CN107584495A - A kind of position adjustment equipment - Google Patents
A kind of position adjustment equipment Download PDFInfo
- Publication number
- CN107584495A CN107584495A CN201710644085.0A CN201710644085A CN107584495A CN 107584495 A CN107584495 A CN 107584495A CN 201710644085 A CN201710644085 A CN 201710644085A CN 107584495 A CN107584495 A CN 107584495A
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- CN
- China
- Prior art keywords
- books
- book
- clamping jaw
- position adjustment
- pawl
- Prior art date
- Legal status (The legal status 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 status listed.)
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Abstract
The invention discloses a kind of position adjustment equipment, including dolly, mechanical arm, clamping jaw, books identifier, support book device, mechanical arm is arranged on dolly, mounting blocks are provided with mechanical arm, are provided with rotating mechanism on 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 extension rod, support book frame, electric rotating machine, one end of extension rod is arranged on mounting blocks, other end mounting rotary electric machine, the remote mounting blocks end of support book frame and extension rod passes through activity axis connection, support the motor shaft of book frame connection electric rotating machine, the remote extension rod end for supportting book frame is tip shape, and support book frame is symmetrical arranged two in mechanical arm both sides.The present invention can recognize that problem books, taking-up, upset to correct direction, and put to correct position, effectively increase the service quality in library, facilitates reader and looks for book, while reduces the work load of books administrative staff.
Description
Technical field
The present invention relates to library automation equipment technical field, more particularly to one kind to be adjusted automatically to books position
Whole equipment.
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 position adjustment equipment, 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 position adjustment equipment, 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 extension rod, supports book frame, electric rotating machine, and the one of extension rod
End is arranged on mounting blocks, other end mounting rotary electric machine, supports the remote mounting blocks end of book frame and extension rod by activity axis connection,
The motor shaft of book frame connection electric rotating machine is supportted, the remote extension rod end of support book frame is tip shape, and support book frame is symmetrical in mechanical arm both sides
Set two.
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, the control for clamping motor, books identifier, upset motor, electric rotating machine
Port or FPDP all connect switch board.
As optimization, the horizontal range between the support book frame center line and rotating mechanism rotary shaft is equal to books identifier
Vertical the distance between median plane 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 K 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 J 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 L-L directions.
Figure 12 is sectional views of the Figure 11 along M-M 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 position adjustment equipment, 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 extension rod 801, support book frame 803, electric rotating machine 802, and one end of extension rod 801 is arranged on installation
On block 401, other end mounting rotary electric machine 802, the end of remote mounting blocks 401 of support book frame 803 and extension rod 801 is connected by movable axis
Connect, support book frame 803 connects the motor shaft of electric rotating machine 802, and the end of remote extension rod 801 of support book frame 803 is tip shape, supports book frame
803 are symmetrical arranged two in the both sides of mechanical arm 4.The dolly 3, mechanical arm 4, clamping motor 55, books identifier 6, upset electricity
Machine 514, the control port of electric rotating machine 802 or FPDP all connect switch board 301.The wheel of the dolly 3 is received for Mike
Nurse wheel.
Horizontal range between the center line of support book frame 803 and the rotary shaft of rotating mechanism 402 is perpendicular equal to books identifier 6
Straight the distance between median plane 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.
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 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.
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：The rotation of electric rotating machine 802 drives support book frame 803 to be flipped up first；Control clamping jaw 5 is aligned
The books prefetched, clamping jaw 5 are flared to thick slightly larger than book；Then clamping jaw 5 inserts the segment distance of books gap one；The closure gripping of clamping jaw 5
Books, control clamping jaw 5 take book away from bookshelf, completion.
Fig. 3, Fig. 5 be present invention discover that spine towards bookshelf books when, take the overall construction drawing of book-like state, two support book frames
803 are flipped up, find spine towards bookshelf books 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 180 degree；3), now if the direction of books is correct, then will
The support book frame 803 of side where books, which is rotated to level, support book frame 803, to be surrounded books 2, is placed the books 2 by putting book step
To bookshelf 1；It is then correct side after the rotated rotation of mechanism 402 180 degree if now words direction is anti-on spine
To, through support book device 8 be placed into the correct position of bookshelf 1.The purpose for controlling clamping jaw 5 to move 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 the books 2 that the words direction on spine is put back, after clamping jaw 5 grips the books, equipment
Moved after entirety, then rotating mechanism 402 rotates 180 degree and turns to books 2, finally puts books to 1 correct position of bookshelf.
The books 2 for putting mistake in correct but position are placed for direction, takes and books 2 is placed into the correct of bookshelf 1 after book
Position.
The state that equipment puts back to books 2 on bookshelf 1 is illustrated in figure 7, the support book frame of the side of state Books 2
803 upsets to horizontality, books 2 immediately below support book frame 803, and support the front end tip of book frame 803 apart from bookshelf 1 away from
It is near from the distance than to place bookshelf 1 with a distance from books 2 in advance.
It is as follows that books 2 place step：1st, clamping jaw 5 moves to bookshelf 1, and support book frame 803 first struts the books 2 on bookshelf 1,
To place books 2 in advance simultaneously and enter the space；2nd, clamping jaw 5 is unclamped, and books 2 are dropped down onto on bookshelf 1；3rd, clamping jaw 5 is controlled together with support book
Frame 803 together rises until support book frame 803 departs from books 2, and 4, control code plate 507 by the code of books 2.
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 position adjustment equipment, 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 extension rod (801), support book frame (803), electric rotating machine (802), extension rod
(801) one end is arranged on mounting blocks (401), other end mounting rotary electric machine (802), support book frame (803) and extension rod
(801) remote mounting blocks (401) end passes through activity axis connection, the motor shaft of support book frame (803) connection electric rotating machine (802), support
Remote extension rod (801) end of book frame (803) is tip shape, and support book frame (803) is symmetrical arranged two in mechanical arm (4) both sides.
2. a kind of position adjustment equipment 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 position adjustment equipment 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 position adjustment equipment 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 position adjustment equipment 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 position adjustment equipment according to claim 1, it is characterized in that, support book frame (803) center line and rotation
Horizontal range between rotation mechanism (402) rotary shaft is equal to the vertical median plane of books identifier (6) and rotated with rotating mechanism (402)
The distance between axle.
7. a kind of position adjustment equipment 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 position adjustment equipment 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 position adjustment equipment 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 position adjustment equipment 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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710644085.0A CN107584495A (en) | 2017-07-31 | 2017-07-31 | A kind of position adjustment equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710644085.0A CN107584495A (en) | 2017-07-31 | 2017-07-31 | A kind of position adjustment equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107584495A true CN107584495A (en) | 2018-01-16 |
Family
ID=61041946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710644085.0A Withdrawn CN107584495A (en) | 2017-07-31 | 2017-07-31 | A kind of position adjustment equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107584495A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249569A (en) * | 2020-10-10 | 2021-01-22 | 南华大学 | Intelligent taking and returning system for library books |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201970107U (en) * | 2010-11-29 | 2011-09-14 | 广西玉柴重工有限公司 | Overturn clamping device |
| CN106181985A (en) * | 2016-08-21 | 2016-12-07 | 张玉华 | A kind of books pick and place robot |
| 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 |
| CN206242060U (en) * | 2016-11-28 | 2017-06-13 | 青岛科技大学 | Manipulator |
-
2017
- 2017-07-31 CN CN201710644085.0A patent/CN107584495A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201970107U (en) * | 2010-11-29 | 2011-09-14 | 广西玉柴重工有限公司 | Overturn clamping device |
| CN106181985A (en) * | 2016-08-21 | 2016-12-07 | 张玉华 | A kind of books pick and place robot |
| 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 |
| CN206242060U (en) * | 2016-11-28 | 2017-06-13 | 青岛科技大学 | Manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249569A (en) * | 2020-10-10 | 2021-01-22 | 南华大学 | Intelligent taking and returning system for library books |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180116 |