exactly to bookshelf and putting book, then books are directly put back to bookshelf by robot, if the books of now clamp jaw crawl
Position and angle are also undesirable, now the second electric motor starting, driving wheel concomitant rotation because driving wheel by connecting line with
Fixed block is connected, and the other end of support bar and the middle part of fixed block side are hinged, therefore by adjusting two drivings above and below support bar
The steering of wheel and the length of connecting line, to change the change in angular position of books, it is allowed to meet the position that bookshelf puts book, so as to enter
Row is given back.When needing to take book to bookshelf, robot coordinates elevating mechanism to take by bar code recognition books by book return machine structure
Book, reader is then passed to, so by robot manipulation, saves manpower, it is more convenient reliable.
Preferably, in order that lifter plate is more steady when lifting, the both sides of the screw mandrel are provided with two guide rods, two
Guide rod is symmetrical on screw mandrel, and the guide rod is vertically arranged, and one end of the guide rod is fixed on the inside of main body, the liter
Drop plate is provided with two pilot holes, and the pilot hole corresponds with guide rod, and the other end of the screw mandrel passes through pilot hole, institute
Lifter plate is stated to be slidably connected with screw mandrel.
Preferably, in order that mobile bar move horizontally it is more stable, the lower section of the mobile bar be provided with sliding shoe and
Dovetail groove, the sliding shoe are fixed on the lower section of mobile bar, and the dovetail groove is horizontally set on the inside of spill spin block, the movement
Bar is slidably connected by sliding shoe and dovetail groove.
Preferably, in order to detect after the bar code feedback information in book back portion so as to complete also book work, the fixed block
Top be provided with barcode detection unit, the barcode detection unit includes the first fix bar, the second fix bar and bar code
Detector, first fix bar are vertically provided at the top of fixed block, and second fix bar is horizontally disposed with, and described second is solid
One end of fixed pole is connected with the top of the first fix bar, and the bar code wand is arranged under the other end of the second fix bar
Side, the bar code wand are located at the surface of clamp jaw.
Preferably, in order to prevent lifter plate movement excessive, limited block is provided with above the screw mandrel.
Preferably, the Zhong Kong mechanisms include display interface, control button, status indicator lamp and PLC, display circle
Face, control button and status indicator lamp electrically connect with PLC.
Preferably, clearer in order to observe operation interface, the display interface is LCDs.
Preferably, being worked in order to remote-controlled robot, the inside of the main body is provided with antenna, the antenna and PLC
Electrical connection.
Preferably, in order to detect the road conditions of advance, the main body is provided with pyroscan.
Preferably, in order to prevent from making a mess of paper during book is pressed from both sides, the clamp jaw is provided with spongy layer, the sea
The inside of continuous layer is provided with sponge.
The invention has the advantages that it should pass through based on Internet of Things with the automatic also intelligent robot of book function
Book return machine structure, can be to bookshelf, and the books on desk are captured, and carry out position angle regulation, by elevating mechanism, are matched somebody with somebody
Closing clamp jaw can capture to the books on the bookshelf of different height, desk, by these mechanisms, reduce manpower management
Cost, it is more convenient firm, improve the practicality of robot.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation with the automatic also intelligent robot of book function based on Internet of Things of the present invention；
Fig. 2 is the structure with the automatic also elevating mechanism of the intelligent robot of book function based on Internet of Things of the present invention
Schematic diagram；
Fig. 3 is the structure with the automatic also book return machine structure of the intelligent robot of book function based on Internet of Things of the present invention
Schematic diagram；
Fig. 4 is the structure with the automatic also Zhong Kong mechanisms of the intelligent robot of book function based on Internet of Things of the present invention
Schematic diagram；
In figure：1. main body, 2. travel mechanisms, 3. Zhong Kong mechanisms, 4. cameras, 5. elevating mechanisms, 6. book return machine structures, 7.
One motor, 8. screw mandrels, 9. lifter plates, 10. support bars, 11. limited blocks, 12. guide rods, 13. second motors, 14. driving wheels,
15. connecting line, 16. fixed blocks, 17. the 3rd motors, 18. fixture blocks, 19. spill spin blocks, 20. the 4th motors, 21. roller gears, 22.
Mobile bar, 23. dovetail grooves, 24. sliding shoes, 25. support bases, 26. clamp jaws, 27. connecting rods, 28. first fix bars, 29. second
Fix bar, 30. bar code wands, 31. display interfaces, 32. control buttons, 33. status indicator lamps.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
As Figure 1-Figure 4, a kind of intelligent robot with automatic also book function based on Internet of Things, including main body 1,
Travel mechanism 2, Zhong Kong mechanisms 3, elevating mechanism 5, camera 4 and book return machine structure 6, the travel mechanism 2 are arranged under main body 1
Side, the Zhong Kong mechanisms 3 are set on the body 1, and the elevating mechanism 5 is arranged on the top of main body 1, and the camera 4 is set
In the top of elevating mechanism 5, the book return machine structure 6 is arranged on elevating mechanism 5, the travel mechanism 2, elevating mechanism 5 and also
Book mechanism 6 electrically connects with Zhong Kong mechanisms 3；
The elevating mechanism 5 includes the first motor 7, screw mandrel 8 and lifter plate 9, and first motor 7 is arranged on main body 1
Inside, the screw mandrel 8 is vertically arranged, and perforate is provided with the center of the lifter plate 9, and the inside of the perforate is provided with internal thread,
The internal thread is matched with screw mandrel 8, and first motor 7 is connected by screw mandrel 8 and lifter plate 9；
When also book needs robot to be lifted to needs, now the first motor 7, which rotates forward, starts, the concomitant rotation of screw mandrel 8, because
It is vertically arranged for screw mandrel 8, perforate is provided with the center of lifter plate 9, the inside of perforate is provided with internal thread, internal thread and screw mandrel 8
Match somebody with somebody, the first motor 7 is connected by screw mandrel 8 and lifter plate 9, therefore lifter plate 9 moves up along guide rod 12, drives also book
Mechanism 6 moves up, and when the first motor 7 inverts, lifter plate 9 drives book return machine structure 6 to move down, and such lifting moving is steady, Er Qietong
Cross elevating mechanism so that books can be put on the bookshelf of different height by robot.
The book return machine structure 6 includes support bar 10, hatch arrangement, rotary components and folder book component, the support bar 10
One end is horizontally set on lifter plate 9, and the support bar 10, hatch arrangement, rotary components and folder book component are from left to right successively
Connection；
The hatch arrangement is arranged on support bar 10, and the hatch arrangement includes two turnover units, and two turnovers are single
Member is separately positioned on both sides up and down of support bar 10 and symmetrical on support bar 10, the turnover unit include the second motor 13,
First drive shaft, driving wheel 14 and connecting line 15, second motor 13 are fixed on support bar 10, and second motor 13 is logical
Cross the first drive shaft to be connected with driving wheel 14, the driving wheel 14 is connected by connecting line 15 with rotary components；
The rotary components include fixed block 16, the 3rd motor 17, the second drive shaft and fixture block 18, and the driving wheel 14 is logical
Cross connecting line 15 with the side of fixed block 16 to be connected, the other end and fixed block 16 of the support bar 10 are be hinged, the 3rd motor
17 are arranged on the inside of fixed block 16, and one end of second drive shaft is arranged on the inside of fixed block 16, second driving
The other end of axle is arranged on the inside of folder book component, and the fixture block 18 is fixed on the inside of folder book component, the 3rd motor 17
It is connected by the second drive shaft and fixture block 18；
The folder book component includes spill spin block 19, driver element and clamping unit, and the fixture block 18 is arranged on spill spin block 19
Inside, the driver element is arranged on the inside of spill spin block 19, and the clamping unit is connected with spill spin block 19, and the driving is single
Member is connected with clamping unit, and the driver element includes the 4th motor 20, the 3rd drive shaft and roller gear 21, and described the
Four motors 20 are arranged on the inside of spill spin block 19, and the 4th motor 20 is connected by the 3rd drive shaft and the transmission of roller gear 21
Connect；
The clamping unit includes 27, two, the connecting rod support base 25 of mobile bar 22, two and two clamp jaws 26, the shifting
Lever 22 is horizontally set on the lower section of roller gear 21, and the top of the mobile bar 22 is driven provided with being engaged with roller gear 21
Tooth, two connecting rods, 27, two support bases 25 and two clamp jaws 26 correspond and on the horizontal middle spindle of mobile bar 22
Line is symmetrical, and one end of the support base 25 is arranged on spill spin block 19, and the other end of the clamp jaw 26 and support base 25 is hinged,
One end of the connecting rod 27 and be hinged in mobile bar 22 away from one end of roller gear 21, the other end of the connecting rod 27 with it is corresponding
The middle part of clamp jaw 26 be hinged.
When needing to carry out taking the book on book or more desks to give back to the book on bookshelf, robot moves close to,
In the two clamp jaws 26 insertion books opened, now the 4th motor 20, which rotates forward, starts, the concomitant rotation of roller gear 21, because moving
Lever 22 is horizontally set on the lower section of roller gear 21, and the top of mobile bar 22 is provided with the driven tooth engaged with roller gear 21,
Therefore mobile bar 22 is horizontal toward moving left, and because two connecting rods, 27, two support bases 25 and two clamp jaws 26 correspond
And it is symmetrical on the horizontal center line axis of mobile bar 22, one end of support base 25 is arranged on spill spin block 19, clamp jaw 26 and branch
The other end of support seat 25 is hinged, and one end of connecting rod 27 is hinged with one end away from roller gear 21 in mobile bar 22, connecting rod 27
The other end is hinged with the middle part of corresponding clamp jaw 26, therefore the level of mobile bar 22 moves to left toward when moving left, connecting rod 27 is also past therewith
Dynamic, clamp jaw 26 is closed, and the books on desk are clamped, after clamping, the 3rd electric motor starting 17, and fixture block concomitant rotation 18, because
Fixture block 18 is arranged on the inside of spill spin block 19, therefore is arranged on the 3rd motor 17 inside fixed block and drives spill spin block 19 to rotate, and revolves
Switch block 19 drives clamp jaw 26 to rotate, when the bar code wand 30 positioned at the surface of clamp jaw 26 detects books back
During bar code, the 3rd motor 17 stops operating, and now books back faces bar code wand 30, if books locality
The position that bookshelf puts book is conformed exactly to, then books are directly put back to bookshelf by robot, if the books that now clamp jaw 26 captures
Position and angle are also undesirable, and now the second motor 13 starts, the concomitant rotation of driving wheel 14, because driving wheel 14 passes through company
Wiring 15 is connected with fixed block 16, and the other end of support bar 10 and the middle part of the side of fixed block 16 are hinged, therefore is supported by adjusting
Bar length of the steering of two driving wheels 14 and connecting line 15 about 10, to change the change in angular position of books, is allowed to meet
Bookshelf puts the position of book, so as to be given back.When needing to take book to bookshelf, robot is passed through by bar code recognition books
Book return machine structure 6 coordinates elevating mechanism 5 to take book, is then passed to reader, so by robot manipulation, saves manpower, more just
It is prompt reliable.
Preferably, in order that lifter plate 9 is more steady when lifting, the both sides of the screw mandrel 8 are provided with two guide rods 12,
Two guide rods 12 are symmetrical on screw mandrel 8, and the guide rod 12 is vertically arranged, and one end of the guide rod 12 is fixed on main body 1
Inside, the lifter plate 9 is provided with two pilot holes, and the pilot hole corresponds with guide rod 12, the screw mandrel 8 it is another
One end passes through pilot hole, and the lifter plate 9 is slidably connected with screw mandrel 8.
Preferably, in order that mobile bar 22 moves horizontally more stable, the lower section of the mobile bar 22, which is provided with, to be slided
Block 24 and dovetail groove 23, the sliding shoe 24 are fixed on the lower section of mobile bar 22, and the dovetail groove 23 is horizontally set on spill spin block
19 inside, the mobile bar 22 are slidably connected by sliding shoe 24 and dovetail groove 23.
Preferably, in order to detect after the bar code feedback information in book back portion so as to complete also book work, the fixed block
16 top is provided with barcode detection unit, and the barcode detection unit includes the first fix bar 28, the and of the second fix bar 29
Bar code wand 30, first fix bar 28 are vertically provided at the top of fixed block 16, and second fix bar 29 is horizontal
Set, one end of second fix bar 29 is connected with the top of the first fix bar 28, and the bar code wand 30 is arranged on
The lower section of the other end of second fix bar 29, the bar code wand 30 are located at the surface of clamp jaw 26.
Preferably, in order to prevent that it is excessive that lifter plate 9 from moving, the top of screw mandrel 8 is provided with limited block 11.
Preferably, the Zhong Kong mechanisms 3 include display interface 31, control button 32, status indicator lamp 33 and PLC, institute
Display interface 31, control button 32 and status indicator lamp 33 is stated to electrically connect with PLC.
Preferably, clearer in order to observe operation interface, the display interface 31 is LCDs.
Preferably, being worked in order to remote-controlled robot, the inside of the main body 1 is provided with antenna, the antenna and PLC
Electrical connection.
Preferably, in order to detect the road conditions of advance, the main body 1 is provided with pyroscan.
Preferably, in order to prevent from making a mess of paper during book is pressed from both sides, the clamp jaw 26 is provided with spongy layer, described
The inside of spongy layer is provided with sponge.
Compared with prior art, also book should be passed through based on Internet of Things with the automatic also intelligent robot of book function
Mechanism 6, can be to bookshelf, and the books on desk are captured, and carry out position angle regulation, pass through elevating mechanism 5, are coordinated
Clamp jaw 27 can be captured with the books on the bookshelf of different height, desk, by these mechanisms, reduce manpower management
Cost, it is more convenient firm, improve the practicality of robot.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (10)
1. a kind of intelligent robot with automatic also book function based on Internet of Things, it is characterised in that including main body (1), move
Motivation structure (2), Zhong Kong mechanisms (3), elevating mechanism (5), camera (4) and book return machine structure (6), the travel mechanism (2) are set
In the lower section of main body (1), the Zhong Kong mechanisms (3) are arranged in main body (1), and the elevating mechanism (5) is arranged on main body (1)
Top, the camera (4) are arranged on the top of elevating mechanism (5), and the book return machine structure (6) is arranged on elevating mechanism (5),
The travel mechanism (2), elevating mechanism (5) and book return machine structure (6) electrically connect with Zhong Kong mechanisms (3)；
The elevating mechanism (5) includes the first motor (7), screw mandrel (8) and lifter plate (9), and first motor (7) is arranged on master
The inside of body (1), the screw mandrel (8) is vertically arranged, and perforate, the inside of the perforate are provided with the center of the lifter plate (9)
Provided with internal thread, the internal thread is matched with screw mandrel (8), and first motor (7) is driven by screw mandrel (8) and lifter plate (9)
Connection；
The book return machine structure (6) includes support bar (10), hatch arrangement, rotary components and folder book component, the support bar (10)
One end be horizontally set on lifter plate (9), the support bar (10), hatch arrangement, rotary components and folder book component are from left past
The right side is sequentially connected；
The hatch arrangement is arranged on support bar (10), and the hatch arrangement includes two turnover units, two turnover units
Be separately positioned on the both sides up and down of support bar (10) and on support bar (10) symmetrically, it is described turnover unit include the second motor
(13), the first drive shaft, driving wheel (14) and connecting line (15), second motor (13) are fixed on support bar (10), institute
State the second motor (13) to be connected by the first drive shaft and driving wheel (14), the driving wheel (14) passes through connecting line (15)
It is connected with rotary components；
The rotary components include fixed block (16), the 3rd motor (17), the second drive shaft and fixture block (18), the driving wheel
(14) it is connected by connecting line (15) with fixed block (16) side, the other end and the fixed block (16) of the support bar (10) are cut with scissors
Connect, the 3rd motor (17) is arranged on the inside of fixed block (16), and one end of second drive shaft is arranged on fixed block
(16) inside, the other end of second drive shaft are arranged on the inside of folder book component, and the fixture block (18) is fixed on folder book
The inside of component, the 3rd motor (17) are connected by the second drive shaft and fixture block (18)；
The folder book component includes spill spin block (19), driver element and clamping unit, and the fixture block (18) is arranged on spill spin block
(19) inside, the driver element are arranged on the inside of spill spin block (19), and the clamping unit is connected with spill spin block (19), institute
State driver element to be connected with clamping unit, the driver element includes the 4th motor (20), the 3rd drive shaft and Cylinder Gear
Take turns (21), the 4th motor (20) is arranged on the inside of spill spin block (19), and the 4th motor (20) passes through the 3rd drive shaft
It is connected with roller gear (21)；
The clamping unit includes mobile bar (22), two connecting rods (27), two support bases (25) and two clamp jaws (26), institute
The lower section that mobile bar (22) is horizontally set on roller gear (21) is stated, the top of the mobile bar (22) is provided with and roller gear
(21) engagement driven tooth, two connecting rods (27), two support bases (25) and two clamp jaws (26) correspond and on
The horizontal center line axis of mobile bar (22) is symmetrical, and one end of the support base (25) is arranged on spill spin block (19), the clamping
The other end of pawl (26) and support base (25) is hinged, one end of the connecting rod (27) and remote roller gear in mobile bar (22)
(21) one end is hinged, and the other end of the connecting rod (27) is hinged with the middle part of corresponding clamp jaw (26).
2. the intelligent robot with automatic also book function based on Internet of Things as claimed in claim 1, it is characterised in that institute
The both sides for stating screw mandrel (8) are provided with two guide rods (12), two guide rods (12) on screw mandrel (8) symmetrically, the guide rod
(12) vertically arranged, one end of the guide rod (12) is fixed on the inside of main body (1), and the lifter plate (9) is provided with two
Pilot hole, the pilot hole correspond with guide rod (12), and the other end of the screw mandrel (8) passes through pilot hole, the lifting
Plate (9) is slidably connected with screw mandrel (8).
3. the intelligent robot with automatic also book function based on Internet of Things as claimed in claim 1, it is characterised in that institute
The lower section for stating mobile bar (22) is provided with sliding shoe (24) and dovetail groove (23), and the sliding shoe (24) is fixed on mobile bar (22)
Lower section, the dovetail groove (23) are horizontally set on the inside of spill spin block (19), the mobile bar (22) by sliding shoe (24) with
Dovetail groove (23) is slidably connected.
4. the intelligent robot with automatic also book function based on Internet of Things as claimed in claim 1, it is characterised in that institute
The top for stating fixed block (16) is provided with barcode detection unit, and the barcode detection unit includes the first fix bar (28), the
Two fix bars (29) and bar code wand (30), first fix bar (28) are vertically provided at the top of fixed block (16),
Second fix bar (29) is horizontally disposed, one end of second fix bar (29) and the top phase of the first fix bar (28)
Even, the bar code wand (30) is arranged on the lower section of the other end of the second fix bar (29), the bar code wand
(30) it is located at the surface of clamp jaw (26).
5. the intelligent robot with automatic also book function based on Internet of Things as claimed in claim 1, it is characterised in that institute
State and be provided with limited block (11) above screw mandrel (8).
6. the intelligent robot with automatic also book function based on Internet of Things as claimed in claim 1, it is characterised in that institute
Shu Zhongkong mechanisms (3) include display interface (31), control button (32), status indicator lamp (33) and PLC, the display interface
(31), control button (32) and status indicator lamp (33) electrically connect with PLC.
7. the intelligent robot with automatic also book function based on Internet of Things as claimed in claim 6, it is characterised in that institute
It is LCDs to state display interface (31).
8. the intelligent robot with automatic also book function based on Internet of Things as claimed in claim 6, it is characterised in that institute
The inside for stating main body (1) is provided with antenna, and the antenna electrically connects with PLC.
9. the intelligent robot with automatic also book function based on Internet of Things as claimed in claim 1, it is characterised in that institute
State main body (1) and be provided with pyroscan.
10. the intelligent robot with automatic also book function based on Internet of Things as claimed in claim 1, it is characterised in that
The clamp jaw (26) is provided with spongy layer, and the inside of the spongy layer is provided with sponge.
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| CN201710584785.5A CN107443371A (en) | 2017-07-18 | 2017-07-18 | A kind of intelligent robot with automatic also book function based on Internet of Things |
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| CN201710584785.5A CN107443371A (en) | 2017-07-18 | 2017-07-18 | A kind of intelligent robot with automatic also book function based on Internet of Things |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482935A (en) * | 2018-05-11 | 2018-09-04 | 西安航空学院 | Three-pawl type library automatic book taking device |
| CN108818603A (en) * | 2018-08-01 | 2018-11-16 | 吉林大学珠海学院 | A kind of integrated mechanical palms of pick-and-place books |
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| CN201257667Y (en) * | 2008-09-12 | 2009-06-17 | 山东大学 | Tower type robot arm and paw suitable for service place |
| CN104552230A (en) * | 2013-10-22 | 2015-04-29 | 西华大学 | Book fetching robot for library |
| CN106891342A (en) * | 2017-02-17 | 2017-06-27 | 福建品派包装有限公司 | A kind of intelligent robot for library book storage |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201257667Y (en) * | 2008-09-12 | 2009-06-17 | 山东大学 | Tower type robot arm and paw suitable for service place |
| CN104552230A (en) * | 2013-10-22 | 2015-04-29 | 西华大学 | Book fetching robot for library |
| CN106891342A (en) * | 2017-02-17 | 2017-06-27 | 福建品派包装有限公司 | A kind of intelligent robot for library book storage |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482935A (en) * | 2018-05-11 | 2018-09-04 | 西安航空学院 | Three-pawl type library automatic book taking device |
| CN108818603A (en) * | 2018-08-01 | 2018-11-16 | 吉林大学珠海学院 | A kind of integrated mechanical palms of pick-and-place books |
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