CN110451149A - Taking care of books robot - Google Patents

Taking care of books robot Download PDF

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Publication number
CN110451149A
CN110451149A CN201910788844.XA CN201910788844A CN110451149A CN 110451149 A CN110451149 A CN 110451149A CN 201910788844 A CN201910788844 A CN 201910788844A CN 110451149 A CN110451149 A CN 110451149A
Authority
CN
China
Prior art keywords
screw
driving motor
turn
plate
pieces
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910788844.XA
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Chinese (zh)
Inventor
陈帮春
李爽
王红波
翟述智
王亚亚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huanghe Science and Technology College
Original Assignee
Huanghe Science and Technology College
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huanghe Science and Technology College filed Critical Huanghe Science and Technology College
Priority to CN201910788844.XA priority Critical patent/CN110451149A/en
Publication of CN110451149A publication Critical patent/CN110451149A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements

Abstract

Taking care of books robot, including car body, walking mechanism, rotating disk mechanism, elevating mechanism, clamping device and plectrum device, the upper surface front side portion of car body is provided with bookcase, walking mechanism is mounted on the bottom of car body, rotating disk mechanism is slidably connected at the upper surface rear lateral portion of car body, the lower end of elevating mechanism is slidably connected on rotating disk mechanism, clamping device and plectrum device are installed on elevating mechanism, bookend regulating mechanism is equipped in bookcase, the lower front of car body is provided with obstacle avoidance sensor, battery and controller are provided on car body, battery respectively with walking mechanism, rotating disk mechanism, elevating mechanism, clamping device, plectrum device, bookend regulating mechanism, obstacle avoidance sensor and controller electrical connection, controller respectively with walking mechanism, rotating disk mechanism, elevating mechanism, clamping device, plectrum device, bookend regulating mechanism and avoidance pass Sensor signal connection.The present invention has the advantages that design science, mobile flexible, stable operation, high degree of automation.

Description

Taking care of books robot
Technical field
The present invention relates to taking care of books technical fields, specifically, are related to a kind of taking care of books robot.
Background technique
Book classification in library is various, and especially the library in colleges and universities has a large amount of books to lend and return daily Also, in order to manage books in time so that other people borrow books again, librarian must take a significant amount of time daily and Energy for classifying, arranging, the dull and repetitive work such as upper undercarriage and carrying.This nothing for the staff in library It is suspected to be a very big burden, full manual operations, not only heavy workload, but also efficiency is lower.Manpower has book bidding stagnant Property afterwards, greatly reduces the efficiency of library's operation, and the books in library can not constantly keep neatly, being unfavorable for reader couple Retrieval, reading and the unification corresponding with its registration location of guarantee books of library collection.
In order to solve the above problems, people are seeking always a kind of ideal technical solution.
Summary of the invention
The object of the present invention is to provide a kind of design sciences, mobile flexible, stable operation, high degree of automation books pipe Manage robot.
To achieve the above object, the present invention adopts the following technical scheme:
Taking care of books robot, including car body, walking mechanism, rotating disk mechanism, elevating mechanism, clamping device and plectrum device, vehicle The upper surface front side portion of body is provided with the bookcase arranged in left-right direction, and walking mechanism is mounted on the bottom of car body, rotating disk mechanism It is slidably connected at the upper surface rear lateral portion of car body, the radial direction sliding of the lower end edge rotating disk mechanism of elevating mechanism in left-right direction It being connected on rotating disk mechanism, clamping device and plectrum device are installed on elevating mechanism and vertically movable on elevating mechanism, The rear side of bookcase is open, and bookend regulating mechanism is equipped in bookcase, and the lower front of car body is provided with obstacle avoidance sensor, sets on car body Be equipped with battery and controller, battery respectively with walking mechanism, rotating disk mechanism, elevating mechanism, clamping device, plectrum device, Bookend regulating mechanism, obstacle avoidance sensor and controller electrical connection, controller respectively with walking mechanism, rotating disk mechanism, elevating mechanism, Clamping device, plectrum device, bookend regulating mechanism are connected with obstacle avoidance sensor signal.
Car body includes chassis and cover board, and chassis is the hollow box body structure of upside opening, and cover board covering is mounted on chassis Portion, obstacle avoidance sensor are mounted in the middle part of the leading flank on chassis, and it is symmetrical that the front side left and right sides portion on chassis passes through vertical hinge respectively Be hinged with swinging mounting, offered in the front side left and right side plates on chassis left and right it is penetrating and be located at swinging mounting rear lack Mouthful, bookcase is fixedly connected on the upper surface front side portion of cover board, and the upper surface rear lateral portion of cover board is horizontally disposed in left-right direction base Seat, the upper surface of pedestal is horizontally disposed in left-right direction two guide rails, spacing side by side setting before and after two guide rails, pedestal it is upper Surface left side is fixedly installed with the first driving motor, and the upper surface of pedestal is rotatably equipped in left-right direction horizontally disposed One turn-screw, the first driving motor and the first turn-screw are respectively positioned among two guide rails, and the power of the first driving motor is defeated The transmission connection of the left end of shaft and the first turn-screw；
Walking mechanism includes two front-wheels, drive shaft, two rear-wheels, the second driving motor, horizontal rack, steering motor, steering Axis and tooth sector, two front-wheels are rotatably installed in respectively on two swinging mountings, and drive shaft horizontally rotates peace in left-right direction Rear lateral portion mounted in chassis, the left and right ends of drive shaft are located at the left and right sides on chassis, and two rear-wheels are fixedly mounted respectively In the left and right ends of drive shaft, the second driving motor is fixedly mounted on inside chassis upper surface rear lateral portion, the second driving motor Power output shaft is sequentially connected by tape handler and drive shaft, horizontal rack in left-right direction horizontal through two notches, The left and right ends of horizontal rack are respectively hinged at the rear lateral portion of two swinging mountings, and steering motor is fixedly mounted on inside chassis Surface front side portion, steering shaft are horizontally disposed with along the longitudinal direction, and the rear end of steering shaft and the front side power output shaft of steering motor are solid Fixed connection, tooth sector are fixedly connected on the front end of steering shaft, tooth sector and horizontal rack engagement；
Battery is electrically connected with the first driving motor, the second driving motor and steering motor respectively, and controller drives with first respectively Dynamic motor, the second driving motor are connected with steering motor signal.
Rotating disk mechanism includes horizontal slide plate, rotating electric machine and rotating circular disc, and the bottom surrounding of horizontal slide plate is fixedly connected with The bottom centre of the first sliding block being slidably connected on two guide rails respectively, horizontal slide plate is equipped with convex block, and the first turn-screw is worn It crosses convex block and is connect with convex block screw-driven, rotating electric machine is vertically fixedly mounted on the upper surface middle part of horizontal slide plate, rotation circle The lower surface center of disk and the upper center shaft coaxial transmission of rotating electric machine connect, and the lower surface of rotating circular disc is equipped with and level The annular brace boss of the upper surface slide contact of slide plate, rotating electric machine are located at the inside of annular brace boss, and rotating electric machine turns The center line of dynamic disk and annular brace boss is overlapped, and the upper surface of rotating circular disc radially offers sliding elongated slot, sliding length The side of slot is fixedly installed with traversing motor, and middle part is rotatably equipped with one horizontally disposed the along its length in sliding elongated slot The rotating shaft transmission of two turn-screws, traversing motor connects the second turn-screw；Battery respectively with rotating electric machine and traversing motor Electrical connection, controller are connect with rotating electric machine and traversing motor signal respectively.
Elevating mechanism include the second sliding block, horizontal supporting plate, third turn-screw, the first guide rod, third driving motor, 4th turn-screw, the second guide rod and the 4th driving motor, the second sliding block are slidably arranged in sliding elongated slot, the second driving wire Thick stick is passed through and the second sliding block and is connect with the second sliding block screw-driven, third turn-screw, the first guide rod, the 4th turn-screw and Second guide rod is vertically arranged, and the lower end of the first guide rod and the second guide rod is fixedly connected with the upper table in the second sliding block Face, the lower surface of horizontal supporting plate are fixedly connected on the upper end of the first guide rod and the second guide rod, third turn-screw and The lower end of four turn-screws is rotatably connected on the upper surface of the second sliding block, the upper end of third turn-screw and the 4th turn-screw It is rotatably connected on the lower surface of horizontal supporting plate, third driving motor and the 4th driving motor are fixedly mounted on horizontally-supported The upper surface of plate, the shaft of third driving motor, which vertically passes through horizontal supporting plate and is driven with the upper end of third turn-screw, to be connected It connects, the shaft of the 4th driving motor vertically passes through horizontal supporting plate and is sequentially connected with the upper end of the 4th turn-screw, and third passes Dynamic lead screw and the first guide rod are from back to front along the length direction arranged for interval of sliding elongated slot, the 4th turn-screw and the second guiding For bar from left to right along the width direction arranged for interval of sliding elongated slot, the 4th turn-screw and the second guide rod are located at the first guide rod Front side, horizontal supporting plate upper surface is fixedly connected with the casing covered on the outside of third driving motor and the 4th driving motor, machine The top of shell is equipped with the first scanning device；Battery is electrically connected with third driving motor, the 4th driving motor and the first scanning device respectively It connects, controller is connect with third driving motor, the 4th driving motor and the first scanning device signal respectively.
Clamping device includes the first U-shaped connecting plate, the first two-way lead screw, two third guide rods, the 5th driving motor, two Block guide plate and two clamping plates, the upside of the first U-shaped connecting plate, downside and rear side are open, the front side board of the first U-shaped connecting plate It is fixedly connected with one piece of horizontal connecting plate in the middle part of leading flank, third turn-screw and the first guide rod pass perpendicularly through horizontal connection Plate, horizontal connecting plate are connected with third turn-screw screw-driven, and horizontal connecting plate and the first guide rod are slidably connected, and first pair It is horizontally disposed with and is located in same level, a left side for the first two-way lead screw in left-right direction to lead screw and two third guide rods Right both ends are rotatably installed in respectively on the left plate and right side plate of the first U-shaped connecting plate, and the right end of the first two-way lead screw is vertically worn The right side plate of the first U-shaped connecting plate is crossed, the left and right ends of two third guide rods are respectively fixedly connected in the first U-shaped connecting plate On left plate and right side plate, the first two-way lead screw is located at the centre of two third guide rods, and the 5th driving motor is in left-right direction Level is fixedly connected on the right side plate left side of the first U-shaped connecting plate, and it is U-shaped that the shaft of the 5th driving motor passes perpendicularly through first The right side plate of connecting plate is passed between the shaft right end of the 5th driving motor and the right end of the first two-way lead screw by tape handler The left side excircle of dynamic connection, the first two-way lead screw is equipped with left hand thread, and the right side excircle of the first two-way lead screw is equipped with The structure of right-handed thread, two pieces of guide plates is identical and is symmetrical set, and the structure of two clamping plates is identical and is symmetrical set, Two pieces of guide plates and two clamping plates are vertically arranged along the longitudinal direction, and the first two-way lead screw and two third guide rods are vertically worn Cross two pieces of guide plates, the left side screw-driven connection of the guide plate in left side and the first two-way lead screw, the guide plate in left side and two The left side of root third guide rod is slidably connected, and the rear end of the guide plate in left side is fixedly connected with the clamping plate front end in left side, left side Clamping plate back side edge upper lateral part be equipped with the second scanner；Battery is electrically connected with the 5th driving motor and the second scanner respectively It connects, controller is connect with the 5th driving motor and the second scanner signals respectively.
Plectrum device includes the second U-shaped connecting plate, the second two-way lead screw, the 6th driving motor, two pieces of third sliding blocks, two Electric hydaulic bar and two pieces of plectrums, the upside of the second U-shaped connecting plate, front side and rear side are open, the 4th turn-screw and second Guide rod passes perpendicularly through the lower side panel of the second U-shaped connecting plate, the lower side panel and the 4th turn-screw screw thread of the second U-shaped connecting plate Transmission connection, the lower side panel and the second guide rod of the second U-shaped connecting plate are slidably connected, and the second two-way lead screw is horizontal in left-right direction Setting, the left and right ends of the second two-way lead screw are rotatably installed in respectively on the left plate and right side plate of the second U-shaped connecting plate, and the 6th Driving motor is horizontal in left-right direction to be fixedly connected on the right side plate right side of the second U-shaped connecting plate, the 6th driving motor The right end of shaft and the second two-way lead screw transmission connection, before the second two-way lead screw is located at the 4th turn-screw and the second guide rod Side, the left side excircle of the second two-way lead screw are equipped with left hand thread, and the right side excircle of the second two-way lead screw is equipped with dextrorotation The structure of screw thread, two pieces of third sliding blocks is identical and is symmetrical set, and the bottom of two pieces of third sliding blocks is slidably connected at the 2nd U On the lower side panel upper surface of type connecting plate, the second two-way lead screw passes perpendicularly through two pieces of third sliding blocks, the third sliding block in left side and The left side screw-driven of two two-way lead screws connects, and the right side screw-driven of the third sliding block on right side and the second two-way lead screw connects It connects, two electric hydaulic bars are horizontally disposed with along the longitudinal direction, and the cylinder body front end of two electric hydaulic bars is respectively fixedly connected with On the trailing flank of two pieces of third sliding blocks, the piston rod rear end of two electric hydaulic bars is fixedly connected to a water in left-right direction The connecting rod of flat setting, two pieces of plectrum structures are identical and are symmetrical set, and two pieces of plectrums are vertically arranged along the longitudinal direction, left It is fixedly connected on the right part of the connecting rod in left side in the middle part of the front side edge of the plectrum of side, is fixed in the middle part of the front side edge of the plectrum on right side It is connected to the right part of the connecting rod on right side, third turn-screw, the first guide rod, the 4th turn-screw and the second guide rod are equal Positioned at the centre of two electric hydaulic bars；Battery is electrically connected with the 6th driving motor and two electric hydaulic bars respectively, control Device is connect with the 6th driving motor and two electric hydaulic bar signals respectively.
Middle part downside is fixedly connected with three pieces of horizontally disposed books placement plates in left-right direction in bookcase, and three pieces of books are put It sets that plate is located in same level and time interval is arranged, forms the first long guiding hole, book between adjacent two pieces of books placement plates It is opened up in left-right direction on the top plate of case there are two the second transparent long guiding hole, two the second long guiding holes and two the One long guiding hole up and down correspond, bookend regulating mechanism include the 7th driving motor, the 5th turn-screw, the 4th guide rod and C-type pressing plate, the 7th driving motor are fixedly mounted on bookcase inner bottom surface left side, and the 5th turn-screw and the 4th guide rod are along a left side Right direction is horizontally disposed, and the 7th driving motor, the 5th turn-screw and the 4th guide rod are respectively positioned under three pieces of books placement plates Side, the left end of the 5th turn-screw are fixedly connected with the shaft right end of the 7th driving motor, the right end rotation of the 5th turn-screw Be mounted on the right side plate following side of bookcase, c-type pressing plate is vertically arranged along the longitudinal direction, the gap of c-type pressing plate upward, c-type pressing plate Front and rear sides plate be each passed through two the first long guiding holes and correspondence be inserted into two the second long guiding holes, the 5th driving wire Thick stick and the 4th guide rod pass perpendicularly through the following side of c-type pressing plate, the following side of c-type pressing plate and the 5th turn-screw screw-driven Connection, the following side of c-type pressing plate and the 4th guide rod are slidably connected, and are equipped in the middle part of the right side plate left side of bookcase and are located at three pieces of figures Pressure sensor above book placement plate；Battery is electrically connected with the 7th driving motor and pressure sensor respectively, controller point It is not connect with the 7th driving motor and pressure sensor signal.
By adopting the above technical scheme, the working method of taking care of books robot, comprising the following steps:
(1), it will need to sort out the books returned and be placed in bookcase, rotating disk mechanism drives clamping device and plectrum device rotation 180 °, make clamping device and plectrum device face bookcase, the bar code that clamping device scans on rear side of first books on spine is true Car body is moved on front side of corresponding bookcase by fixed corresponding bookcase position, controller control walking mechanism movement；
(2), clamping device takes out above-mentioned first books from bookcase, other books that plectrum device will arrange on bookcase It pushes aside, clamped books are placed into the position pushed aside on bookcase by plectrum by clamping device again；
(3), rotating disk mechanism drives clamping device and plectrum device to rotate 180 ° again, makes clamping device and plectrum device face book Case, clamping device scan the bar code in bookcase on rear side of second books on spine and determine corresponding bookcase position, controller Car body is moved on front side of corresponding bookcase by control walking mechanism movement, and clamping device takes out second books simultaneously from bookcase Clamped books are placed on corresponding bookcase；
(4), step (2) and (3) are repeated, so continues to sort out books all in bookcase into the book corresponding to being placed on one by one On cabinet.
Step (1) specifically: will need to sort out in three pieces of books placement plates that the books returned are placed in bookcase, c-type The right side of pressing plate, which is pressed on the left of the first books of the leftmost side, keeps each books left-right situs neat, according to pressure sensing The detection signal of device controls the rotation of the 7th driving motor, and then controls the amount of feeding to the right of c-type pressing plate；
Controller controls rotating electric machine rotation, and the shaft driving rotating circular disc of rotating electric machine is rotated in the upper surface of horizontal slide plate 180 °, to make two clamping plates and two pieces of plectrums towards front face bookcase, rotating electric machine stops operating；
Controller controls the rotation of third driving motor, and third driving motor drives the rotation of third turn-screw, third turn-screw Drive the first U-shaped connecting plate vertically movable on the first guide rod, make two clamping plates move up and down to the books etc. in bookcase High position, controller control the rotation of the first driving motor, and the first driving motor drives the rotation of the first turn-screw, the first transmission Lead screw driving horizontal slide plate moves left and right, and then two clamping plates is driven to move left and right, and two clamping plates is made to be moved to left side in bookcase First books dead astern, bar code on rear side of the second scanner face first books on spine is simultaneously scanned, from And obtain bookcase location information corresponding to first books；
Controller plans that track route, controller control the rotation of the second driving motor according to above-mentioned bookcase location information, and second drives Dynamic motor is driven drive shaft turns by tape handler, and drive shaft drives two rear wheels, and then two rear-wheel band motor-cars Body walking, while controller control steering motor rotation, steering motor drive steering axes, steering shaft drives tooth sector to turn Dynamic, tooth sector driving horizontal rack moves left and right, and horizontal rack drives two swinging mounting synchronous huntings, and then controls two Front-wheel swings, and the direction of car body walking is adjusted, in this way, car body runs to institute under the cooperation of two rear-wheels and two front-wheels On front side of corresponding bookcase, the first scanning device scan the bar code on bookcase so that it is determined that bookcase information, in walking process, avoidance Sensor can detect in front of car body whether have barrier or pedestrian, if detecting barrier or pedestrian, send a signal to control Device processed, controller control the second driving motor and stop operating, and car body is made to stop movement；
Step (2) specifically: controller controls the 5th driving motor and rotates forward, and the 5th driving motor is passed by tape handler Dynamic first two-way lead screw rotates forward, then the first two-way lead screw respectively drives the two sides movement to the left and right of two pieces of guide plates, and then makes Two sides are mobile to the left and right for two clamping plates, until two clamping plates are located at the left and right sides of first books, controller control is horizontal It moves motor to rotate forward, traversing the second turn-screw of motor driven rotates forward, and the second turn-screw drives the second sliding block in cunning It is moved forward in dynamic elongated slot, then two clamping plates move forward the left and right sides for being inserted in first books, and then make first books It is clipped between two clamping plates, controller controls the 5th driving motor and rotates backward, and the 5th driving motor is passed by tape handler Dynamic first two-way lead screw rotates backward, then it is mobile to center to respectively drive two pieces of guide plates for the first two-way lead screw, and then makes two pieces Clamping plate clamps first books, and controller controls traversing motor and rotates backward, and traversing the second turn-screw of motor driven reversely turns Dynamic, the second turn-screw drives the second sliding block to move backward in sliding elongated slot, then two clamping plates are moved backward first figure Book takes out from bookcase, then pressure sensor detects that pressure becomes smaller, and controller is according to the signal of pressure sensor control the 7th Driving motor rotation, the 7th driving motor are driven the rotation of the 5th turn-screw, and the 5th turn-screw driving c-type pressing plate moves right Dynamic, c-type pressing plate compresses makes remaining books move right together on the left of second books, and remaining books is made to keep neat straight The pressure value detected to pressure sensor reaches specified value, and the 7th driving motor can stop operating；
Then controller control rotating electric machine rotation, rotating electric machine shaft driving rotating circular disc the upper surface of horizontal slide plate again Secondary 180 ° of rotation, to make two clamping plates and two pieces of plectrums towards the equal face bookcase in rear, rotating electric machine stops operating；
Two pieces of plectrums are bonded to each other when initial, and two electric hydaulic bars are in contraction state, and controller controls the 4th driving motor Rotation, the 4th driving the 4th turn-screw of motor driven rotation, the 4th turn-screw drive the second U-shaped connecting plate in the second guiding It is vertically movable on bar, move up and down two pieces of plectrums to the position contour with the books in bookcase, then controller controls two The piston rod of electric hydaulic bar stretches, and stretches two pieces of plectrums backward and is inserted into bookcase between adjacent two books, controller It controls the 6th driving motor to rotate forward, the 6th driving motor is driven the second two-way lead screw and rotates forward, the second two-way lead screw point Not Qu Dong two pieces of third sliding blocks two sides are mobile to the left and right, and then two electric hydaulic bars is made to drive two pieces of plectrums, two sidesway to the left and right Dynamic, two pieces of plectrums push above-mentioned adjacent two books aside certain distance, and then the piston rod of two electric hydaulic bars is shunk, by two Block plectrum extracts withdrawal out from the books of bookcase, and controller controls the 6th driving motor and rotates backward, the transmission of the 6th driving motor Second two-way lead screw rotates backward, and the second two-way lead screw respectively drives two pieces of third sliding blocks to center movement, then two pieces of plectrums lean on Hold together until being bonded to each other, the 6th driving motor stops operating；
Controller controls the rotation of third driving motor, and third driving motor drives the rotation of third turn-screw, third turn-screw It drives the first U-shaped connecting plate vertically movable on the first guide rod, moves up and down two clamping plates to bookcase and dialled by two pieces Face before and after the position that piece is pushed aside, then controller controls traversing motor and rotates forward, traversing the second turn-screw of motor driven It rotates forward, the second turn-screw drives the second sliding block to move backward in sliding elongated slot, then two clamping plates are moved backward institute The first books of clamping are placed on the position pushed aside between above-mentioned adjacent two books, then the 5th driving of controller control Motor rotates forward, and the 5th driving motor is driven the first two-way lead screw by tape handler and rotates forward, then the first two-way silk Thick stick respectively drives two pieces of guide plates, and two sides are mobile to the left and right, and then make two clamping plates two sides movement to the left and right, until two clamping plates Until first books are unclamped, controller controls traversing motor again and rotates backward, and traversing the second turn-screw of motor driven is anti- To rotation, the second turn-screw drives the second sliding block to move forward in sliding elongated slot, moves forward two clamping plates from bookcase Books in extract out.
Step (3) specifically: controller controls rotating electric machine rotation, and the shaft driving rotating circular disc of rotating electric machine is in level The upper surface of slide plate continues to rotate 180 °, to make two clamping plates and two pieces of plectrums towards front face bookcase, rotating electric machine It stops operating；
Controller controls the rotation of third driving motor, and third driving motor drives the rotation of third turn-screw, third turn-screw Drive the first U-shaped connecting plate vertically movable on the first guide rod, make two clamping plates move up and down to the books etc. in bookcase High position, controller control the rotation of the first driving motor, and the first driving motor drives the rotation of the first turn-screw, the first transmission Lead screw driving horizontal slide plate moves left and right, and then two clamping plates is driven to move left and right, and two clamping plates is made to be moved to left side in bookcase Second books dead astern, bar code on rear side of the second scanner face second books on spine is simultaneously scanned, from And obtain bookcase location information corresponding to second books；
Controller plans that track route, controller control the rotation of the second driving motor according to above-mentioned bookcase location information, and second drives Dynamic motor is driven drive shaft turns by tape handler, and drive shaft drives two rear wheels, and then two rear-wheel band motor-cars Body walking, while controller control steering motor rotation, steering motor drive steering axes, steering shaft drives tooth sector to turn Dynamic, tooth sector driving horizontal rack moves left and right, and horizontal rack drives two swinging mounting synchronous huntings, and then controls two Front-wheel swings, and the direction of car body walking is adjusted, in this way, car body runs to institute under the cooperation of two rear-wheels and two front-wheels On front side of corresponding bookcase, the first scanning device scan the bar code on bookcase so that it is determined that bookcase information, in walking process, avoidance Sensor can detect in front of car body whether have barrier or pedestrian, if detecting barrier or pedestrian, send a signal to control Device processed, controller control the second driving motor and stop operating, and car body is made to stop movement；
Controller controls the 5th driving motor and rotates forward, and the 5th driving motor is driven the first two-way lead screw by tape handler It rotates forward, then the first two-way lead screw respectively drives the two sides movement to the left and right of two pieces of guide plates, and then makes two clamping plates to the left and right Two sides are mobile, until two clamping plates are located at the left and right sides of second books, controller controls traversing motor and rotates forward, Traversing the second turn-screw of motor driven rotates forward, and the second turn-screw drives the second sliding block Xiang Qianyi in sliding elongated slot Dynamic, then two clamping plates move forward the left and right sides for being inserted in second books, so make second Book holder two clamping plates it Between, controller controls the 5th driving motor and rotates backward, and the 5th driving motor is driven the first two-way lead screw by tape handler It rotates backward, then it is mobile to center to respectively drive two pieces of guide plates for the first two-way lead screw, and then two clamping plates is made to clamp second Books, controller control traversing motor and rotate backward, and traversing the second turn-screw of motor driven rotates backward, the second turn-screw Drive the second sliding block to move backward in sliding elongated slot, then two clamping plates are moved backward takes out second books from bookcase, Then pressure sensor detects that pressure becomes smaller, and controller controls the 7th driving motor according to the signal of pressure sensor and rotates, the Seven driving motors are driven the rotation of the 5th turn-screw, and the 5th turn-screw driving c-type pressing plate moves right, and c-type pressing plate compresses the So that remaining books is moved right together on the left of three books, keeps remaining books neatly until pressure sensor detects Pressure value reach specified value, the 7th driving motor can stop operating；
Then controller control rotating electric machine rotation, rotating electric machine shaft driving rotating circular disc the upper surface of horizontal slide plate again Secondary 180 ° of rotation, to make two clamping plates and two pieces of plectrums towards the equal face bookcase in rear, rotating electric machine stops operating；
Controller controls the rotation of the 4th driving motor, the 4th driving the 4th turn-screw of motor driven rotation, the 4th transmission later Lead screw drive the second U-shaped connecting plate it is vertically movable on the second guide rod, make two pieces of plectrums move up and down to the figure in bookcase The contour position of book, then controller controls the piston rod stretching, extension of two electric hydaulic bars, and two pieces of plectrums is made to stretch and insert backward Enter in bookcase between adjacent two books, controller controls the 6th driving motor and rotates forward, the 6th driving motor transmission second Two-way lead screw rotates forward, and the second two-way lead screw respectively drives two pieces of third sliding blocks, and two sides are mobile to the left and right, and then make two electricity Hydrodynamic compression bar drives two pieces of plectrums, and two sides are mobile to the left and right, and two pieces of plectrums push above-mentioned adjacent two books aside certain distance, so The piston rod of two electric hydaulic bars is shunk afterwards, and two pieces of plectrums are extracted out to withdrawal, controller control the 6th from the books of bookcase Driving motor rotates backward, and the 6th driving motor is driven the second two-way lead screw and rotates backward, and the second two-way lead screw respectively drives two Block third sliding block is mobile to center, then two pieces of plectrums are drawn close until being bonded to each other, and the 6th driving motor stops operating；
Controller controls the rotation of third driving motor, and third driving motor drives the rotation of third turn-screw, third turn-screw It drives the first U-shaped connecting plate vertically movable on the first guide rod, moves up and down two clamping plates to bookcase and dialled by two pieces Face before and after the position that piece is pushed aside, then controller controls traversing motor and rotates forward, traversing the second turn-screw of motor driven It rotates forward, the second turn-screw drives the second sliding block to move backward in sliding elongated slot, then two clamping plates are moved backward institute Second books of clamping are placed on the position pushed aside between above-mentioned adjacent two books, then the 5th driving of controller control Motor rotates forward, and the 5th driving motor is driven the first two-way lead screw by tape handler and rotates forward, then the first two-way silk Thick stick respectively drives two pieces of guide plates, and two sides are mobile to the left and right, and then make two clamping plates two sides movement to the left and right, until two clamping plates Until second books is unclamped, controller controls traversing motor again and rotates backward, and traversing the second turn-screw of motor driven is anti- To rotation, the second turn-screw drives the second sliding block to move forward in sliding elongated slot, moves forward two clamping plates from bookcase Books in extract out.
The present invention has substantive distinguishing features outstanding and significant progress compared with the prior art, specifically, of the invention Two rear-wheels can drive car body mobile under the driving of the second driving motor, two front-wheels in steering motor, horizontal rack, turn It can swing under the action of to motor and tooth sector, realize the steering of car body, clamping device and plectrum device can be into Row left and right, upper and lower and rotary motion, books to be arranged, which are placed in bookcase, facilitates transhipment, and obstacle avoidance sensor can incude obstacle Object and pedestrian, when storing books, the second scanner on clamping plate can scan the bar code on books and then find corresponding book Cabinet can determine according to the bar code on the first scanner scanning bookcase and find corresponding bookcase, and when placement, two pieces of plectrums first will Book on bookcase is pushed aside, and then books are clamped the position for being placed into and accordingly being pushed aside by plectrum, the books in bookcase by two clamping plates After being removed, the 7th driving motor is driven the rotation of the 5th turn-screw, and the 5th turn-screw is driven the movement of c-type pressing plate will be remaining Books clamp；Design science of the present invention, it is mobile flexibly, stable operation, high degree of automation.
Detailed description of the invention
Fig. 1 is perspective view one of the invention.
Fig. 2 is perspective view two of the invention.
Fig. 3 is walking mechanism structural schematic diagram in the present invention.
Fig. 4 is left view of the invention.
Fig. 5 is top view of the invention.
Fig. 6 is the rearview of bookcase and body part in the present invention.
Fig. 7 be in Fig. 4 A-A to partial sectional view.
Fig. 8 is B-B direction partial sectional view in Fig. 4.
Fig. 9 is partial enlarged view at C in Fig. 1.
Specific embodiment
The following is further explained with reference to the attached drawings the embodiment of the present invention.
As shown in figs. 1-9, taking care of books robot, including car body, walking mechanism, rotating disk mechanism, elevating mechanism, clamping Mechanism and plectrum device, the upper surface front side portion of car body are provided with the bookcase 1 arranged in left-right direction, and walking mechanism is mounted on vehicle The bottom of body, rotating disk mechanism are slidably connected at the upper surface rear lateral portion of car body, the lower end edge turntable of elevating mechanism in left-right direction The radial direction of mechanism is slidably connected on rotating disk mechanism, and clamping device and plectrum device are installed on elevating mechanism and are rising Vertically movable on descending mechanism, the rear side of bookcase 1 is open, and bookend regulating mechanism is equipped in bookcase 1, and the lower front of car body is provided with Obstacle avoidance sensor 61, is provided with battery and controller on car body, battery respectively with walking mechanism, rotating disk mechanism, elevator Structure, clamping device, plectrum device, bookend regulating mechanism, obstacle avoidance sensor 61 and controller electrical connection, controller respectively with walking Mechanism, rotating disk mechanism, elevating mechanism, clamping device, plectrum device, bookend regulating mechanism are connected with 61 signal of obstacle avoidance sensor. Do not show in battery and controller figure.
Car body includes chassis 2 and cover board 3, and chassis 2 is the hollow box body structure of upside opening, and the covering of cover board 3 is mounted on bottom 2 top of disk, obstacle avoidance sensor 61 are mounted in the middle part of the leading flank on chassis 2, and the front side left and right sides portion on chassis 2 passes through vertically respectively Hinge is symmetrically hinged with swinging mounting 4, offered in the front side left and right side plates on chassis 2 left and right it is penetrating and be located at swinging mounting The notch 5 at 4 rears, bookcase 1 are fixedly connected on the upper surface front side portion of cover board 3, and the upper surface rear lateral portion of cover board 3 is in left-right direction Horizontally disposed to have pedestal 6, the upper surface of pedestal 6 is horizontally disposed in left-right direction two guide rails 7, and two 7 front and backs of guide rail are side by side Interval setting, the upper surface left side of pedestal 6 are fixedly installed with the first driving motor 8, and the upper surface of pedestal 6 is rotatably equipped with edge Horizontally disposed first turn-screw 9 of left and right directions, the first driving motor 8 and the first turn-screw 9 are respectively positioned in two guide rails 7 Between, the left end of the power output shaft of the first driving motor 8 and the first turn-screw 9 is sequentially connected；
Walking mechanism includes two front-wheels 10,11, two rear-wheels 12 of drive shaft, the second driving motor 13, horizontal rack 14, turns to Motor 15, steering shaft 16 and tooth sector 17, two front-wheels 10 are rotatably installed in respectively on two swinging mountings 4, drive shaft 11 The rear lateral portion for being mounted on chassis 2 is horizontally rotated in left-right direction, and the left and right ends of drive shaft 11 are located at the left and right two on chassis 2 Side, two rear-wheels 12 are respectively and fixedly installed to the left and right ends of drive shaft 11, and the second driving motor 13 is fixedly mounted in chassis 2 The power output shaft of portion upper surface rear lateral portion, the second driving motor 13 is sequentially connected by tape handler 44 and drive shaft 11, For horizontal rack 14 in left-right direction horizontal through two notches 5, the left and right ends of horizontal rack 14 are respectively hinged at two swings The rear lateral portion of bracket 4, steering motor 15 are fixedly mounted on 2 inside upper surface front side portion of chassis, the water along the longitudinal direction of steering shaft 16 Flat setting, the rear end of steering shaft 16 are fixedly connected with the front side power output shaft of steering motor 15, and tooth sector 17 is fixedly connected In the front end of steering shaft 16, tooth sector 17 and horizontal rack 14 are engaged；
Battery is electrically connected with the first driving motor 8, the second driving motor 13 and steering motor 15 respectively, and controller is respectively with One driving motor 8, the second driving motor 13 are connected with 15 signal of steering motor.
Rotating disk mechanism includes horizontal slide plate 18, rotating electric machine 19 and rotating circular disc 20, and the bottom surrounding of horizontal slide plate 18 is solid Surely it is connected with the first sliding block 21 being slidably connected on two guide rails 7 respectively, the bottom centre of horizontal slide plate 18 is equipped with convex block 22, First turn-screw 9 passes through convex block 22 and connect with 22 screw-driven of convex block, and rotating electric machine 19 is vertically fixedly mounted on horizontal cunning The upper surface middle part of plate 18, the lower surface center of rotating circular disc 20 and the upper center shaft coaxial transmission of rotating electric machine 19 connect It connects, the lower surface of rotating circular disc 20 is equipped with the annular brace boss 23 contacted with the upper surface slide of horizontal slide plate 18, electric rotating Machine 19 is located at the inside of annular brace boss 23, the center line weight of rotating electric machine 19, rotating circular disc 20 and annular brace boss 23 It closes, the upper surface of rotating circular disc 20 radially offers sliding elongated slot 24, and the side of sliding elongated slot 24 is fixedly installed with traversing electricity Machine 25, the interior middle part of sliding elongated slot 24 are rotatably equipped with horizontally disposed second turn-screw 26, traversing electricity along its length The rotating shaft transmission of machine 25 connects the second turn-screw 26；Battery is electrically connected with rotating electric machine 19 and traversing motor 25 respectively, control Device processed is connect with rotating electric machine 19 and 25 signal of traversing motor respectively.
Elevating mechanism includes the second sliding block 27, horizontal supporting plate 28, third turn-screw 29, the first guide rod 30, third Driving motor 31, the 4th turn-screw 32, the second guide rod 33 and the 4th driving motor 34, the second sliding block 27 are slidably arranged in cunning In dynamic elongated slot 24, the second turn-screw 26 passes through the second sliding block 27 and connect with 27 screw-driven of the second sliding block, third driving wire Thick stick 29, the first guide rod 30, the 4th turn-screw 32 and the second guide rod 33 are vertically arranged, and the first guide rod 30 and second is led It is fixedly connected with to the lower end of bar 33 in the upper surface of the second sliding block 27, the lower surface of horizontal supporting plate 28 is fixedly connected on first The lower end of the upper end of guide rod 30 and the second guide rod 33, third turn-screw 29 and the 4th turn-screw 32 is rotatably connected on The upper end of the upper surface of second sliding block 27, third turn-screw 29 and the 4th turn-screw 32 is rotatably connected on horizontal supporting plate 28 lower surface, third driving motor 31 and the 4th driving motor 34 are fixedly mounted on the upper surface of horizontal supporting plate 28, the The shaft of three driving motors 31 vertically passes through horizontal supporting plate 28 and is sequentially connected with the upper end of third turn-screw 29,4 wheel driven The shaft of dynamic motor 34 vertically passes through horizontal supporting plate 28 and is sequentially connected with the upper end of the 4th turn-screw 32, third driving wire Thick stick 29 and the first guide rod 30 are from back to front along the length direction arranged for interval of sliding elongated slot 24, the 4th turn-screw 32 and second Guide rod 33 is from left to right along the width direction arranged for interval of sliding elongated slot 24, the 4th turn-screw 32 and the second guide rod 33 In the front side of the first guide rod 30,28 upper surface of horizontal supporting plate, which is fixedly connected with, covers on third driving motor 31 and the 4th driving The casing 35 in 34 outside of motor, the top of casing 35 are equipped with the first scanning device 36, and casing 35 is not shown in Fig. 1；Battery difference Be electrically connected with third driving motor 31, the 4th driving motor 34 and the first scanning device 36, controller respectively with third driving motor 31, the 4th driving motor 34 is connected with 36 signal of the first scanning device.
Clamping device includes 38, two the first U-shaped connecting plate 37, the first two-way lead screw drivings of third guide rods the 39, the 5th 40, two pieces of guide plates 41 of motor and two clamping plates 42, the upside of the first U-shaped connecting plate 37, downside and rear side are open, the first U It is fixedly connected with one piece of horizontal connecting plate 43 in the middle part of the front side board leading flank of type connecting plate 37, third turn-screw 29 and first are led Horizontal connecting plate 43 is passed perpendicularly through to bar 30, horizontal connecting plate 43 is connected with 29 screw-driven of third turn-screw, and level is even Fishplate bar 43 and the first guide rod 30 are slidably connected, and the first two-way lead screw 38 and two third guide rods 39 are horizontal in left-right direction It is arranged and is located in same level, the left and right ends of the first two-way lead screw 38 is rotatably installed in the first U-shaped connecting plate 37 respectively Left plate and right side plate on, the right end of the first two-way lead screw 38 passes perpendicularly through the right side plate of the first U-shaped connecting plate 37, two The left and right ends of three guide rods 39 are respectively fixedly connected on the left plate and right side plate of the first U-shaped connecting plate 37, and first is two-way Lead screw 38 is located at the centre of two third guide rods 39, and level is fixedly connected on the first U to the 5th driving motor 40 in left-right direction On the right side plate left side of type connecting plate 37, the shaft of the 5th driving motor 40 passes perpendicularly through the right side of the first U-shaped connecting plate 37 Plate is connected between the shaft right end of the 5th driving motor 40 and the right end of the first two-way lead screw 38 by the transmission of tape handler 44 It connects, the left side excircle of the first two-way lead screw 38 is equipped with left hand thread, and the right side excircle of the first two-way lead screw 38 is equipped with The structure of right-handed thread, two pieces of guide plates 41 is identical and is symmetrical set, the structure of two clamping plates 42 it is identical and bilateral symmetry Setting, two pieces of guide plates 41 and two clamping plates 42 are vertically arranged along the longitudinal direction, and the first two-way lead screw 38 and two thirds are led Two pieces of guide plates 41, the left side screw-driven company of the guide plate 41 in left side and the first two-way lead screw 38 are passed perpendicularly through to bar 39 It connects, the left side of the guide plate 41 in left side and two third guide rods 39 is slidably connected, the rear end and a left side of the guide plate 41 in left side 42 front end of clamping plate of side is fixedly connected, and the back side edge upper lateral part of the clamping plate 42 in left side is equipped with the second scanner 45；Battery difference Be electrically connected with the 5th driving motor 40 and the second scanner 45, controller respectively with the 5th driving motor 40 and the second scanner 45 Signal connection.
Plectrum device is sliding including 48, two pieces of the second U-shaped connecting plate 46, the second two-way lead screw 47, the 6th driving motor thirds 49, two electric hydaulic bars 50 of block and two pieces of plectrums 51, the upside of the second U-shaped connecting plate 46, front side and rear side are open, and the 4th Turn-screw 32 and the second guide rod 33 pass perpendicularly through the lower side panel of the second U-shaped connecting plate 46, under the second U-shaped connecting plate 46 Side plate and the connection of 32 screw-driven of the 4th turn-screw, the lower side panel of the second U-shaped connecting plate 46 and the sliding of the second guide rod 33 connect It connects, the second two-way lead screw 47 is horizontally disposed in left-right direction, and the left and right ends of the second two-way lead screw 47 are rotatably installed in respectively On the left plate and right side plate of two U-shaped connecting plates 46, to be fixedly connected on second U-shaped for level in left-right direction for the 6th driving motor 48 On the right side plate right side of connecting plate 46, the right end of the shaft of the 6th driving motor 48 and the second two-way lead screw 47 is sequentially connected, Second two-way lead screw 47 is located at the front side of the 4th turn-screw 32 and the second guide rod 33, outside the left side of the second two-way lead screw 47 Circumference is equipped with left hand thread, and the right side excircle of the second two-way lead screw 47 is equipped with right-handed thread, the knot of two pieces of third sliding blocks 49 Structure is identical and is symmetrical set, and the bottom of two pieces of third sliding blocks 49 is slidably connected at the lower side panel of the second U-shaped connecting plate 46 On upper surface, the second two-way lead screw 47 passes perpendicularly through two pieces of third sliding blocks 49, the third sliding block 49 in left side and the second two-way lead screw 47 left side screw-driven connection, the third sliding block 49 on right side are connected with the right side screw-driven of the second two-way lead screw 47, Two electric hydaulic bars 50 are horizontally disposed with along the longitudinal direction, and the cylinder body front end of two electric hydaulic bars 50 is respectively fixedly connected with On the trailing flank of two pieces of third sliding blocks 49, the piston rod rear end of two electric hydaulic bars 50 is fixedly connected to one along right and left To horizontally disposed connecting rod 52, two pieces of 51 structures of plectrum are identical and are symmetrical set, and two pieces of plectrums 51 are along the longitudinal direction It is vertically arranged, the right part of the connecting rod 52 in left side, the plectrum on right side are fixedly connected in the middle part of the front side edge of the plectrum 51 in left side It is fixedly connected on the right part of the connecting rod 52 on right side in the middle part of 51 front side edge, third turn-screw 29, the first guide rod 30, the Four turn-screws 32 and the second guide rod 33 are respectively positioned on the centre of two electric hydaulic bars 50；Battery is electric with the 6th driving respectively Machine 48 and two electric hydaulic bars 50 are electrically connected, controller respectively with the 6th driving motor 48 and two 50 signals of electric hydaulic bar Connection.
Middle part downside is fixedly connected with three pieces of horizontally disposed books placement plates 53 in left-right direction, three pieces of figures in bookcase 1 Book placement plate 53 is located in same level and time interval is arranged, and the first guiding is formed between adjacent two pieces of books placement plates 53 Long hole 54, opens up that there are two the second transparent long guiding hole 55, two second guiding on the top plate of bookcase 1 in left-right direction Long hole 55 and two the first about 54 long guiding holes correspond, and bookend regulating mechanism is passed including the 7th driving motor the 56, the 5th Dynamic lead screw 57, the 4th guide rod 58 and c-type pressing plate 59, the 7th driving motor 56 are fixedly mounted on 1 inner bottom surface left side of bookcase, the Five turn-screws 57 and the 4th guide rod 58 are horizontally disposed in left-right direction, the 7th driving motor 56, the 5th turn-screw 57 The lower section of three pieces of books placement plates 53, the left end of the 5th turn-screw 57 and the 7th driving motor are respectively positioned on the 4th guide rod 58 56 shaft right end is fixedly connected, and the right end of the 5th turn-screw 57 is rotatably installed in the right side plate following side of bookcase 1, c-type pressure Plate 59 is vertically arranged along the longitudinal direction, and upward, the front and rear sides plate of c-type pressing plate 59 is each passed through two to the gap of c-type pressing plate 59 First long guiding hole 54 and correspondence is inserted into two the second long guiding holes 55, the 5th turn-screw 57 and the 4th guide rod 58 are The following side of c-type pressing plate 59 is passed perpendicularly through, the following side of c-type pressing plate 59 is connected with 57 screw-driven of the 5th turn-screw, c-type pressure The following side of plate 59 and the 4th guide rod 58 are slidably connected, and are equipped in the middle part of the right side plate left side of bookcase 1 and put positioned at three pieces of books Set the pressure sensor 60 of 53 top of plate；Battery is electrically connected with the 7th driving motor 56 and pressure sensor 60 respectively, control Device is connect with the 7th driving motor 56 and 60 signal of pressure sensor respectively.Pressure sensor 60 is right for detecting c-type pressing plate 59 The pressure of books, thus the rotation of the 7th driving motor 56 of control.
By adopting the above technical scheme, the working method of taking care of books robot, comprising the following steps:
(1), it will need to sort out the books returned and be placed in bookcase 1, rotating disk mechanism drives clamping device and plectrum device rotation 180 °, make clamping device and plectrum device face bookcase 1, the bar code that clamping device scans on rear side of first books on spine is true Car body is moved on front side of corresponding bookcase by fixed corresponding bookcase position, controller control walking mechanism movement；
(2), clamping device takes out above-mentioned first books from bookcase 1, other figures that plectrum device will arrange on bookcase Book is pushed aside, and clamped books are placed into the position pushed aside on bookcase by plectrum by clamping device again；
(3), rotating disk mechanism drives clamping device and plectrum device to rotate 180 ° again, makes clamping device and plectrum device face bookcase 1, clamping device scans the bar code in bookcase 1 on rear side of second books on spine and determines corresponding bookcase position, controller Car body is moved on front side of corresponding bookcase by control walking mechanism movement, and clamping device takes out second books from bookcase 1 And clamped books are placed on corresponding bookcase；
(4), step (2) and (3) are repeated, so continues one by one to sort out books all in bookcase 1 corresponding to being placed on On bookcase.
Step (1) specifically: it will need to sort out in three pieces of books placement plates 53 that the books returned are placed in bookcase 1, The right side of c-type pressing plate 59, which is pressed on the left of the first books of the leftmost side, keeps each books left-right situs neat, according to pressure The detection signal of force snesor 60 controls the rotation of the 7th driving motor 56, and then controls the amount of feeding to the right of c-type pressing plate 59；
Controller controls rotating electric machine 19 and rotates, and the shaft of rotating electric machine 19 drives rotating circular disc 20 in the upper table of horizontal slide plate 18 Face rotates 180 °, to make two clamping plates 42 and two pieces of plectrums 51 towards front face bookcase 1, rotating electric machine 19 stops turning It is dynamic；
Controller controls third driving motor 31 and rotates, and third driving motor 31 drives third turn-screw 29 to rotate, and third passes Dynamic lead screw 29 drives the first U-shaped connecting plate 37 vertically movable on the first guide rod 30, make two clamping plates 42 move up and down to The contour position of books in bookcase 1, controller control the rotation of the first driving motor 8, the first transmission of the first driving motor 8 driving Lead screw 9 rotates, and the first turn-screw 9 driving horizontal slide plate 18 moves left and right, and then two clamping plates 42 is driven to move left and right, and makes two Block clamping plate 42 is moved to the dead astern of the first books in left side in bookcase 1,45 face first books rear side of the second scanner Bar code on spine is simultaneously scanned, to obtain bookcase location information corresponding to first books；
Controller plans that track route, controller control the second driving motor 13 and rotate according to above-mentioned bookcase location information, second Driving motor 13 is driven drive shaft 11 by tape handler and rotates, and drive shaft 11 drives two rear-wheels 12 to rotate, and then two Rear-wheel 12 is walked with motor vehicles bodies, while controller control steering motor 15 rotates, and steering motor 15 drives steering shaft 15 to rotate, and turns Tooth sector 17 is driven to rotate to axis 16, tooth sector 17 drives horizontal rack 14 to move left and right, and horizontal rack 14 drives two 4 synchronous hunting of swinging mounting, and then control two front-wheels 10 and swing, the direction of car body walking is adjusted, in this way, car body is two It is run under the cooperation of a rear-wheel 12 and two front-wheels 10 on front side of corresponding bookcase, the first scanning device 36 scans the item on bookcase Shape code so that it is determined that bookcase information, in walking process, obstacle avoidance sensor 61 can detect whether have in front of car body barrier or Pedestrian sends a signal to controller if detecting barrier or pedestrian, and controller, which controls the second driving motor 13, to be stopped turning It is dynamic, so that car body is stopped movement；
Step (2) specifically: controller controls the 5th driving motor 40 and rotates forward, and the 5th driving motor 40 passes through V belt translation machine Structure is driven the first two-way lead screw 38 and rotates forward, then the first two-way lead screw 38 respectively drives two pieces of guide plates 41, two sidesway to the left and right It is dynamic, and then make the two sides movement to the left and right of two clamping plates 42, until two clamping plates 42 are located at the left and right sides of first books, Controller controls traversing motor 25 and rotates forward, and traversing motor 25 drives the second turn-screw 26 to rotate forward, the second driving wire Thick stick 26 drives the second sliding block 27 to move forward in sliding elongated slot 24, then the forward movement of two clamping plates 42 is inserted in first books The left and right sides, and then make first Book holder between two clamping plates 42, controller controls the 5th driving motor 40 and rotates backward, 5th driving motor 40 is driven the first two-way lead screw 38 by tape handler and rotates backward, then the first two-way lead screw 38 drives respectively Dynamic two pieces of guide plates 41 are mobile to center, and then two clamping plates 42 is made to clamp first books, and controller controls traversing motor 25 It rotates backward, traversing motor 25 drives the second turn-screw 26 to rotate backward, and the second turn-screw 26 drives the second sliding block 27 to exist It is moved backward in sliding elongated slot 24, then two clamping plates 42 are moved backward takes out first books from bookcase 1, then pressure sensing Device 60 detects that pressure becomes smaller, and controller controls the 7th driving motor 56 according to the signal of pressure sensor 60 and rotates, and the 7th drives Dynamic motor 56 is driven the rotation of the 5th turn-screw 57, and the 5th turn-screw 57 driving c-type pressing plate 59 moves right, c-type pressing plate 59 Compress makes remaining books move right together on the left of second books, keeps remaining books neatly until pressure sensing The pressure value that device 60 detects reaches specified value, and the 7th driving motor 56 can stop operating；
Then controller control rotating electric machine 19 rotates, and the shaft driving rotating circular disc 20 of rotating electric machine 19 is in horizontal slide plate 18 Upper surface rotates 180 ° again, to make two clamping plates 42 and two pieces of plectrums 51 towards the equal face bookcase in rear, rotating electric machine 19 It stops operating；
Two pieces of plectrums 51 are bonded to each other when initial, and two electric hydaulic bars 50 are in contraction state, the 4th driving of controller control Motor 34 rotates, and the 4th driving motor 34 drives the rotation of the 4th turn-screw 32, and the 4th turn-screw 32 drives the second U-shaped connection Plate 46 is vertically movable on the second guide rod 33, moves up and down two pieces of plectrums 51 to the position contour with the books in bookcase, Then controller controls the piston rod stretching, extension of two electric hydaulic bars 50, stretches two pieces of plectrums 51 backward and is inserted into phase in bookcase Between adjacent two books, controller controls the 6th driving motor 48 and rotates forward, and the 6th driving motor 48 is driven the second two-way silk Thick stick 47 rotates forward, and the second two-way lead screw 47 respectively drives two pieces of third sliding blocks 49, and two sides are mobile to the left and right, and then make two electricity Hydrodynamic compression bar 50 drives two pieces of plectrums 51, and two sides are mobile to the left and right, and two pieces of plectrums 51 push above-mentioned adjacent two books aside a spacing From then the piston rod of two electric hydaulic bars 50 is shunk, and two pieces of plectrums 51 are extracted out to withdrawal, controller from the books of bookcase It controls the 6th driving motor 48 to rotate backward, the 6th driving motor 48 is driven the second two-way lead screw 47 and rotates backward, and second is two-way Lead screw 47 respectively drives two pieces of third sliding blocks 49 to center movement, then two pieces of plectrums 51 are drawn close until being bonded to each other, the 6th driving Motor 48 stops operating；
Controller controls third driving motor 31 and rotates, and third driving motor 31 drives third turn-screw 29 to rotate, and third passes Dynamic lead screw 29 drives the first U-shaped connecting plate 37 vertically movable on the first guide rod 30, make two clamping plates 42 move up and down to Face before and after the position pushed aside in bookcase by two pieces of plectrums 51, then controller controls traversing motor 25 and rotates forward, traversing electricity Machine 25 drive the second turn-screw 26 rotate forward, the second turn-screw 26 drive the second sliding block 27 sliding elongated slot 24 in backward Mobile, then two clamping plates 42 are moved backward for clamped first books to be placed between above-mentioned adjacent two books and be pushed aside Position, then controller control the 5th driving motor 40 rotate forward, the 5th driving motor 40 by tape handler transmission First two-way lead screw 38 rotates forward, then the first two-way lead screw 38 respectively drives the two sides movement to the left and right of two pieces of guide plates 41, into And make the two sides movement to the left and right of two clamping plates 42, until two clamping plates 42 unclamp first books, controller controls again Traversing motor 25 rotates backward, and traversing motor 25 drives the second turn-screw 26 to rotate backward, the second turn-screw 26 driving the Two sliding blocks 27 move forward in sliding elongated slot 24, extract the forward movement of two clamping plates 42 from the books of bookcase out.
Step (3) specifically: controller controls rotating electric machine 19 and rotates, and the shaft of rotating electric machine 19 drives rotating circular disc 20 180 ° are continued to rotate in the upper surface of horizontal slide plate 18, to make two clamping plates 42 and two pieces of plectrums 51 towards front face book Case 1, rotating electric machine 19 stop operating；
Controller controls third driving motor 31 and rotates, and third driving motor 31 drives third turn-screw 29 to rotate, and third passes Dynamic lead screw 29 drives the first U-shaped connecting plate 37 vertically movable on the first guide rod 30, make two clamping plates 42 move up and down to The contour position of books in bookcase 1, controller control the rotation of the first driving motor 8, the first transmission of the first driving motor 8 driving Lead screw 9 rotates, and the first turn-screw 9 driving horizontal slide plate 18 moves left and right, and then two clamping plates 42 is driven to move left and right, and makes two Block clamping plate 42 is moved to the dead astern of second books in left side in bookcase 1,45 face of the second scanner, second books rear side Bar code on spine is simultaneously scanned, to obtain bookcase location information corresponding to second books；
Controller plans that track route, controller control the second driving motor 13 and rotate according to above-mentioned bookcase location information, second Driving motor 13 is driven drive shaft 11 by tape handler and rotates, and drive shaft 11 drives two rear-wheels 12 to rotate, and then two Rear-wheel 12 is walked with motor vehicles bodies, while controller control steering motor 15 rotates, and steering motor 15 drives steering shaft 15 to rotate, and turns Tooth sector 17 is driven to rotate to axis 16, tooth sector 17 drives horizontal rack 14 to move left and right, and horizontal rack 14 drives two 4 synchronous hunting of swinging mounting, and then control two front-wheels 10 and swing, the direction of car body walking is adjusted, in this way, car body is two It is run under the cooperation of a rear-wheel 12 and two front-wheels 10 on front side of corresponding bookcase, the first scanning device 36 scans the item on bookcase Shape code so that it is determined that bookcase information, in walking process, obstacle avoidance sensor 61 can detect whether have in front of car body barrier or Pedestrian sends a signal to controller if detecting barrier or pedestrian, and controller, which controls the second driving motor 13, to be stopped turning It is dynamic, so that car body is stopped movement；
Controller controls the 5th driving motor 40 and rotates forward, and the 5th driving motor 40 is two-way by tape handler transmission first Lead screw 38 rotates forward, then the first two-way lead screw 38 respectively drives the two sides movement to the left and right of two pieces of guide plates 41, and then makes two pieces Two sides are mobile to the left and right for clamping plate 42, until two clamping plates 42 are located at the left and right sides of second books, controller control is horizontal It moves motor 25 to rotate forward, traversing motor 25 drives the second turn-screw 26 to rotate forward, the second turn-screw 26 driving second Sliding block 27 moves forward in sliding elongated slot 24, then two clamping plates 42 move forward the left and right sides for being inserted in second books, into And making second Book holder between two clamping plates 42, controller controls the 5th driving motor 40 and rotates backward, the 5th driving electricity Machine 40 is driven the first two-way lead screw 38 by tape handler and rotates backward, then the first two-way lead screw 38 respectively drives two pieces of guiding Plate 41 is mobile to center, and then two clamping plates 42 is made to clamp second books, and controller controls traversing motor 25 and rotates backward, horizontal Moving motor 25 drives the second turn-screw 26 to rotate backward, and the second turn-screw 26 drives the second sliding block 27 in sliding elongated slot 24 It moves backward, then two clamping plates 42 are moved backward takes out second books from bookcase 1, then pressure sensor 60 detects pressure Power becomes smaller, and controller controls the 7th driving motor 56 according to the signal of pressure sensor 60 and rotates, the transmission of the 7th driving motor 56 The rotation of 5th turn-screw 57, the 5th turn-screw 57 driving c-type pressing plate 59 move right, and c-type pressing plate 59 compresses this figure of third So that remaining books is moved right on the left of book together, keeps remaining books neatly until the pressure that pressure sensor 60 detects Force value reaches specified value, and the 7th driving motor 56 can stop operating；
Then controller control rotating electric machine 19 rotates, and the shaft driving rotating circular disc 20 of rotating electric machine 19 is in horizontal slide plate 18 Upper surface rotates 180 ° again, to make two clamping plates 42 and two pieces of plectrums 51 towards the equal face bookcase in rear, rotating electric machine 19 It stops operating；
Controller controls the rotation of the 4th driving motor 34 later, and the 4th driving motor 34 drives the rotation of the 4th turn-screw 32, the Four turn-screws 32 drive the second U-shaped connecting plate 46 vertically movable on the second guide rod 33, move up and down two pieces of plectrums 51 To the position contour with the books in bookcase, then controller controls the piston rod stretching, extension of two electric hydaulic bars 50, makes two pieces Plectrum 51 is stretched backward and is inserted into bookcase between adjacent two books, and controller controls the 6th driving motor 48 and rotates forward, 6th driving motor 48 is driven the second two-way lead screw 47 and rotates forward, and the second two-way lead screw 47 respectively drives two pieces of third sliding blocks 49 Two sides are mobile to the left and right, and then two electric hydaulic bars 50 is made to drive the two sides movement to the left and right of two pieces of plectrums 51, two pieces of plectrums 51 Push above-mentioned adjacent two books aside certain distance, then the piston rod of two electric hydaulic bars 50 is shunk, by two pieces of plectrums 51 It extracts out and withdraws from the books of bookcase, controller controls the 6th driving motor 48 and rotates backward, the 6th driving motor 48 transmission the Two two-way lead screws 47 rotate backward, and the second two-way lead screw 47 respectively drives two pieces of third sliding blocks 49 to center movement, then dial for two pieces Piece 51 is drawn close until being bonded to each other, and the 6th driving motor 48 stops operating；
Controller controls third driving motor 31 and rotates, and third driving motor 31 drives third turn-screw 29 to rotate, and third passes Dynamic lead screw 29 drives the first U-shaped connecting plate 37 vertically movable on the first guide rod 30, make two clamping plates 42 move up and down to Face before and after the position pushed aside in bookcase by two pieces of plectrums 51, then controller controls traversing motor 25 and rotates forward, traversing electricity Machine 25 drive the second turn-screw 26 rotate forward, the second turn-screw 26 drive the second sliding block 27 sliding elongated slot 24 in backward Mobile, then two clamping plates 42 are moved backward for second clamped books to be placed between above-mentioned adjacent two books and be pushed aside Position, then controller control the 5th driving motor 40 rotate forward, the 5th driving motor 40 by tape handler transmission First two-way lead screw 38 rotates forward, then the first two-way lead screw 38 respectively drives the two sides movement to the left and right of two pieces of guide plates 41, into And make the two sides movement to the left and right of two clamping plates 42, until two clamping plates 42 unclamp second books, controller controls again Traversing motor 25 rotates backward, and traversing motor 25 drives the second turn-screw 26 to rotate backward, the second turn-screw 26 driving the Two sliding blocks 27 move forward in sliding elongated slot 24, extract the forward movement of two clamping plates 42 from the books of bookcase out.
Two rear-wheels 12 of the invention can drive car body mobile under the driving of the second driving motor 13, two front-wheels 10 It can swing under the action of steering motor 15, horizontal rack 14, steering motor 15 and tooth sector 17, realize car body Steering, clamping device and 51 mechanism of plectrum are able to carry out left and right, upper and lower and rotary motion, books to be arranged are placed on bookcase 1 In facilitate transhipment, obstacle avoidance sensor 61 can incude barrier and pedestrian, the second scanner 45 when storing books, on clamping plate 42 It can scan and the bar code on books and then find corresponding bookcase, it can be with according to the bar code on the first scanner scanning bookcase It determines and finds corresponding bookcase, when placement, two pieces of plectrums 51 first push the book on bookcase aside, and then two clamping plates 42 are by Book holder It is firmly placed into the position accordingly pushed aside by plectrum 51, after the books in bookcase 1 are removed, the 7th driving motor 56 transmission the 5th is passed Dynamic lead screw 57 rotates, and the transmission movement of c-type pressing plate 59 of the 5th turn-screw 57 clamps remaining books；Design science of the present invention, Mobile flexible, stable operation, high degree of automation.
The above embodiments are only used to illustrate and not limit the technical solutions of the present invention, although referring to above-described embodiment to this hair It is bright to be described in detail, those skilled in the art should understand that；Still the present invention can be modified or be waited With replacement, without departing from the spirit or scope of the invention, or any substitutions, should all cover in power of the invention In sharp claimed range.

Claims (7)

1. taking care of books robot, it is characterised in that: including car body, walking mechanism, rotating disk mechanism, elevating mechanism, clamping device And plectrum device, the upper surface front side portion of car body are provided with the bookcase arranged in left-right direction, walking mechanism is mounted on car body Bottom, rotating disk mechanism are slidably connected at the upper surface rear lateral portion of car body, the lower end edge rotating disk mechanism of elevating mechanism in left-right direction Radial direction be slidably connected on rotating disk mechanism, clamping device and plectrum device are installed on elevating mechanism and in elevator Vertically movable on structure, the rear side of bookcase is open, and bookend regulating mechanism is equipped in bookcase, and the lower front of car body is provided with avoidance biography Sensor, is provided with battery and controller on car body, battery respectively with walking mechanism, rotating disk mechanism, elevating mechanism, clamping machine Structure, plectrum device, bookend regulating mechanism, obstacle avoidance sensor and controller electrical connection, controller respectively with walking mechanism, disk machine Structure, elevating mechanism, clamping device, plectrum device, bookend regulating mechanism are connected with obstacle avoidance sensor signal.
2. taking care of books robot according to claim 1, it is characterised in that: car body includes chassis and cover board, and chassis is The hollow box body structure of upside opening, cover board covering are mounted on chassis upper, and obstacle avoidance sensor is mounted in the leading flank on chassis Portion, the front side left and right sides portion on chassis pass through vertical hinge respectively and are symmetrically hinged with swinging mounting, the front side left and right sides on chassis It is penetrating and be located at the notch at swinging mounting rear that left and right is offered on plate, bookcase is fixedly connected on front side of the upper surface of cover board Portion, the upper surface rear lateral portion of cover board is horizontally disposed in left-right direction pedestal, and the upper surface of pedestal is horizontally disposed in left-right direction There are two guide rails, spacing side by side setting, the upper surface left side of pedestal are fixedly installed with the first driving motor before and after two guide rails, The upper surface of pedestal is rotatably equipped with horizontally disposed first turn-screw in left-right direction, the first driving motor and the first transmission Lead screw is respectively positioned among two guide rails, the left end transmission connection of the power output shaft of the first driving motor and the first turn-screw；
Walking mechanism includes two front-wheels, drive shaft, two rear-wheels, the second driving motor, horizontal rack, steering motor, steering Axis and tooth sector, two front-wheels are rotatably installed in respectively on two swinging mountings, and drive shaft horizontally rotates peace in left-right direction Rear lateral portion mounted in chassis, the left and right ends of drive shaft are located at the left and right sides on chassis, and two rear-wheels are fixedly mounted respectively In the left and right ends of drive shaft, the second driving motor is fixedly mounted on inside chassis upper surface rear lateral portion, the second driving motor Power output shaft is sequentially connected by tape handler and drive shaft, horizontal rack in left-right direction horizontal through two notches, The left and right ends of horizontal rack are respectively hinged at the rear lateral portion of two swinging mountings, and steering motor is fixedly mounted on inside chassis Surface front side portion, steering shaft are horizontally disposed with along the longitudinal direction, and the rear end of steering shaft and the front side power output shaft of steering motor are solid Fixed connection, tooth sector are fixedly connected on the front end of steering shaft, tooth sector and horizontal rack engagement；
Battery is electrically connected with the first driving motor, the second driving motor and steering motor respectively, and controller drives with first respectively Dynamic motor, the second driving motor are connected with steering motor signal.
3. taking care of books robot according to claim 2, it is characterised in that: rotating disk mechanism includes horizontal slide plate, rotation Motor and rotating circular disc, it is sliding that the bottom surrounding of horizontal slide plate is fixedly connected with first be slidably connected on two guide rails respectively Block, the bottom centre of horizontal slide plate are equipped with convex block, and the first turn-screw passes through convex block and connect with convex block screw-driven, electric rotating Machine is vertically fixedly mounted on the upper surface middle part of horizontal slide plate, the lower surface center of rotating circular disc and the upper center of rotating electric machine The connection of shaft coaxial transmission, it is convex that the lower surface of rotating circular disc is equipped with the annular brace contacted with the upper surface slide of horizontal slide plate Platform, rotating electric machine are located at the inside of annular brace boss, the center line weight of rotating electric machine, rotating circular disc and annular brace boss It closes, the upper surface of rotating circular disc radially offers sliding elongated slot, and the side for sliding elongated slot is fixedly installed with traversing motor, sliding Middle part is rotatably equipped with horizontally disposed second turn-screw along its length in elongated slot, and the rotating shaft transmission of traversing motor connects Connect the second turn-screw；Battery is electrically connected with rotating electric machine and traversing motor respectively, controller respectively with rotating electric machine and cross Move motor signal connection.
4. taking care of books robot according to claim 3, it is characterised in that: elevating mechanism includes the second sliding block, level Support plate, third turn-screw, the first guide rod, third driving motor, the 4th turn-screw, the second guide rod and the 4th driving Motor, the second sliding block are slidably arranged in sliding elongated slot, and the second turn-screw passes through the second sliding block and passes with the second sliding block screw thread Dynamic connection, third turn-screw, the first guide rod, the 4th turn-screw and the second guide rod are vertically arranged, the first guide rod It is fixedly connected with the lower end of the second guide rod in the upper surface of the second sliding block, the lower surface of horizontal supporting plate is fixedly connected on It is sliding that the lower end of the upper end of one guide rod and the second guide rod, third turn-screw and the 4th turn-screw is rotatably connected on second The upper end of the upper surface of block, third turn-screw and the 4th turn-screw is rotatably connected on the lower surface of horizontal supporting plate, the Three driving motors and the 4th driving motor are fixedly mounted on the upper surface of horizontal supporting plate, and the shaft of third driving motor is vertical It is sequentially connected across horizontal supporting plate and with the upper end of third turn-screw, the shaft of the 4th driving motor vertically passes through horizontal branch Fagging is simultaneously sequentially connected with the upper end of the 4th turn-screw, and third turn-screw and the first guide rod are from back to front along sliding elongated slot Length direction arranged for interval, the 4th turn-screw and the second guide rod are from left to right along the width direction interval cloth of sliding elongated slot It sets, the 4th turn-screw and the second guide rod are located at the front side of the first guide rod, and horizontal supporting plate upper surface is fixedly connected with cover The top of casing on the outside of third driving motor and the 4th driving motor, casing is equipped with the first scanning device；Battery respectively with Third driving motor, the 4th driving motor and the electrical connection of the first scanning device, controller drive with third driving motor, the 4th respectively Motor and the connection of the first scanning device signal.
5. taking care of books robot according to claim 4, it is characterised in that: clamping device include the first U-shaped connecting plate, First two-way lead screw, two third guide rods, the 5th driving motor, two pieces of guide plates and two clamping plates, the first U-shaped connecting plate Upside, downside and rear side are open, are fixedly connected with one piece of horizontal connection in the middle part of the front side board leading flank of the first U-shaped connecting plate Plate, third turn-screw and the first guide rod pass perpendicularly through horizontal connecting plate, horizontal connecting plate and third turn-screw screw thread Transmission connection, horizontal connecting plate and the first guide rod are slidably connected, and the first two-way lead screw and two third guide rods are along left and right Direction is horizontally disposed and is located in same level, and the left and right ends of the first two-way lead screw are rotatably installed in the first U-shaped company respectively On the left plate and right side plate of fishplate bar, the right end of the first two-way lead screw passes perpendicularly through the right side plate of the first U-shaped connecting plate, and two The left and right ends of three guide rods are respectively fixedly connected on the left plate and right side plate of the first U-shaped connecting plate, the first two-way lead screw Positioned at the centre of two third guide rods, the 5th driving motor is horizontal in left-right direction to be fixedly connected on the first U-shaped connecting plate On right side plate left side, the shaft of the 5th driving motor passes perpendicularly through the right side plate of the first U-shaped connecting plate, the 5th driving motor It is sequentially connected between shaft right end and the right end of the first two-way lead screw by tape handler, outside the left side of the first two-way lead screw Circumference is equipped with left hand thread, and the right side excircle of the first two-way lead screw is equipped with right-handed thread, and the structure of two pieces of guide plates is identical And be symmetrical set, the structure of two clamping plates is identical and is symmetrical set, and two pieces of guide plates and two clamping plates are along front and back Direction is vertically arranged, and the first two-way lead screw and two third guide rods pass perpendicularly through two pieces of guide plates, the guide plate in left side and The left side screw-driven of first two-way lead screw connects, and the left side of the guide plate in left side and two third guide rods, which is slided, to be connected It connects, the rear end of the guide plate in left side is fixedly connected with the clamping plate front end in left side, and the back side edge upper lateral part of the clamping plate in left side is equipped with the Two scanners；Battery is electrically connected with the 5th driving motor and the second scanner respectively, controller respectively with the 5th driving motor It is connected with the second scanner signals.
6. taking care of books robot according to claim 4, it is characterised in that: plectrum device include the second U-shaped connecting plate, Second two-way lead screw, the 6th driving motor, two pieces of third sliding blocks, two electric hydaulic bars and two pieces of plectrums, the second U-shaped connecting plate Upside, front side and rear side it is open, the 4th turn-screw and the second guide rod pass perpendicularly through the downside of the second U-shaped connecting plate Plate, the lower side panel of the second U-shaped connecting plate and the connection of the 4th turn-screw screw-driven, the lower side panel of the second U-shaped connecting plate and the Two guide rods are slidably connected, and the second two-way lead screw is horizontally disposed in left-right direction, and the left and right ends of the second two-way lead screw turn respectively Dynamic to be mounted on the left plate and right side plate of the second U-shaped connecting plate, level is fixedly connected on the 6th driving motor in left-right direction On the right side plate right side of second U-shaped connecting plate, the right end of the shaft of the 6th driving motor and the second two-way lead screw is sequentially connected, Second two-way lead screw is located at the front side of the 4th turn-screw and the second guide rod, and the left side excircle of the second two-way lead screw is equipped with Left hand thread, the right side excircle of the second two-way lead screw are equipped with right-handed thread, and the structure of two pieces of third sliding blocks is identical and controls It is symmetrical arranged, the bottom of two pieces of third sliding blocks is slidably connected on the lower side panel upper surface of the second U-shaped connecting plate, and second is two-way Lead screw passes perpendicularly through two pieces of third sliding blocks, and the left side screw-driven connection of the third sliding block in left side and the second two-way lead screw is right The connection of the right side screw-driven of the third sliding block of side and the second two-way lead screw, two electric hydaulic bars are horizontal along the longitudinal direction Setting, the cylinder body front end of two electric hydaulic bars are respectively fixedly connected on the trailing flank of two pieces of third sliding blocks, two electronic liquid The piston rod rear end of compression bar is fixedly connected to a horizontally disposed connecting rod in left-right direction, two pieces of plectrum structures it is identical and It is symmetrical set, two pieces of plectrums are vertically arranged along the longitudinal direction, are fixedly connected on a left side in the middle part of the front side edge of the plectrum in left side The right part of the connecting rod of side, the front side edge middle part of the plectrum on right side are fixedly connected on the right part of the connecting rod on right side, third Turn-screw, the first guide rod, the 4th turn-screw and the second guide rod are respectively positioned on the centre of two electric hydaulic bars；Battery Be electrically connected respectively with the 6th driving motor and two electric hydaulic bars, controller respectively with the 6th driving motor and two electronic liquid The connection of compression bar signal.
7. taking care of books robot according to claim 1-6, it is characterised in that: middle part downside is fixed in bookcase Three pieces of horizontally disposed books placement plates in left-right direction are connected with, three pieces of books placement plates are located in same level and front and back Interval is arranged, and forms the first long guiding hole between adjacent two pieces of books placement plates, offers in left-right direction on the top plate of bookcase Two the second transparent long guiding holes, two the second long guiding holes and two the first long guiding holes correspond up and down, book Pressing from both sides regulating mechanism includes the 7th driving motor, the 5th turn-screw, the 4th guide rod and c-type pressing plate, and the 7th driving motor is fixed It is mounted on bookcase inner bottom surface left side, the 5th turn-screw and the 4th guide rod are horizontally disposed in left-right direction, the 7th driving Motor, the 5th turn-screw and the 4th guide rod are respectively positioned on the lower section of three pieces of books placement plates, the left end of the 5th turn-screw and The shaft right end of 7th driving motor is fixedly connected, and the right end of the 5th turn-screw is rotatably installed on the downside of the right side plate of bookcase Portion, c-type pressing plate is vertically arranged along the longitudinal direction, and upward, the front and rear sides plate of c-type pressing plate is each passed through two to the gap of c-type pressing plate A first long guiding hole and correspondence be inserted into two the second long guiding holes, the 5th turn-screw and the 4th guide rod are vertically worn Cross the following side of c-type pressing plate, the following side of c-type pressing plate is connected with the 5th turn-screw screw-driven, the following side of c-type pressing plate and 4th guide rod is slidably connected, and the pressure sensing being located above three pieces of books placement plates is equipped in the middle part of the right side plate left side of bookcase Device；Battery is electrically connected with the 7th driving motor and pressure sensor respectively, controller respectively with the 7th driving motor and pressure Sensor signal connection.
CN201910788844.XA 2019-08-26 2019-08-26 Taking care of books robot Pending CN110451149A (en)

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Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110980080A (en) * 2019-12-06 2020-04-10 青岛智享专利技术开发有限公司 Automatic book management robot
CN111483805A (en) * 2020-04-28 2020-08-04 广州工程技术职业学院 Glass tube loading and unloading device and working method
CN111891612A (en) * 2020-07-16 2020-11-06 东莞市技师学院(东莞市高级技工学校) Logistics transfer device based on RFID
CN111891714A (en) * 2019-11-25 2020-11-06 张文俊 Logistics storage gets equipment of putting fast
CN112046919A (en) * 2020-08-03 2020-12-08 燕山大学 Automatic file box storing and taking device and automatic file box taking and storing method
CN112141605A (en) * 2020-10-16 2020-12-29 嘉美瑞智能家居科技东台有限公司 Plate consignment transfer mechanism
CN112318470A (en) * 2020-09-14 2021-02-05 武汉理工大学 Automatic book storing and taking unmanned vehicle integrated with mechanical arm
CN112520407A (en) * 2020-12-17 2021-03-19 滕州市百兴机械有限公司 Automatic feeding device of intelligent hydraulic press
CN112537587A (en) * 2020-12-02 2021-03-23 广州博高信息科技有限公司 Mobile library
CN112811053A (en) * 2021-01-05 2021-05-18 许昌学院 Library's intelligence access book dolly
CN113264310A (en) * 2021-07-01 2021-08-17 吉林师范大学 Automatic book classifying and collecting device
CN113277249A (en) * 2021-05-12 2021-08-20 湖南水利水电职业技术学院 Goods shelving robot
CN113287889A (en) * 2021-05-13 2021-08-24 杭州电子科技大学 Self-adaptive posture adjustment health seat and using method thereof
CN113619965A (en) * 2021-07-20 2021-11-09 青岛科技大学 Automatic book taking and returning structure and using method thereof
CN113928769A (en) * 2021-09-28 2022-01-14 北京洛必德科技有限公司 Unmanned vehicle and intelligent cabin
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
CN114403757A (en) * 2022-01-19 2022-04-29 尚科宁家(中国)科技有限公司 Convenient to use's surface cleaning device
CN114734418A (en) * 2022-04-29 2022-07-12 周奇 Multi-track inspection robot
CN114803271A (en) * 2022-04-21 2022-07-29 重庆市规划和自然资源档案馆 Automatic storage and retrieval system for entity files
CN115215084A (en) * 2022-07-08 2022-10-21 合肥哈工机器人有限公司 Automatic change production line robot conveying system

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111891714A (en) * 2019-11-25 2020-11-06 张文俊 Logistics storage gets equipment of putting fast
CN110980080A (en) * 2019-12-06 2020-04-10 青岛智享专利技术开发有限公司 Automatic book management robot
CN111483805A (en) * 2020-04-28 2020-08-04 广州工程技术职业学院 Glass tube loading and unloading device and working method
CN111891612A (en) * 2020-07-16 2020-11-06 东莞市技师学院(东莞市高级技工学校) Logistics transfer device based on RFID
CN112046919A (en) * 2020-08-03 2020-12-08 燕山大学 Automatic file box storing and taking device and automatic file box taking and storing method
CN112318470A (en) * 2020-09-14 2021-02-05 武汉理工大学 Automatic book storing and taking unmanned vehicle integrated with mechanical arm
CN112141605B (en) * 2020-10-16 2022-04-08 嘉美瑞智能家居科技东台有限公司 Plate consignment transfer mechanism
CN112141605A (en) * 2020-10-16 2020-12-29 嘉美瑞智能家居科技东台有限公司 Plate consignment transfer mechanism
CN112537587A (en) * 2020-12-02 2021-03-23 广州博高信息科技有限公司 Mobile library
CN112520407A (en) * 2020-12-17 2021-03-19 滕州市百兴机械有限公司 Automatic feeding device of intelligent hydraulic press
CN112811053A (en) * 2021-01-05 2021-05-18 许昌学院 Library's intelligence access book dolly
CN113277249A (en) * 2021-05-12 2021-08-20 湖南水利水电职业技术学院 Goods shelving robot
CN113287889A (en) * 2021-05-13 2021-08-24 杭州电子科技大学 Self-adaptive posture adjustment health seat and using method thereof
CN113264310A (en) * 2021-07-01 2021-08-17 吉林师范大学 Automatic book classifying and collecting device
CN113619965A (en) * 2021-07-20 2021-11-09 青岛科技大学 Automatic book taking and returning structure and using method thereof
CN113928769A (en) * 2021-09-28 2022-01-14 北京洛必德科技有限公司 Unmanned vehicle and intelligent cabin
CN114403757A (en) * 2022-01-19 2022-04-29 尚科宁家(中国)科技有限公司 Convenient to use's surface cleaning device
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
CN114162604B (en) * 2022-02-14 2022-04-29 烟台市市属直管公房管理服务中心 Automatic file box storing and taking device
CN114803271A (en) * 2022-04-21 2022-07-29 重庆市规划和自然资源档案馆 Automatic storage and retrieval system for entity files
CN114734418A (en) * 2022-04-29 2022-07-12 周奇 Multi-track inspection robot
CN114734418B (en) * 2022-04-29 2023-09-19 瓦力机器人科技（唐山）有限公司 Multi-track inspection robot
CN115215084A (en) * 2022-07-08 2022-10-21 合肥哈工机器人有限公司 Automatic change production line robot conveying system

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