CN110315550A - A kind of four-jaw type automatic book taking device for library - Google Patents
A kind of four-jaw type automatic book taking device for library Download PDFInfo
- Publication number
- CN110315550A CN110315550A CN201910515230.4A CN201910515230A CN110315550A CN 110315550 A CN110315550 A CN 110315550A CN 201910515230 A CN201910515230 A CN 201910515230A CN 110315550 A CN110315550 A CN 110315550A
- Authority
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- China
- Prior art keywords
- book
- stepper motor
- library
- books
- elevating mechanism
- Prior art date
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- 230000007246 mechanism Effects 0.000 claims abstract description 98
- 230000003028 elevating effect Effects 0.000 claims abstract description 38
- 239000011229 interlayer Substances 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000005192 partition Methods 0.000 claims description 3
- 125000006850 spacer group Chemical group 0.000 claims 1
- 238000000034 method Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Abstract
The invention discloses a kind of four-jaw type automatic book taking devices for library, including AGV trolley, vehicle-mounted micro bookshelf, elevating mechanism, access book mechanism and CCD camera, right end is equipped with vehicle-mounted micro bookshelf above AGV trolley, left end is equipped with elevating mechanism above AGV trolley, access book mechanism is equipped with above elevating mechanism, access book mechanism right end is equipped with CCD camera.The present invention can be applied to library, archives, mitigates the operating pressure of administrative staff, improves work efficiency simultaneously.Four-jaw type access mechanism can be automatically performed books in stock and book is taken to work, and will not destroy books, while without being reconstructed on a large scale to existing library.
Description
Technical field
The present invention relates to the technical fields of automatic access book apparatus, are especially used for intelligent library or archives for a kind of
The technical field of the four-jaw type automatic access book apparatus in shop.
Background technique
Intelligent library is intellectual technology to be applied to library, a kind of automatic management and traditional libraries work of formation
Make the innovation body organically combined.Close due to arranging between library or archives books, existing two claw of library is automatic
Gap of the Qu Shu robot mostly using sharp clamping jaw across books, clamps books, is easy to cause to damage to book cover.
Simultaneously because the thickness of every books is different, existing library's automatic book taking robot is difficult to be accurately positioned the essence of target books
True position, it is difficult to accurate clamping target books.Three-pawl type automatic book taking robot is by increasing third hook on clamping jaw top at present
The mode that target books are ticked is taken book by pawl.Automatic book taking robot, three-pawl type library can reduce the essence to grasping mechanism
Degree requires, while the sharp clamping jaw avoided the problem that scratches book envelope.But three-jaw humanoid robot is merely able to conveniently take book, nothing
Method preferably stores books and thus brings a series of problems and inconvenience.
Summary of the invention
The object of the invention is to solve the problems of the prior art, propose that a kind of four-jaw type for library takes automatically
Book apparatus can be applied to library, archives, mitigates the operating pressure of administrative staff, improves work efficiency simultaneously.Four paws
Formula access mechanism can be automatically performed books in stock and book is taken to work, and will not destroy books, while big without carrying out to existing library
Scale reconstruction.
To achieve the above object, the invention proposes a kind of four-jaw type automatic book taking devices for library, including AGV
Trolley, vehicle-mounted micro bookshelf, elevating mechanism, access book mechanism and CCD camera, AGV trolley top right end are equipped with vehicle-mounted micro
Bookshelf, AGV trolley top left end are equipped with elevating mechanism, access book mechanism are equipped with above elevating mechanism, access book mechanism right end and set
There is CCD camera.
Preferably, the AGV trolley includes chassis, industrial personal computer, WIFI module, PLC, CCD camera, video frequency collection card
And power battery, industrial personal computer, WIFI module, PLC, CCD camera, video frequency collection card and power battery, work are installed in chassis
Control machine and PLC are electrically connected, and PLC is electrically connected with WIFI module, CCD camera, video frequency collection card, power battery.
Preferably, the vehicle-mounted micro bookshelf is for storing books；The vehicle-mounted micro bookshelf is arc tubbiness interlayer
Structure, vehicle-mounted micro bookshelf internal cavity are divided into 8 interlayers by partition；The camber line center of circle of the vehicle-mounted micro bookshelf and lifting
The centre of gyration of mechanism is overlapped.
Preferably, the elevating mechanism is used to adjust the height of access book mechanism；The elevating mechanism include bearing block,
Axis, the first stepper motor, driving gear, driven gear, second stepper motor, elevating mechanism bracket and screw rod, bearing block and
One stepper motor is each attached on the vehicle frame of AGV trolley, and bearing block includes step and top chock, cooperation in bearing block
There is axis；The driven gear and elevating mechanism bracket are rigidly connected, and are combined with axis in the middle part of driven gear；First stepper motor
Output shaft on be fixed with driving gear, driving gear is meshed with driven gear；On the output shaft of the second stepper motor
It is combined with screw rod, Qu Shu mechanism is combined on screw rod.
Preferably, the access book mechanism is for accessing books；The access book mechanism includes upper mechanical arm and lower machine
Tool arm；The upper mechanical arm includes upper manipulator support, Power Component, push rod and restoring spring, and upper manipulator support is fixed on
On sliding block, sliding block is set on the screw rod of elevating mechanism；The Power Component includes cam and the 5th stepper motor, the 5th stepping electricity
Cam is installed, cam two sides are combined with push rod, and push rod is connected by a hinge on upper manipulator support, pushes away on the output shaft of machine
Restoring spring is equipped between bar and upper manipulator support；The lower mechanical arm includes screw body, slider-crank mechanism, four bar machines
Structure, the 4th stepper motor and book brace, the screw body include third stepper motor, screw rod, lower manipulator sliding block, third step
Output shaft into motor is connected with screw rod by shaft coupling, and lower manipulator sliding block is combined on screw rod, is set on lower manipulator sliding block
Have the 4th stepper motor, be combined with slider-crank mechanism on the output shaft of the 4th stepper motor, slider-crank mechanism include turntable,
Connecting rod, sliding rail and connecting rod, turntable are fixed on the output shaft of the 4th stepper motor, and being connected by a hinge on turntable has connecting rod, even
The sliding block of the other end of bar is set in sliding rail, and sliding block top cylinder is set in the slot of connecting rod；The connecting rod is installed on support rod,
Support rod is equipped with four-bar mechanism, and four-bar mechanism is the parallelogram sturcutre that four bars are constituted, and four-bar mechanism is equipped with folder book
Plate.
Preferably, the CCD camera is for determining target books position and target books thickness；The CCD takes the photograph
Camera is mounted on manipulator support.
Beneficial effects of the present invention: the configuration of the present invention is simple, advantage easy-to-use, low in cost, practicability is good.Specifically
It is as follows:
1, the present invention by CCD camera automatically determines books position, when the books sequence generation entanglement of bookshelf same layer, not shadow
Ring normal access book work.
2, the present invention can either take book, also can using four-jaw type grasping mechanism compared to current three-pawl type Qu Shu mechanism
Enough books in stock, improve work efficiency.It avoids scratching books simultaneously.
3, books gripping body of the present invention can guarantee book brace keeping parallelism during the work time, improve contact surface
Product reduces the risk that books slide.
4, the present invention obtains books size (thickness, height) information using CCD camera, without being arranged on gripping body
The excess sensors device such as torque sensor.
5, book information is directly entered by the vehicle-mounted bookshelf of vehicle-borne CCD camera-scanning when books in stock of the present invention, needed not move through
Library's sales counter input system.
Feature and advantage of the invention will be described in detail by embodiment combination attached drawing.
Detailed description of the invention
Fig. 1 is a kind of schematic perspective view of the four-jaw type automatic book taking device for library of the present invention.
Fig. 2 is a kind of forward sight structural schematic diagram of the four-jaw type automatic book taking device for library of the present invention.
Fig. 3 is a kind of upper manipulator stereochemical structure signal of four-jaw type automatic book taking device for library of the present invention
Figure.
Fig. 4 is a kind of upper manipulator plan structure signal of four-jaw type automatic book taking device for library of the present invention
Figure.
Fig. 5 is a kind of lower manipulator stereochemical structure signal of four-jaw type automatic book taking device for library of the present invention
Figure.
Fig. 6 is a kind of lower manipulator plan structure signal of four-jaw type automatic book taking device for library of the present invention
Figure.
In figure: 1-AGV trolley, 2- vehicle-mounted micro bookshelf, 3- bearing block, 3-1- step, 3-2- top chock, 4-
Axis, the first stepper motor of 5-, 6- driving gear, 7- driven gear, 8- elevating mechanism, 9- second stepper motor, 10- elevating mechanism
Bracket, 11- access book mechanism, 12- third stepper motor, 13- screw rod, manipulator sliding block under 14-, the 4th stepper motor of 15-,
16- turntable, 17- connecting rod, 18- sliding rail, 19- connecting rod, 20- support rod, 21- book brace support rod, 22- book brace, 23- are upper mechanical
Hand bracket, 24- cam, 25- push rod, 26- restoring spring, 27- gear-box plaque, 28-CCD video camera, 29- the 5th stepping electricity
Machine.
Specific embodiment
Refering to fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the present invention, including AGV trolley 1, vehicle-mounted micro bookshelf 2, elevator
Structure 8, access book mechanism 11 and CCD camera 28,1 top right end of AGV trolley are equipped with vehicle-mounted micro bookshelf 2,1 top of AGV trolley
Left end is equipped with elevating mechanism 8, and access book mechanism 11 is equipped with above elevating mechanism 8, and access 11 right end of book mechanism is equipped with CCD camera
28。
Specifically, the AGV trolley 1 includes chassis, industrial personal computer, WIFI module, PLC, CCD camera, video frequency collection card
And power battery, industrial personal computer, WIFI module, PLC, CCD camera, video frequency collection card and power battery, work are installed in chassis
Control machine and PLC are electrically connected, and PLC is electrically connected with WIFI module, CCD camera, video frequency collection card, power battery.
Specifically, the vehicle-mounted micro bookshelf 2 is for storing books；The vehicle-mounted micro bookshelf 2 is arc tubbiness interlayer
Structure, 2 internal cavity of vehicle-mounted micro bookshelf are divided into 8 interlayers by partition；The camber line center of circle of the vehicle-mounted micro bookshelf 2 and liter
The centre of gyration of descending mechanism 8 is overlapped.
Specifically, the elevating mechanism 8 is used to adjust the height of access book mechanism 11；The elevating mechanism 8 includes bearing
Seat 3, axis 4, the first stepper motor 5, driving gear 6, driven gear 7, second stepper motor 9, elevating mechanism bracket 10 and screw rod,
Bearing block 3 and the first stepper motor 5 are each attached on the vehicle frame of AGV trolley 1, and bearing block 3 includes step 3-1 and upper bearing (metal)
Seat 3-2, is combined with axis 4 in bearing block 3；The driven gear 7 is rigidly connected with elevating mechanism bracket 10,7 middle part of driven gear
It is combined with axis 4；Driving gear 6 is fixed on the output shaft of first stepper motor 5, driving gear 6 is nibbled with 7 phase of driven gear
It closes；It is combined with screw rod on the output shaft of the second stepper motor 9, Qu Shu mechanism 11 is combined on screw rod.
Specifically, the access book mechanism 11 is for accessing books；The access book mechanism 11 includes upper mechanical arm under
Mechanical arm；The upper mechanical arm includes upper manipulator support 23, Power Component, push rod 25 and restoring spring 26, upper manipulator branch
Frame 23 is fixed on sliding block, and sliding block is set on the screw rod of elevating mechanism 8；The Power Component includes cam 24 and the 5th stepping electricity
Machine 29 is equipped with cam 24 on the output shaft of the 5th stepper motor 29, and 24 two sides of cam are combined with push rod 25, and push rod 25 passes through hinge
Chain link is equipped with restoring spring 26 on upper manipulator support 23 between push rod 25 and upper manipulator support 23；The lower machinery
Arm includes screw body, slider-crank mechanism, four-bar mechanism, the 4th stepper motor 15 and book brace 22, the screw body packet
Third stepper motor 12, screw rod 13, lower manipulator sliding block 14 are included, the output shaft of third stepper motor 12 is connected with by shaft coupling
Screw rod 13, lower manipulator sliding block 14 is combined on screw rod 13, and lower manipulator sliding block 14 is equipped with the 4th stepper motor 15, the 4th step
Slider-crank mechanism is combined on into the output shaft of motor 15, slider-crank mechanism includes turntable 16, connecting rod 17, sliding rail 18 and connects
Bar 19, turntable 16 are fixed on the output shaft of the 4th stepper motor 15, and being connected by a hinge on turntable 16 has connecting rod 17, connecting rod 17
The other end sliding block be set to sliding rail 18 in, sliding block top cylinder be set to connecting rod 19 slot in；The connecting rod 19 is installed on support
On bar 20, support rod 20 is equipped with four-bar mechanism, and four-bar mechanism is the parallelogram sturcutre that four bars are constituted, on four-bar mechanism
Equipped with book brace 22.
Specifically, the CCD camera 28 is for determining target books position and target books thickness；The CCD takes the photograph
Camera 28 is mounted on manipulator support 23.
The course of work of the present invention:
A kind of four-jaw type automatic book taking device for library of the present invention during the work time, is described with reference to the drawings.
The present invention includes AGV trolley 1, vehicle-mounted micro bookshelf 2, access book mechanism 11, elevating mechanism 8, CCD camera 28.
Take book process as follows:
Reader inputs the book information for needing to borrow in library terminal；Library terminal is by the bookshelf position where target books
It sets and is sent to AGV trolley 1；Library terminal controls AGV and reaches specified bookshelf position；The bookshelf of the arrival target books of AGV trolley 1
Behind position, the movement of the first stepper motor 5；Power reaches elevating mechanism bracket 10 through driving gear 6, driven gear 7, drives lifting
Mechanism 8 rotates, 28 camera lens face books bar code direction of CCD camera；Motor 9 rotates, and access book mechanism 11 is lifted to mesh
Bookshelf layer where bidding documents nationality guarantees that CCD camera 28 can scan books bar code；CCD camera 28 reaches specific bit
It postpones, AGV trolley 1 slowly travels (meanwhile guaranteeing upper mechanical handspike 25 going deep into gap above books) along bookshelf edge；
CCD camera 28 is scanned books.When target is arrived in scanning, AGV trolley 1 stops；Control system adopts CCD camera 28
The image information collected is handled, and the rough size of target books is calculated；Second stepper motor 9 acts, under elevating mechanism 8
It moves, upper mechanical 25 lower edge of handspike is pressed on the books of target books two sides；Motor 29 act, cam 24 push push rod 25 to
Outer rotation separates target books two sides books to two sides, generates gap；Motor 12 acts, by book brace 22-1 and 22-2
It is inserted into target books two sides respectively；Motor 15 acts, and turntable 16 rotates.Connecting rod 17 is connect with 16 hinge of turntable, and band movable slider exists
Linear motion in sliding rail 18；Sliding block convex platform slides in slot of the bar 19-1 with bar 19-2, and book brace 22-1 and 22-2 is inside
Portion clamps, and target books are clamped；Motor 9 acts, and gripping body is lifted；AGV trolley moves outward, by books from bookshelf
Extraction；After books take out, motor 5 is rotated, and drives elevating mechanism 8 to rotate, by 2 interlayer of books face vehicle-mounted micro bookshelf；Motor 9
Movement, elevating mechanism move down, and books are put into interlayer；Motor 15 acts, and book brace 22-1,22-2 separates；Motor 9 acts,
Elevating mechanism moves up；Single takes book to terminate, and repeats above-mentioned movement, continues to take book.
Books in stock process is as follows:
Books are gradually put into vehicle-mounted bookshelf by reader；Motor 9 acts, and CCD camera is adjusted to books barcode position；Electricity
Machine 5 acts, and rotates elevating mechanism 8；CCD camera 28 is scanned books.Book information is passed to library management system；
Library management system sends books location information to AGV trolley 1, plans driving path；AGV trolley 1 reaches specified bookshelf position
It postpones, books after the taking-up of vehicle-mounted bookshelf 2, are risen to specified bookshelf height by elevating mechanism 8 by access mechanism 11；AGV trolley 1
It is moved along bookshelf, CCD camera 28 scans books, determines books target storage position；Upper machinery handspike 25-1,25-2 will
Two sides books are pushed open；Books are sent into bookshelf by lower manipulator book brace 22-1,22-2；It is moved outside AGV, single books in stock terminates；Weight
Multiple above-mentioned movement, continues books in stock.
Among the above, the camber line center of circle of vehicle-mounted micro bookshelf 2 is overlapped with the centre of gyration of elevating mechanism 8, guarantees each interlayer
It is identical as the radial distance of elevating mechanism 8.CCD camera 28 is for scanning books bar code and determining books height and thickness
Degree provides safeguard for manipulator positioning.Four-bar mechanism: You Sigen bar constitutes parallelogram sturcutre, when connecting rod 19 is in slide crank
When being rotated under the action of block mechanism around rack, book brace support rod 21 can guarantee it is parallel with support rod 20, thus guarantee two pieces
Book brace keeping parallelism；When clamping books, Maximum Contact area can be kept forever, guarantee the stability of clamping books.Folder
Book plate 22: book brace 22 is mounted on parallelogram lindage, by the effect of four-bar mechanism, guarantees that two pieces of book braces 22 are working
It is parallel to each other always in the process.
The present invention can be applied to library, archives, mitigate the operating pressure of administrative staff, while improve work
Efficiency.Four-jaw type access mechanism can be automatically performed books in stock and book is taken to work, and will not destroy books, while without to existing books
It is reconstructed on a large scale in shop.
Above-described embodiment is the description of the invention, is not limitation of the invention, after any pair of simple transformation of the present invention
Scheme all belong to the scope of protection of the present invention.
Claims (6)
1. a kind of four-jaw type automatic book taking device for library, it is characterised in that: including AGV trolley (1), vehicle-mounted micro book
Frame (2), elevating mechanism (8), access book mechanism (11) and CCD camera (28), AGV trolley (1) top right end are equipped with vehicle-mounted micro-
Type bookshelf (2), AGV trolley (1) top left end are equipped with elevating mechanism (8), access book mechanism are equipped with above elevating mechanism (8)
(11), access book mechanism (11) right end is equipped with CCD camera (28).
2. a kind of four-jaw type automatic book taking device for library as described in claim 1, it is characterised in that: the AGV
Trolley (1) includes chassis, industrial personal computer, WIFI module, PLC, CCD camera, video frequency collection card and power battery, is installed in chassis
There are industrial personal computer, WIFI module, PLC, CCD camera, video frequency collection card and power battery, industrial personal computer and PLC are electrically connected, PLC
It is electrically connected with WIFI module, CCD camera, video frequency collection card, power battery.
3. a kind of four-jaw type automatic book taking device for library as described in claim 1, it is characterised in that: described vehicle-mounted
Micro book shelf (2) is for storing books；The vehicle-mounted micro bookshelf (2) is arc tubbiness spacer structure, vehicle-mounted micro bookshelf (2)
Internal cavity is divided into 8 interlayers by partition；The revolution in the camber line center of circle and elevating mechanism (8) of the vehicle-mounted micro bookshelf (2)
Center is overlapped.
4. a kind of four-jaw type automatic book taking device for library as described in claim 1, it is characterised in that: the lifting
Mechanism (8) is used to adjust the height of access book mechanism (11)；The elevating mechanism (8) includes bearing block (3), axis (4), the first step
Into motor (5), driving gear (6), driven gear (7), second stepper motor (9), elevating mechanism bracket (10) and screw rod, bearing
Seat (3) and the first stepper motor (5) be each attached on the vehicle frame of AGV trolley (1), bearing block (3) include step (3-1) and
Top chock (3-2), bearing block (3) is interior to be combined with axis (4)；The driven gear (7) rigidly connects with elevating mechanism bracket (10)
It connects, is combined with axis (4) in the middle part of driven gear (7)；Driving gear (6) are fixed on the output shaft of first stepper motor (5),
Driving gear (6) is meshed with driven gear (7)；Screw rod is combined on the output shaft of the second stepper motor (9), on screw rod
It is combined with Qu Shu mechanism (11).
5. a kind of four-jaw type automatic book taking device for library as described in claim 1, it is characterised in that: the access
Book mechanism (11) is for accessing books；The access book mechanism (11) includes upper mechanical arm and lower mechanical arm；The upper mechanical arm
Including upper manipulator support (23), Power Component, push rod (25) and restoring spring (26), upper manipulator support (23) is fixed on cunning
On block, sliding block is set on the screw rod of elevating mechanism (8)；The Power Component includes cam (24) and the 5th stepper motor (29),
It is equipped with cam (24) on the output shaft of 5th stepper motor (29), cam (24) two sides are combined with push rod (25), push rod (25)
It is connected by a hinge on upper manipulator support (23), restoring spring is equipped between push rod (25) and upper manipulator support (23)
(26)；The lower mechanical arm includes screw body, slider-crank mechanism, four-bar mechanism, the 4th stepper motor (15) and book brace
(22), the screw body includes third stepper motor (12), screw rod (13), lower manipulator sliding block (14), third stepper motor
(12) output shaft is connected with screw rod (13) by shaft coupling, and lower manipulator sliding block (14), lower machinery are combined on screw rod (13)
Rubber sleeve block (14) is equipped with the 4th stepper motor (15), is combined with crank block machine on the output shaft of the 4th stepper motor (15)
Structure, slider-crank mechanism include turntable (16), connecting rod (17), sliding rail (18) and connecting rod (19), and turntable (16) is fixed on the 4th step
Into on the output shaft of motor (15), being connected by a hinge on turntable (16) has connecting rod (17), the sliding block of the other end of connecting rod (17)
In sliding rail (18), sliding block top cylinder is set in the slot of connecting rod (19)；The connecting rod (19) is installed on support rod (20),
Support rod (20) is equipped with four-bar mechanism, and four-bar mechanism is the parallelogram sturcutre that four bars are constituted, and four-bar mechanism is equipped with
Book brace (22).
6. a kind of four-jaw type automatic book taking device for library as described in claim 1, it is characterised in that: the CCD
Video camera (28) is for determining target books position and target books thickness；The CCD camera (28) is mounted on machinery
On hand bracket (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910515230.4A CN110315550A (en) | 2019-06-14 | 2019-06-14 | A kind of four-jaw type automatic book taking device for library |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910515230.4A CN110315550A (en) | 2019-06-14 | 2019-06-14 | A kind of four-jaw type automatic book taking device for library |
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| Publication Number | Publication Date |
|---|---|
| CN110315550A true CN110315550A (en) | 2019-10-11 |
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|---|---|---|---|
| CN201910515230.4A Pending CN110315550A (en) | 2019-06-14 | 2019-06-14 | A kind of four-jaw type automatic book taking device for library |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111003406A (en) * | 2020-01-07 | 2020-04-14 | 江苏迅捷装具科技有限公司 | Method for automatically taking file box and manipulator for automatically taking file box |
| CN111203900A (en) * | 2020-03-16 | 2020-05-29 | 浙江志创企业管理有限公司 | Robot for acquiring and recycling book information |
| CN112008682A (en) * | 2020-08-28 | 2020-12-01 | 合肥工业大学 | Automatic change library management robot |
| CN113619965A (en) * | 2021-07-20 | 2021-11-09 | 青岛科技大学 | Automatic book taking and returning structure and using method thereof |
| CN114162604A (en) * | 2022-02-14 | 2022-03-11 | 烟台市市属直管公房管理服务中心 | Automatic file box storing and taking device |
| CN115504141A (en) * | 2022-11-15 | 2022-12-23 | 栖霞市档案馆 | Self-sorting and sequencing type file storing, taking and conveying device |
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| US20010056313A1 (en) * | 2000-05-08 | 2001-12-27 | Osborne William Joseph | Object locating and retrieving system utilizing labels |
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| CN111203900A (en) * | 2020-03-16 | 2020-05-29 | 浙江志创企业管理有限公司 | Robot for acquiring and recycling book information |
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| CN113619965A (en) * | 2021-07-20 | 2021-11-09 | 青岛科技大学 | Automatic book taking and returning structure and using method thereof |
| CN114162604A (en) * | 2022-02-14 | 2022-03-11 | 烟台市市属直管公房管理服务中心 | Automatic file box storing and taking device |
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