CN110369305A - Books sorting machine people and books method for sorting - Google Patents
Books sorting machine people and books method for sorting Download PDFInfo
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- CN110369305A CN110369305A CN201910806498.3A CN201910806498A CN110369305A CN 110369305 A CN110369305 A CN 110369305A CN 201910806498 A CN201910806498 A CN 201910806498A CN 110369305 A CN110369305 A CN 110369305A
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- 238000012546 transfer Methods 0.000 claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims description 85
- 230000003028 elevating effect Effects 0.000 claims description 46
- 230000007723 transport mechanism Effects 0.000 claims description 37
- 238000010276 construction Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 16
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
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- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The application provides a kind of books sorting machine people and books method for sorting, and books sorting machine people includes: sorting entrance, multiple sorting exports, books recognizer component, books transfer assembly and control cabinet, and books to be sorted are put into from sorting entrance；Different sorting exports corresponds to different classes of books, and is at least located at different height there are two sorting export；The setting of books recognizer component is in sorting inlet, for obtaining the classification information of books to be sorted；Control cabinet is connect with books recognizer component and books transfer assembly respectively, for controlling the operation of books transfer assembly according to the classification information of books to be sorted；Books transfer assembly is used to the books to be sorted being put into from sorting entrance being transported to sorting export corresponding with its classification, so that books to be sorted pass through corresponding sorting export.Sorting export is arranged at different height, can effectively solve the problems, such as that the huge land occupation of the books sorting equipment scale of construction is wider, improve books sorting efficiency.
Description
Technical field
This application involves field in intelligent robotics, in particular to a kind of books sorting machine people and books sorting side
Method.
Background technique
In recent years, with the rapid progress of education and utility, library is as public education cultural service system
Still averagely collection amount increases considerably for important component, either overall quantity.But it is incompatible therewith, it is more
The also book sorting work in number library is inefficient still by being accomplished manually；There are also the automatic sorting devices of books, but its body
Measure larger, and whole device land occupation is wider, fails in the books sorting work in library using coming.This causes present
Books sorting work remains unchanged based on manual sorting, thus gives back shelving work and grow partially, can not more effectively play collection
The value that books convey knowledge, and quite labor intensive resource, human cost are high.
Summary of the invention
The embodiment of the present application is designed to provide a kind of books sorting machine people and books method for sorting, more extensively
In the range of realize books automatic sorting, improve books sorting efficiency.
To achieve the goals above, embodiments herein is accomplished in that
In a first aspect, embodiments herein provides a kind of books sorting machine people, comprising: sorting entrance, multiple sortings
Outlet, books recognizer component, books transfer assembly and control cabinet, books to be sorted are put into from the sorting entrance；Different institutes
State sorting export and correspond to different classes of books, for the books to be sorted by the corresponding category, and at least there are two
The sorting export is located at different height；Books recognizer component setting in the sorting inlet, for obtain it is described to
Sort the classification information of books；The control cabinet is connect with the books recognizer component and the books transfer assembly respectively, is used
It is run in controlling the books transfer assembly according to the classification information of the books to be sorted；The books transfer assembly is used for will
The books to be sorted are transported to sorting export corresponding with its classification, so that the books to be sorted are sorted out by corresponding
Mouthful.
Pass through the phase interworking of sorting entrance, multiple sorting exports, books recognizer component, books transfer assembly and control cabinet
It closes, may be implemented the books to be sorted for sorting entrance being transported to corresponding sorting export, to complete the sorting of books.Also,
When being in sustained height by the way that sorting export setting at different height, can effectively be solved multiple sorting exports, same
Multiple sorting exports are laid in plane and lead to the huge wider problem of land occupation of the books sorting equipment scale of construction, to be conducive to books
Sorting machine people's is universal, to improve books sorting efficiency, saves human cost, promotes transmission of knowledge.
With reference to first aspect, in the first possible implementation of the first aspect, in the multiple sorting export extremely
Towards different directions there are two few.
By the way that sorting export to be arranged according to different directions, space can be efficiently used, is determined in sorting export quantity
In the case of, it can effectively reduce when opening up sorting export in short transverse the space occupied, advanced optimize books sorting machine
The scale of construction of people.
The possible implementation of with reference to first aspect the first, in second of possible implementation of first aspect
In, the quantity of the sorting export is 5-10, and the sorting export divides 2-3 kind different height to be arranged.
Divide 2-3 kind different height that 5-10 sorting export is set, the scale of construction of books sorting machine people can be optimized as far as possible,
Also, the quantity of sorting export defines the books type that can be sorted in a sort process, and 5-10 sorting export
The sorting to books can be completed with less sort process (in " Chinese library taxonomy " that China uses, by books point
For 22 major class).
With reference to first aspect, in a third possible implementation of the first aspect, the books transfer assembly includes
Transport mechanism and elevating mechanism, the elevating mechanism are connect with the transport mechanism, and the elevating mechanism lifting drives the biography
Mechanism is sent to go up and down；The transport mechanism receives the books to be sorted being put into from the sorting entrance, and will be described to be sorted
Books are transported to corresponding sorting export.
By setting transport mechanism and elevating mechanism, may be implemented for the books to be sorted being put into from sorting entrance to be transported to
It is provided with the sorting export of different height, completes books sorting.
The third possible implementation with reference to first aspect, in the 4th kind of possible implementation of first aspect
In, the transport mechanism includes conveyer belt transporter and sub-barrier, and the sub-barrier is arranged in the conveyer belt transporter
Both ends, to be undertaken between the conveyer belt transporter and the sorting entrance, or be undertaken on the conveyer belt transporter
Between the sorting export.
Sub-barrier is set at the both ends of conveyer belt transporter, sub-barrier can be made to be undertaken on conveyer belt transporter and divide
Picking entrance perhaps avoids between sorting export library card to be sorted in conveyer belt transporter and sorting entrance or and sorting export
Between be formed by gap, it is ensured that books to be sorted can from sorting entrance reach conveyer belt transporter on, and ensure to
It sorts books and reaches sorting export from conveyer belt transporter, to guarantee the stable operation of books sorting machine people.
The third possible implementation with reference to first aspect, in the 5th kind of possible implementation of first aspect
In, the books transfer assembly further includes rotating mechanism, and the rotating mechanism is connected to the elevating mechanism and the conveyer
Between structure, the rotating mechanism rotation drives the transport mechanism rotation.
Rotating mechanism is set between transport mechanism and elevating mechanism, may be implemented that the figure to be sorted that entrance is put into will be sorted
Book is transported to the sorting export for being provided with different directions, completes books sorting.
The 5th kind of possible implementation with reference to first aspect, in the 6th kind of possible implementation of first aspect
In, the rotating mechanism is 90 ° of rotary cylinders.
Using 90 ° of rotary cylinders as rotating mechanism, can realize at lower cost will be put into from sorting entrance wait divide
It picks books and is transported to the sorting export for being provided with different directions (angle that rotary cylinder can rotate is abundanter, and cost is higher).
With reference to first aspect, or with reference to first aspect the first to any possible implementation in the 6th kind,
In 7th kind of possible implementation of first aspect, the books sorting machine people further include: robot shell, the sorting
Entrance is provided on the robot shell；Multiple sorting exports are provided on the robot shell, and at least two
The sorting export is provided at the different height on the robot shell；The books recognizer component is arranged in the machine
On people's shell and it is located at the top for sorting inlet；The control cabinet is embedded in the robot shell；The books
Transfer assembly is arranged in the robot shell.
Robot shell is set, can be played a protective role to the component of books sorting machine people, to improve books point
The stability of robot operation is picked, and extends the service life of books sorting machine people to a certain extent.
The 7th kind of possible implementation with reference to first aspect, in the 8th kind of possible implementation of first aspect
In, the books sorting machine people further includes books baffle, and the books baffle is connect with the sorting entrance, for transporting
Books to be sorted are stated to the sorting entrance；And/or the books baffle is connect with the sorting export, for that will divide
Books after picking transport the sorting export.
Books baffle is set in sorting inlet, books is enable to reach sorting entrance from books baffle to be sorted,
Books baffle is set at sorting export, books to be sorted is enable to be reached in specified book basket from the books baffle of sorting export,
The applicability of books sorting machine people can be improved.
The 8th kind of possible implementation with reference to first aspect, in the 9th kind of possible implementation of first aspect
In, the angle being arranged between the books baffle and horizontal plane of the sorting entrance is 30 °~60 °；It is arranged at described point
Sorting out the angle between the books baffle of mouth and horizontal plane is -30 °~-60 °.
It is 30 ° -60 ° by enabling the angle being arranged between the books baffle and horizontal plane of the sorting entrance, it can
So that books to be sorted on books baffle reach sorting entrance automatically under the effect of gravity, by enable setting it is described sort into
Angle between the books baffle and horizontal plane of mouth is -30 °~-60 °, and the books to be sorted on books baffle can be made to exist
It is reached automatically under gravity in specified book basket.
The 7th kind of possible implementation with reference to first aspect, in the tenth kind of possible implementation of first aspect
In, the books sorting machine people further includes range finder module, and the range finder module is arranged on the robot shell, and is located at
The top of the sorting entrance and/or the sorting export, the range finder module are connect with the control cabinet, described for detecting
It sorts entrance and/or the sorting export whether there is the books to be sorted.
Range finder module is set at sorting entrance and/or sorting export, can detecte at sorting entrance and/or sorting export
Whether to be sorted books are had.
The 7th kind of possible implementation with reference to first aspect, in a kind of the tenth possible implementation of first aspect
In, when the books transfer assembly includes elevating mechanism, locating part is set on the elevating mechanism, the locating part with it is described
The limiting slot cooperation that robot enclosure interior opens up, to limit the direction of motion of the elevating mechanism and/or the amplitude of lifting.
Locating part is set on elevating mechanism, and the limiting slot that cooperation robot enclosure interior opens up may be implemented to lifting
The limit of mechanism to ensure that elevating mechanism reaches accurately height, while can also limit the traffic direction of elevating mechanism, can
The transport mechanism on elevating mechanism is avoided to generate angle offset as far as possible, it is ensured that books to be sorted accurately reach sorting export.
Second aspect, embodiments herein provide a kind of books method for sorting, are applied to first aspect or first party
Control cabinet of the first of face into the tenth one kind in books sorting machine people described in any possible implementation, the side
Method includes: the classification information for receiving the books recognizer component and scanning books to be sorted and obtaining；According to the classification information, really
Make sorting export corresponding with the classification of the books to be sorted；Control instruction is determined according to corresponding sorting export,
In, the books to be sorted are transported to corresponding sorting export for controlling books transfer assembly by the control instruction.
Classification information is obtained by scanning books to be sorted, to determine the classification and corresponding sorting of books to be sorted
Outlet can easily realize that books sort so that books to be sorted are transported to corresponding sorting export.
In conjunction with second aspect, in the first possible implementation of the second aspect, in the books transfer assembly packet
When including elevating mechanism, rotating mechanism and transport mechanism, control instruction is determined according to corresponding sorting export, comprising: according to right
The sorting export answered searches corresponding operating parameter from preset bivariate table, wherein the bivariate table include from it is described sort into
Mouth arrives the corresponding operating parameter of each sorting export, and the operating parameter includes the elevating mechanism heave amplitude, the rotation
The rotation angle of mechanism and the traffic direction of the transport mechanism；According to lookup result, determines lifting instruction, rotation instruction and pass
Send instruction.
By searching for preset bivariate table, can rapidly and accurately determine books to be sorted being transported to corresponding sorting
The control instruction of outlet, to realize the efficient operation of books sorting.
In conjunction with second aspect, in a second possible implementation of the second aspect, in the books sorting machine people
Including be separately mounted to sorting entrance and sorting export range finder module when, the method also includes: receive the range finder module
The distance variation information of the sorting entrance detected, score pick books quantity and add one；The range finder module is received to detect
The distance variation information of corresponding sorting export, the books quantity for counting the corresponding classification of corresponding sorting export add one；It is receiving
The distance variation information of the sorting entrance detected to the range finder module, and receive the range finder module and detect
When the distance variation information of corresponding sorting export, the sorting of this books is completed, the books transfer assembly is enabled to reset.
The books to be sorted of sorting entrance and sorting export are detected by range finder module, and then are realized to books to be sorted
It counts, the accuracy of books sorting can be guaranteed to the verification of books to be sorted.
The third aspect, embodiments herein provide a kind of books sorting equipment, are applied to first aspect or first party
Control cabinet of the first of face into the tenth one kind in books sorting machine people described in any possible implementation, the dress
Setting includes: receiving module, the classification information for scanning books to be sorted for receiving the books recognizer component and obtaining；Handle mould
Block, for determining sorting export corresponding with the classification of the books to be sorted according to the classification information；The processing mould
Block is also used to determine control instruction according to corresponding sorting export, wherein the control instruction is for controlling books transmission group
The books to be sorted are transported to corresponding sorting export by part.
Fourth aspect, embodiments herein provide a kind of storage medium, and the storage medium includes the program of storage,
In, equipment where controlling the storage medium in described program operation execute second aspect or second aspect the first or
Books method for sorting described in second of implementation.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application will make below to required in the embodiment of the present application
Attached drawing is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore should not be seen
Work is the restriction to range, for those of ordinary skill in the art, without creative efforts, can be with
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 a is the structural schematic diagram of the books sorting machine people at the first visual angle provided by the embodiments of the present application.
Fig. 1 b is the structural schematic diagram of the books sorting machine people at the second visual angle provided by the embodiments of the present application.
Fig. 2 is a kind of structural schematic diagram of books transfer assembly provided by the embodiments of the present application.
Fig. 3 is a kind of schematic diagram of the set-up mode of range finder module provided by the embodiments of the present application.
Fig. 4 c is the schematic diagram that plug-type solenoid valve provided by the embodiments of the present application cooperates expansion plate to stretch out.
Fig. 4 d is the schematic diagram that plug-type solenoid valve provided by the embodiments of the present application cooperates expansion plate to retract.
Fig. 5 is a kind of top view of books sorting machine people provided by the embodiments of the present application.
Fig. 6 is a kind of flow chart of books sorting machine method provided by the embodiments of the present application.
Fig. 7 is a kind of structural block diagram of books sorting machine device provided by the embodiments of the present application.
Icon: 100- books sorting machine people；110- robot shell；111- dustproof cover；112- body；113- pedestal；
The collateral plate of 114-；120- sorts entrance；130- sorting export；140- books recognizer component；150- books transfer assembly；151- liter
Descending mechanism；152- rotating mechanism；153- transport mechanism；1531- conveyer belt transporter；1532- sub-barrier；1533- installation branch
Seat；154- supporting beam；155- locating part；156- limiting slot；160- control cabinet；170- range finder module；180- books baffle；190-
Plug-type solenoid valve；191- expansion plate；200- books sorting equipment；210- receiving module；220- processing module；230- count module
Block；240- reseting module.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application is described.
In recent years, with the rapid progress of education and utility, library is as public education cultural service system
Still averagely collection amount increases considerably for important component, either overall quantity.But it is incompatible therewith, it is more
The also book sorting work in number library is inefficient still by being accomplished manually；There are also the automatic sorting devices of books, but its body
Measure larger, and whole device land occupation is wider, uses also more bothersome, therefore fails the books sorting work in library
Middle application is come.This causes present books sorting work still based on manual sorting, thus it is inclined to give back shelving work
It is long, the value that Library Books convey knowledge, and labor intensive resource can not be more effectively played, human cost is high.Based on this,
Present inventor provides a kind of books sorting machine people 100, can effectively solve the problem that existing books sorting equipment 200 accounts for
The problems such as ground is excessive, using complexity simply and efficiently realizes books sorting.
Referring to Fig. 1, Fig. 1 is a kind of structural schematic diagram of books sorting machine people 100 provided by the embodiments of the present application,
In, Fig. 1 a and Fig. 1 b of Fig. 1 is the view of the different angle of books sorting machine people 100.In the present embodiment, books sorter
Device people 100 may include robot shell 110, sorting entrance 120, multiple sorting exports 130, books recognizer component 140, books
Transfer assembly 150 (refering to Fig. 2) and control cabinet 160.
In the present embodiment, robot shell 110 may include dustproof cover 111, body 112, pedestal 113 and collateral plate
114.Body 112 can be cylindricality, cuboid, platform shape, tower-shaped etc., but not limited to this.With cylindrical shell in the present embodiment
It is introduced for body 112, only illustrates, be not construed as the restriction to the application.Pedestal 113, pedestal are arranged at 112 bottom of body
113 are used to support entire books sorting machine people 100.On pedestal 113, collateral plate 114, the side on pedestal 113 can be set
Supporting plate 114 is connect with 112 periphery of body, can make pedestal 113 more steady to the support of books sorting machine people 100 in this way
It is fixed.
In the present embodiment, sorting entrance 120 can be opened up on robot shell 110, the width for sorting entrance 120 can be with
Between 25 centimetres to 40 centimetres, the height for sorting entrance 120 can be between 5 centimetres to 20 centimetres.Entrance is sorted as a result,
120 size can be by most of books, so that 100 practicability of books sorting machine people is very strong.And sort entrance 120
Quantity can be 1 so that books sorting process it is very simple.Certainly, in some other achievable mode, sort into
Mouthfuls 120 quantity may be it is multiple, can be with difference, to realize to richer even more than the size of sorting entrance 120
The books of type are sorted.Therefore, it is not construed as the restriction to the application herein.
In the present embodiment, multiple sorting exports 130 can be opened up on robot shell 110, a sorting export 130 can
With the classification of a corresponding books, in books sorting, different classes of books can be entered by different sorting exports 130
Into corresponding book basket, to complete books sorting.And the size that the size of sorting export 130 is referred to sorting entrance 120 is set
It sets, there may also be difference in size certainly, between multiple sorting exports 130 does not make herein with different width or height etc.
It limits.
It in the present embodiment, can be by multiple sorting exports 130 according to multiple directions, a variety of height in order to save space
(i.e. multi-level surround opens up) is opened up on robot shell 110.So as to guarantee sorting export in books sorting machine people
Under quantity unanimous circumstances, the occupied area of robot is suitably reduced.It illustratively, can be in the different height of body 112
Multiple sorting exports 130 (such as opening up multiple sorting exports 130 on three kinds of different height positions) are opened up on position, and each
Multiple sorting exports 130 are opened up (for example, around body 112 on each height and position around body 112 respectively on height and position
4 sorting exports 130 are opened up respectively.Further, the equal angular distances setting of 4 sorting exports 130 on each height and position).When
So, it only illustrates herein, is not construed as the restriction to the application, sorting export 130 opens up quantity and position with sorting entrance 120
It sets, is subject to actual needs.
In the present embodiment, the difference in height being provided between the adjacent sorting export 130 of different height can be in 5-20
Between centimetre, to control the whole height of books sorting machine people 100, space is saved, but be not construed as the restriction to the application,
Or between 10-30 centimetres.
In some other achievable mode, multiple points can be opened up on body 112 using different circular modes
Mouth 130 is sorted out, such as is opened up in such a way that circular body 112 is spiralling, to surround the side that body 112 replaces raising and lowering
Formula opens up, herein not as restriction.
And the quantity of sorting export 130 is opened up, it illustratively, can be between 5-10, certainly, some achievable
In mode, 3,22 etc. can also be opened up, is not construed as limiting herein.For example, for opening up 5 sorting exports 130, with foundation
In middle figure method (" Chinese library taxonomy ") to books divide 5 major class books are carried out with preliminary sorting, and again to point
Each major class after picking carries out further books sorting (the small classification of books is more than 5 kinds, can repeatedly be sorted), so that it may
Complete the sorting to all types of books.It is of course also possible to open up 10 sorting exports 130,10 sorting exports are opened up
When 130, equally first can carry out preliminary sorting to books to 5 major class (such as can be corresponding logical with every two sorting export 130
The books for crossing same major class but different groups, can also only use 5 sorting exports 130 therein, to complete to books
The sorting of major class), then each major class after sorting is further sorted, to complete books sorting work.10 are opened up to sort out
When mouthfuls 130, can usually be completed with 6 sort process to books sorting (carry out 1 sort process to 5 major class, with
And 1 group sorting is carried out to each major class).In this way, the efficiency of books sorting can be improved as far as possible.
In the present embodiment, books recognizer component 140 can be RFID (Radio Frequency
Identification, radio frequency identification) reading device, to obtain the classification information of books.It is of course also possible to be other kinds of
Identification method, such as identified by camera barcode scanning.It is introduced by taking rfid reader device as an example in the present embodiment, RFID is read
Device can rapidly and accurately obtain the classification information of books, be able to ascend the efficiency of books sorting.
In the present embodiment, books recognizer component 140 can be set at sorting entrance 120, at sorting entrance 120
Books to be sorted are identified.Illustratively, books recognizer component 140 can be set on body 112 and be located at sorting entrance
Top at 120, is not construed as limiting herein.
Referring to Fig. 2, Fig. 2 shows a kind of structural schematic diagrams of books transfer assembly 150 provided by the embodiments of the present application.
In the present embodiment, books transfer assembly 150 is set to inside robot shell 110.
Illustratively, books transfer assembly 150 may include elevating mechanism 151, rotating mechanism 152 and transport mechanism 153,
Rotating mechanism 152 can connect between elevating mechanism 151 and transport mechanism 153, and the rotation of rotating mechanism 152 drives transport mechanism
153 rotations；And the lifting of elevating mechanism 151 can drive transport mechanism 153 to go up and down.Thus, it is possible to realize books transfer assembly 150
Books to be sorted at sorting entrance 120 are transported to the sorting export 130 of different directions, different height, to complete books point
It picks.Certainly, in some achievable modes, books transfer assembly 150 can not include rotating mechanism 152, elevating mechanism 151
It is connect with transport mechanism 153, realizes the sorting export 130 that the books to be sorted at sorting entrance 120 are transported to different height,
Books sorting is completed, therefore, is not construed as the restriction to the application herein.
In the present embodiment, elevating mechanism 151 can be set on pedestal 113, and elevating mechanism 151 can be electric cylinder,
Electric cylinder can be moved along the direction perpendicular to pedestal 113, and vertical not absolute upright herein can have certain error, example
If error is within 3 °, all it is considered as vertical.Elevating mechanism 151 can be gone up and down along short transverse, to drive transport mechanism
153 lifting.It should be noted that elevating mechanism 151 is also possible to cylinder or hydraulic cylinder, it is not construed as limiting herein.
It in the present embodiment, can in order to enable elevating mechanism 151 is more stable relative to the position of robot shell 110
Supporting beam 154 to be arranged on elevating mechanism 151.Supporting beam 154 can be abutted with robot shell 110, so that elevating mechanism
151 fixed part (such as the cylinder part of electric cylinder, wherein the telescopic rod of electric cylinder moves in cylinder body) and robot shell
Body 110 keeps relatively fixed, so as to be avoided as far as possible since elevating mechanism 151 is due to the connection pine between pedestal 113
It moves and bring deviation, to guarantee the accuracy of 151 heave amplitude of elevating mechanism.
In the present embodiment, rotating mechanism 152 can be connect with the top of elevating mechanism 151, to realize elevating mechanism 151
Lifting drive rotating mechanism 152 lifting.Rotating mechanism 152 can be 90 ° of rotary cylinders, using 90 ° of rotary cylinder conducts
Rotating mechanism 152, can realize sort the books to be sorted that are put into of entrance 120 and be transported at lower cost and be provided with not Tongfang
To sorting export 130 (angle that rotary cylinder can rotate is abundanter, and cost is higher).Certainly, some other optional
In embodiment, it can not also be limited herein using multi-angle rotary cylinder, such as 180 ° of rotary cylinders, 360 ° of rotary cylinders etc.
It is fixed.
In the present embodiment, transport mechanism 153 may include: conveyer belt transporter 1531, sub-barrier 1532 and installation
Support 1533, erection support 1533 are connect with rotating mechanism 152, and conveyer belt transporter 1531 is arranged in erection support 1533
On, so as to realize that the rotation of rotating mechanism 152 drives conveyer belt transporter 1531 to rotate, the lifting of elevating mechanism 151, which drives, to be passed
Band transporter 1531 is sent to go up and down.In the present embodiment, conveyer belt transporter 1531 positive can be run, and also can be reversed operation.
Sub-barrier 1532 can be set at the both ends of conveyer belt transporter 1531, be undertaken on conveyer belt transporter 1531 with sort into
It between mouth 120, or is undertaken between conveyer belt transporter 1531 and sorting export 130, is being passed to avoid library card to be sorted
It send band transporter 1531 and sorting entrance 120 or is formed by gap between person's sorting export 130, it is ensured that books to be sorted
It can be reached on conveyer belt transporter 1531 from sorting entrance 120, and ensure books to be sorted from conveyer belt transporter 1531
Sorting export 130 is reached, to guarantee the stable operation of books sorting machine people 100.
Also referring to Fig. 1 and Fig. 3, in some optional implementations, in order to guarantee that elevating mechanism 151 goes up and down direction
Accuracy, and, prevent from causing rotating mechanism 152 to rotate and influence the accuracy of rotating mechanism 152 in lifting process, can
To install locating part 155 (such as round peace with spacing ball between the top of elevating mechanism 151 and rotating mechanism 152
Fill flange), locating part 155 can be with 151 1 lifting of elevating mechanism；And limiting slot can be opened up inside robot shell 110
156 (such as the guide rails agreed with the spacing ball of circular mounting flange), locating part 155 is located in limiting slot 156, so as to reality
Now to the restriction in the lifting direction of elevating mechanism 151, guarantee the accuracy that elevating mechanism 151 is gone up and down.Furthermore it is also possible to limiting
Slot 156 some nodes (such as with the corresponding portion in sorting position, the position of sorting export 130 of a variety of height of entrance 120
Position) setting supporting piece, it is defined with the heave amplitude to elevating mechanism 151.Elevator can be thus improved as much as possible
The accuracy that structure 151 is run.
In the present embodiment, control cabinet 160 can be embedded in robot shell 110.Illustratively, control cabinet 160 can
With the position being embedded on body 112 close to pedestal 113, convenient for the debugging and update etc. to control cabinet 160.It is of course also possible to
It is arranged inside robot shell 110, herein without limitation.Control cabinet 160 can be connect with books transfer assembly 150, and,
It is connect with books recognizer component 140, so as to receive the classification information for the books to be sorted that books recognizer component 140 is sent,
And books transfer assembly 150 is controlled according to the classification information of books to be sorted and is run, complete books sorting.
In the present embodiment, can be installed inside control cabinet 160 PLC (Programmable Logic Controller,
Programmable logic controller (PLC)) or microcomputer, realize the automatic control to books sort process.Such control cabinet 160 can be with
Off line uses, to network no requirement (NR), and it is low in cost.It certainly, can also in control cabinet 160 in some optional implementations
To install the microcomputer of networking, the automatic control to books sort process is realized, this mode can be so that figure
The applicability of book sorting machine people 100 is more preferable, applies to different library stack room, and it is also relatively more square to update library's book base resource
Just.Therefore, it is not construed as the restriction to the application herein.
Referring to Fig. 3, in the present embodiment, books sorting machine people 100 can also include range finder module 170.Ranging mould
Block 170 may be mounted on body 112, can correspond to sorting entrance 120, sorting export 130 is installed.Illustratively, it surveys
It may be mounted at 112 top (dustproof cover 111 can cover range finder module 170) of body, corresponding sorting 120 He of entrance away from module 170
The sorting export 130 in each direction is installed, and the sorting export for being opened in unidirectional multiple and different height
130, only need a laser detection module that can be monitored to these sorting exports 130.In sorting entrance 120 and/or sorting
Setting range finder module 170 at 130 is exported, whether can detecte at sorting entrance 120 and/or sorting export 130 has figure to be sorted
Book.
Referring to Fig. 1, in the present embodiment, books sorting machine people 100 can also include books baffle 180.Figure
Bookend plate 180 can be connect with sorting entrance 120, for transporting books to be sorted to sorting entrance 120；Books baffle 180
It can be connect with sorting export 130, for the books after sorting to be transported sorting export 130.Figure is set at sorting entrance 120
Bookend plate 180 enables books to reach sorting entrance 120 from books baffle 180 to be sorted, is arranged at sorting export 130
Books baffle 180 enables books to be sorted be reached in specified book basket from the books baffle 180 of sorting export 130, Ke Yiti
The applicability of high books sorting machine people 100.
In the present embodiment, be arranged in sorting entrance 120 books baffle 180 and horizontal plane angle can for 30 °~
60 ° (i.e. horizontal plane tilts upward 30 °~60 °), books to be sorted on books baffle 180 can be made so under the effect of gravity
It is automatic to reach sorting entrance 120.And the books baffle 180 of sorting export 130 and the angle of horizontal plane, which is arranged in, to be -30 °
~-60 ° (i.e. 30 ° diagonally downward~60 ° of horizontal plane), the books to be sorted on books baffle 180 can in this way made in gravity
With in the specified book basket of lower automatic arrival.
Referring to Fig. 4, in the present embodiment, a plug-type solenoid valve can be arranged in the lower section of sorting entrance 120
190, it is connect with control cabinet 160.And between sorting entrance 120 and transport mechanism 153, expansion plate 191 can also be set.Example
Property, expansion plate 191 can be set in the gap between transport mechanism 153 and sorting entrance 120, expansion plate 191 and push-and-pull
Formula solenoid valve 190 connects.Plug-type solenoid valve 190 can control expansion plate 191 and stretch out or retract.Please refer to the figure in Fig. 4
4c, state when this is stretched out for expansion plate 191 can stop to sort the books at entrance 120 and enter；And Fig. 4 d in Fig. 4, then
It is state when expansion plate 191 retracts, expansion plate 191 will not cause to hinder to the books to be sorted at sorting entrance 120 at this time
Effect, books to be sorted can enter from sorting entrance 120, onto transport mechanism 153.
Pass through the plug-type solenoid valve 190 of setting and expansion plate 191 at sorting entrance 120, it is ensured that every time sorting to
When sorting books, a books to be sorted are only sorted in a sort process, prevent extra books to be sorted by sort into
Mouth 120 enters inside books sorting machine people 100, and the stable operation of books sorting machine people 100 can be effectively ensured, and guarantees figure
Book sort process carries out without any confusion.
More than, the structure of books sorting machine people 100 is described in detail, hereinafter, will be right in conjunction with an example
The process that books sorting machine people 100 provided by the embodiments of the present application sorts books is described in detail.
Before the detailed process for introducing books sorting, first the basic settings of given example is introduced, in order to right
The understanding of books sort process.
Also referring to Fig. 1 and Fig. 5, Fig. 5 is a kind of vertical view of books sorting machine people 100 provided by the embodiments of the present application
Figure.In the present embodiment, books sorting machine people 100 robot shell 110 body 112 around offer 1 sort into
120 and 10 sorting exports 130 of mouth, are divided into four direction, 90 ° of each direction interval (can have 5 ° of errors) between both direction.
In the direction of setting sorting entrance 120, a sorting export is offered in the position for being higher than the 2H that sorting entrance 120 opens up height
130, remaining each direction opens up 3 sorting exports 130, and two neighboring sorting export 130 opens up height in same direction
Between difference in height be H, wherein H can be 200 millimeters.And the direction for opening up sorting export 130 is denoted as direction I, according to up time
Needle rotation, remaining three directions are respectively direction II, direction III and direction IV.When transport mechanism 153 be located at direction I or
When the III of direction, the rotation angle of rotating mechanism 152 is 0 °；When transport mechanism 153 is located at direction II or direction IV, rotation
The rotation angle of mechanism 152 is 90 °.When transport mechanism 153 is moved from direction I to direction III, it is denoted as forward direction；Transport mechanism 153
When being moved from direction III to direction I, it is denoted as reversed.On depression angle, rotating mechanism 152 is from positioned at direction I and direction III
Be rotated in place when direction II and direction IV, for be rotated by 90 ° counterclockwise (it is to be noted that this example using 90 ° of rotary cylinders as
Rotating mechanism 152 can only do reciprocating rotary at 0 ° and between 90 ° counterclockwise, cannot rotate to 90 ° of position clockwise).
More than, it is the basic settings of this example, in the present embodiment, can be set with this and establish bivariate table, bivariate table is such as
Under:
Sorting export and control amount mapping table
It before books sorting, can be set by controller, sorting export 130 and the affiliated stack room of books are corresponded.
This sentences 130 number 1-10 of sorting export and respectively corresponds stack room number 1-10, wherein stack room number is in the classification information of books
One kind.For this sentences the corresponding stack room number of each sorting export 130, however, not limited to this, can be in other examples
The corresponding multiple stack room numbers of one sorting export 130.
And in some achievable modes, various modes can be set, for example, just merotype is (by all books point
Pick as five classifications), subdivision mode (may include five kinds of subpatterns, every kind of subpattern respectively corresponds one in five major class
Class), to realize the sorting (thus, it is possible to completing the sorting to all books in 6 sortings) to books.
The process of books sorting is carried out below with reference to books method for sorting provided by the embodiments of the present application based on this
Detailed introduction.
Referring to Fig. 6, Fig. 6 shows books method for sorting provided by the present application.Books method for sorting may include: step
S10, step S20 and step S30.
In books sorting, when books to be sorted reach sorting entrance 120 by the books baffle 180 of sorting entrance 120
When, the classification information of the available books to be sorted of books recognizer component 140 at sorting entrance 120 is set, and by classification
Information is sent to control cabinet 160.At the same time, range finder module 170 detects the distance variation information (sorting of sorting entrance 120
Entrance 120 is there are when books to be sorted, and the distance that range finder module 170 can detecte at sorting entrance 120 changes, to make
Obtaining the judgement sorting of control cabinet 160 entrance 120, there are books to be sorted), and distance variation information is sent to control cabinet 160.
Control cabinet 160 can execute step S10 as a result,.
Step S10: the classification information that the books recognizer component scans books to be sorted and obtains is received.
In the present embodiment, control cabinet 160 can receive the classification information of books to be sorted and the distance of sorting entrance 120
Change information, judges to sort entrance 120 there are books to be sorted, picks books quantity so as to score and adds one, and executes step
S20。
Step S20: according to the classification information, sorting export corresponding with the classification of the books to be sorted is determined.
In the present embodiment, control cabinet 160 can be determined and books to be sorted according to the classification information of books to be sorted
The corresponding sorting export 130 of classification.For example, the stack room number of books to be sorted is 3, corresponding No. 3 sorting exports 130.
Determine that corresponding sorting export 130, control cabinet 160 can execute step S30.
Step S30: control instruction is determined according to corresponding sorting export, wherein the control instruction is used for control figure
The books to be sorted being put into from the sorting entrance are transported to corresponding sorting export by book transfer assembly.
In the present embodiment, when books to be sorted enter books sorting machine 100 inside of people by sorting entrance 120,
Control cabinet can control the stretching of plug-type solenoid valve 190, and expansion plate 191 is driven to stretch out, and divide every time so as to be effectively ensured
Only the books to be sorted come into inside books sorting machine people 100 are sorted when picking, guarantee books sort process
Orderly carry out.And control cabinet 160 can search corresponding operation ginseng from preset bivariate table according to corresponding sorting export 130
Number (i.e. direction, corresponding elongation, corresponding rotation amount, transmission tape motion direction).
Find out operating parameter required for corresponding sorting export 130 (direction, corresponding elongation, corresponding rotation
Amount, transmission tape motion direction), control cabinet 160 can determine therefrom that out lifting instruction, rotation instruction and send instructions, and send
Give books transfer assembly 150 (elevating mechanism 151, rotating mechanism 152 and transport mechanism 153).For example, No. 3 sorting exports 130 are right
Answer direction II, corresponding elongation is H, and corresponding rotation amount is 90 °, transmission tape motion direction be positive to, then, control cabinet 160 is just
It can determine that corresponding control instruction, control instruction include controlling lifting instruction, the control whirler that elevating mechanism 151 is gone up and down
Whether structure 152 rotates the rotation instruction of (90 °) and the send instructions of control 153 direction of motion of transport mechanism.
And the elevating mechanism 151, rotating mechanism 152 and transport mechanism 153 in books transfer assembly 150 can be according to receptions
The control instruction arrived executes corresponding movement, so that books to be sorted are transported to corresponding sorting export 130.For example, lifting
Mechanism 151 is instructed according to lifting, extends H；Rotating mechanism 152 is instructed according to rotation, is rotated by 90 °；Transport mechanism 153 is according to transmission
Instruction controls conveyer belt forward motion.Thus, it is possible to which the books to be sorted sorted at entrance 120 are transported to corresponding sorting
Export 130 (No. 3 sorting exports 130).
By searching for bivariate table, can rapidly and accurately determine books to be sorted being transported to corresponding sorting export
130 control instruction, to realize the efficient operation of books sorting.
And when books to be sorted reach corresponding sorting export 130, range finder module 170 detects corresponding sorting export
130 distance variation information, and distance variation information is sent to control cabinet 160.Control cabinet 160 can be according to point received
The distance variation information for sorting out mouth 130 determines corresponding sorting export 130, and counts the books number of corresponding sorting export 130
Amount plus one.
It should be noted that in the present embodiment, range finder module 170 can be whether the corresponding sorting export 130 of detection is deposited
Books to be sorted (such as laser ranging module, the corresponding sorting export 130 that control cabinet 160 can be determined, so that it is determined that
Corresponding laser ranging module out makes the laser ranging module monitor corresponding sorting export 130, is detecting distance change letter
When breath, determine that there are books to be sorted for the sorting export 130).It is also possible to 170 real-time monitoring of range finder module, to detect
(such as ultrasonic distance measuring module, can be to multiple sorting exports 130 in real time there are books to be sorted for corresponding sorting export 130
Monitoring can be according to distance variation information difference, to make without level sorting export 130 there are when books to be sorted
Control cabinet 160 can judge which sorting export 130 according to this change information there are books to be sorted).Therefore, herein
Not as the restriction to the application.
And the distance variation information for the sorting entrance 120 that range finder module 170 detects is received in control cabinet 160, and
When receiving range finder module 170 and detecting the distance variation information of corresponding sorting export 130, it can be determined that this books point
It picks process to have completed, books transfer assembly 150 is enabled to reset, expansion plate 191 bounces back, and prepares books sorting next time.
The books to be sorted of sorting entrance 120 and sorting export 130 are detected by range finder module 170, and then are realized and treated
The verification to books to be sorted may be implemented in the counting for sorting books, guarantees the accuracy of books sorting.
Referring to Fig. 7, also providing a kind of books sorting equipment 200 based on the same inventive concept, in the embodiment of the present application, answer
For the control cabinet in foregoing books sorting machine people, described device includes: receiving module 210, described for receiving
Books recognizer component scans books to be sorted and the classification information that obtains；Processing module 220 is used for according to the classification information,
Determine sorting export corresponding with the classification of the books to be sorted；The processing module 220, is also used to according to corresponding point
It sorts out mouth and determines control instruction, wherein the control instruction will be put for controlling books transfer assembly from the sorting entrance
The books to be sorted entered are transported to corresponding sorting export.
In the present embodiment, the processing module 220 is also used to according to corresponding sorting export, from preset bivariate table
Search corresponding operating parameter, wherein the bivariate table includes from the sorting entrance to the corresponding operation of each sorting export
Parameter, the operating parameter include the elevating mechanism heave amplitude, the rotation angle of the rotating mechanism and the conveyer
The traffic direction of structure；According to lookup result, lifting instruction, rotation instruction and send instructions are determined.
It in the present embodiment, include the survey for being separately mounted to sorting entrance and sorting export in the books sorting machine people
When away from module, described device further include: counting module 230, the sorting entrance detected for receiving the range finder module
Distance variation information, score picks books quantity and adds one；Receive the distance that the range finder module detects corresponding sorting export
Change information, the books quantity for counting the corresponding classification of corresponding sorting export add one；Reseting module 240, for receiving
The distance variation information for the sorting entrance that range finder module detects is stated, and receives the range finder module and detects correspondence
Sorting export distance variation information when, complete the sorting of this books, the books transfer assembly enabled to reset.
And embodiments herein also provides a kind of storage medium, the storage medium includes the program of storage,
In, equipment where controlling the storage medium in described program operation executes books method for sorting described in the present embodiment.
In conclusion the application provides a kind of books sorting machine people and books method for sorting, by sorting entrance, multiple
The mutual cooperation of sorting export, books recognizer component, books transfer assembly and control cabinet, may be implemented will to sort entrance to point
It picks books and is transported to corresponding sorting export, to complete the sorting of books.Also, by being arranged sorting export in different height
Multiple sorting exports are laid in the same plane and are caused when can effectively solve multiple sorting exports and being in sustained height in place
The huge wider problem of land occupation of the books sorting equipment scale of construction, to be conducive to the universal of books sorting machine people, to improve books
Sorting efficiency saves human cost, promotes transmission of knowledge.
In embodiment provided herein, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
In addition, unit may or may not be physically separated as illustrated by the separation member, as unit
The component of display may or may not be physical unit, it can and it is in one place, or may be distributed over more
In a network unit.Some or all of unit therein can be selected to realize this embodiment scheme according to the actual needs
Purpose.
Furthermore each functional module in each embodiment of the application can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
Herein, relational terms such as first and second and the like be used merely to by an entity or operation with it is another
One entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this reality
Relationship or sequence.
The above description is only an example of the present application, the protection scope being not intended to limit this application, for ability
For the technical staff in domain, various changes and changes are possible in this application.Within the spirit and principles of this application, made
Any modification, equivalent substitution, improvement and etc. should be included within the scope of protection of this application.
Claims (10)
1. a kind of books sorting machine people characterized by comprising sorting entrance, multiple sorting exports, books recognizer component,
Books transfer assembly and control cabinet,
Books to be sorted are put into from the sorting entrance；
The different sorting exports correspond to different classes of books, for passing through the books to be sorted of the corresponding category,
And at least it is located at different height there are two the sorting export；
The books recognizer component is arranged in the sorting inlet, for obtaining the classification information of the books to be sorted；
The control cabinet is connect with the books recognizer component and the books transfer assembly respectively, for according to described to be sorted
The classification information of books controls the books transfer assembly operation；
The books transfer assembly is used to the books to be sorted being transported to sorting export corresponding with its classification, so that described
Books to be sorted pass through corresponding sorting export.
2. books sorting machine people according to claim 1, which is characterized in that at least two in the multiple sorting export
It is a towards different directions.
3. books sorting machine people according to claim 2, which is characterized in that the quantity of the sorting export is 5-10
A, the sorting export divides 2-3 kind different height to be arranged.
4. books sorting machine people according to claim 1, which is characterized in that the books transfer assembly includes conveyer
Structure and elevating mechanism,
The elevating mechanism is connect with the transport mechanism, and the elevating mechanism lifting drives the transport mechanism lifting；
The transport mechanism receives the books to be sorted being put into from the sorting entrance, and the books to be sorted are transported
To corresponding sorting export.
5. books sorting machine people according to claim 4, which is characterized in that the transport mechanism includes conveyer belt transport
Machine and sub-barrier,
The both ends of the conveyer belt transporter are arranged in the sub-barrier, to be undertaken on the conveyer belt transporter and described point
It picks between entrance, or is undertaken between the conveyer belt transporter and the sorting export.
6. books sorting machine people according to claim 4, which is characterized in that the books transfer assembly further includes rotation
Mechanism,
The rotating mechanism is connected between the elevating mechanism and the transport mechanism, described in the rotating mechanism rotation drive
Transport mechanism rotation.
7. any books sorting machine people in -6 according to claim 1, which is characterized in that the books sorting machine people
Further include: robot shell,
The sorting entrance is provided on the robot shell；
Multiple sorting exports are provided on the robot shell, and at least two sorting exports are provided with the machine
At different height on device people's shell；
The books recognizer component is arranged on the robot shell and is located at the top of the sorting inlet；
The control cabinet is embedded in the robot shell；
The books transfer assembly is arranged in the robot shell.
8. a kind of books method for sorting, which is characterized in that applied to the books sorting machine as described in any in claim 1-7
Control cabinet in people, which comprises
Receive the classification information that the books recognizer component scans books to be sorted and obtains；
According to the classification information, sorting export corresponding with the classification of the books to be sorted is determined；
Control instruction is determined according to corresponding sorting export, wherein the control instruction is used to control books transfer assembly will
The books to be sorted are transported to corresponding sorting export.
9. books method for sorting according to claim 8, which is characterized in that in the books transfer assembly include elevator
When structure, rotating mechanism and transport mechanism, control instruction is determined according to corresponding sorting export, comprising:
According to corresponding sorting export, search corresponding operating parameter from preset bivariate table, wherein the bivariate table include from
For the sorting entrance to the corresponding operating parameter of each sorting export, the operating parameter includes the elevating mechanism lifting width
The traffic direction of degree, the rotation angle of the rotating mechanism and the transport mechanism；
According to lookup result, lifting instruction, rotation instruction and send instructions are determined.
10. books method for sorting according to claim 8, which is characterized in that in the books sorting machine people including dividing
When not being mounted on the range finder module for sorting entrance and sorting export, the method also includes:
The distance variation information for the sorting entrance that the range finder module detects is received, score picks books quantity and adds one；
The distance variation information that the range finder module detects corresponding sorting export is received, it is corresponding to count corresponding sorting export
The books quantity of classification adds one；
The distance variation information for the sorting entrance that the range finder module detects is being received, and is receiving the ranging
When module detects the distance variation information of corresponding sorting export, the sorting of this books is completed, the books transfer assembly is enabled
It resets.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910806498.3A CN110369305A (en) | 2019-08-28 | 2019-08-28 | Books sorting machine people and books method for sorting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910806498.3A CN110369305A (en) | 2019-08-28 | 2019-08-28 | Books sorting machine people and books method for sorting |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115880842A (en) * | 2022-11-29 | 2023-03-31 | 华中农业大学 | Book returning device based on RFID |
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