CN109677825A - A kind of books grabbing device and a kind of control method of books grabbing device - Google Patents
A kind of books grabbing device and a kind of control method of books grabbing device Download PDFInfo
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- CN109677825A CN109677825A CN201910054584.3A CN201910054584A CN109677825A CN 109677825 A CN109677825 A CN 109677825A CN 201910054584 A CN201910054584 A CN 201910054584A CN 109677825 A CN109677825 A CN 109677825A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims abstract description 20
- 238000007667 floating Methods 0.000 claims description 20
- 238000005452 bending Methods 0.000 claims description 19
- 230000003014 reinforcing effect Effects 0.000 claims description 16
- 238000010521 absorption reaction Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 210000003205 muscle Anatomy 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims 1
- 230000002787 reinforcement Effects 0.000 claims 1
- 230000000630 rising effect Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 239000000463 material Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
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- 238000001514 detection method Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0288—Signatures, i.e. sections of printed magazines, papers or books
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of books grabbing device and a kind of control methods of books grabbing device, for solving the technical issues of books grabbing device weight is big in the prior art, safety is poor, noise is big and poor universality；A kind of books grabbing device, comprising: draw module, flexible clamp module, installation module and machine vision module；A kind of control method of books grabbing device, including, step 1: books grasping movement and step 2: books put back to movement.Implement technical solution of the present invention, using vacuum chuck and two kinds of clamping modes of clamping plate, vacuum chuck quantity, position are adjustable, improve device versatility；It the use of compressed air is power, the mechanical transmissioning pieces such as gearless, noise is small, convenient for operation；Data are stored in remote server, and apparatus structure is simple, alleviator weight, reduce the device bodily form；Central processing system can pass through books title, books number, books position, two dimensional code or bar code recognition books, identification method intelligence.
Description
Technical field
The present invention relates to intelligent field of fixtures, in particular to a kind of books grabbing device and a kind of control of books grabbing device
Method processed.
Background technique
In the daily management of large-scale library, shelving robot gradually substitutes manpower, realization makes an inventory automatically,
Put the operation such as restocking.The exploitation of restocking robot, in addition to needing to configure control software systems, in the terminal actuating station of robot
It needs to be equipped with that function is more powerful and the very strong books grabbing device of versatility, realizes the books of different size, thickness, weight
Grab and put work.Due to being that cooperation robot uses, so to the weight of books grabbing device, precision, safety and function
Energy property has very high requirement.
Many trials, such as a kind of " books of Hubei University Of Technology's application have all done herein in domestic many entity and individual
Crawl and the end effector of retrieval device " application number 201610927023.6 rotated using motor, by turbine and worm and more
The effect of link mechanism drives folder book mechanism kinematic, realizes the clamping and relieving of books, disadvantage is easy to jam a finger, safety
It is low, and noise is big.To sail " book ATM and its books with thickness measuring function grab mechanical " application number 201610626708.7
Folder book mechanism kinematic is driven by ball-screw and spring structure using motor driven, advantage has been equipped with thickness transducer,
Books thickness can be measured, but disadvantage is it is also obvious that be exactly that motor driven is easy to jam a finger, safety is low, and noise is big.
A kind of " device automatically grabbed for books with placement " application number 201610277274.4 of Shanghai University is transported using electric drive
Dynamic component is grabbed and is placed to target books, can be realized books automatic identification and edge in conjunction with machine vision CCD camera
Detection, the disadvantage is that volume is too big, versatility is very weak.Three above patent all manifests many drawbacks in use, concludes
To be exactly that weight is big, safety is poor, noise is big and poor universality, a comprehensive performance is badly in need of very in the robot of library's restocking at present
Good grasping mechanism.
Summary of the invention
In order to solve the above-mentioned technical problem, a kind of books grabbing device and a kind of books grabbing device are disclosed in the present invention
Control method, the technical scheme is that being implemented:
A kind of books grabbing device, comprising: draw module, flexible clamp module, installation module and machine vision module；Its
In, the absorption module includes: several vacuum chucks, vacuum generator and positioning plate；The vacuum chuck is fixed on
On the positioning plate；The vacuum generator is connected to the vacuum chuck by tracheae, provides negative pressure for the vacuum chuck；
The positioning plate is equipped with the through-hole that supply lines and the tracheae pass through；The flexible clamp module includes: rotary cylinder, clamping
Plate, rotary cylinder mounting plate, fixing seat, guiding axis, linear bearing, datum plate, thin cylinder, floating junction and solenoid valve；Institute
It states clamping plate to be mounted on the rotary cylinder, when work, the pairs of rotary cylinder rotates in the opposite direction, described in drive
Clamping plate does open and close movement；The rotary cylinder is fixed in the fixing seat；The guiding axis passes through the linear bearing
Centre bore is connected and fixed with the fixing seat；The linear bearing is mounted on the datum plate；The thin cylinder is mounted on
On the datum plate；The floating junction is mounted between the thin cylinder and the rotary cylinder mounting plate；The electromagnetism
Valve is mounted on the datum plate, connects and control the movement of the thin cylinder and the rotary cylinder；The datum plate with
The positioning plate is fixedly connected；The installation module includes: mounting flange and connecting plate；The connecting plate is fixed on the installation
On flange；The datum plate is connected to the connecting plate, is fixedly connected with the flexible clamp module with the installation module；Institute
Stating machine vision module includes: bending part, digital camera and light source；The bending part is connected to the installation module；The number
Code camera is mounted on the bending part, and the light source is connected to the digital camera.
Preferably, the vacuum chuck is circumferentially uniformly distributed, and the quantity of the vacuum chuck is 3~8.
Preferably, the installation module further include: reinforcing rib and wire rack, the reinforcing rib are set to the Method for Installation
Between the blue and described connecting plate, the wire rack is mounted on the reinforcing rib.
Preferably, the bending part is connected to the reinforcing rib.
Preferably, the light source is annular light source, and the machine vision module further includes annular light source bracket, the annular
Light source bracket is fixed on the digital camera.
It preferably, further include central processing unit, the central processing unit is PLC or single-chip microcontroller, and the central processing unit connects
It is connected to the absorption module, the flexible clamp module and the machine vision module.
Preferably, the central processing unit further includes wireless communication module, and the wireless communication module is connected to cloud clothes
Business device, the cloud server are equipped with the database of storage book information.
A kind of control method of books grabbing device, uses the books grabbing device with These characteristics, comprising: step
One: books grasping movement 1.1 starts the machine vision module, opens the light source and illuminates target books, the digital camera
It takes pictures to the target books, photo is analyzed in the central processing unit, obtain the target books in picture
Information, read the book information stored in the database in the server, determine books position；Described in 1.2 startings
Draw frame machine, starts the vacuum generator, and the vacuum chuck generates negative pressure of vacuum, is bonded and catches the target books；
1.3 start the flexible clamp modules, and the clamping plate, the electricity are opened in the movement of rotary cylinder described in the solenoid valve control
Magnet valve controls the thin cylinder and does stretch out motion, by the floating junction, the rotary cylinder mounting plate is driven to stretch together
Out, after the completion of stretching, rotary cylinder described in the solenoid valve control is closed, and after the completion of closure, the thin cylinder is retracted,
Until the clamping plate is contacted with the target books and compresses books；1.4 move books to the books position；Step 2:
Books put back to the 2.1 starting flexible clamp module of movement, and thin cylinder described in the solenoid valve control stretches out, and make the compression
Plate and the target books are detached from, and the clamping plate, the solenoid valve are opened in the movement of rotary cylinder described in the solenoid valve control
It controls the thin cylinder to retract, by the floating junction, the rotary cylinder mounting plate is driven to retract together；2.2 starting
The draw frame machine closes the vacuum generator, and the vacuum chuck no longer generates negative pressure of vacuum, make the vacuum chuck with
The target books are detached from；The 2.3 starting machine vision modules, judge whether to have completed to put back to, if it is not, returning to step
1.1；If so, terminating.
Preferably, the book information includes: two dimensional code and/or bar code, books title, books number and books position
It sets.
Preferably, the step 2.3 further includes shooting the target books, is read in the database in the server
Book information, check whether the book information coincide with the book information in step 1.1.
Implementing technical solution of the present invention can solve in the prior art that books grabbing device weight is big, safety is poor, noise
The technical issues of big and poor universality；Implement technical solution of the present invention, using vacuum chuck and two kinds of clamping modes of clamping plate,
Vacuum chuck quantity, position are adjustable, improve device versatility；Using compressed air be power, the mechanical transmissioning pieces such as gearless,
Noise is small, convenient for operation；Data are stored in remote server, and apparatus structure is simple, alleviator weight, reduce the device bodily form；
Central processing system can pass through books title, books number, books position, two dimensional code or bar code recognition books, identification side
Formula intelligence.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
A kind of embodiment of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is a kind of absorption modular structure schematic diagram of specific embodiment of the invention；
Fig. 2 is a kind of flexible clamping modular structure schematic diagram 1 of specific embodiment of the invention；
Fig. 3 is a kind of flexible clamping modular structure schematic diagram 2 of specific embodiment of the invention；
Fig. 4 is a kind of installation modular structure schematic diagram of specific embodiment of the invention；
Fig. 5 is a kind of machine vision module structural schematic diagram of specific embodiment of the invention；
Fig. 6 is a kind of device overall schematic of specific embodiment of the invention；
Fig. 7 is control method step 1 flow diagram of the invention；
Fig. 8 is control method step 2 flow diagram of the invention.
In above-mentioned attached drawing, each figure number label is respectively indicated:
1- vacuum chuck；2- vacuum generator；3- positioning plate；4- rotary cylinder；5- clamping plate；6- fixing seat；7- guiding
Axis；8- linear bearing；9- datum plate；10- thin cylinder；11- floating junction；12- solenoid valve；13- mounting flange；14- connection
Plate；15- bending part；16- digital camera；17- light source；18- reinforcing rib；19- wire rack；20- light source bracket；21- rotary pneumatic
Cylinder mounting plate.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In a kind of specific embodiment of the invention, a kind of books grabbing device, as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5 and
Shown in Fig. 6, comprising: draw module, flexible clamp module, installation module and machine vision module；Wherein, drawing module includes:
Several vacuum chucks 1, vacuum generator 2 and positioning plate 3；Vacuum chuck 1 is fixed on positioning plate 3；Vacuum generator 2
It is connected to vacuum chuck 1 by tracheae, provides negative pressure for vacuum chuck 1；Positioning plate 3 passes through logical equipped with supply lines and tracheae
Hole；Flexible clamp module includes: rotary cylinder 4, clamping plate 5, rotary cylinder mounting plate 21, fixing seat 6, guiding axis 7, linear axis
Hold 8, datum plate 9, thin cylinder 10, floating junction 11 and solenoid valve 12；Clamping plate 5 is mounted on rotary cylinder 4, when work,
Pairs of rotary cylinder 4 rotates in the opposite direction, and clamping plate 5 is driven to do open and close movement；Rotary cylinder 4 is fixed in fixing seat 6；
Guiding axis 7 passes through the centre bore of linear bearing 8, is connected and fixed with fixing seat 6；Linear bearing 8 is mounted on datum plate 9；It is slim
Cylinder 10 is mounted on datum plate 9；Floating junction 11 is mounted between thin cylinder 10 and positioning plate 3；Solenoid valve 12 is mounted on
On datum plate 9, the movement of thin cylinder 10 and rotary cylinder 4 is connected and controlled；Datum plate 9 is fixedly connected with positioning plate 3；Installation
Module includes: mounting flange 13 and connecting plate 14；Connecting plate 14 is fixed on mounting flange 13；Datum plate 9 is connected to connecting plate
14, it is fixedly connected with flexible clamp module with module is installed；Machine vision module includes: bending part 15, digital camera 16 and light
Source 17；Bending part 15 is connected to installation module；Digital camera 16 is mounted on bending part 15, and light source 17 is connected to digital camera
16。
In the prior art, books grabbing device is often used motor output power, is driven in grasping mechanism by mechanical structure
Clamping plate or manipulator grab books, be using the shortcomings that this grasping mechanism, grasping mechanism internal structure is complicated, has more
Accurate mechanical transmission part, maintenance difficult after damage；Since the shape of clamping plate and manipulator, scope of activities are fixed, can only press from both sides
The books of certain a kind of specification, weight are taken, applicable range is smaller；When books heavier-weight, in order to firmly grab, move book
Nationality, clamping plate and manipulator need to apply larger pressure, since the contact area of clamping plate and manipulator and books is small, books to books
Stress is excessively concentrated, and the contact point pressure of clamping plate and manipulator and books is larger, is repeatedly easy to damage books after crawl.
In this specific embodiment, books are drawn using absorption module.Multiple threaded holes, vacuum are set on positioning plate 3
Sucker 1 can be fixed with positioning plate 3 by screw, and vacuum generator 2 can be fixed by screws on positioning plate 3, each vacuum
Sucker 1 can be used independent tracheae and connect with vacuum generator 2, and tracheae and vacuum generator 2 or vacuum chuck 1 can be by can
Disassembly mode connects.When vacuum generator 2 or vacuum chuck 1 damage, it need to only remove tracheae and knockout screw, i.e., it is replaceable, just
In maintenance.The materials such as good airproof performance, soft rubber can be used in the face that vacuum chuck 1 is contacted with books, and vacuum chuck 1 adsorbs
Behind books surface, slight deformation can occur for the flexible material on 1 surface of vacuum chuck, so that the fitting books completely of vacuum chuck 1
Surface avoids 1 gas leakage of vacuum chuck that books is caused to fall, and 1 surface of vacuum chuck is flexible material, vacuum chuck 1 and book
The contact surface of nationality uniform force everywhere, books damaged surfaces caused by avoiding book portion region stress excessive.Vacuum generator 2
The suction of the offer of vacuum chuck 1 can be provided, books are protected, improve equipment safety and reliability.Rotary cylinder 4 and thin
Type cylinder 10 is power using compressed air, and noise is small.
In flexible clamp module, clamping plate 5 and rotary cylinder 4 can replace different rulers by the detachable fixation of screw
Very little clamping plate 5, the books for the clamp module, that is, applicable different size that stretches, improves the versatility of device.Pairs of rotary pneumatic
Cylinder 4 is symmetrically disposed in 21 both ends of rotary cylinder mounting plate, and when clamping plate 5 leaves unused, rotary cylinder 4 controls clamping plate 5 and is parallel to
Datum plate 9 is placed towards 9 liang of side directions of datum plate.The rotatable angle of rotary cylinder 4 is greater than 90 °, in use process, rotary cylinder 4
Clamping plate 5 can be rotated to drawing below module, to support books, therefore 5 surface of clamping plate can be set to burnishing surface,
Evenly dispersed pressure avoids damage book cover, improves equipment safety and reliability.Floating junction 11 is set to datum plate 9
Between rotary cylinder mounting plate 21, floating junction 11 is connected close to one end of datum plate 9 with the piston of thin cylinder 10, floats
Dynamic 11 other end of connector connects rotary cylinder mounting plate 21, and floating junction 11 and thin cylinder 10, rotary cylinder mounting plate 21 can
To use screw to fix, easy to disassemble and replacement.In use process, compressed air control is can be used in thin cylinder 10, by
It is fixed in thin cylinder 10 and datum plate 9, the air pressure in thin cylinder 10 is increased, thin cylinder 10 pushes floating junction 11
It moves down, rotary cylinder mounting plate 21 moves down；The air pressure in thin cylinder 10 is reduced, then thin cylinder 10 is drawn
Dynamic floating junction 11 moves up, and rotary cylinder mounting plate 21 moves up.External control system is controlled by solenoid valve 12
The movement of thin cylinder 10 and rotary cylinder 4, to adjust the position of clamping plate 5.
The threaded hole matched is set on positioning plate 3 and datum plate 9, it is using screw that positioning plate 3 and datum plate 9 is fixed,
It is fixed on flexible clamp module module will be drawn, the threaded hole on datum plate 9 to stationary positioned plate 3 can be set
Near solenoid valve 12, the control line distance for drawing the electric wire and solenoid valve 12 in module is close, can summarize latter with being connected to dress
Outside setting, stretch the electric wire for clamping and only connecting solenoid valve 12 and rotary cylinder 4 and thin cylinder 10 in module bodies part, reduction
A possibility that electric wire damages in 10 active procedure of rotary cylinder 4 and thin cylinder, improves the safety and reliability of device.
It is provided with many location holes and threaded hole on mounting flange 13, can be connected by screw with other moving components
It connects, total interface of connection is externally installed as books grabbing device.Use location hole and threaded hole different on mounting flange 13
It is connect with external equipment, mounting means is flexible, is mounted on different external equipments convenient for the books grabbing device, and it is logical to improve device
The property used.Mounting flange 13 is fixed with connecting plate 14 by screw, and connecting plate 14 is fixed with flexible clamp module by screw, machine
Vision module is fixed with installation module by screw, easy to disassemble, is easily changed and is safeguarded.
Bending part 15 and installation module, digital camera 16, can be connected by screw to, just between digital camera 16 and light source 17
In disassembly.According to data such as books specification, library environment, the height of bookcase, specifications, different bending parts 15 can choose,
To adjust the position and orientation of digital camera 16 and light source 17.15 integration casting of bending part, intensity is higher, the song of bending part
Rate radius is small, and required space is few, improves space utilization rate, reduces device overall volume.
In a preferred embodiment, as shown in figures 1 to 6, vacuum chuck 1 is circumferentially uniformly distributed, and vacuum is inhaled
The quantity of disk 1 is 3~8.Data, the users such as cover material, weight, specification according to books can choose on positioning plate 3
Different location is uniformly arranged the vacuum chuck 1 of different numbers, to be applicable in different types of books, improves device versatility.
In a preferred embodiment, as shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 6, module is installed further include: reinforcing rib 18
With wire rack 19, reinforcing rib 18 is set between mounting flange 13 and connecting plate 14, and wire rack 19 is mounted on reinforcing rib 18
On.Reinforcing rib 18 is fixed with mounting flange 13 and connecting plate 14 by screw, and connecting plate 14 and mounting flange 13 are reinforced, and dispersion connects
The stress of fishplate bar 14 and 13 junction of mounting flange, according to the parameters such as the weight of books grabbing device, the weight of books, Ke Yixuan
The reinforcing rib 18 of different size is selected, device stability is improved.Wire rack 19 is connected by screw to reinforcing rib 18, wire rack
Circular hole is set on 19, and power supply, control line for Motionless electromagnetic valve 12, machine vision module and draw frame machine, avoiding device are lived
Electric wire is damaged during dynamic, extends device lifetime.
In a preferred embodiment, as shown in Figure 4, Figure 5 and Figure 6, bending part 15 is connected to reinforcing rib 18.Bending
Part 15 can be connected and fixed with reinforcing rib 18 using screw, and the weight of machine vision module is distributed to connection by reinforcing rib 18
On plate 14 and mounting flange 13, avoids connecting plate 14 excessive with 13 junction stress of mounting flange and deformation or fracture, extend and connect
The service life of fishplate bar 14 and mounting flange 13.
In a preferred embodiment, as shown in Figure 5 and Figure 6, light source 17 is annular light source 17, machine vision module
It further include annular light source bracket 20, annular light source bracket 20 is fixed on digital camera 16.Using annular light source 17, provide enough
Brightness, to illuminate book feature, while the shade in picture can be reduced, shade is avoided to propose the influence of image recognition
The accuracy of high device identification books.The brightness of annular light source 17 is adjustable, and user can select according to data such as ambient brightness
The brightness for selecting annular light source 17 reduces energy consumption while reaching optimal illumination effect.
In a preferred embodiment, as shown in Fig. 2, Fig. 3 and Fig. 6, a kind of books grabbing device, further includes center
Processor, central processing unit are PLC or single-chip microcontroller, and central processing unit, which is connected to, draws module, flexible clamp module and machine view
Feel module.Books image-recognizing method, rotary cylinder 4 and thin cylinder 10 can be stored in advance in central processing unit and control by user
The data such as parameter processed, realization device are automatically performed books and the movement such as grab, put back to.User can star central processing unit, automatically
Books grabbing device is operated, the movement of books grasping mechanism can also be directly controlled by central processing unit real-time operation.Centre
Reason device can be integrated in books grabbing device, and module, flexible clamp module, installation module and machine vision module are straight with drawing
It connected electric wire to be connected, and reduced control information transmission link, after central processing unit issues instruction, each module can be timely responded to,
Improve device crawl efficiency and accuracy.
In a preferred embodiment, central processing unit further includes wireless communication module, wireless communication module connection
To cloud server, cloud server is equipped with the database of storage book information.Books quantity is big in library, and database needs
The information such as cover image, the bar code of a large amount of books are stored, therefore Cloud Server can be set and be used to store book information, letter
Change books grabbing device structure, same set of database can be used in multiple books grabbing devices, reduces user management, maintenance data
The time cost and human cost in library.User can be increased, deleted or be updated newly book information with remotely modifying database, be reduced dimension
Protect cost.
A kind of control method of books grabbing device, using the books grabbing device with These characteristics, as shown in Figure 1, Figure 2,
Shown in Fig. 3, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, comprising: step 1: books grasping movement 1.1 starts machine vision module, opens light source
17 illuminate target books, and digital camera 16 takes pictures to target books, and photo is analyzed in central processing unit, obtain
The information of target books in picture, the book information stored in the database in reading service device, determines books position；1.2
Start draw frame machine, start vacuum generator 2, vacuum chuck 1 generates negative pressure of vacuum, is bonded and catches target books；1.3 starting
Flexible clamp module, solenoid valve 12 control rotary cylinder 4 and move, and open clamping plate 5, and solenoid valve 12, which controls thin cylinder 10 and does, to be stretched
It moves out, by floating junction 11, rotary cylinder mounting plate 21 is driven to stretch out together, after the completion of stretching, the control rotation of solenoid valve 12
Rotaring cylinder 4 is closed, and after the completion of closure, thin cylinder 10 is retracted, until clamping plate 5 is contacted with target books and compresses book
Nationality；1.4 move books to books position；Step 2: books put back to movement 2.1 and start flexible clamp module, and solenoid valve 12 controls
Thin cylinder 10 stretches out, and is detached from pressure plate and target books, and solenoid valve 12 controls rotary cylinder 4 and moves, and opens clamping plate 5,
Solenoid valve 12 controls thin cylinder 10 and retracts, and by floating junction 11, rotary cylinder mounting plate 21 is driven to retract together；2.2 opening
Dynamic draw frame machine, closes vacuum generator 2, and vacuum chuck 1 no longer generates negative pressure of vacuum, keeps vacuum chuck 1 and target books de-
From；2.3 starting machine vision modules, judge whether to have completed to put back to, if it is not, returning to step 1.1；If so, terminating.
In step 1.2, the parameter of negative pressure of vacuum is according to books weight, book cover material, 1 quantity of vacuum chuck, vacuum
The data such as the distributing position of sucker 1 determine that vacuum generator 2 evenly distributes the vacuum degree of each vacuum chuck 1, avoid part true
1 vacuum degree of suction disk is excessively high to cause books damaged surfaces.In step 1.3, the length that floating junction 11 stretches out depends on books
Thickness, it is ensured that clamping plate 5 is located at below books after being closed, and clamping plate 5 is avoided to damage books from side.In step 1.4, clamping dress
After the completion of setting clamping books, books grabbing device is moved integrally by the external equipment that mounting flange 13 connects, books are moved to
Target position.Books grabbing device compresses two kinds of method of clamping of books using vacuum chuck 1, clamping plate 5, moves again after fixing
Dynamic books.Parameter is clamped in central processing unit erroneous calculations, when causing 1 suction of vacuum chuck insufficient or 5 insufficient pressure of clamping plate,
Two kinds of method of clamping can complement each other, and books is avoided to fall from device because clamping not strongly, and improve equipment safety and reliable
Property.
During books are put back to, if clamping plate 5 is withdrawn after closing vacuum generator 2, since clamping plate 5 is under books
Side, clamping plate 5 is easy mobile books during withdrawal, falls books from bookshelf.In step 2, device first withdraws clamping plate
5, secondly close vacuum generator 2.In step 2.2, after closing vacuum generator 2, vacuum chuck 1 is connected to vacuum by tracheae and sends out
Raw device 2, to be connected to atmosphere, the air pressure in vacuum chuck 1 restores atmospheric pressure, and lesser rub only is remained between vacuum chuck 1 and books
Power is wiped, the amplitude that books are moved by device is reduced, improves the accuracy that device places books.In step 2.3, device can be acquired
Books image compares the placement location in abovementioned steps 1.4, or acquisition books and bookshelf image, directly with deposited in database
The information of storage compares, or proofreads books position using other modes.If books are placed on errors present, or in step 2,
Books carry out step 1 and step 2, weight by vacuum chuck 1 or the mobile deviation target position of clamping plate 5, device again automatically
New placement books further increase the accuracy that device places books.
In a preferred embodiment, as shown in fig. 7, book information includes: two dimensional code and/or bar code, books
Title, books number and books position.Different Concerning Book Cover Designs respectively has feature, the collected books envelope of machine vision module
Face may be multinomial comprising one in the information such as two dimensional code, bar code, books title, books number, therefore stores in database
Book information range it is wide, machine vision module collects the front cover, backside cover or spine picture of books, can help
It helps central processing unit to identify books, reduces books identification and require, improve device versatility, books identification is more intelligent.
In a preferred embodiment, as shown in figure 8, step 2.3 further includes, photographic subjects books, reading service
The book information in database in device, checks whether the book information coincide with the book information in step 1.1.If not kissing
It closes, that is, reenters step 1, to correct central processing unit to the identification mistake of books, improve the reliability of device.
Although this specification has more used vacuum chuck 1, vacuum generator 2, rotary cylinder 4, fixing seat 6, guiding
Axis 7, datum plate 9, thin cylinder 10, floating junction 11, solenoid valve 12, mounting flange 13, connecting plate 14, is reinforced linear bearing 8
Muscle 18, wire rack 19, bending part 15, digital camera 16, annular light source bracket 20, annular light source 17 wait terms, but do not arrange
A possibility that except other terms are used.The use of these items is only for more easily describing essence of the invention, them
Being construed to any additional limitation is disagreed with spirit of that invention.
It should be pointed out that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of books grabbing device characterized by comprising draw module, flexible clamp module, installation module and machine view
Feel module；Wherein,
The absorption module includes: several vacuum chucks, vacuum generator and positioning plate；The vacuum chuck is fixed on
On the positioning plate；The vacuum generator is connected to the vacuum chuck by tracheae, provides negative pressure for the vacuum chuck；
The positioning plate is equipped with the through-hole that supply lines and the tracheae pass through；
The flexible clamp module includes: rotary cylinder, clamping plate, rotary cylinder mounting plate, fixing seat, guiding axis, linear axis
It holds, datum plate, thin cylinder, floating junction and solenoid valve；The clamping plate is mounted on the rotary cylinder, when work, at
Pair the rotary cylinder rotate in the opposite direction, drive the clamping plate to do open and close movement；The rotary cylinder is fixed on institute
It states in fixing seat；The guiding axis passes through the centre bore of the linear bearing, is connected and fixed with the fixing seat；The linear axis
It holds and is mounted on the datum plate；The thin cylinder is mounted on the datum plate；The floating junction is mounted on described thin
Between type cylinder and the rotary cylinder mounting plate；The solenoid valve is mounted on the datum plate, is connected and is controlled described thin
The movement of type cylinder and the rotary cylinder；The datum plate is fixedly connected with the positioning plate；
The installation module includes: mounting flange and connecting plate；The connecting plate is fixed on the mounting flange；The benchmark
Plate is connected to the connecting plate, is fixedly connected with the flexible clamp module with the installation module；
The machine vision module includes: bending part, digital camera and light source；The bending part is connected to the installation module；
The digital camera is mounted on the bending part, and the light source is connected to the digital camera.
2. a kind of books grabbing device according to claim 1, which is characterized in that the vacuum chuck circumferentially uniformly divides
Cloth, the quantity of the vacuum chuck are 3~8.
3. a kind of books grabbing device according to claim 2, which is characterized in that the installation module further include: reinforce
Muscle and wire rack, the reinforcing rib are set between the mounting flange and the connecting plate, and the wire rack is mounted on
On the reinforcing rib.
4. a kind of books grabbing device according to claim 3, which is characterized in that the bending part is connected to the reinforcement
Muscle.
5. a kind of books grabbing device according to claim 4, which is characterized in that the light source is annular light source, described
Machine vision module further includes annular light source bracket, and the annular light source bracket is fixed on the digital camera.
6. a kind of books grabbing device according to claim 5, which is characterized in that further include central processing unit, it is described in
Central processor is PLC or single-chip microcontroller, and the central processing unit is connected to the absorption module, the flexible clamp module and described
Machine vision module.
7. a kind of books grabbing device according to claim 6, which is characterized in that the central processing unit further includes wireless
Communication module, the wireless communication module are connected to cloud server, and the cloud server is equipped with the number of storage book information
According to library.
8. the control method of books grabbing device according to claim 7 characterized by comprising
Step 1: books grasping movement
The 1.1 starting machine vision modules, open the light source and illuminate target books, the digital camera is to the target book
Nationality is taken pictures, and photo is analyzed in the central processing unit, obtains the information of the target books in picture, reads institute
The book information stored in the database in server is stated, determines books position；
The 1.2 starting absorption modules, start the vacuum generator, and the vacuum chuck generates negative pressure of vacuum, is bonded and grabs
State target books in residence；
1.3 start the flexible clamp modules, and the clamping plate, institute are opened in the movement of rotary cylinder described in the solenoid valve control
It states thin cylinder described in solenoid valve control and does stretch out motion, by the floating junction, drive the rotary cylinder mounting plate one
It rising and stretches out, after the completion of stretching, rotary cylinder described in the solenoid valve control is closed, after the completion of closure, the thin cylinder
It retracts, until the clamping plate is contacted with the target books and compresses books；
1.4 move books to the books position；
Step 2: books put back to movement
The 2.1 starting flexible clamp modules, thin cylinder described in the solenoid valve control stretch out, make the pressure plate with it is described
Target books are detached from, the movement of rotary cylinder described in the solenoid valve control, open the clamping plate, described in the solenoid valve control
Thin cylinder retracts, and by the floating junction, the rotary cylinder mounting plate is driven to retract together；
The 2.2 starting absorption modules, close the vacuum generator, the vacuum chuck no longer generates negative pressure of vacuum, makes institute
It states vacuum chuck and the target books is detached from；
The 2.3 starting machine vision modules, judge whether to have completed to put back to, if it is not, returning to step 1.1；If so, terminating.
9. the control method of books grabbing device according to claim 8, which is characterized in that the book information includes:
Two dimensional code and/or bar code, books title, books number and books position.
10. the control method of books grabbing device according to claim 9, which is characterized in that the step 2.3 is also wrapped
It includes, shoots the target books, read the book information in the database in the server, check the book information and step
Whether the book information in 1.1 coincide.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910054584.3A CN109677825B (en) | 2019-01-21 | 2019-01-21 | Book grabbing device and control method thereof |
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| CN201910054584.3A CN109677825B (en) | 2019-01-21 | 2019-01-21 | Book grabbing device and control method thereof |
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| CN109677825B CN109677825B (en) | 2024-05-14 |
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| CN115159049A (en) * | 2022-06-16 | 2022-10-11 | 新乡市布瑞克斯机械有限公司 | Novel on-off mechanism |
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| CN109677825B (en) | 2024-05-14 |
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