CN109760979A - A kind of automation taking care of books robot and automation book management system - Google Patents
A kind of automation taking care of books robot and automation book management system Download PDFInfo
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- CN109760979A CN109760979A CN201910044575.6A CN201910044575A CN109760979A CN 109760979 A CN109760979 A CN 109760979A CN 201910044575 A CN201910044575 A CN 201910044575A CN 109760979 A CN109760979 A CN 109760979A
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Abstract
The present invention relates to taking care of books technical field more particularly to a kind of automation taking care of books robot and automation book management systems.Automation taking care of books robot of the invention includes pedestal, temporary bookshelf, manipulator and advance system, in which: temporary bookshelf and manipulator are installed on pedestal, and advance system is arranged in the bottom of pedestal.Automation taking care of books robot of the invention, manipulator realize automation and take book, that is, realize undercarriage in the automation of books；Temporary bookshelf is realized automation taking care of books robot and, so that realizing batch takes book, transport and also book, can be borrowed while to meet a large amount of books with emporary transient storage department component book, time saving and energy saving.Automation book management system of the invention includes above-mentioned automation taking care of books robot and books check system, can be truly realized all weather operations, the independence and random requirement that information reader obtains.
Description
Technical field
The present invention relates to taking care of books technical field more particularly to a kind of automation taking care of books robot and automation figures
Book management system.
Background technique
Currently, library realizes the MIS in vc ++ based on RFID technique substantially.However, with information
It technically deepens continuously, the outmoded facility in library has been unable to meet the higher requirement of user, and drawback is gradually exposed, table
Now inadequate to the management depth of books for MIS in vc ++, what is only managed is books itself, lacks and is with machinery
The automation equipment on basis, the operations such as undercarriage, carrying, classification rely primarily on manually to complete on books, consume a large amount of manpowers
And the time, increase the labor intensity of librarian.Book borrowing and reading mode is single simultaneously, cannot cope with big spirogram well
The case where book is borrowed.
Summary of the invention
It is an object of the present invention to provide it is a kind of automation taking care of books robot, it can be achieved that books upper undercarriage,
It is borrowed while carrying and a large amount of books；It is yet a further object of the present invention to provide one kind to be based on above-mentioned automation books
The automation book management system for managing robot and library bookshelf, realizes the intelligent management of books.
To achieve the goals above, the present invention provides a kind of automation taking care of books robots, which is characterized in that including
Pedestal, temporary bookshelf, manipulator and advance system, in which: temporary bookshelf and manipulator are installed on pedestal, system of advancing
System is arranged in the bottom of pedestal.
Further, keeping in bookshelf is rotary cylindrical bookshelf, and the rotary cylindrical bookshelf is formed with several only
Vertical books in stock chamber, several books in stock bottom of chamber portions are provided with for books to be stored in the books in stock chamber conveyer belt with taking-up.
Further, rotary cylindrical bookshelf further includes rotary positioning apparatus.
Further, manipulator includes main part and the reciprocating mechanism for driving main part to move up and down, master
Body portion includes clamping device for clamping books and the back-and-forth motion mechanism for driving clamping device to be moved forward and backward,
In: clamping device includes the first grip block for being oppositely arranged with the second grip block and for driving the second grip block opposite the
One grip block is moved with the grip block driving mechanism of clamp or release books.
Further, main part further includes being used to assist moving of conveyer belt will between clamping device and moving of conveyer belt
The Tui Shu mechanism of books push-in library bookshelf.
Further, manipulator includes two, respectively for books to be transferred to temporary bookshelf by library bookshelf
First manipulator and for books to be transferred to the second manipulator of books access port by keeping in bookshelf.
Further, it is provided on pedestal for keeping the parallel library bookshelf movement of automation taking care of books robot
Infrared range-measurement system.
Further, automation taking care of books robot further includes that the books of book correctness is taken to know for inspecting manipuator
Other device.
Further, automation taking care of books robot further include for realizing manipulator and library bookshelf books in stock mouth it
Between precise positioning location position device.
A kind of automation taking care of books robot of the invention, has the advantages that
1, automation taking care of books robot of the invention, manipulator realize automation and take book, that is, realize books
Undercarriage in automation；Temporary bookshelf realizes automation taking care of books robot can be with emporary transient storage department component book, to realize
Batch takes book, transport and also book, borrows while to meet a large amount of books, time saving and energy saving.
2, the temporary bookshelf of automation taking care of books robot of the invention is using rotary cylindrical bookshelf, so that having
Maximum books storage quantity has been obtained in the space of limit, and has obtained good visual effect, to automation taking care of books
The compact of robot has played vital effect.
3, the rotary cylindrical bookshelf of automation taking care of books robot of the invention, books in stock bottom of chamber portion, which is provided with, to be convenient for
Books are stored in the books in stock chamber conveyer belt with taking-up, so that the access of books is more quick.
4, the rotary cylindrical bookshelf of automation taking care of books robot of the invention, is provided with rotary positioning apparatus,
It ensure that the accurate of rotary cylindrical bookshelf rotation angle, and then realize manipulator and rotary cylindrical bookshelf books in stock chamber
Between precise positioning.
5, automation taking care of books robot of the invention is furnished with reciprocating mechanism, to realize manipulator and figure
Book shop bookshelf or temporary bookshelf different height to positive justification；Clamping device uses the grip block clamping device of matching books,
Under the premise of realizing that books smoothly clamp, books will not be lost.
6, automation taking care of books robot of the invention, clamping device lower section is provided with to be turned for books transfer transport
Conveyor belts are moved, not caused enough the books of gripper mechanism grips dynamics is on the one hand avoided and slides, on the other hand realize
After books are by being delivered to automation taking care of books robot by transfer conveyor belts on front side of automation taking care of books robot
Side is temporary or user takes book.
7, automation taking care of books robot of the invention, is provided between clamping device and moving of conveyer belt for assisting
Moving of conveyer belt is by the Tui Shu mechanism of books push-in library bookshelf, so that realizing books is smoothly stored in library book frame pair
The books in stock mouth answered.
8, automation taking care of books robot of the invention, including be respectively for being transferred to books by library bookshelf
The first manipulator of bookshelf and the second manipulator for books to be transferred to books access port by keeping in bookshelf are kept in, is being filled
Point using under the premise of the confined space, arranging two manipulators, definitely, cooperation, working efficiency is higher for the division of labor.
9, automation taking care of books robot of the invention, base bottom are provided with for keeping automation taking care of books machine
The mobile infrared range-measurement system of the parallel library bookshelf of device people then ensure that manipulator can realize figure with face library bookshelf
The smooth access of book.
10, automation taking care of books robot of the invention, further includes the figure that book correctness is taken for inspecting manipuator
Book identification device guarantees the correctness of taken books.
11, automation taking care of books robot of the invention, further includes for realizing manipulator and library bookshelf books in stock
The location position device of precise positioning between mouthful smoothly takes out books from books in stock mouth or is stored in books to realize manipulator
Books in stock mouth avoids the two position deflection from leading to not realize access book.
Of the invention additionally provides a kind of automation book management system, including any one of the above automates taking care of books
Robot and books check system, check system include RFID electronic label and RFID electronic label identifier, in which: every
Books back correspondence is equipped with RFID electronic label；RFID electronic label identifier corresponds to the library bookshelf number of plies and is automating
It is disposed with up and down in taking care of books robot multiple.
Further, automation book management system further includes man-machine interactive platform, and man-machine interactive platform is arranged automatic
Change in taking care of books robot.
A kind of automation book management system of the invention, has the advantages that
1, automation book management system of the invention, check system include that RFID electronic label and RFID electronic label are known
Other device, and RFID electronic label identifier corresponds to the library bookshelf number of plies and is disposed with up and down in automation taking care of books robot
It is multiple, so that once being walked by automation taking care of books robot realizes making an inventory for entire row bookshelf, it is quick rapid, it is effectively reduced
Restocking error rate；In addition, automation taking care of books robot daytime may be implemented books access and upper undercarriage, night can be real
Existing nobody makes an inventory automatically, is truly realized all weather operations.
2, automation book management system of the invention, further includes man-machine interactive platform, and reader can utilize cell phone client
Self-service reservation book borrowing can directly take books away after reader reaches library, realize independence that information reader obtains and with
Meaning property requires.
Detailed description of the invention
Illustrate the embodiment of the present invention or technical solution in the prior art in order to clearer, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it is clear that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the schematic diagram of internal structure (one) of automation taking care of books robot of the invention；
Fig. 2 is the schematic diagram of internal structure (two) of automation taking care of books robot of the invention；
Fig. 3 is the external structure schematic diagram of automation taking care of books robot of the invention；
Fig. 4 is the structural schematic diagram of temporary bookshelf of the invention；
Fig. 5 is the schematic diagram of internal structure of manipulator of the invention；
Fig. 6 is the inside enlarged structure schematic diagram (one) of manipulator of the invention；
Fig. 7 is the inside enlarged structure schematic diagram (two) of manipulator of the invention；
Fig. 8 is the external structure schematic diagram of manipulator of the invention；
Fig. 9 is the overall structure diagram of library bookshelf of the invention；
Figure 10 is the structural schematic diagram of library bookshelf books in stock mouth of the invention；
Figure 11 is the overall structure diagram of Tui Shu mechanism of the invention；
Figure 12 is the schematic diagram of internal structure of Tui Shu mechanism of the invention；
In figure: 11- pedestal, 2- keep in bookshelf, 21- first partition, 22- second partition, 23- books in stock chamber, 24- books in stock chamber and pass
Send band, 25- grating sensor, 3- manipulator, 31- reciprocating mechanism, 311- support column, the first grip block of 321-, 322-
Two grip blocks, 323- grip block driving mechanism, 33- are moved forward and backward mechanism, 341- shifts conveyor belts, 35- connecting plate, 36-
Tui Shu mechanism, 361- push away book plate, 3611- first and push away that book plate is seperated, 3612- second pushes away that book plate is seperated, 362- accommodates cavity plate, 363-
Telescopic rod, 364- approach rail, 365- gear-rack drive mechanism, 4- advance system, 51- man-machine interactive platform, the access of 52- books
Mouth, 53- touching-type monitor, 54-IC card reader, 55- cellphone information receiver, 6- infrared range-measurement system, 71- wide-angle imaging
Head, 72-RFID electronic label identification device, 81- laser emitting source, 82- laser pick-off pipe, 83- high frequency camera shooting head, 9- library's book
Frame, 91- books in stock mouth；
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical solution in the embodiment of the present invention carry out it is clear, completely retouch
It states, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the present invention
In embodiment, those skilled in the art's all other reality obtained without making creative work
Example is applied, protection scope of the present invention is belonged to.
As shown in Figure 1 and Figure 2, a kind of automation taking care of books robot of the embodiment of the present invention, including it is pedestal 11, temporary
Bookshelf 2, manipulator 3 and advance system 4, in which: temporary bookshelf 2 is respectively mounted on the pedestal 11 with manipulator 3, advance system 4
It is arranged in the bottom of pedestal 11.
Specifically, pedestal 11 is mainly used for the carrying and installation of other functional components, pedestal 11 can be any form of
Pedestal, or pedestal as shown in Figure 1, there are four orthogonal side, i.e. 11 overall appearance of pedestal is the tool of pedestal 11
It is rectangular；Certainly, can also be arranged on pedestal 11 with the matched outer housing of pedestal 11, for accommodating temporary bookshelf 2, manipulator 3 etc..
Temporary bookshelf 2 is mainly used for automating taking care of books robot emporary transient storage department component book, so that realizing batch takes book, fortune
It is defeated, with also book, and then meet a large amount of books while, borrows；Temporary bookshelf 2 is mounted on the middle position of pedestal 11, thus machine
People is whole more steady；The present invention is not specifically limited for the specific structure of temporary bookshelf 2, and those skilled in the art can be according to machinery
The actual conditions such as the arrangement of hand 3 specifically design.Advance system 4 is arranged in the bottom of pedestal 11, is mainly used for realizing automation figure
Book manages walking of the robot in library, carries out access book operation；Advance system 4 can be to be arranged in 11 lower section of pedestal
Several movable pulleys obtain lesser turning radius to adapt to the narrow working space in library, it is preferred that movable pulley four
It is a, it is mounted at four angles of 11 bottom of pedestal；Preferably, using Mecanum wheel, each Mecanum wheel has been separately configured
Driving motor, to realize overall movement of the automation taking care of books robot in library.Manipulator 3 is mainly used for realizing
Books are removed by library bookshelf 9 and to be put into temporary bookshelf 2 temporary or removed by temporary bookshelf 2 and be put into library bookshelf 9 and deposit
Fore-edge storage, or removed for realizing books by temporary bookshelf 2 and be moved to books access port 52 and for reader take book or by scheming
Book access port 52 is moved to temporary bookshelf 2 and keeps in, i.e., manipulator 3 for realizing library bookshelf 9 and temporary bookshelf or is kept in
Transfer transport between bookshelf and books access port 52；Manipulator 3 of the invention, those skilled in the art can according to its function into
The individual structure design of row.
Automation taking care of books robot of the invention, manipulator 3 realize automation and take book, that is, realize books oneself
The upper undercarriage of dynamicization；Temporary bookshelf 2 realizes automation taking care of books robot can be with emporary transient storage department component book, to realize
Batch takes book, transport and also book, borrows while to meet a large amount of books, time saving and energy saving；In addition, advance system 4 is realized
Automation taking care of books robot is whole flexibly mobile in library.
In some embodiments of automation taking care of books robot of the invention, temporary bookshelf 2 has been carried out individually
Structure design, as shown in figure 4, temporary bookshelf 2 is rotary cylindrical bookshelf, rotary cylinder bookshelf include top plate and bottom plate,
Several first partitions 21 and several second partitions 22, in which: top plate, several first partitions 21 and bottom plate be plectane and
Coaxial horizontally disposed up and down, rotary cylindrical bookshelf is separated by several first partitions 21 up and down between bottom plate and top plate
Several books in stock layers；Several second partitions 22 are rectangular slab and are provided in the radial direction perpendiculary along several books in stock layers, and several books in stock layers are separated
At several books in stock chambers 23.
Specifically, measurement of the present invention according to a large amount of books specifications, the diameter design by rotary cylindrical bookshelf are
550mm.Temporary bookshelf 2 is divided into upper, middle and lower-ranking books in stock layer by first partition 21.Several second partitions 22 to books in stock layer into
One step is divided vertically, forms independent several books in stock chambers 23, and each books in stock chamber 23 keeps in a books, the rule of books in stock chamber 23
Lattice can be high 310mm, width 50mm, depth 220mm perhaps high 310mm, width 50mm, depth 150mm or according to practical books ruler
Very little to be designed as other dimensions, the present invention is not specifically limited.It is respectively put in the upper and lower ends of rotary cylindrical bookshelf entirety
It sets a stepper motor and carries out rotation driving, synchronizing rotation driving simultaneously by both ends can effectively solve because of rotary cylinder
Upper, middle and lower-ranking books in stock layer caused by bookshelf entirety torsional deflection positions nonsynchronous problem.
The temporary bookshelf 2 of automation taking care of books robot of the invention is using rotary cylindrical bookshelf, so that having
Maximum books storage quantity has been obtained in the space of limit, and has obtained good visual effect, to automation taking care of books
The compact of robot has played vital effect.
Further, the books in stock chamber conveyer belt 24 that 23 bottom of books in stock chamber is provided with convenient for books are stored in and are taken out, every
Books in stock chamber conveyer belt 24 is provided with driving motor independent；When books needs are stored into temporary bookshelf 2, the transmission of books in stock chamber
Band 24 operates, and books are transmitted and are kept in inside books in stock chamber 23, then books in stock chamber conveyer belt 24 shuts down.
Further, rotary cylindrical bookshelf further includes rotary positioning apparatus.Specifically, in rotary cylindrical bookshelf
Top layout have grating sensor 25, to guarantee the accurate of rotary cylindrical bookshelf rotation angle；Further, it is also possible into
Laser locating apparatus is arranged in one step between manipulator 3 and temporary bookshelf 2, i.e., laser emitting source 81 is arranged on manipulator 3 and emits
Laser keeps in 2 books in stock chamber of bookshelf, 23 two sides setting receiving end and receives laser, to realize between manipulator 3 and books in stock chamber 23
Precise positioning.Grating sensor 25 and laser two ways co-located, to ensure that manipulator 3 and rotary cylindrical book
Stringent precise positioning between frame books in stock chamber 23.
Certainly, in order to which certain layer of books in stock layer or library bookshelf 9 realizing manipulator 3 and different height position, in pedestal
It on 11 and is located at turn around formula cylinder bookshelf side sliding guide supporting column 311 can be set, and machine is realized by screw rod transmission
The vertical sliding up and down of 3 main body of tool hand.
In some embodiments of automation taking care of books robot of the invention, individual knot has been carried out to manipulator 3
Structure design, as shown in Fig. 5 to Fig. 8, manipulator 3 includes main part and for driving what main part moved up and down to move up and down machine
Structure 31, main part include the clamping device for clamping books and the back-and-forth motion machine for driving clamping device to be moved forward and backward
Structure 33, in which: clamping device includes the first grip block 321 being oppositely arranged and the second grip block 322 and is used to drive second
Grip block 322 is moved with respect to the first grip block 321 with the grip block driving mechanism 323 of clamp or release books.
Specifically, manipulator 3 may include independent pedestal and/shell, for functional component installation and carrying or
With the connection of external component, those skilled in the art can specifically design according to the actual situation.The reciprocating mechanism of the present embodiment
31 can be the reciprocating mechanism 31 of sliding guide supporting column 311 and the lead screw transmission mechanism composition of a upper embodiment；Lead screw
The screw rod of transmission mechanism arranges that lead screw driving motor is arranged in the top of sliding guide supporting column 311 vertically.The master of the embodiment
Body portion is manipulator main body mentioned by a upper embodiment.It is moved forward and backward mechanism 33 and equally uses lead-screw drive mechanism, it is horizontal
It is arranged in the top of clamping device and clamping device is connected by connecting plate 35；Certainly, the upper and lower side of connecting plate 35 can be set
Sliding slot etc. slides back and forth convenient for clamping device stabilization.Clamping device is two grip blocks being oppositely arranged vertically, is used among grip block
In clamping books；In addition, the channel between grip block should be guaranteed that books, which may be implemented, to be translated across, then realize books by machine
3 front end of tool hand is moved to 3 rear end of manipulator.Mechanism 33 is moved forward and backward for driving clamping device to be moved forward and backward, that is, realizes two folders
It holds plate and protrudes into library bookshelf 9 or the clamping books of temporary bookshelf 2.The first grip block in clamping device, in two grip blocks
321 be fixed plate (connecting plate 35 is directly bolted)；Second grip block 322 can be moved with respect to the first grip block 321
Books clamping is realized so as to shorten the distance between two grip blocks；Second grip block 322 connects the defeated of grip block driving mechanism 323
Outlet, grip block driving mechanism 323 connect with connecting plate 35 or the second grip block 322 on arrange grip block driving mechanism
323, the output end of grip block driving mechanism 323 connects connecting plate 35.Grip block driving mechanism 323 can be telescopic cylinder, silk
Thick stick transmission mechanism etc. is, it can be achieved that opposite first grip block 321 of the second grip block of driving 322 moves；When grip block driving machine
When structure 323 is lead-screw drive mechanism, grip block driving mechanism 323 is provided with braced frame, and braced frame includes running through connecting plate
The two-arm of 35 sliding settings, lead screw output end are threadedly coupled connecting plate 35 between two-arm.
Further, being provided on the first grip block 321 and the/the second grip block 322 avoids books transition from clamping damage
Pressure sensor.Specifically, being driven after the completion of manipulator 3 positions by the back-and-forth motion mechanism 33 at clamping device rear, two clampings
Plate stretches out certain distance, and since library book book back thickness is inconsistent, and because manipulator 3 cannot automatically select clamping books
Central location, in order to avoid manipulator 3 excessively presss from both sides inclined books, thus the maximum width that can clamp of two grip block of clamping device according to
It is designed according to books groove width.Overexertion leads to book damages, the first grip block 321 and/or the second folder when clamping in order to prevent
It holds and is provided with pressure sensor on plate 322, when clamping force is excessive, this signal is sent to controller, controller control clamping
323 motor stopping of plate driving mechanism movement, two grip blocks hold books and are retracted to machine by being moved forward and backward the driving of mechanism 33
Inside tool hand 3.
The automation taking care of books robot of the present embodiment be furnished with reciprocating mechanism 31, thus realize manipulator 3 with
2 different height of library bookshelf 9 or temporary bookshelf to positive justification；Clamping device is using the grip block clamping machine for matching books
Structure will not lose books under the premise of realizing that books smoothly clamp.
Further, as shown in figure 5, main part further includes the transfer below clamping device for books transfer transport
Conveyor belts 341, transfer conveyor belts 341 are provided with actuation.Specifically, books are by two grip blocks in order to prevent
Between slide, be provided with below clamping device transfer conveyor belts 341；It shifts transport conveyer belt 341 and is connected to manipulator 3
Front and rear end, i.e., books can pass through transfer conveyor belts 341 realize between 3 front and rear end of manipulator transfer fortune
It is defeated, transfer conveyor belts 341 it can be appreciated that books between library bookshelf 9 and temporary bookshelf 2 or temporary bookshelf 2 with
Transmission bridge between books access port 52；For example, entering manipulator 3 by library bookshelf 9 when two grip blocks hold books
Behind inside, grip block unclamps, and books drop down onto transfer conveyor belts 341, is then transported to temporarily by shifting conveyor belts 341
Books are finally temporarily stored into temporary bookshelf by books in stock chamber conveyer belt 24 in books in stock chamber 23 again by the corresponding books in stock chamber 23 of books in stock frame 2
2。
Further, as shown in fig. 6, main part further includes moving between clamping device and moving of conveyer belt for assisting
Books are pushed into the Tui Shu mechanism 36 of library bookshelf 9 by dynamic conveyer belt.Specifically, library bookshelf 9 is different from temporary bookshelf 2,
The books in stock chamber conveyer belt 24 that temporary 2 books in stock chamber 23 of bookshelf is provided with convenient for that will books deposit and take out, and library bookshelf 9 due to
The problems such as cost, is not provided with, therefore opposite in 3 main part of manipulator setting Tui Shu mechanism 36, it is preferred that Tui Shu mechanism 36
For concealed Tui Shu mechanism, Ji Tuishu mechanism 36 can hide in main part when not in use, i.e., being when not in use can not
See Tui Shu mechanism 36, on the one hand concealed setting can not interfere manipulator completion to take book operation, on the other hand whole outer
It is more regular to see structure.Concealed Tui Shu mechanism of the invention can be realized using the structure as shown in Figure 11, Figure 12, concealed to push away
Book mechanism includes pushing away book plate 361, accommodating cavity plate 362, telescopic rod 363, approach rail 364, gear-rack drive mechanism 365, in which: is pushed away
361 front end of book plate is connect for pushing away book, rear end with cavity plate 362 is accommodated；It accommodates cavity plate 362 and can slide and have along approach rail 364 and hold
Receive the accommodating cavity of telescopic rod 363；The setting of 364 constant tilt of approach rail；Accommodating cavity is protruded into 363 one end of telescopic rod, and can be with
The sliding extension for accommodating cavity plate 362 is accommodated into receiving cavity plate 362；The output end connection expansion link of gear-rack drive mechanism 365
363 other ends, driving telescopic rod 363, which drives, accommodates cavity plate 362 along the sliding of approach rail 364.When needing to push away book movement, rack-and-pinion
The driving of driving mechanism 365 pushes away book plate 361 and stretches out ejecting mechanism, and then completes front and back and push away book operation, and then auxiliary manipulator is completed
Books in stock operation；After the completion of pushing away book operation, gear-rack drive mechanism 365 driving push away book plate 361 withdrawal push away book it is in-house hide.
It should be noted that, in order to avoid interference takes book operation, pushing away book plate 361 when manipulator carries out taking book operation and being in hidden state.
Further, book plate 361 is pushed away to include front and back pushes away book plate fission 3611 to slotting first that with second to push away book plate seperated
3612, first, which pushes away book plate fission 3611, pushes away seperated 3612 splicing position of book plate with second and is set with the first buffer spring.Certainly, optional
It selects, accommodates the second buffer spring being provided between cavity plate 362 and telescopic rod 363 for buffering.The tool at buffer spring both ends
Body link position, can be used position as shown in figure 12, and the first buffer spring and the second buffer spring are in compressive state.It hides
Shi Tuishu mechanism can design the support baseboard or braced frame of arbitrary shape, prop up to realize the installation of its each functional component
Support bottom plate or braced frame on arrange above-mentioned approach rail 364, push away book plate hide be contracted on approach rail, can refer to Figure 11, Figure 12.
Further, the front end of Tui Shu mechanism 36, which is provided with to take for manipulator 3, detects whether books are placed on figure when book
Wide-angle camera 71 inside book shop bookshelf 9；Also, books back electronic tag for identification is installed inside manipulator 3
Electronic label identification device.Specifically, wide-angle camera 71 and RFID electronic label identifier 72 cooperate, composition books identification dress
It sets, guarantees that books identification is accurate；Electronic tag and electronic label identification device are the common ministry of electronics industry in field of radio frequency identification
Part, this will not be detailed here.After confirming book information, controller control transfer conveyor belts 341 are acted, and grip block unclamps books
It drops down onto transfer conveyor belts 341, cooperates books in stock chamber conveyer belt 24 inside rotary cylindrical bookshelf, books are sent to back
In rotatable cylinder bookshelf, completes books and take book operation.
In above-mentioned some embodiments of automation taking care of books robot of the invention, as shown in Figure 1, manipulator 3 includes
Two, respectively for by books by library bookshelf 9 be transferred to the first manipulator of temporary bookshelf 2 and be used for by books by
Temporary bookshelf 2 is transferred to the second manipulator of books access port 52.
Specifically, when pedestal 11 is plinth, the first manipulator and the second manipulator be located at/close pedestal 11
The setting of two adjacent sides, i.e. the first manipulator and the second manipulator are arranged in 90 °.First manipulator takes book operation that can join
According to above-described embodiment, details are not described herein.When passing books to reader, controller starts the second manipulator behavior, the second machine
Tool hand is taken out books by temporary bookshelf 2, and operating principle takes book identical with the first manipulator, and then the second manipulator passes through in it
Books are finally transported to books access port 52 by the transfer conveyor belts 341 in portion, and reader takes books away.
Automation taking care of books robot of the invention, including be respectively for being transferred to books by library bookshelf 9
The first manipulator of bookshelf 2 and the second manipulator for books to be transferred to books access port 52 by keeping in bookshelf 2 are kept in,
Under the premise of making full use of the confined space, two manipulators are arranged, definitely, cooperation, working efficiency is higher for the division of labor.
In above-mentioned some embodiments of automation taking care of books robot of the invention, as shown in figure 3, being arranged on pedestal 11
There is the infrared range-measurement system 6 for keeping the parallel library bookshelf 9 of automation taking care of books robot mobile.Infrared range-measurement system 6
It is non-perpendicular line that quantity at least two, which is arranged in the different location of pedestal 11 and the line of any two infrared range-measurement system 6,.
Specifically, the quantity of infrared range-measurement system 6 is two, pedestal 11 is arranged on 9 side side of library bookshelf；
More preferably, two infrared range-measurement systems 6 are arranged close to the left and right ends of the side and its line is horizontal line.In order to scheme automation
It keeps whole parallel with library bookshelf 9 when book management robot moves integrally, facilitates manipulator 3 to take book and improve subsequent implementation
Make an inventory in example the accuracy of function, above-mentioned infrared range-measurement system 6 be installed close to left and right ends in 11 one side of pedestal, when two it is red
When outer 6 measured value difference of rangefinder, i.e., automation taking care of books robot is whole does not keep relatively parallel with library bookshelf 9
When, infrared range-measurement system 6 issues signal, and advance system 4 controller in bottom receives signal, whole to automation taking care of books robot
Travelling route is modified, and makes itself and 9 keeping parallelism of library bookshelf.
Further, as shown in Fig. 8, Figure 10, further include for realizing manipulator 3 and 9 books in stock mouth 91 of library bookshelf it
Between precise positioning location position device.
Specifically, manipulator 3 includes the shell for accommodating its main part, the corresponding transfer conveyor belts 341 of shell are provided with use
In the preceding outlet that books disengaging and grip block are stretched out, the two sides exported before shell are provided with laser emitting source 81, it is corresponding
9 books in stock mouth of library bookshelf, 91 two sides are provided with laser pick-off pipe 82, and the high frequency by being arranged in 81 lower section of laser emitting source
Camera 83 identifies that 91 two sides LED flash frequency of books in stock mouth is realized and is accurately positioned.I.e. laser emitting source 81, laser connect
Closed tube 82 forms location position device with high frequency camera shooting head 83.More specifically, manipulator 3 is realized by reciprocating mechanism 31
Main part integrally moves up and down, and is first moved to corresponding 9 books in stock mouth of library bookshelf, 91 front by controller control；Later, laser
To controller, controller is controlled and is moved down position difference numeric feedback between emission source 81 and immediate laser pick-off pipe 82
Motivation structure 31 is finely adjusted 3 main part position of manipulator；Then manipulator 3 carries out taking book operation.
As shown in Figure 9, Figure 10, a kind of library bookshelf based on above-mentioned automation taking care of books robot, library's book
Frame 9 includes several books in stock layers arranged up and down, and every layer of books in stock layer is divided into several books in stock mouths 91 vertically, and each books in stock mouth 91 is used
In one books of storage, and corresponding the stored books of several books in stock mouths 91 have respective number.
Specifically, library bookshelf 9 passes through five transversely and horizontally plate and multiple vertical plates normal thereto, each two perpendicular
Straight panel and level board, which combine, forms a books in stock mouth 91, places a books in each books in stock mouth 91 vertically, and each vertical
Laser pick-off pipe 82 is provided on plate；Library bookshelf 9 further includes battery, which is located at 9 top of library bookshelf, is used
In give laser pick-off pipe 82 provide electric power.
Library bookshelf 9 of the invention, one books of corresponding storage of books in stock mouth 91, passes through manipulator to realize
3 with the precise positioning of required books books in stock mouth 91, the smooth access of books needed for realizing；In addition, the correspondence of books in stock mouth 91 is stored
Books have respective number, convenient for books management and make an inventory.
As shown in figure 3, a kind of automation book management system, the automation taking care of books machine including any of the above-described embodiment
Device people and books check system, check system include RFID electronic label and RFID electronic label identifier 72, in which: every
Books back correspondence is equipped with the RFID electronic label；RFID electronic label identifier 72 corresponds to 9 number of plies of library bookshelf
It is disposed with up and down in automation taking care of books robot multiple.
Specifically, check system includes RFID electronic label and RFID electronic label identifier 72, led to using radiofrequency signal
It crosses Space Coupling and realizes contactless information transmitting, the identifier and electronic tag are the common ministry of electronics industry in field of radio frequency identification
Part, it be not described in detail herein for detailed operation principle.In order to facilitate every books are identified, every books on library bookshelf 9 are in book
Back is mounted on RFID electronic label, automates and is provided on taking care of books robot support column 311 with library bookshelf 9 etc.
The RFID electronic label identifier 72 of the number of plies, for being identified to book information.Automation taking care of books robot integrally moves
When dynamic, all startings of RFID electronic label identifier 72, when books position and position set by library management system are different
The taking-up of wrong books is simultaneously temporarily stored into temporary bookshelf 2 by meeting automatic alarm when cause, manipulator 3；When automation taking care of books robot
Books are put into corresponding books in stock mouth 91 when moving to correct 9 position of library bookshelf, reach the function of making an inventory automatically.
More specifically, book management system is automated, automation taking care of books robot including any of the above-described embodiment,
Above-mentioned library bookshelf and books check system.
Automation book management system of the invention, check system include RFID electronic label and RFID electronic label identification
Device 72, and correspondence 9 number of plies of library bookshelf of RFID electronic label identifier 72 upper and lower cloth in automation taking care of books robot
Be equipped with it is multiple, it is quick rapid so that once walk by automating taking care of books robot realizes that entire row bookshelf is made an inventory, effectively
Reduce restocking error rate；In addition, automation taking care of books robot daytime may be implemented books access and upper undercarriage, night can
To realize that nobody makes an inventory automatically, it is truly realized all weather operations.
Further, as described in Figure 3, book management system is automated, further includes man-machine interactive platform 51, human-computer interaction is flat
The setting of platform 51 is in automation taking care of books robot.
Specifically, man-machine interactive platform 51 is arranged on certain one side of automation taking care of books robot shells body, more
Specifically, corresponding second manipulator setting；Be provided with books access port 52 on the man-machine interactive platform 51, so as to books launch and
It takes out.The man-machine interactive platform 51 includes the devices such as panel, touching-type monitor 53, cellphone information receiver 55.In addition, the people
Machine interaction platform 51 is equipped with IC card card reader 54, above-mentioned touching-type monitor 53, IC card card reader 54, cellphone information receiver 55
Specific structure and working principle be the prior art, this patent carried out after only being reconfigured to above-mentioned apparatus using.Its
After effect is that reader is placed an order using cell phone client reservation, man-machine interactive platform 51 receives reader's reservation information and and library
Management system networking starting automation taking care of books robot.In addition, passing through IC card card reading when reader carries out borrowing also book operation
Device 54 is accordingly registered, and is controlled manipulator 3 and specifically taken out to corresponding books and transfer operation.
It should be noted that " preceding " " rear " "upper" "lower" " first " " second " " left side " " right side " etc. of the invention is intended merely to retouch
The convenience stated, and it is not construed as the limitation to substantive content of the present invention.
The present invention is further described by specific embodiment above, it should be understood that, here specifically
Description, should not be construed as the restriction for the essence of the present invention with range, and one of ordinary skilled in the art is reading this explanation
The various modifications made after book to above-described embodiment belong to the range that the present invention is protected.
Claims (11)
1. a kind of automation taking care of books robot, which is characterized in that including pedestal, temporary bookshelf, manipulator and system of advancing
System, in which: the temporary bookshelf and the manipulator are respectively mounted on the base, and the advance system is arranged in the pedestal
Bottom.
2. automation taking care of books robot according to claim 1, which is characterized in that the temporary bookshelf is rotary
Cylindrical bookshelf, the rotary cylindrical bookshelf are formed with several independent books in stock chambers, and several books in stock bottom of chamber portions are provided with
Convenient for books to be stored in the books in stock chamber conveyer belt with taking-up.
3. automation taking care of books robot according to claim 2, which is characterized in that the rotary cylindrical bookshelf
It further include rotary positioning apparatus.
4. automation taking care of books robot according to claim 1, which is characterized in that the manipulator includes main part
And the reciprocating mechanism for driving the main part to move up and down, the main part include the clamping for clamping books
Mechanism and for drive clamping device be moved forward and backward back-and-forth motion mechanism, in which:
The clamping device include the first grip block being oppositely arranged and the second grip block and for drive it is described second clamping
The relatively described first grip block movement of plate is with the grip block driving mechanism of clamp or release books.
5. automation taking care of books robot according to claim 4, which is characterized in that the main part further includes being located at
For assisting the moving of conveyer belt by books push-in library bookshelf between the clamping device and the moving of conveyer belt
Tui Shu mechanism.
6. automation taking care of books robot according to any one of claims 1-5, it is characterised in that:
The manipulator includes two, respectively for books to be transferred to the first manipulator of temporary bookshelf by library bookshelf
And the second manipulator for books to be transferred to books access port by the temporary bookshelf.
7. automation taking care of books robot according to claim 6, which is characterized in that be provided with and be used on the pedestal
The infrared range-measurement system for keeping the parallel library bookshelf of automation taking care of books robot mobile.
8. automation taking care of books robot according to claim 6, which is characterized in that further include for inspecting manipuator
Take the books identification device of book correctness.
9. automation taking care of books robot according to claim 6, which is characterized in that further include for realizing manipulator
The location position device of precise positioning between library bookshelf books in stock mouth.
10. a kind of automation book management system, which is characterized in that including automation of any of claims 1-9
Taking care of books robot and books check system, the check system include RFID electronic label and RFID electronic label identification
Device, in which:
Every books back correspondence is equipped with the RFID electronic label；
It is upper and lower in the automation taking care of books robot that the RFID electronic label identifier corresponds to the library bookshelf number of plies
It is disposed with multiple.
11. automation book management system according to claim 10, it is characterised in that: it further include man-machine interactive platform,
The man-machine interactive platform is arranged in the automation taking care of books robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044575.6A CN109760979B (en) | 2019-01-17 | 2019-01-17 | Automatic book management robot and automatic book management system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044575.6A CN109760979B (en) | 2019-01-17 | 2019-01-17 | Automatic book management robot and automatic book management system |
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| CN109760979A true CN109760979A (en) | 2019-05-17 |
| CN109760979B CN109760979B (en) | 2020-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910044575.6A Expired - Fee Related CN109760979B (en) | 2019-01-17 | 2019-01-17 | Automatic book management robot and automatic book management system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110216692A (en) * | 2019-06-10 | 2019-09-10 | 陕西科技大学 | It is a kind of to release device with the circumferential books for putting book position |
| CN111297056A (en) * | 2020-03-31 | 2020-06-19 | 郑州轻工业大学 | Intelligent book management device |
| CN111728388A (en) * | 2020-07-30 | 2020-10-02 | 安康学院 | Rotary book returning device with cylindrical bookshelf |
| CN112270581A (en) * | 2020-09-14 | 2021-01-26 | 武汉理工大学 | Library book borrowing and returning unmanned vehicle, system and method |
| CN112869413A (en) * | 2021-01-29 | 2021-06-01 | 青岛理工大学 | Self-positioning multilayer storage bookcase and system |
| CN113264310A (en) * | 2021-07-01 | 2021-08-17 | 吉林师范大学 | Automatic book classifying and collecting device |
| CN113619965A (en) * | 2021-07-20 | 2021-11-09 | 青岛科技大学 | Automatic book taking and returning structure and using method thereof |
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| CN104875177A (en) * | 2015-05-19 | 2015-09-02 | 上海交通大学 | Intelligent book management robot |
| CN105082154A (en) * | 2015-09-17 | 2015-11-25 | 中国石油大学(华东) | Book management robot |
| CN108527311A (en) * | 2018-06-27 | 2018-09-14 | 佛山科学技术学院 | A kind of taking care of books robot |
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| US20010020197A1 (en) * | 2000-02-21 | 2001-09-06 | Yoshiyuki Nakano | Automated library system with retrieving and repositing robot |
| CN104443977A (en) * | 2014-09-23 | 2015-03-25 | 华北电力大学 | Rotary type automatic goods storing and taking device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110216692A (en) * | 2019-06-10 | 2019-09-10 | 陕西科技大学 | It is a kind of to release device with the circumferential books for putting book position |
| CN111297056A (en) * | 2020-03-31 | 2020-06-19 | 郑州轻工业大学 | Intelligent book management device |
| CN111728388A (en) * | 2020-07-30 | 2020-10-02 | 安康学院 | Rotary book returning device with cylindrical bookshelf |
| CN111728388B (en) * | 2020-07-30 | 2022-03-01 | 安康学院 | Rotary book returning device with cylindrical bookshelf |
| CN112270581A (en) * | 2020-09-14 | 2021-01-26 | 武汉理工大学 | Library book borrowing and returning unmanned vehicle, system and method |
| CN112270581B (en) * | 2020-09-14 | 2024-01-26 | 武汉理工大学 | Library book borrowing and returning unmanned vehicle, system and method |
| CN112869413A (en) * | 2021-01-29 | 2021-06-01 | 青岛理工大学 | Self-positioning multilayer storage bookcase and system |
| CN113264310A (en) * | 2021-07-01 | 2021-08-17 | 吉林师范大学 | Automatic book classifying and collecting device |
| CN113619965A (en) * | 2021-07-20 | 2021-11-09 | 青岛科技大学 | Automatic book taking and returning structure and using method thereof |
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| Publication number | Publication date |
|---|---|
| CN109760979B (en) | 2020-11-03 |
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