CN110250764A - A kind of automation storage bookcase - Google Patents
A kind of automation storage bookcase Download PDFInfo
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- CN110250764A CN110250764A CN201910576062.XA CN201910576062A CN110250764A CN 110250764 A CN110250764 A CN 110250764A CN 201910576062 A CN201910576062 A CN 201910576062A CN 110250764 A CN110250764 A CN 110250764A
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- Prior art keywords
- books
- bookcase
- fetching device
- clamping part
- area
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B63/00—Cabinets, racks or shelf units, specially adapted for storing books, documents, forms, or the like
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- Warehouses Or Storage Devices (AREA)
Abstract
The present invention relates to a kind of automations to store bookcase.Be made of in total three parts: bookshelf and puts book apparatus at transfer device.Three parts constitute monoblock type bookcase, and the book that will be gone back is put into books and gives back place, and book is automatically then transported to original position on bookshelf by transfer device (utilizing three coordinate displacements).And have can be according to the clamping device of the thickness adjust automatically of books.Operation is succinct, and automatic degree is high, and accuracy is high, and use scope is wide.The accuracy that books position in the also efficiency of book and entire library can be improved in this way, decreases human cost to a certain extent.
Description
Technical field
The present invention relates to a kind of bookcases more particularly to a kind of automation to store bookcase.
Background technique
Books are the main tools that the mankind record activities track and experience, are played very in the development of civilization
It is important, from ancient times to the present, people for book yearning and thirst for the yearning namely for knowledge, for the satisfaction of curiosity.
However, being constantly progressive with the mankind, the quantity of books is at explosive growth, especially revolution civilized several times
Afterwards, the quantity of books is inestimable.The establishment in library is also corollary, but it is numerous to collect books in library,
It has managed and has kept away the problem of can not keeping away at one.In order to more convenient, books are accurately managed, there are various people to start to send out
Bright to create many book management systems, they mainly include four subsystems: record subsystem, Query Subsystem, by means of going back subsystem
System and management subsystem.The appearance of these systems undoubtedly significantly reduces the labor intensity of manager and the pipe in entire library
Quality is managed, but needs to be accomplished manually in entire management link or there are many process, this not only wastes a large amount of people
Power material resources are also unfavorable for book management system and develop toward the intelligentized direction of mechanical automation.
Summary of the invention
To solve the not high this problem of above-mentioned the degree of automation, the present invention provides a kind of automations to store bookcase, behaviour
Make simply, accuracy is high, largely saves human cost.
The technical solution of the present invention in order to solve the above problem is:
1. Fang Shu mechanism: in slideway upper berth upper roller to reduce friction, stretching out spring in terminal point to mitigate impact.
2. clamping mechanism: the second cylinder and pressure sensor work together, and effect is to compress books, are connected in cylinder
Pressure sensor with automatic feedback to system and can make cylinder stop working when clamping plate encounters books, it is possible to automatic suitable
Books thickness should be adjusted and accurately and reliably stepped up.The effect of third cylinder is that books are pushed into bookcase.Idler wheel can be reduced
The friction that mechanism is generated when moving on boss.
3. bindiny mechanism: being the mechanism for connecting clamping mechanism and transport mechanism.Bindiny mechanism and clamping mechanism are to pass through hinge
What chain was attached, so that clamping mechanism can carry out 90 degree of overturning.The link groove being connected with bindiny mechanism is logical
It crosses motion simulation to be designed, entire mechanism can be made to rotate 90 degree, thus parallel with bookshelf entrance and smoothly by book
It is put into bookshelf.The effect of spring be adjustment transmission shell upper and lower covers, lower cover after filling book by gravity loosen downwards when
Time can make its decline, reduce impact, and thereafter lift clamping device by the effect of boss in backhaul while will also pass
Shell lower cover is sent to push to, then spring also just restores as former state.What influenced with books thickness without.
4. transport mechanism: in order to enable the clamping mechanism being attached thereto moves freely in entirely transmission space, taking three
The move mode of coordinate.X-axis is moved by the linear motor on the sliding block that directly connect with connecting rod.Y-axis is logical
It crosses in the engagement that the servo motor installed on the two sides of connecting rod passes through wheel and rack and completes movement.Z axis is by rack gear
The elevator that downside is installed is moved.
5. automatic switch mechanism: positioned at the back side of bookshelf, the button that there is protrusion in book position lower end is each put, by stepping up
The bottom end of mechanism is depressed, to be opened the switch that is put at the bookshelf back side by connecting rod effect, so that books can be with
Smoothly it is put into bookshelf.Spring therein may insure that switch is automatically closed after the completion of putting book, it is ensured that the closure for transmitting space is kept away
Exempt from human error books are pushed into from bookshelf transmission space so as to cause interference.
6. Fang Shu mechanism: in slideway upper berth upper roller to reduce friction, stretching out spring in terminal point to mitigate impact.
7. control system: there is calibration in the position of each books in bookshelf, is putting on the upside of book entrance through scanning bar code
Confirm books position.Then by control linear motor, servo motor, lifting platform is transmitted.
Compared with prior art, the invention has the following beneficial technical effects:
High degree of automation, easy to operate, accuracy is high, improves efficiency, the requirement for control be not it is extremely complex, significantly
The design difficulty for alleviating control process, largely saves human cost.And intelligent pipe is carried out for entire books pipe
Reason has buried basis.
Detailed description of the invention
Fig. 1 is whole installation diagram of the invention；
Fig. 2 is partial enlarged view of the invention；
Fig. 3 is of the invention to put book apparatus structure chart；
Fig. 4 is bindiny mechanism's clamping mechanism main view of the invention；
Fig. 5 is bindiny mechanism's clamping mechanism side view of the invention；
Fig. 6 is bindiny mechanism and transport mechanism relative movement orbit figure of the invention；
Fig. 7 is bindiny mechanism's groove schematic diagram of the present invention；
Fig. 8 is recloser figure of the invention；
Fig. 9 is gravity flipchart of the invention；
Figure 10 is rotation figure of the invention；
Figure 11 is books in stock schematic diagram of the invention；
Figure 12 is books in stock diagrammatic side view of the invention；
Figure 13 is overview of the invention；
Figure 14 is bookshelf main view of the invention；
Figure 15 is the whole installation diagram of main structure of the invention.
Wherein: 1- slideway, the first cylinder of 2-, 3- strut, 4- lifting platform (symmetrically having 2), 5- idler wheel, 6- servo motor
(symmetrically having 2), 7- rack gear (symmetrically having 2), 8- guide rail, 9- connecting rod, 10- linear motor, 11- transmission shell upper cover, 12- are passed
Send shell lower cover, 13- clamping device, 14- boss, 15- baffle, 16- switch gate, 17- button, 18- buffer unit, 19- scanning dress
It sets, the second cylinder of 20-, 21- third cylinder, 22- pressure sensor, 23- hinge, 24- pulley, 25- spring, 26- metal plate, 27-
Connecting rod (symmetrically having 2), 28- feedback spring, 29- books give back place, 30- sliding slot.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing:
First embodiment
It is another common in addition to the technical concept of taking care of books robot in the mechanical scheme of traditional books pipe management
Design is the transformation to books pipe bookcase itself.But common bookcase transformation mostly use be installed on positive stacking device,
Or internal collating unit etc., this will limit the displaying area of bookcase functional areas, or cause bookcase show area unsightly etc..
This patent is designed to provide the Novel bookcase that a kind of accuracy is high, is easily managed, facilitates pick-and-place.For this purpose, this
Patent changes the structure of traditional bookcase, switch gate (16) is provided at the bookcase back side, thus by book bidding, the function of putting
Area is mutually separated with the show area of book borrowing and reading by bookcase backboard, and the aesthetics of bookcase entirety is maintained.Thus traditional books pipe
Manage device in fetching device also just setting the bookcase back side run, such fetching device be at bookcase show area it
Outside, conducive to making full use of the positive displaying function of bookcase.
The switch gate (16) refers to that it is logical from the door to can permit books when needing to give back books when on bookshelf
The baffle crossed, and closed in remaining time.The baffle can be using various unilateral gate, such as unidirectional single or double acting door etc.；Also it can adopt
With the electronic gate etc. for being easy to artificially control folding, such as device of electric sliding door.Referring to Fig. 8, in the present embodiment, switch gate (16) is adopted
With the structure of switch triggering, every fan switch gate (16) is set there are two door-plate, and two door-plates are in the way of clamshell doors by hingedly pacifying
On bookcase.Switch gate (16) bottom is equipped with trigger switch, which is used for the folding of control switch door.The triggering
Switch includes button (17), feedback spring (28), connecting rod (27) and metal plate (26).Wherein button (17) passes through feedback spring
(28) it is mounted on the pedestal of trigger switch, so that button (17) bounces under natural conditions, only can just be pressed after stress.The company
Bar (27) forms revolute pair by metal plate (26) and switch base, and connecting rod (27) both ends form with button (17), door-plate move respectively
Dynamic pair, so that button (17) presses connecting rod (27) when back link (27) drive door-plate to open, button (17) bounces and door-plate is driven to close
It closes.Door-opening type structure is used by switch gate in this present embodiment (16), door-plate is respectively equipped with two, so corresponding connecting rod
(27), metal plate (26) it is also each there are two.
It is arranged for the ease of filing, the bookcase of this patent uses the tank bracket for being equipped with and putting book position, i.e. every books monopolize a lattice
Space is equipped with limiting device between adjacent books.On this basis, the corresponding grid space of each switch gate (16), while also corresponding to
One exclusive trigger switch, so that the storage of bookcase is easier to manage.
Second embodiment
After bookcase uses the technical solution of first embodiment, it is located at positive show area and is liberated, give back books
Functional areas have become bookcase back, how to have made full use of dorsal area just at this patent design problem to be solved it
One.
Mentioned by once having in first embodiment, books fetching device is arranged in the non-show area of bookcase so as to more preferable this patent
Ground utilizes the show area of bookcase, is further described below to the fetching device of this patent.
3, Figure 14 referring to Fig.1, in order to keep bookcase overall beautiful, the art of this patent uses closed design, in the non-of bookcase
A closed cabin is arranged in show area, so that fetching device is run in the closed cabin.The closed cabin is equipped at least
One books gives back place (29), books is put into the books place of giving back (29) books can be completed and given back, by fetching device by books
It is given back.
After books are put into from the books place of giving back (29), scanning means (19) identifies that book information, fetching device can roots
Books coordinate is determined according to books identity information, carries out loading or unloading operation.But for the human body, more conveniently books give back place
(29) position for being suitable for arm operation should be set, and for device counterweight, it would be desirable that the center of gravity of single unit system is as far as possible
It moves down, so that single unit system is more stable.Therefore, preferably design should be that books give back place (29) setting in higher position
It sets, and when fetching device is standby is then in lower position.Books are picked up in order to facilitate fetching device, this patent designs one kind
It guides slideway (1), the guidance slideway (1) for guiding books to lower wait take naturally from the higher books place of giving back (29)
Area is put, corresponding, fetching device is awaited orders in area to be picked and placed, to realize the guidance to books.
Further, buffer unit (18) and the first cylinder (2) can be set in area to be picked and placed.Wherein buffer unit (18) is used
The books in area to be picked and placed are fallen into from slideway in buffering, the first cylinder (2) is for pushing the books in area to be picked and placed into fetching device
Clamping part.
Referring to Fig. 3, for convenience of managing, setting scanning means (19), the scanning in place (29) or slideway (1) are given back in books
Device can be sighting device (such as camera, for carrying out visual identity to books), RFID scanning means (for books mark
Label are identified) etc., its object is to count books to be put into situation, identification book information etc..
3rd embodiment
The fetching device of this patent is described in detail below.Under normal conditions, the common mechanical arm etc. in this field
Realize the pick-and-place of books.But in fact, this technology is used since the position in area to be picked and placed and switch gate (16) is all relatively fixed
Fetching device can suitably be simplified, i.e., its pose adjustment when only need to meet (16) two courts in area to be picked and placed and switch gate
To.The present embodiment is illustrated a kind of reduction procedure of fetching device.
In the present embodiment, fetching device is divided into action component and positioning component, and action component is for realizing clamping part
The movements such as clamping, push, and positioning component is responsible for the movement of xyz position coordinates and the pose adjustment of action component.
The action component includes clamping part, switch gate trigger unit and push part.
Wherein, clamping part clamps books by generating pressure.The clamping part is equipped with pressure sensor (22), is used for
Find out whether books clamp.The clamping part is equipped with limiting device, when clamping part is not being picked and placed to books force time limit drawing book
Position in device.
Referring to Fig. 2, Fig. 4, Fig. 5, clamping device (13) in clamping part, that is, figure, including upper clamp plate, lower clamp plate and third cylinder
(21).Lower clamp plate uses fixed design in this example, and lower clamp plate end is equipped with limiting device, that is, the end upwardly extended, limitation
Zone of action of the books in clamping plate.Upper clamp plate is connected with third cylinder (21), passes through the cylinder rod control of third cylinder (21)
The activity of upper clamp plate processed.Pressure sensor (22) is mounted between upper clamp plate and lower clamp plate.
Switch gate trigger unit is used for trigger switch door (16), and in the aforementioned embodiment, the folding of switch gate (16) depends on
Whether button (17) is pressed, therefore fetching device needs to be arranged a privileged sites and goes to push button (17).In this example, under
Push button (17) are gone in the extended segment of clamping plate.At this point, the limiting device of clamping part and switch gate trigger unit link into an integrated entity.
Certainly, since the two has the function of different, isolated scheme can also be used.
Push part is for pushing books into fore-edge is put after clamping part pressure relief, and in Fig. 4, push part mainly includes
Second cylinder (20).1, Figure 12 referring to Fig.1, after fetching device alignment and trigger switch door (16), clamping part unclamps figure first
Book, the limiting device of clamping part lifts books inside fetching device at this time.Then, the second cylinder (20) starts, by books
It is pushed into switch gate (16), can be completed and put book operation.
The movement of xyz coordinate can be realized by technologies such as three axis locating platforms.The present embodiment provides a kind of reduction procedures, i.e.,
Z axis is mobile to be realized by a pair of of lifting platform (4)；Y-axis is mobile by being parallel to the rack gear (7) of Y direction and by servo motor
(6) it drives and is realized with rack gear (7) meshed gears；X-axis is mobile then by linear motor (10) on the guide rail (8) of X-direction
Displacement is realized.Specifically, which includes that two lifting platforms (4) and a guide rail (8), lifting platform are set on (4)
There are the rack gear parallel with Y-axis (7).Guide rail (8) both ends parallel with X-axis pass through gear respectively and are meshed with two rack gears (7), institute
Gear is stated to be mounted on guide rail (8) by servo motor (6).The guide rail (8) is equipped with linear motor (10), linear motor
(10) sliding block on can be slided along X-axis.In this example, action component is connect with linear motor (10) can be realized action component
The space of tri- axis of XYZ is mobile.
The pose adjustment of action component needs to realize the transformation of both direction in the present embodiment, i.e., towards area to be picked and placed and face
Transformation between (16) two kinds of postures of switch gate.It is horizontally set on fetching device rear with area to be picked and placed, and switch gate (16) is perpendicular
For being directly arranged in front of fetching device.In this example, books are the vertical position in front by the horizontal position adjustment at rear, are needed
90 degree of rotations and 90 degree of rotations of XOY plane through YOZ plane can be realized.Therefore the device for adjusting posture should include two turns
Dynamic pair, the first revolute pair are responsible for the rotation of XOY plane, and rotation is realized by baffle (15)；Second revolute pair is responsible for YOZ plane
Rotation, rotation can be realized by gravity.Since two revolute pairs are both needed to 90 degree of rotation, limit should be equipped in the revolute pair
Device limits its rotation amplitude.
It is the structural schematic diagram of the first revolute pair referring to Fig. 6, Fig. 7, Fig. 7, Fig. 6 is its corresponding motion profile analogous diagram.
In figure, the first revolute pair includes a rotor, a rotary shaft and a chamber equipped with limiting device.Do not setting limiting device
In the case where, rotor can be rotated freely in XOY plane around rotary shaft intracavitary.After limiting device is set, it can limit according to demand
The rotation angle of rotor processed.Limiting device should make rotor can be rotated 90 degree just in the present embodiment.
It is the structural schematic diagram of the second revolute pair referring to Fig. 5, Fig. 5.In figure, using articulated structure, the second revolute pair is
Hinge (23).After hinged, the surface for transmitting shell lower cover (12) can play position-limiting action to the rotation of the second revolute pair.Transmission need to only be enabled
The top of shell lower cover (12) keeps horizontal, and the side for transmitting shell lower cover (12) keeps vertical, that is, can guarantee that the second revolute pair exists
YOZ plane makees 90 degree of rotations.
How to make its rotation more slow on the basis of the second revolute pair is based on gravity adjustment posture referring to Fig. 4, Fig. 9
With and to be returned to horizontality be current embodiment require that one of solving the problems, such as.The present embodiment is provided with boss (14) thus,
The boss (14) is equipped with a horizontal plane and a vertical plane, is seamlessly transitted between the horizontal plane and vertical plane by curved surface.When taking
Device is put via boss (14) close to when picking and placing area, the second revolute pair gradually rotates under the support of curved surface, so that picking and placing dress
Setting by vertical state transition is horizontality.Conversely, when fetching device leaves when picking and placing area via boss (14), fetching device
It is vertical state by horizontality transition.
Fourth embodiment
It elaborates below to each position connection relationship and working principle:
Referring to Fig. 1, generally speaking it is divided into 3 parts: Fang Shu mechanism, transport mechanism and bookshelf.In conjunction with Fig. 2, Fang Shu mechanism is most
Outside is that books give back place (29), needs for books to be put into.Then pass through the slideway (1) supported by strut (3), slideway
(1) idler wheel (5) is also covered on, and this is to allow books that can smoothly slide into designated position to reduce frictional force to a certain extent.
It is used as and buffers there are also buffer unit (18) in specified location, in order to avoid books are caused to damage.It is finally by the second cylinder by book
Nationality, which is pushed into, to be completed to put book process in clamping device (13).
Referring to Fig. 1, wherein in transfer device, rail brackets (8) represent X-axis, and rack gear (7) represents Y-axis, lifting platform up and down
Movement is carried out on Z axis.
Referring to fig. 2, after books are sent in clamping device (13), third cylinder (21) is started to work, and pushes plate straight line
Movement, after plate touches books, pressure sensor (22) can receive signal and be third cylinder by control system
(21) it stops working, completes to clamp.Clamping device (13) are then driven by transmission shell upper cover (11) and transmission shell lower cover (12)
Movement.Wherein transmission shell upper cover (11) is connected with connecting rod (9), and Fig. 6, Fig. 7 are the groove shapes and movement rail between them
Mark, it can be ensured that transmission shell upper cover (11) completes (90) on XOY plane and spends rotation.See Fig. 8 and Fig. 9.It transmits shell lower cover (12)
It is to be in contact with boss (14) by pulley (24), for carrying out the relative motion of Y-axis.Clamping device (13) passes through transmission shell
It is connected with connecting rod (9), connecting rod (9) is fixed together with the sliding block on guide rail (8), and linear motor is housed on sliding block
(10) so as to being that sliding block moves back and forth (X-axis) on guide rail (8).
Transmit process is referring to Fig. 1, Fig. 2, Fig. 9 ~ 12, firstly, guide rail (8) passes through fixed protective shell and servo motor (6) are solid
Fixed, servo motor (6) is moved (Y-axis) on rack gear (7) by gear.In motion process of the transmission shell along Y-axis, because
It is plane of bending for boss (14), transmission shell lower cover (12) can sink by with gravity, and (playing the role of spring (25) can offset
A part impact), in the case where transmission shell gradually opens big, clamping device (13) can be at hinge (25) due to the effect of gravity
It is flipped.It then proceedes to move along the y axis, baffle (15) can be passed through, baffle (15) is fixed, the work in baffle (15)
With it is lower by front rod (9) and transmission shell upper cover (11) relative movement orbit groove make transmit shell occur (90) degree turn
Dynamic (XOY plane) so far transmits shell and switch gate (16) is relatively parallel, and transmission mouth docking is completed.Later as needed, pass through
Linear motor (10) carries out the movement of X-axis by sliding block on guide rail (8), and servo motor (6) is enterprising in rack gear (7) by gear
The movement of row Y-axis, rack gear (7) carries out the movement on Z axis by its lower connected lifting platform (4), to move to designated position.
Referring to Figure 11,12, after clamping device (13) has arrived designated position, under edge can touch button
(17), button (17) will drive the connecting rod (27) being fixed on metal plate (26) in advancement and carry out opening movement, thus
Switch gate (16) are driven to open the door.Then step up third cylinder (21) release, thereafter by the third gas on clamping device (13)
Books are pushed into bookshelf by cylinder (21), are then retracted, and button (17) pops up under the action of feedback spring (28), then band
Dynamic connecting rod (27) carry out closing motion, so that switch gate (16) be driven to close the door, avoid being exposed to transmission device external and causing
Unnecessary fortuitous event.
Finally, retracted before this by elevator (4) along Z-direction, then by servo motor (6) along Y direction into
Row is retracted, it is ensured that cannot exceed the position of baffle (15).Then the whole displacement for carrying out X-axis is driven using linear motor (10),
This process has to pass through baffle (15), the front rod (9) passed through under the action of baffle (15) and transmission shell upper cover (11)
Relative movement orbit groove make transmit shell occur (90) degree rotation (XOY plane), then by boss (14) return to it is original
Position waits books in stock process next time.
Control process is explained in detail below
1. scanning means (19) sweeps to books, whole system is started to work, and identifies this books place bookshelf position.
2. books slide into corresponding position by slideway (1), books are pushed into clamping device (13) by the first cylinder.
3. third cylinder (21) starts to push slide plate, pressure sensor (22) on it passes signal after encountering books
It send to control system and third cylinder (21) is made to stop working.
4. servo motor (6) is started to work, until transmission shell leaves boss (14) and passes through baffle (15).
5. linear motor (10) and lifting platform (4) are moved according to books target position.
6. books deposit finishes.
7. starting to retract, lifting platform (4) first starts to work and returns to initial position.
It is in same plane (face XOZ) 8. servo motor (6) is returned to baffle.
9. linear motor (10) is retracted into initial position and passes through baffle (15).
10. servo motor (6) is retracted into initial position.
11. terminating.
Claims (9)
1. bookcase, including fetching device are stored in a kind of automation, the fetching device is for picking up and launching books into specific bit
It sets, which is characterized in that further include books in stock position, which, which is equipped with, takes fore-edge and put fore-edge；The fore-edge of putting, should equipped with switch gate
Switch gate opening when putting books, and after putting close, for preventing books from dropping out from fore-edge is put.
2. bookcase is stored in a kind of automation according to claim 1, which is characterized in that take fore-edge that the displaying of bookcase is arranged in
Area, puts fore-edge and the non-show area of bookcase is arranged in fetching device.
3. bookcase is stored in a kind of automation according to claim 2, which is characterized in that the bookcase is additionally provided with books and gives back place
And slideway, the slideway terminal are equipped with area to be picked and placed；When books are put into from the books place of giving back, books fall into slideway and smoothly slide
Area to be picked and placed is dropped down onto, so that fetching device picks up books in area to be picked and placed.
4. bookcase is stored in a kind of automation according to claim 3, which is characterized in that the area to be picked and placed is equipped with buffering dress
It sets and the first cylinder, when fetching device rests on when picking and placing area, the first cylinder can be pushed the books wait pick and place in area into taking
Put device.
5. bookcase is stored in a kind of automation according to claim 3, which is characterized in that slideway is equipped with scanning means, uses
In acquisition book information.
6. bookcase is stored in a kind of automation according to claim 5, which is characterized in that the slideway, fetching device installation
In closed cabin, which is equipped with books and gives back place, slideway is fallen into after books are put into the books place of giving back, books give back place
Equipped with scanning means.
7. bookcase is stored in a kind of automation according to claim 1, which is characterized in that the fetching device includes:
Action component, including clamping part, switch gate trigger unit and push part；
Clamping part clamps books by generating pressure；The clamping part is equipped with pressure sensor, for whether finding out books
It clamps；The clamping part is equipped with limiting device, when clamping part is not to position of the books force time limit drawing book in fetching device；
Switch gate trigger unit, when clamping part, which is located in, to be put outside fore-edge, trigger switch door enables switch gate open；
Push part pushes books into putting fore-edge after clamping part pressure relief；
Positioning component, for action component to be transported to designated position.
8. bookcase is stored in a kind of automation according to claim 3 or 7, which is characterized in that when fetching device rest on to
When picking and placing area, the clamping part of fetching device is in horizontality；When fetching device trigger switch door, the clamping part of fetching device
It is in a vertical state；The positioning component of the fetching device includes:
Tri- shaft moving device of XYZ；
Device for adjusting posture, for connect tri- shaft moving device of XYZ with, for adjusting the posture and direction of clamping part.
9. bookcase is stored in a kind of automation according to claim 8, which is characterized in that device for adjusting posture includes:
First revolute pair is equipped with limiting device, for enabling device for adjusting posture make 90 degree of rotations in XOY plane；
Baffle, for adjusting device for adjusting posture in the posture of XOY plane；When device for adjusting posture contacts baffle, posture tune
90 degree of rotations of XOY plane occur under the blocking of the baffle plate for engagement positions；
Second revolute pair is equipped with limiting device, for enabling device for adjusting posture be made 90 degree of rotations in YOZ plane by gravity；
Boss is equipped with a horizontal plane and a vertical plane, is seamlessly transitted between the horizontal plane and vertical plane by curved surface；Work as fetching device
When on boss, the horizontal plane, which offsets gravity, makes the clamping part of fetching device be in horizontality；When fetching device is by convex
When leaving on platform through curved surface, device for adjusting posture is made 90 degree of rotations in YOZ plane by gravity, makes the clamping part of fetching device
It is in a vertical state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910576062.XA CN110250764B (en) | 2019-06-28 | 2019-06-28 | Automatic change and deposit book case |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910576062.XA CN110250764B (en) | 2019-06-28 | 2019-06-28 | Automatic change and deposit book case |
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| Publication Number | Publication Date |
|---|---|
| CN110250764A true CN110250764A (en) | 2019-09-20 |
| CN110250764B CN110250764B (en) | 2021-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910576062.XA Active CN110250764B (en) | 2019-06-28 | 2019-06-28 | Automatic change and deposit book case |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584344A (en) * | 2019-09-23 | 2019-12-20 | 青岛大学 | Paper file management system |
| CN110742416A (en) * | 2019-11-08 | 2020-02-04 | 重庆文理学院 | Library bookshelf |
| CN111265011A (en) * | 2020-03-24 | 2020-06-12 | 枣庄学院 | Library arranges ladder with books |
| CN111657682A (en) * | 2020-06-16 | 2020-09-15 | 江西阳光安全设备集团有限公司 | Intelligent rotating bookshelf convenient for readers to borrow |
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