CN111017796A

CN111017796A - Intelligent book shelf and book grabbing device based on scissor type lifting

Info

Publication number: CN111017796A
Application number: CN201911376522.0A
Authority: CN
Inventors: 杨辉; 潘卫华; 田文彤
Original assignee: Changzhou Institute of Technology
Current assignee: Changzhou Institute of Technology
Priority date: 2019-12-27
Filing date: 2019-12-27
Publication date: 2020-04-17

Abstract

The invention discloses an intelligent book shelf and book grabbing device based on scissor type lifting, and belongs to the field of intelligent bookshelves. According to the intelligent book shelf book grabbing device, the book grabbing mechanical arm is slidably mounted on the upper portion of the scissor type telescopic mechanism through the lifting slide seat, the scissor type telescopic mechanism is used for driving the book grabbing mechanical arm to move up and down, the book grabbing mechanical arm can further move up and down relative to the upper portion of the scissor type telescopic mechanism, the lifting movement stroke of the book grabbing mechanical arm is further expanded on the telescopic movement stroke of the scissor type telescopic mechanism, the book grabbing mechanical arm is guaranteed to grab a book at the bottom layer of an intelligent book shelf, and the lifting highest position of the book grabbing mechanical arm is improved; and moreover, the scissor type telescopic mechanism with short consumption realizes lifting movement with larger stroke, the lifting stability and reliability of the scissor type telescopic mechanism are further improved, the structure of the book grabbing device is simpler and more compact, and intelligent control is facilitated.

Description

Intelligent book shelf and book grabbing device based on scissor type lifting

Technical Field

The invention relates to a book grabbing device, in particular to an intelligent book shelf book grabbing device based on scissor type lifting.

Background

In recent years, with the rapid development of the book industry, the types of books and documents are increasing, and in order to facilitate the reading of books, most of the existing books are stored on a bookshelf, so that the bookshelf also becomes an essential device in places such as a library. The space of a plurality of books of depositing is provided with usually on the support body of traditional bookshelf, conveniently insert and put all kinds of different books, in order to utilize the space in the bookshelf furthest, books generally adopt vertical mode side by side to place, look up for making things convenient for the reader, generally all place the same kind books together, because different kind books all are in the position of same row, generally press from both sides tightly between the adjacent books, do not have the space that can supply to take, it is very inconvenient to take, and after books are taken out, original space is taken by other books easily, it is more difficult to lead to books to insert the normal position once more, just so lead to the reader can insert books in the position of placing easily when returning books, make the position of books change easily, be not convenient for the unified management of a large amount of books and look up of reader.

With the development of intelligent technology and the application of intelligent library concepts, many technicians also provide many improved schemes for the traditional book shelf and design many intelligent book shelf devices. For example, the Chinese patent application No. 201711246440.5, published as 3 and 9 in 2018, has the name: the utility model provides an intelligent location book case of getting books, this application relates to an intelligent location book case of getting books, including the book case body, get book device, one deck bookshelf, two layers of bookshelf, upper guide rail, lower guideway, slider, fixed pulley, lifting rope, one deck bookshelf and two layers of bookshelf pass through the lifting rope level on the fixed pulley of book case body both sides and suspend in the book case cabinet internally, arrange one after the other, one on one, the top of the book case body is horizontal interval welding one upper guide rail and lower guide rail, the both ends activity joint of slider is on upper guide rail and lower guide rail, a book device of getting is fixed perpendicularly in the center department of slider lower extreme, the book device of getting includes lifter, universal shaft and the clamp of getting books, the one end of lifter inlays to be fixed in the slider bottom, the other end of lifter and the axle center fixed connection of universal shaft, the axle center lower extreme swing joint of universal shaft is the book clamp of getting. This patent application utilizes and gets the book end and realize pressing from both sides target books and get, can fix a position fast and snatch target books, but it gets the book end and only can be at lateral shifting, and multirow bookshelf then need control the bookshelf and reciprocate and switch over the position for bookshelf overall structure is too complicated, and books snatch efficiency not high, and is difficult to realize the intelligent supervisory control of books with the automatic conveying mechanism cooperation of books.

As another example, chinese patent application No. 201810450263.0, published as 2018, 9, and 4, the name of the invention is: the application relates to a three-claw type automatic book fetching device for a library, which comprises an AGV trolley, an objective table, a retrieval machine, a movable rotating Z-axis slide rail, a movable X-axis slide rail, a three-claw book fetching mechanism and a controller, wherein the objective table and the retrieval machine are arranged on one side of the top of a trolley base of the AGV trolley, the movable rotating Z-axis slide rail is arranged on the other side of the top of the trolley base, the movable X-axis slide rail is horizontally arranged on one side of the lower part of the movable rotating Z-axis slide rail, and the three-claw book fetching mechanism is arranged at the outer end of the movable X-axis slide rail; the signal output end of the searching machine is connected with the input end of the controller, the output end of the controller is connected with a trolley driving motor of the AGV trolley through a first driver, and the controller is arranged at the top of a trolley base and controls the actions of the movable rotating Z-axis sliding rail, the movable X-axis sliding rail and the three-jaw book taking mechanism. This patent application utilizes and gets the book plectrum and outwards stir books upper portion, makes books form the tilt state, then utilizes and gets the book cramp and press from both sides books, gets the book nimble stable, and does not have special requirement to the bookshelf structure, but this three-jaw book device structure of getting is comparatively complicated, and can only keep books vertical to grab and put, is difficult to realize the intelligent supervisory control of books with the automatic conveying mechanism cooperation of books equally.

As shown in chinese patent application No. 201910409500.3, the publication date of the application is 8/9/2019, and the name of the invention is: a robot for storing and taking books in a library relates to a robot for storing and taking books in the library, and comprises a bookshelf mechanism, a hand clamping mechanism and a walking mechanism, wherein the bookshelf mechanism comprises a framework, a bookshelf monomer, a chassis driving unit and a book holder, the bookshelf monomer comprises a chassis, an upper rail and a lower rail which are all of annular structures and provided with notches, the notches are communicated with a central hole of the annular structures and can be passed by the hand clamping mechanism, the upper rail is arranged below the chassis, the upper rail is in guide fit with the lower rail, and the chassis is driven by the chassis driving unit; the clamping mechanism comprises a 7-shaped shifting rod, a shifting rod upper end driving unit and a shifting rod lower end driving unit, the shifting rod is arranged between the pair of clamping arms, and the shifting rod is driven to rotate asynchronously through the shifting rod upper end driving unit and the shifting rod lower end driving unit, so that the book shifting operation is realized. This library access book robot mainly used annular book shelf, its space occupies great, leads to space utilization to be lower, and the action of the robot of just getting books is comparatively single, needs the rotation of cooperation annular book shelf to realize grabbing of books, and the bookshelf structure is also comparatively complicated.

The intelligent book shelf needs to realize automatic searching and taking of books, wherein book grabbing machinery is a necessary device in the intelligent book shelf system. The book grabbing manipulator not only needs to move transversely to find the row where the target book is located, but also needs to move up and down to find the row where the target book is located. The scissor type lifting mechanism has the advantages of simple and compact structure, stable and reliable lifting, convenience in control and the like, but due to the characteristics of the scissor type lifting mechanism, the scissor type lifting mechanism still has a certain height when the scissor type lifting mechanism descends to the lowest position, so that the traditional mounting method is difficult to enable the book grabbing mechanical arm to grab the bottommost book. In order to start the ascending starting point from the ground height, a pit base is dug on the ground, and a scissor type lifting mechanism is installed in the pit base, so that the method is difficult to be applied to book grabbing machines which need to move transversely, the construction amount to the ground is large, and the method cannot be applied to floors. And the book grabbing manipulator is laterally arranged through the mounting rack, so that although the position of the book grabbing manipulator is lower when the scissor type lifting mechanism is lowered to the lowest position so as to grab the book at the bottommost layer of the bookshelf, the method has the disadvantage that the highest height of the book grabbing manipulator is sacrificed at the same time, and for the bookshelf with the same height, the scissor type lifting mechanism with a larger lifting stroke is required.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention aims to provide an intelligent book shelf book grabbing device based on scissor type lifting, and aims to solve the problems of application of a scissor type lifting mechanism in intelligent book shelf book grabbing equipment; and moreover, the scissor type telescopic mechanism with short consumption realizes lifting movement with larger stroke, the lifting stability and reliability of the scissor type telescopic mechanism are further improved, the structure of the book grabbing device is simpler and more compact, and intelligent control is facilitated.

2. Technical scheme

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

the invention discloses an intelligent book shelf and book grabbing device based on scissor type lifting, which comprises a lifting and horizontal moving device and a book grabbing manipulator arranged on the lifting and horizontal moving device, and is characterized in that: the lifting and transverse moving device comprises a bottom frame, a transverse moving mechanism arranged at the lower part of the bottom frame, a scissor type telescopic mechanism arranged at the upper part of the bottom frame and a top mounting frame arranged at the top part of the scissor type telescopic mechanism, wherein a side face mounting seat extends downwards from one side of the top mounting frame, a lifting guide rail is vertically arranged on the side face mounting seat, a lifting slide seat is arranged on the lifting guide rail, the book grabbing manipulator is fixedly arranged on the lifting slide seat, a reversing grooved wheel is arranged at the upper part of the top mounting frame, a traction pull rope is connected onto the lifting slide seat, and the other end of the traction pull rope is alternately connected backwards and downwards to the middle part of the scissor type telescopic mechanism through the reversing;

when the scissor type telescopic mechanism descends to the lowest position, the distance from the connecting point of the traction pull rope and the scissor type telescopic mechanism to the top mounting frame is shortest, and at the moment, the lifting slide seat is positioned at the lowest position of the lifting guide rail of the side mounting seat; when the scissor type telescopic mechanism ascends, the distance from the connecting point of the traction pull rope and the scissor type telescopic mechanism to the top mounting rack is gradually increased, the traction pull rope pulls the lifting slide seat to slide upwards relative to the side mounting rack, when the scissor type telescopic mechanism ascends to the highest position, the distance from the connecting point of the traction pull rope and the scissor type telescopic mechanism to the top mounting rack is longest, and the lifting slide seat is located at the highest position of the lifting guide rail of the side mounting rack at the moment.

Furthermore, the scissor type telescopic mechanism comprises a bottom support frame, a bottom guide rail, a lifting driving screw rod, a bottom slider, a lifting driving motor, a scissor type connecting rod assembly, a bottom lifting guide seat and a top slider, wherein the bottom support frame is fixed on the bottom frame, the bottom guide rail is horizontally arranged on the bottom support frame, the end parts of two connecting rods at the bottom of the scissor type connecting rod assembly are respectively hinged with the bottom slider, the bottom sliders at two sides are respectively and slidably arranged on the bottom guide rail, the lifting driving motor is arranged on the bottom support frame, the lifting driving screw rod and the bottom guide rail are arranged on the bottom support frame in a parallel manner, the driving end of the lifting driving motor is in transmission connection with the lifting driving screw rod, two groups of bottom sliders at two sides are respectively in threaded fit with the lifting driving screw rod in opposite rotation directions, and the bottom lifting guide, and the middle articulated shaft of at least lower part in the scissors-type connecting rod assembly is in up-and-down sliding fit with the bottom lifting guide seat, the end parts of two connecting rods at the top of the scissors-type connecting rod assembly are respectively hinged with a top slider, the top sliders at two sides are respectively and slidably mounted on a top guide rail horizontally arranged at the bottom of the top mounting rack, and the top mounting rack is in up-and-down sliding guide fit with the middle articulated shaft of the scissors-type connecting rod assembly.

Furthermore, one side of the top mounting frame opposite to the side mounting seat extends downwards to form a top lifting guide seat, the side mounting seat is provided with a vertically arranged guide sliding chute, and the middle hinged shaft on at least the upper part of the scissor type connecting rod assembly is in up-and-down sliding guide fit with the guide sliding chutes on the top lifting guide seat and the side mounting seat.

Furthermore, the transverse moving mechanism comprises a transverse moving driving motor, a motor transmission shaft, an intermediate transmission mechanism, wheel shafts and idler wheels, the wheel shafts are respectively installed in the front and the back of the bottom frame, a group of idler wheels matched with the tracks on the ground are installed at two ends of each wheel shaft, the transverse moving driving motor is fixed on the bottom frame, a driving end of the transverse moving driving motor is in transmission connection with the motor transmission shaft, and the motor transmission shaft is in transmission connection with the front wheel shaft and the rear wheel shaft through the intermediate transmission mechanism and is used for driving the front wheel shaft and the rear wheel shaft to synchronously rotate in the same direction.

Further, the book grabbing mechanical arm comprises a book overturning mechanism and a book clamping jaw mechanism, the book clamping jaw mechanism is arranged on the lifting slide seat through the book overturning mechanism, wherein,

the book turnover mechanism comprises a turnover frame, a turnover motor, a turnover driving gear and a turnover fixing gear wheel, wherein the turnover fixing gear wheel is fixedly arranged on the lifting slide seat, one end of the turnover frame is coaxially and rotatably connected with the turnover fixing gear wheel, the turnover driving gear is arranged on the turnover frame, the turnover driving gear wheel is meshed with the turnover fixing gear wheel, the turnover motor is arranged on the turnover frame, an output shaft of the turnover motor is in transmission connection with the turnover driving gear wheel, and the turnover driving gear wheel drives the turnover frame to rotate and turn over along the circumferential direction of the turnover fixing gear wheel in the process that the turnover motor drives the turnover driving gear wheel to rotate;

the book clamping jaw mechanism comprises a clamping jaw main body support fixedly arranged on the turnover frame, a fixed book clamping side plate arranged on one side of the clamping jaw main body support, a movable book clamping side plate arranged on the other side of the clamping jaw main body support through a book clamping side plate opening and closing mechanism, a bottom push plate arranged at the bottom of the clamping jaw main body support through a bottom push plate driving mechanism and a side push plate arranged at the rear part of the clamping jaw main body support through a side push plate driving mechanism; the book clamping mechanism comprises a book clamping jaw mechanism, a fixed book clamping side plate, a movable book clamping side plate, a side surface push plate and a book clamping side plate, wherein the book clamping jaw mechanism is arranged on the bottom of the book clamping jaw mechanism; the book clamping mechanism is characterized in that the book clamping jaw mechanism is turned to be in a horizontal state towards one side of the fixed book clamping side plate, the fixed book clamping side plate serves as a book bearing plate, and the bottom push plate is used for pushing out books from the fixed book clamping side plate.

Furthermore, the fixed book clamping side plate is fixedly arranged on one side of the bottom of the clamping jaw main body support, the movable book clamping side plate is oppositely arranged on the other side of the clamping jaw main body support, the book clamping side plate opening and closing mechanism comprises a book clamping plate driving motor, a book clamping plate driving lead screw, a book clamping plate driving slide block, a book clamping plate shearing type telescopic mechanism and a book clamping plate driving guide rail, the book clamping plate driving lead screw and the book clamping plate driving guide rail are arranged on a support extending inwards from the bottom of the fixed book clamping side plate in parallel, the book clamping plate driving slide block is slidably arranged on the book clamping plate driving guide rail, the book clamping plate driving slide block is in threaded fit with the book clamping plate driving lead screw, one end of the book clamping plate shearing type telescopic mechanism is arranged between the support of the fixed book clamping side plate and the book clamping plate driving slide block, and the other end of the book clamping plate shearing type telescopic mechanism is arranged on the movable book clamping side, the driving end of the book clamping plate driving motor is in transmission connection with the book clamping plate driving lead screw, and the book clamping plate driving motor drives the book clamping plate driving slide block to move through the book clamping plate driving lead screw and further drives the movable book clamping side plate to move relative to the fixed book clamping side plate through the book clamping plate shear type telescopic mechanism.

Furthermore, the bottom push plate driving mechanism comprises a bottom push plate driving support, a bottom push plate driving motor, a bottom push plate driving lead screw, a bottom push plate driving slide block, a bottom push plate driving guide rail and a bottom push plate shear type telescopic mechanism, the bottom push plate driving support is arranged on a support extending to the inner side at the bottom of the side plate of the fixed book, the bottom push plate driving lead screw and the bottom push plate driving guide rail are arranged on the bottom push plate driving support in parallel, the bottom push plate driving slide block is arranged on the bottom push plate driving guide rail in a sliding way, the bottom push plate driving slide block is in threaded fit with the bottom push plate driving lead screw, one end of the bottom push plate shear type telescopic mechanism is arranged between the bottom push plate driving support and the bottom push plate driving slide block, and the other end of the bottom push plate shear type, the bottom push plate driving motor drives the bottom push plate driving slide block to move through the bottom push plate driving lead screw and then drives the bottom push plate to move up and down through the bottom push plate shear type telescopic mechanism.

the book clamping jaw mechanism comprises a fixed book clamping plate, a movable side plate opening and closing mechanism, a transverse book pushing push rod, a push rod linear driver, a front and back book pushing push plate and a push plate driving mechanism, wherein one end of the fixed book clamping plate is connected with the book turnover mechanism, the movable book clamping plate is parallelly arranged on the fixed book clamping plate through the movable side plate opening and closing mechanism, a plurality of fixed side plate push rod grooves perpendicular to the rotation axial direction of the book turnover mechanism are formed in the fixed book clamping plate, a plurality of movable side plate push rod grooves corresponding to the fixed side plate push rod grooves are formed in the movable book clamping plate, the transverse book pushing push rod is slidably arranged on the outer side wall of the fixed book clamping plate and is positioned in the corresponding fixed side plate push rod grooves and the movable side plate push rod grooves, and the driving end of the push rod linear driver is connected with a push rod sliding seat of the transverse book pushing push rod, the book pushing device is used for driving the transverse book pushing push rod to do book pushing movement along the groove directions of the fixed side plate push rod groove and the movable side plate push rod groove; the front and back book pushing push plate is arranged at the rear part of the inner side of the fixed book clamping plate through a push plate driving mechanism; under the vertical state of the book clamping jaw mechanism, a plurality of transverse book pushing push rods form a book bearing plate, the fixed book clamping plate and the movable book clamping plate are used for grabbing or releasing books, and the front book pushing plate and the rear book pushing plate are used for pushing the books outwards when the books are returned; when the book clamping jaw mechanism is turned to be horizontal to one side of the fixed book clamping plate, the fixed book clamping plate serves as a book bearing plate, and the transverse book pushing push rod is used for pushing out books from the fixed book clamping plate.

Furthermore, the book turnover mechanism comprises a turnover fixing seat, a horizontal rotation joint and a turnover linear driver, the turnover fixing seat is installed on the lifting sliding seat, one side of a fixed book clamping plate of the book clamping jaw mechanism is installed on the turnover fixing seat through the horizontal rotation joint, a lower support arm extends downwards on the turnover fixing seat, one end of the turnover linear driver is hinged to the lower support arm, the other end of the turnover linear driver is hinged to the outer wall of the fixed book clamping plate, and the book clamping jaw mechanism is driven to rotate and turn around the horizontal rotation joint through the telescopic motion of the turnover linear driver.

Furthermore, the movable side plate opening and closing mechanism comprises a movable side plate linear driver and a movable side plate guide rod, a movable side plate mounting seat at one side end part of the movable book clamping plate is in relative sliding fit with the fixed book clamping plate through the movable side plate guide rod, the movable side plate linear driver is mounted on the fixed book clamping plate, and the driving end of the movable side plate linear driver is connected with the movable side plate mounting seat of the movable book clamping plate;

push pedal actuating mechanism include push pedal linear actuator, push pedal actuating slider, push pedal drive guide rail and push pedal and cut formula telescopic machanism, the back side direction activity of fixed double-layered book board one side extend and have the mount pad, push pedal actuating guide rail be fixed in on the mount pad, push pedal actuating slider slidable mounting on push pedal actuating guide rail, push pedal cut formula telescopic machanism's one end articulated to be installed between mount pad and push pedal actuating slider, push pedal cut formula telescopic machanism's the other end with push away the book push pedal around and be connected, push pedal linear actuator be fixed in one side of mount pad, and the drive end of push pedal linear actuator is connected with push pedal actuating slider, push pedal linear actuator drives push pedal actuating slider and removes and then cuts formula telescopic machanism through the push pedal and drive front and back book push pedal seesaw.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:

(1) the invention relates to an intelligent book shelf book grabbing device based on scissor type lifting, which comprises a bottom frame, a transverse moving mechanism arranged at the lower part of the bottom frame, a scissor type telescopic mechanism arranged at the upper part of the bottom frame and a top mounting frame arranged at the top of the scissor type telescopic mechanism, wherein one side of the top mounting frame extends downwards to be provided with a side surface mounting seat, a lifting guide rail is vertically arranged on the side surface mounting seat, a lifting slide seat is arranged on the lifting guide rail, a book grabbing manipulator is fixedly arranged on the lifting slide seat, a reversing sheave is arranged at the upper part of the top mounting frame, a traction pull rope is connected onto the lifting slide seat, and the other end of the traction pull rope is alternately connected backwards and downwards to; when the scissor type telescopic mechanism descends to the lowest position, the distance from the connecting point of the traction pull rope and the scissor type telescopic mechanism to the top mounting frame is shortest, and at the moment, the lifting slide seat is positioned at the lowest position of the lifting guide rail of the side mounting seat; when the scissor type telescopic mechanism ascends, the distance from a connecting point of the traction pull rope and the scissor type telescopic mechanism to the top mounting rack is gradually increased, the traction pull rope pulls the lifting slide seat to slide upwards relative to the side surface mounting seat, when the scissor type telescopic mechanism ascends to the highest position, the distance from the connecting point of the traction pull rope and the scissor type telescopic mechanism to the top mounting rack is longest, and the lifting slide seat is positioned at the highest position of the lifting guide rail of the side surface mounting seat; by adopting the lifting and transverse moving device, the book grabbing manipulator is slidably mounted on the upper part of the scissor type telescopic mechanism through the lifting slide seat, the book grabbing manipulator can further move up and down relative to the upper part of the scissor type telescopic mechanism while the scissor type telescopic mechanism drives the book grabbing manipulator to move up and down by utilizing the traction pull rope, the lifting movement stroke of the book grabbing manipulator is further expanded on the telescopic movement stroke of the scissor type telescopic mechanism, the book grabbing manipulator is guaranteed to grab a book at the bottom layer of an intelligent book shelf, and the highest position of the book grabbing manipulator for lifting is improved; moreover, the scissor type telescopic mechanism with short consumption is used for realizing lifting movement with larger stroke, so that the lifting stability and reliability of the scissor type telescopic mechanism are further improved, the structure of the book grabbing device is simpler and more compact, and the book grabbing device is convenient to intelligently control;

(2) according to the intelligent book shelf and book grabbing device based on scissor type lifting, the scissor type connecting rod assembly of the scissor type telescopic mechanism adopts a mode of expanding movement of the connecting rods at two sides and lifting movement of the middle articulated shaft, so that the lifting movement is more stable, the linkage lifting movement of the lifting sliding seat is more conveniently realized by matching with the traction pull rope, and the lifting movement stability of the book grabbing mechanical arm is better;

(3) according to the intelligent book shelf and book grabbing device based on scissor type lifting, a top lifting guide seat is arranged on one side, opposite to a side face mounting seat, of a top mounting frame in a downward extending mode, a vertically arranged guide sliding chute is arranged on the side face mounting seat, and a middle hinged shaft at least on the upper portion of a scissor type connecting rod assembly is matched with the top lifting guide seat and the guide sliding chute on the side face mounting seat in a vertically sliding and guiding mode, so that the structural stability of the top mounting frame is guaranteed, the shaking of the top mounting frame on a scissor type telescopic mechanism is reduced, and the scissor type connecting rod assembly is better in lifting guide effect;

(4) according to the scissor-type lifting-based intelligent book shelf book grabbing device, the transverse moving mechanism adopts a set of motor to control four sets of rollers to transversely move on the rails on the ground, so that the linear motion stability of a book grabbing manipulator is ensured, the motion distance is not limited by the structure, and flexible design can be performed according to the length of an intelligent book shelf;

(5) the book grabbing manipulator of the intelligent book shelf book grabbing device based on scissor type lifting comprises a book overturning mechanism and a book clamping jaw mechanism, wherein the book clamping jaw mechanism is arranged on a lifting slide seat through the book overturning mechanism, so that the book clamping jaw mechanism of the book grabbing manipulator can move transversely, lift and turn 90 degrees, and the book clamping jaw mechanism is provided with a book pushing mechanism which can horizontally push out books and vertically push out books, so that the books in the vertical bookshelf can be stably grabbed or returned, meanwhile, books can be conveyed horizontally, the stability of the book conveying process is guaranteed, the structural design is simple and compact, the book grabbing action is stable and reliable, the book fetching and returning efficiency and reliability are improved, the automatic borrowing and returning problems of the books in the intelligent book management system are effectively solved, and the intelligent management of a large number of books is met;

(6) according to the intelligent book shelf and book grabbing device based on scissor type lifting, the book overturning mechanism of the book grabbing mechanical arm can adopt a gear overturning structure, the overturning motion is stable and reliable, and the overturning position control precision is high; the book grabbing mechanism can also be controlled to rotate and overturn around the horizontal rotating joint by adopting the telescopic motion of the overturning linear driver, the structural design is simple and compact, and the overturning switching in the vertical direction and the horizontal direction is stable and reliable;

(7) according to the intelligent book shelf and book grabbing device based on scissor type lifting, all actions of the book clamping jaw mechanism can be controlled by the scissor type telescopic mechanism controlled by the lead screw, the structure is stable and compact, the telescopic motion reliability and accuracy are good, and automatic control is convenient to realize; and a linear driver can be adopted to directly perform telescopic control, the structure is simple, and the motion response speed is high.

Drawings

Fig. 1 is a schematic structural diagram of an angle of an intelligent book shelf and book grabbing device based on scissor-type lifting according to embodiment 1 of the present invention;

fig. 2 is a schematic structural diagram of another angle of the intelligent book shelf and book grabbing device based on scissor-type lifting in embodiment 1 of the present invention;

FIG. 3 is a schematic structural diagram of an angle of a lifting and horizontal moving device in the scissor-lift-based intelligent book holder book grabbing device of the present invention;

FIG. 4 is a schematic structural diagram of another angle of the lifting and horizontal moving device in the scissor-lift-based intelligent book holder book grabbing device of the present invention;

fig. 5 is a schematic structural view of a book grabbing manipulator in the scissor-lift-based intelligent book shelf book grabbing device in embodiment 1 of the present invention;

fig. 6 is a schematic structural diagram of an angle of a book clamping jaw mechanism in the scissor-lift-based intelligent book shelf book grabbing device according to embodiment 1 of the present invention;

fig. 7 is a schematic structural diagram of another angle of the book clamping jaw mechanism in the scissor-lift based intelligent book shelf book grabbing device according to embodiment 1 of the present invention;

fig. 8 is a schematic view of a book clamping jaw mechanism in the scissor-lift based intelligent book shelf book grabbing device according to embodiment 1 of the present invention in a horizontal overturning state;

fig. 9 is a schematic structural diagram of an angle of an intelligent book shelf and book grabbing device based on scissor lifting according to embodiment 2 of the present invention;

fig. 10 is a schematic structural view of another angle of the intelligent book shelf and book grabbing device based on scissor-type lifting according to embodiment 2 of the present invention;

fig. 11 is a schematic structural view of a book grabbing manipulator in the scissor-lift based intelligent book shelf book grabbing device according to embodiment 2 of the present invention;

fig. 12 is a schematic view of a horizontal structure of a book clamping jaw mechanism in the scissor-lift based intelligent book shelf book grabbing device according to embodiment 2 of the present invention;

fig. 13 is a schematic view of a vertical structure of a book clamping jaw mechanism in the scissor-lift-based intelligent book shelf book grabbing device according to embodiment 2 of the present invention.

The reference numerals in the schematic drawings illustrate:

100. a lifting and transverse moving device; 11. a bottom frame; 12. a traversing mechanism; 12-1, a transverse moving driving motor; 12-2, a motor transmission shaft; 12-3, an intermediate transmission mechanism; 12-4, wheel shafts; 12-5, rollers; 13. a scissor type telescopic mechanism; 13-1, a bottom support frame; 13-2, a bottom guide rail; 13-3, lifting driving screw rods; 13-4, a bottom slide block; 13-5, a lifting driving motor; 13-6, a scissor linkage assembly; 13-7, a bottom lifting guide seat; 13-8, a top slide block; 14. a top mounting bracket; 14-1, a top rail; 14-2, a side mounting seat; 14-3, a guide chute; 14-4, a top lifting guide seat; 14-5, lifting guide rails; 15. a reversing grooved wheel; 16. a pull cord; 17. a lifting slide seat;

200. a book grabbing manipulator; 21. a book turnover mechanism; 21-1, overturning the mounting seat; 21-2, a limiting groove; 21-3, a roll-over stand; 21-4, turning over a motor; 21-5, overturning the driving gear; 21-6, overturning and fixing the large gear; 22. a book clamping jaw mechanism; 22-1, a jaw body support; 22-2, fixing the book clamping side plate; 22-3, movable book clamping side plates; 22-4, a book clamping side plate opening and closing mechanism; 22-4-1, a book clamping plate driving motor; 22-4-2, a book clamping plate drives a screw rod; 22-4-3, a book clamping plate driving slide block; 22-4-4, a book clamping plate shear type telescopic mechanism; 22-4-5, a book clamping plate driving guide rail; 22-5, bottom push plate; 22-6, a bottom push plate driving mechanism; 22-6-1, a bottom push plate driving bracket; 22-6-2, a bottom push plate driving motor; 22-6-3, a bottom push plate drives a screw rod; 22-6-4, a bottom push plate driving slide block; 22-6-5, a bottom push plate driving guide rail; 22-6-6, a bottom push plate shear type telescopic mechanism; 22-7, a side push plate; 22-8, a side push plate driving mechanism; 22-8-1, a side push plate driving motor; 22-8-2, a side push plate drives a screw rod; 22-8-3, a side push plate drives a slide block; 22-8-4, a side push plate driving guide rail; 22-8-5, a side push plate shear type telescopic mechanism; 22-8-6, a side push plate driving bracket;

21', a book turnover mechanism; 21' -1, a turnover fixing seat; 21' -2, horizontal revolute joint; 21' -3, lower arm; 21' -4, a flip linear actuator; 22', a book clamping jaw mechanism; 22' -1, fixing the book clamping plate; 22' -1a, a fixed side plate push rod groove; 22' -2, a movable book clamping plate; 22' -2a, a movable side plate push rod groove; 22' -2b, a movable side plate mounting seat; 22' -3, a movable side plate opening and closing mechanism; 22' -3a, a movable side plate linear driver; 22' -3b, a movable side plate guide rod; 22' -4, transversely pushing the book push rod; 22' -4a, a push rod sliding seat; 22' -4b, transverse sliding seat guide rails; 22' -5, a push rod linear driver; 22' -6, a front and back book pushing plate; 22' -7, a push plate driving mechanism; 22' -7-1, push plate linear driver; 22' -7-2, a push plate driving slide block; 22' -7-3, a push plate driving guide rail; 22' -7-4, push plate scissor type telescoping mechanism.

Detailed Description

For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

[ example 1]

Referring to fig. 1 to 4, the intelligent book shelf book grabbing device based on scissor-type lifting of the embodiment includes a lifting and horizontal moving device 100 and a book grabbing manipulator 200 installed on the lifting and horizontal moving device 100, wherein the lifting and horizontal moving device 100 is configured to drive the book grabbing manipulator 200 to move laterally and vertically so as to move the book grabbing manipulator 200 to a corresponding position of a line and a column where a book is located according to the information of the line and the column of the intelligent book shelf, and the book grabbing manipulator 200 is configured to take or return the book. The lifting and horizontal moving device 100 comprises a bottom frame 11, a horizontal moving mechanism 12 installed at the lower portion of the bottom frame 11, a scissor type telescopic mechanism 13 installed at the upper portion of the bottom frame 11 and a top installation frame 14 installed at the top of the scissor type telescopic mechanism 13, a side installation base 14-2 extends downwards from one side of the top installation frame 14, a lifting guide rail 14-5 is vertically installed on the side installation base 14-2, a lifting slide base 17 is arranged on the lifting guide rail 14-5, a book grabbing manipulator 200 is fixedly installed on the lifting slide base 17, a reversing sheave 15 is arranged at the upper portion of the top installation frame 14, a traction pull rope 16 is connected onto the lifting slide base 17, and the other end of the traction pull rope 16 is connected to the middle portion of the scissor. Thus, when the scissor type telescopic mechanism 13 descends to the lowest position, because the scissor type telescopic mechanism 13 still has a certain height after being contracted, in the embodiment, the height of the downward extension of the side surface mounting seat 14-2 is matched with the height of the contracted scissor type telescopic mechanism 13, at this time, because the distance from the connecting point of the traction pull rope 16 and the scissor type telescopic mechanism 13 to the top mounting rack 14 is the shortest, the whole traction pull rope 16 moves towards one side of the lifting slide seat 17, so that the lifting slide seat 17 is positioned at the lowest position of the lifting guide rail 14-5 of the side surface mounting seat 14-2, and the book grabbing manipulator 200 can be positioned at one side of the contracted scissor type telescopic mechanism 13 and can correspond to the lowest layer of the book shelf; when the scissor type telescopic mechanism 13 ascends, the distance from the connecting point of the traction pull rope 16 and the scissor type telescopic mechanism 13 to the top mounting rack 14 gradually increases, the traction pull rope 16 pulls the lifting slide seat 17 to slide upwards relative to the side mounting rack 14-2, when the scissor type telescopic mechanism 13 ascends to the highest position, the distance from the connecting point of the traction pull rope 16 and the scissor type telescopic mechanism 13 to the top mounting rack 14 is longest, at the moment, the traction pull rope 16 integrally moves to the other side of the lifting slide seat 17, and the lifting slide seat 17 is pulled to ascend, so that the lifting slide seat 17 is located at the highest position of the lifting guide rail 14-5 of the side mounting rack 14-.

As shown in fig. 3 and 4, in the present embodiment, the scissor type telescopic mechanism 13 includes a bottom support frame 13-1, a bottom guide rail 13-2, a lifting driving screw 13-3, a bottom slider 13-4, a lifting driving motor 13-5, a scissor type link assembly 13-6, a bottom lifting guide base 13-7 and a top slider 13-8, the bottom support frame 13-1 is fixed on the bottom frame 11, the bottom guide rail 13-2 is horizontally installed on the bottom support frame 13-1, the bottom guide rail 13-2 is preferably provided in parallel, the two link ends at the bottom of the scissor type link assembly 13-6 are respectively hinged with the bottom slider 13-4, the bottom sliders 13-4 at both sides are respectively slidably installed on the bottom guide rail 13-2, the lifting driving motor 13-5 is installed on the bottom support frame 13-1, the lifting driving screw 13-3 is arranged on the bottom support frame 13-1 in parallel with the bottom guide rail 13-2, the driving end of the lifting driving motor 13-5 is in transmission connection with the lifting driving screw 13-3, two groups of bottom sliders 13-4 on two sides are respectively in threaded fit with the lifting driving screw 13-3 in opposite rotation directions, specifically, the lifting driving motor 13-5 is a motor with double output shafts and is arranged in the middle of the bottom support frame 13-1, the output shafts on two sides are respectively connected with one lifting driving screw 13-3, the rotation directions of the two lifting driving screws 13-3 are opposite, the lifting driving screw 13-3 is preferably a ball screw, and the lifting driving motor 13-5 is preferably a stepping motor. The bottom lifting guide seat 13-7 is fixed on the bottom support frame 13-1, at least the middle articulated shaft at the lower part of the scissor type connecting rod assembly 13-6 is in up-and-down sliding fit with the bottom lifting guide seat 13-7, the end parts of two connecting rods at the top of the scissor type connecting rod assembly 13-6 are respectively articulated with a top slider 13-8, the top sliders 13-8 at two sides are respectively installed on a top guide rail 14-1 horizontally arranged at the bottom of a top installation frame 14 in a sliding and guiding way, preferably, two top guide rails 14-1 are also arranged in parallel, the top installation frame 14 is in up-and-down sliding and guiding fit with the middle articulated shaft of the scissor type connecting rod assembly 13-6, in the embodiment, the side of the top installation frame 14 opposite to the side installation seat 14-2 is downwards extended and provided with a top lifting guide seat, at least the middle articulated shaft at the upper part of the scissor type connecting rod assembly 13-6 is in up-and-down sliding guide fit with the top lifting guide seat 14-4 and the guide chute 14-3 on the side mounting seat 14-2. It should be noted that the top lifting guide seat 14-4 and the bottom lifting guide seat 13-7 on the corresponding side are staggered, and the side mounting seat 14-2 and the bottom lifting guide seat 13-7 on the corresponding side are also staggered, so as to avoid interference when the scissor type telescopic mechanism 13 contracts and descends. The scissor link assembly 13-6 of the scissor type telescopic mechanism 13 adopts a mode of expanding movement of the links at two sides and lifting movement of the middle articulated shaft, so that the lifting movement is more stable, the linkage lifting movement of the lifting slide seat 17 is more conveniently realized by matching with the traction pull rope 16, and the stability of the lifting movement of the book grabbing manipulator 200 is better. Meanwhile, the upper part and the lower part of the scissor type telescopic mechanism 13 are matched with the upper part and the lower part of the middle hinged shaft in a guiding way, so that the structural stability of the top mounting rack 14 is ensured, the shaking of the top mounting rack 14 on the scissor type telescopic mechanism 13 is reduced, and the scissor type connecting rod assembly 13-6 has a better lifting guiding effect. The scissor type connecting rod assembly 13-6 is formed by connecting a plurality of groups of X-shaped connecting rod units, and in order to improve the lifting stability of the scissor type connecting rod assembly, the X-shaped connecting rod units preferably adopt a double-row connecting structure shown in figures 3 and 4. The number of the X-shaped link units in the scissor link assembly 13-6 may be determined according to specific lifting height requirements, and the length of the link in the X-shaped link unit may also be designed according to specific requirements, generally speaking, the longer the link is, the larger the lifting height range is, it should be understood that, when the scissor type telescopic mechanism 13 is in operation, the lifting working height of the scissor type telescopic mechanism is lower than the maximum height that can be actually achieved, so as to ensure that the scissor type telescopic mechanism 13 has sufficient supporting width and improve the lifting stability of the scissor type telescopic mechanism 13. In the embodiment, two lifting guide rails 14-5 are respectively arranged on two sides of the side surface mounting seat 14-2, one end of a traction pull rope 16 is connected with the middle of a lifting slide seat 17, and the other end of the traction pull rope bypasses a reversing sheave 15 and then is connected with a middle articulated shaft of a scissor type connecting rod assembly 13-6 in the middle of a scissor type telescopic mechanism 13. The selection of the intermediate joint axis of the scissor-link assembly 13-6 connected to the pull cord 16 can be made dependent on the lifting height of the scissor jack 13 and the lifting travel of the lifting carriage 17 on the top mounting 14, in general, the lower the connection point of the pull cord 16 to the scissor jack 13, the greater the lifting travel of the lifting carriage 17 on the top mounting 14.

As shown in fig. 3 and 4, in this embodiment, the traverse mechanism 12 in the lifting and traversing device 100 includes a traverse driving motor 12-1, a motor transmission shaft 12-2, an intermediate transmission mechanism 12-3, wheel shafts 12-4 and rollers 12-5, the front and rear of the bottom frame 11 are respectively provided with one wheel shaft 12-4, two ends of each wheel shaft 12-4 are respectively provided with a set of rollers 12-5 matched with the rail on the ground, the traverse driving motor 12-1 is fixed on the bottom frame 11, the driving end of the traverse driving motor 12-1 is in transmission connection with the motor transmission shaft 12-2, and the motor transmission shaft 12-2 is in transmission connection with the front and rear wheel shafts 12-4 through the intermediate transmission mechanism 12-3 respectively for driving the front and rear wheel shafts 12-4 to synchronously rotate in the same direction. The intermediate transmission mechanism 12-3 can adopt a synchronous belt transmission mechanism or a chain transmission mechanism, the transmission is stable and reliable, and the transmission efficiency is higher. The transverse moving mechanism 12 controls four groups of rollers 12-5 to transversely move on the rail on the ground by adopting a group of motors, so that the linear motion stability of the book grabbing manipulator 200 is ensured, the motion distance is not limited by a structure, and the intelligent book shelf can be flexibly designed according to the length of the intelligent book shelf.

According to the intelligent book shelf book grabbing device based on scissor lifting, the book grabbing manipulator 200 is slidably mounted on the upper portion of the scissor type telescopic mechanism 13 through the lifting slide seat 17, the scissor type telescopic mechanism 13 is used for driving the book grabbing manipulator 200 to move up and down by utilizing the traction pull rope 16, the book grabbing manipulator 200 can further move up and down relative to the upper portion of the scissor type telescopic mechanism 13, the lifting movement stroke of the book grabbing manipulator 200 is further expanded on the telescopic movement stroke of the scissor type telescopic mechanism 13, the book grabbing manipulator 200 is guaranteed to grab a book at the bottom of an intelligent book shelf, and the highest position of the book grabbing manipulator 200 which rises is also improved; moreover, the scissor type telescopic mechanism 13 with short consumption is used for realizing lifting movement with larger stroke, so that the lifting stability and reliability of the scissor type telescopic mechanism 13 are further improved, the structure of the book grabbing device is simpler and more compact, and the book grabbing device is convenient to intelligently control.

As shown in fig. 1, fig. 2, and fig. 5 to fig. 8, in this embodiment, the book grabbing robot 200 includes a book turning mechanism 21 and a book clamping mechanism 22, the book clamping mechanism 22 is mounted on the lifting slide 17 through the book turning mechanism 21, and the book turning mechanism 21 can drive the book clamping mechanism 22 to perform a 90 ° turning motion, so as to drive the book clamping mechanism 22 to perform a turning motion in two states, namely, a horizontal state and a vertical state. Wherein,

as shown in fig. 5, the book turnover mechanism 21 comprises a turnover frame 21-3, a turnover motor 21-4, a turnover driving gear 21-5 and a turnover fixed gear 21-6, the turnover fixed gear 21-6 is fixedly mounted on the lifting slide carriage 17, the turnover frame 21-3 is substantially L-shaped, one end of the turnover frame 21-3 is coaxially and rotatably connected with the turnover fixed gear 21-6, the other end of the turnover frame 21-3 extends towards one side of the turnover fixed gear 21-6, the turnover driving gear 21-5 is mounted on the turnover frame 21-3, the turnover driving gear 21-5 is engaged with the turnover fixed gear 21-6, the turnover motor 21-4 is mounted on the turnover frame 21-3, and an output shaft of the turnover motor 21-4 is in transmission connection with the turnover driving gear 21-5, in the process that the overturning motor 21-4 drives the overturning driving gear 21-5 to rotate, the overturning driving gear 21-5 drives the overturning frame 21-3 to rotate and overturn along the circumferential direction of the overturning fixed gearwheel 21-6. In order to improve the motion stability of the book turnover mechanism 21, in this embodiment, the turnover fixed gearwheel 21-6 is mounted on the turnover mounting seat 21-1, the turnover mounting seat 21-1 is provided with a limiting groove 21-2 taking the axis of the turnover fixed gearwheel 21-6 as the center of a circle, the limiting groove 21-2 is a quarter arc groove, the connecting line between the top dead point of the limiting groove 21-2 and the axis of the turnover fixed gearwheel 21-6 is vertical, the connecting line between the bottom dead point of the limiting groove 21-2 and the axis of the turnover fixed gearwheel 21-6 is horizontal, the wheel axle of the turnover driving gearwheel 21-5 is positioned in the limiting groove 21-2, the turnover frame 21-3 and the turnover driving gearwheel 21-5 are limited by the limiting groove 21-2, so as to improve the turnover motion stability of the book turnover mechanism 21, the book clamping jaw mechanism 22 can be turned more flexibly and reliably.

As shown in fig. 5, the book clamping jaw mechanism 22 comprises a clamping jaw main body support 22-1 fixedly mounted on the roll-over stand 21-3, a fixed book clamping side plate 22-2 mounted on one side of the clamping jaw main body support 22-1, a movable book clamping side plate 22-3 mounted on the other side of the clamping jaw main body support 22-1 through a book clamping side plate opening and closing mechanism 22-4, a bottom push plate 22-5 mounted at the bottom of the clamping jaw main body support 22-1 through a bottom push plate driving mechanism 22-6, and a side push plate 22-7 mounted at the rear part of the clamping jaw main body support 22-1 through a side push plate driving mechanism 22-8. The clamping jaw body support 22-1 is L-shaped and provided with a vertical side wall and a bottom wall, the bottom wall is horizontally arranged, and the bottom wall is located at the better axle center position of the overturning fixed big gear 21-6, so that the overturning action of the whole book clamping jaw mechanism 22 is more stable and reliable. The book clamping side plate opening and closing mechanism 22-4 is used for driving the movable book clamping side plate 22-3 to move relative to the fixed book clamping side plate 22-2 in an opening and closing mode, the bottom push plate driving mechanism 22-6 is used for driving the bottom push plate 22-5 to move in an extending and contracting mode, the side push plate driving mechanism 22-8 is used for driving the side push plate 22-7 to move in an extending and contracting mode, the bottom push plate 22-5 serves as a book bearing plate, the fixed book clamping side plate 22-2 and the movable book clamping side plate 22-3 are used for grabbing or releasing books, and the side push plate 22-7 is used for pushing the books outwards when returning the books under the vertical state of; when the book clamping jaw mechanism 22 is turned to be horizontal towards one side of the fixed book clamping side plate 22-2, the fixed book clamping side plate 22-2 serves as a book bearing plate, and the bottom push plate 22-5 is used for pushing out a book from the fixed book clamping side plate 22-2.

Referring to fig. 6, 7 and 8, in the book clamping jaw mechanism 22, a fixed book clamping side plate 22-2 is fixedly installed at one side of the bottom of a clamping jaw body support 22-1, and a movable book clamping side plate 22-3 is oppositely installed at the other side of the clamping jaw body support 22-1, specifically, a support is arranged at the inner side of the bottom of the fixed book clamping side plate 22-2, and the fixed book clamping side plate 22-2 is fixed on the bottom wall of the clamping jaw body support 22-1 through the support; the book clamping side plate opening and closing mechanism 22-4 comprises a book clamping plate driving motor 22-4-1, a book clamping plate driving screw 22-4-2, a book clamping plate driving slide block 22-4-3, a book clamping plate shear type telescopic mechanism 22-4-4 and a book clamping plate driving guide rail 22-4-5, the book clamping plate driving screw 22-4-2 adopts a ball screw, the book clamping plate driving screw 22-4-2 and the book clamping plate driving guide rail 22-4-5 are parallelly arranged on a support extending inwards from the bottom of the fixed book clamping side plate 22-2, the book clamping plate driving slide block 22-4-3 is slidably arranged on the book clamping plate driving guide rail 22-4-5, and the book clamping plate driving slide block 22-4-3 is in threaded fit with the book clamping plate driving screw 22-4-2, the book clamping plate driving screw rod 22-4-2 rotates to drive the book clamping plate driving slide block 22-4-3 to slide on the book clamping plate driving guide rail 22-4-5, one end of the book clamping plate scissors type telescopic mechanism 22-4-4 is arranged between a support of the fixed book clamping side plate 22-2 and the book clamping plate driving slide block 22-4-3, the other end of the book clamping plate scissors type telescopic mechanism 22-4-4 is arranged on the movable book clamping side plate 22-3, the driving end of the book clamping plate driving motor 22-4-1 is in transmission connection with the book clamping plate driving screw rod 22-4-2, the book clamping plate driving motor 22-4-1 drives the book clamping plate driving slide block 22-4-3 to move through the book clamping plate driving screw rod 22-4-2, and then the movable book clamping side plate 22-3 is driven by the book clamping plate scissors type telescopic mechanism 22-4-4 to move relative to the book clamping plate driving slide block The book clamping side plate 22-2 is fixed to move in an opening and closing mode. The book clamping plate scissor type telescopic mechanism 22-4-4 also comprises an X-shaped unit consisting of connecting rods, the X-shaped connecting rod unit consists of two connecting rods, the middles of the two connecting rods are hinged with each other, one end of a first connecting rod of the X-shaped connecting rod unit is hinged with a bottom support of the fixed book clamping side plate 22-2, the other end of the first connecting rod of the X-shaped connecting rod unit is hinged with the inner side of the bottom of the movable book clamping side plate 22-3 in a sliding mode, a long waist-shaped groove is particularly formed in the inner side of the bottom of the movable book clamping side plate 22-3, and the end part of; one end of the second connecting rod is hinged with the bottom of the movable book clamping side plate 22-3, the other end of the second connecting rod is hinged with the book clamping plate driving sliding block 22-4-3, the second connecting rod is driven to move through the book clamping plate driving sliding block 22-4-3 so as to drive the book clamping plate shear type telescopic mechanism 22-4-4 to perform telescopic movement, and relative opening and closing movement of the movable book clamping side plate 22-3 and the fixed book clamping side plate 22-2 is achieved.

In this embodiment, the bottom pusher driving mechanism 22-6 and the side pusher driving mechanism 22-8 also use a telescopic mechanism similar to the book clamping side plate opening and closing mechanism 22-4, and the number of the corresponding X-shaped link units of the scissor type telescopic mechanism is designed according to the telescopic stroke. Specifically, the bottom push plate driving mechanism 22-6 comprises a bottom push plate driving bracket 22-6-1, a bottom push plate driving motor 22-6-2, a bottom push plate driving screw 22-6-3, a bottom push plate driving slider 22-6-4, a bottom push plate driving guide rail 22-6-5 and a bottom push plate scissor type telescopic mechanism 22-6-6, wherein the bottom push plate driving bracket 22-6-1 is arranged on a support extending inwards from the bottom of the fixed book clamping side plate 22-2, the bottom push plate driving screw 22-6-3 and the bottom push plate driving guide rail 22-6-5 are arranged on the bottom push plate driving bracket 22-6-1 in parallel, the bottom push plate driving slider 22-6-4 is arranged on the bottom push plate driving guide rail 22-6-5 in a sliding manner, and the bottom push plate driving slide block 22-6-4 is in threaded fit with the bottom push plate driving screw rod 22-6-3, one end of the bottom push plate scissor type telescopic mechanism 22-6-6 is arranged between the bottom push plate driving bracket 22-6-1 and the bottom push plate driving slide block 22-6-4, the other end of the bottom push plate scissor type telescopic mechanism 22-6-6 is in fit connection with the bottom push plate 22-5, the driving end of the bottom push plate driving motor 22-6-2 is in transmission connection with the bottom push plate driving screw rod 22-6-3, the bottom push plate driving motor 22-6-2 drives the bottom push plate driving slide block 22-6-4 to move through the bottom push plate driving screw rod 22-6-3, and then drives the bottom push plate 22-5 to move up and down through the bottom push plate scissor type telescopic mechanism 22-6-6. The side push plate driving mechanism 22-8 comprises a side push plate driving motor 22-8-1, a side push plate driving screw 22-8-2, a side push plate driving slide block 22-8-3, a side push plate driving guide rail 22-8-4, a side push plate shear type telescopic mechanism 22-8-5 and a side push plate driving support 22-8-6, wherein the side push plate driving support 22-8-6 is vertically arranged on the clamping jaw main body support 22-1, the side push plate driving screw 22-8-2 and the side push plate driving guide rail 22-8-4 are vertically and parallelly arranged on the side push plate driving support 22-8-6, the side push plate driving slide block 22-8-3 is slidably arranged on the side push plate driving guide rail 22-8-4, and the side push plate driving slide block 22-8-3 is in threaded fit with the side push plate driving screw rod 22-8-2, one end of the side push plate scissor type telescopic mechanism 22-8-5 is arranged between the side push plate driving support 22-8-6 and the side push plate driving slide block 22-8-3, the other end of the side push plate scissor type telescopic mechanism 22-8-5 is in fit connection with the side push plate 22-7, the driving end of the side push plate driving motor 22-8-1 is in transmission connection with the side push plate driving screw rod 22-8-2, the side push plate driving motor 22-8-1 drives the side push plate driving slide block 22-8-3 to move through the side push plate driving screw rod 22-8-2, and further drives the side push plate 22-7 to move back and forth through the side push plate scissor type telescopic mechanism 22-8-5. The bottom push plate scissor type telescopic mechanism 22-6-6 and the side push plate scissor type telescopic mechanism 22-8-5 can adopt two groups of X-shaped connecting rod units, and the bottom push plate driving screw 22-6-3 and the side push plate driving screw 22-8-2 also adopt ball screw transmission mechanisms, so that the transmission precision and the stability are better. In addition, the book clamping side plate opening and closing mechanism 22-4 of the movable book clamping side plate 22-3, the bottom push plate 22-5 and the push plate driving mechanism of the side push plate 22-7 in the embodiment are controlled by a shear type telescopic mechanism controlled by a lead screw, so that the structure is stable and compact, the telescopic motion reliability and accuracy are good, and the automatic control is convenient to realize.

Referring to fig. 1 to 8, in the book taking and returning method of the scissor-lift-based intelligent book holder book grabbing device according to the embodiment, the intelligent book holder corresponding to the book grabbing device is provided with a book ejecting mechanism, and the book grabbing device and the book ejecting mechanism of the intelligent book holder complete book borrowing and returning under the control of a book management system, and specifically includes the following steps:

book borrowing time

Q1, under the control of the book management system, controlling the transverse moving mechanism 12 to drive the book clamping jaw mechanisms 22 in the vertical state to move to the corresponding columns of the intelligent book shelf where the target book is located according to the row and column position information of the intelligent book shelf where the target book is located, controlling the scissor type telescopic mechanism 13 to drive the book clamping jaw mechanisms 22 to move to the corresponding rows of the intelligent book shelf where the target book is located, and enabling the book clamping jaw mechanisms 22 in the vertical state to move to the front of the target book;

q2, a book clamping side plate opening and closing mechanism 22-4 of the book clamping jaw mechanism 22 drives a movable book clamping side plate 22-3 to open outwards, so that the distance between the movable book clamping side plate 22-3 and a fixed book clamping side plate 22-2 is slightly larger than the thickness of a book, and the height of a bottom push plate 22-5 is equal to or slightly lower than the bottom surface of the target book, so that the book is conveniently guided into the book clamping jaw mechanism 22;

q3, the intelligent book shelf pushes out the target book towards the book clamping jaw mechanism 22 through the book pushing mechanism, so that the book vertically enters the bottom push plate 22-5 between the movable book clamping side plate 22-3 and the fixed book clamping side plate 22-2 of the book clamping jaw mechanism 22, and then the book clamping side plate opening and closing mechanism 22-4 drives the movable book clamping side plate 22-3 to close and clamp the target book;

q4, the book turnover mechanism 21 drives the book clamping jaw mechanism 22 to turn 90 degrees to one side, so that the target book is in a horizontal state, and then the scissor type telescopic mechanism 13 adjusts the height of the target book to enable the target book to be slightly higher than the conveying plane of the book conveying device;

q5 and the traversing mechanism 12 drive the book grabbing manipulator 200 and the target book to move towards the book conveying device, after the book grabbing manipulator and the target book reach the corresponding position of the book conveying device, the book clamping side plate opening and closing mechanism 22-4 drives the movable book clamping side plate 22-3 to open, meanwhile, the bottom push plate driving mechanism 22-6 drives the bottom push plate 22-5 to extend forwards, the target book is pushed out from the fixed book clamping side plate 22-2, the book falls onto the book conveying device, and borrowing of the book is completed;

second, when the book is returned

H1, under the control of the book management system, the book grabbing manipulator 200 is driven by the traversing mechanism 12 to the conveying end position of the book conveying device, the book clamping jaw mechanism 22 is in a horizontal opening state, the fixed book clamping side plate 22-2 of the book clamping jaw mechanism 22 is equal to or slightly lower than the conveying plane of the book conveying device, and receives the book to be returned conveyed by the book conveying device;

h2, a book clamping side plate opening and closing mechanism 22-4 of the book clamping jaw mechanism 22 drives the movable book clamping side plate 22-3 to contract inwards, so that the movable book clamping side plate 22-3 and the fixed book clamping side plate 22-2 are closed to clamp the book to be returned; then the book turnover mechanism 21 drives the book clamping jaw mechanism 22 to turn upwards by 90 degrees, so that the book to be returned is in a vertical state;

h3, the transverse moving mechanism 12 drives the book grabbing manipulator 200 and the book to be returned to move to the target row-column position of the intelligent book shelf, the transverse moving mechanism 12 drives the book clamping jaw mechanism 22 to move to the corresponding row of the intelligent book shelf, and the scissor type telescopic mechanism 13 drives the book clamping jaw mechanism 22 to move to the corresponding row of the intelligent book shelf, so that the height of the bottom push plate 22-5 is equal to or slightly higher than the layer height of the corresponding row of the intelligent book shelf;

h4, a book clamping side plate opening and closing mechanism 22-4 of the book clamping jaw mechanism 22 drives a movable book clamping side plate 22-3 to open outwards to loosen the book to be returned, and then a side push plate driving mechanism 22-8 drives a side push plate 22-7 to push the book to be returned outwards into the corresponding book returning position of the intelligent book shelf through the book clamping jaw mechanism 22;

h5, the book clamping jaw mechanism 22 is reset, and the return of the book is completed.

The book management system can adopt a control method in the existing intelligent library, a user searches for a corresponding book on a computer or other terminal display equipment, and the book management system can automatically fetch the book according to the address of the book; when the books are returned, the original storage addresses of the books can be identified by scanning the bar codes on the books, so that the books can be automatically and accurately returned. As an alternative, the bookshelf subunit of the intelligent book shelf in this embodiment may also adopt the technical scheme of the "book box opening and closing avoiding type intelligent book fetching bookshelf and the control method thereof" in patent application No. 201911333128.9 filed by the applicant in 2019, 12, 23. Other principles of the book management system, the book conveying device and the intelligent book shelf can adopt the prior art, and are not described herein again.

[ example 2]

As shown in fig. 9 to 13, the intelligent book shelf book grabbing device based on scissor-type lifting of the embodiment includes a lifting-and-lowering traversing device 100 and a book grabbing manipulator 200 installed on the lifting-and-lowering traversing device 100, wherein the lifting-and-lowering traversing device 100 is configured to drive the book grabbing manipulator 200 to move laterally and vertically so as to move the book grabbing manipulator 200 to a corresponding position of a line and a column where a book is located according to the information of the line and the column of the intelligent book shelf, and the book grabbing manipulator 200 is configured to take or return the book. The basic structure of the traverse lifting device 100 in this embodiment is the same as that in embodiment 1, except that:

in this embodiment, the book grabbing manipulator 200 includes a book turning mechanism 21' and a book clamping mechanism 22', the book clamping mechanism 22' is mounted on the lifting slide carriage 17 through the book turning mechanism 21', and the book turning mechanism 21' is configured to drive the book clamping mechanism 22' to perform 90 ° turning motion, so as to drive the book clamping mechanism 22' to perform turning motion in two states, namely horizontal and vertical states. Wherein,

as shown in fig. 11, the book clamping jaw mechanism 22 'includes a fixed book clamping plate 22' -1, a movable book clamping plate 22'-2, a movable side plate opening and closing mechanism 22' -3, a transverse book pushing rod 22'-4, a rod linear driver 22' -5, a front and back book pushing plate 22'-6 and a plate driving mechanism 22' -7, one end of the fixed book clamping plate 22'-1 is connected with the book turnover mechanism 21', the movable book clamping plate 22'-2 is mounted on the fixed book clamping plate 22' -1 in parallel through the movable side plate opening and closing mechanism 22'-3, the movable book clamping plate 22' -2 can be opened and closed relative to the fixed book clamping plate 22'-1 under the driving of the movable side plate opening and closing mechanism 22' -3, so as to change the gap between the two, and facilitate clamping the book; the fixed book clamping plate 22'-1 is provided with a plurality of fixed side plate push rod grooves 22' -1a vertical to the rotation axial direction of the book turnover mechanism 21', the movable book clamping plate 22' -2 is provided with a plurality of movable side plate push rod grooves 22'-2a corresponding to the fixed side plate push rod grooves 22' -1a, namely, the fixed side plate push rod groove 22'-1a and the movable side plate push rod groove 22' -2a are opposite up and down, the transverse book pushing push rod 22'-4 is slidably arranged on the outer side wall of the fixed book clamping plate 22' -1, the transverse book pushing push rods 22' -4 are positioned in the corresponding fixed side plate push rod grooves 22' -1a and the corresponding movable side plate push rod grooves 22' -2a and can slide in the fixed side plate push rod grooves 22' -1a and the movable side plate push rod grooves 22' -2a, so that books can be pushed; the driving end of the push rod linear driver 22'-5 is connected with a push rod sliding seat 22' -4a of the transverse book pushing push rod 22'-4 and is used for driving the transverse book pushing push rod 22' -4 to do book pushing motion along the groove directions of the fixed side plate push rod groove 22'-1a and the movable side plate push rod groove 22' -2 a; one end of the transverse book pushing push rod 22' -4 is fixedly arranged on the push rod sliding seat 22' -4a, the push rod is installed by the push rod sliding seat 22' -4a, the number of the push rods can be set as required, books can be pushed more reliably, the books can be conveniently pushed by the intelligent bookshelf to the book grabbing mechanism, and the transferring reliability of the books between the book grabbing device and the intelligent bookshelf is improved. In addition, the push rod book pushing mechanism adopts a structure that the push rod is matched with the push rod groove, the closing of the side plate of the book clamping jaw mechanism 22' is not limited, and the grabbing of books with thinner thickness can be met. The front and back book pushing push plate 22' -6 is installed at the rear inner side of the fixed book clamping plate 22' -1 through the push plate driving mechanism 22' -7, and the push plate driving mechanism 22' -7 can drive the front and back book pushing push plate 22' -6 to push the book between the fixed book clamping plate 22' -1 and the movable book clamping plate 22' -2. Under the vertical state of the book clamping jaw mechanism 22', a plurality of transverse book pushing push rods 22' -4 form a book supporting plate, the fixed book clamping plate 22'-1 and the movable book clamping plate 22' -2 are used for grabbing or releasing books, and the front book pushing plate 22'-6 and the rear book pushing plate 22' -6 are used for pushing the books outwards when returning the books; when the book clamping jaw mechanism 22' is turned to the side of the fixed book clamping plate 22' -1 to be horizontal, the fixed book clamping plate 22' -1 serves as a book supporting plate, and the transverse book pushing push rod 22' -4 is used for pushing out a book from the fixed book clamping plate 22' -1.

As shown in fig. 11, 12 and 13, in this embodiment, the book flipping mechanism 21 'includes a flipping fixing seat 21' -1, a horizontal rotation joint 21'-2 and a flipping linear actuator 21' -4, the flipping fixing seat 21'-1 is mounted on the lifting slide 17, and is driven by the scissor type telescopic mechanism 13 to move up and down, one side of a fixed book clamping plate 22' -1 of the book clamping jaw mechanism 22 'is mounted on the flipping fixing seat 21' -1 through the horizontal rotation joint 21'-2, and the horizontal rotation joint 21' -2 may be formed by a rotation pin shaft, and the fixed book clamping plate 22'-1 and the flipping fixing seat 21' -1 are rotatably connected by the rotation pin shaft; the overturning fixing seat 21' -1 is provided with a lower support arm 21' -3 extending downwards, one end of the overturning linear actuator 21' -4 is hinged on the lower support arm 21' -3, the other end is hinged on the outer wall of the fixed book clamping plate 22' -1, a triangular structure is formed by two hinged points of the horizontal rotating joint 21' -2 and the overturning linear actuator 21' -4, the book clamping jaw mechanism 22' is driven to rotate and overturn around the horizontal rotating joint 21' -2 through the telescopic motion of the overturning linear actuator 21' -4, and the overturning switching motion of the fixed book clamping plate 22' -1 in a horizontal state and a vertical state is realized. The book overturning mechanism 21 'adopts the telescopic motion of the overturning linear driver 21' -4 to control the book grabbing mechanism to rotate and overturn around the horizontal rotating joint, the structural design is simple and compact, and the overturning switching in the vertical and horizontal directions is stable and reliable.

Referring to fig. 11, 12 and 13, in the present embodiment, the movable side plate opening and closing mechanism 22'-3 includes a movable side plate linear actuator 22' -3a and a movable side plate guide 22'-3b, the movable side plate mounting seat 22' -2b at one side end of the movable book clamping plate 22'-2 is in relative sliding fit with the fixed book clamping plate 22' -1 through the movable side plate guide 22'-3b, the movable side plate linear actuator 22' -3a is mounted on the fixed book clamping plate 22'-1, and the driving end of the movable side plate linear actuator 22' -3a is connected with the movable side plate mounting seat 22'-2b of the movable book clamping plate 22' -2. The movable side plate linear driver 22'-3a moves telescopically to drive the movable side plate mounting seat 22' -2b to slide along the movable side plate guide rod 22'-3b, so that the stable opening and closing movement of the movable book clamping plate 22' -2 is realized. The movable side plate opening and closing mechanism 22'-3 adopts the movable side plate linear driver 22' -3a to match with the guide rod for guiding to realize the opening and closing movement of the grabbing side plate of the book grabbing manipulator, the opening and closing action response speed is high, and the grabbing control is more convenient. In addition, in the present embodiment, the push rod sliding seat 22' -4a for laterally pushing the book push rod 22' -4 is installed on the fixed bookholding plate 22' -1 through the lateral sliding seat guide rail 22' -4b provided on the outer wall of the fixed bookholding plate 22' -1, so that the guide of the push rod sliding seat 22' -4a is more stabilized, and the motion stability of the laterally pushing book push rod 22' -4 is improved. In this embodiment, the push plate driving mechanism 22'-7 includes a push plate linear driver 22' -7-1, a push plate driving slider 22'-7-2, a push plate driving guide 22' -7-3 and a push plate scissor type telescopic mechanism 22'-7-4, the rear side of the fixed book clamping plate 22' -1 extends toward one side of the movable book clamping plate 22'-2 to form a mounting seat, the push plate driving guide 22' -7-3 is fixed on the mounting seat, the push plate driving slider 22'-7-2 is slidably mounted on the push plate driving guide 22' -7-3, one end of the push plate scissor type telescopic mechanism 22'-7-4 is hinged between the mounting seat and the push plate driving slider 22' -7-2, and the other end of the push plate scissor type telescopic mechanism 22'-7-4 is connected with the front and rear book pushing push plates 22' -6, the push plate linear driver 22' -7-1 is fixed on one side of the mounting seat, the driving end of the push plate linear driver 22' -7-1 is connected with the push plate driving slide block 22' -7-2, and the push plate linear driver 22' -7-1 drives the push plate driving slide block 22' -7-2 to move so as to drive the book pushing push plate 22' -6 to move back and forth through the push plate scissor type telescopic mechanism 22' -7-4. The specific structure of the push plate scissor type telescopic mechanism 22'-7-4 is similar to that of the side push plate scissor type telescopic mechanism 22-8-5 in embodiment 1, and the mechanism also comprises a plurality of X-shaped link units formed by links, each X-shaped link unit comprises two links hinged to each other at the middle, one end of a first link of the X-shaped link unit at one side end is hinged to the mounting base, one end of a second link is hinged to the push plate driving slider 22' -7-2, one end of the first link of the X-shaped link unit at the other side end is hinged to the front and rear book pushing push plate 22'-6, one end of the second link is hinged to a slider arranged on a rear guide rail of the front and rear book pushing push plate 22' -6, and the push plate linear driver 22'-7-1 pushes the push plate driving slider 22' -7-2 to move, the two connecting rods of the X-shaped connecting rod unit are driven to change the angle, and then the push plate shear type telescopic mechanism 22'-7-4 is controlled to drive the front and back book pushing push plates 22' -6 to do telescopic motion.

The turning linear driver 21'-4, the movable side plate linear driver 22' -3a, the push rod linear driver 22'-5 and the push plate linear driver 22' -7-1 can all adopt electric push rods, and can also adopt air cylinders under the condition of air supply.

Referring to fig. 9 to 13, in the book taking and returning method of the scissor-lift-based intelligent book holder book grabbing device according to the embodiment, the intelligent book holder corresponding to the book grabbing device is provided with a book ejecting mechanism, and the book grabbing device and the book ejecting mechanism of the intelligent book holder complete book borrowing and returning under the control of the book management system, and the method specifically includes the following steps:

book borrowing time

Q1, under the control of the book management system, controlling the traversing mechanism 12 to drive the book clamping jaw mechanism 22' in the vertical state to move to the corresponding column of the intelligent book shelf where the target book is located according to the row and column position information of the intelligent book shelf where the target book is located, controlling the scissor type telescopic mechanism 13 to drive the book clamping jaw mechanism 22' to move to the corresponding row of the intelligent book shelf where the target book is located, and enabling the book clamping jaw mechanism 22' in the vertical state to move to the front of the target book;

q2, the movable side plate opening and closing mechanism 22'-3 of the book clamping jaw mechanism 22' drives the movable book clamping plate 22'-2 to open outwards, so that the distance between the movable book clamping plate 22' -2 and the fixed book clamping plate 22'-1 is slightly larger than the thickness of the book, and the height of the transverse book pushing push rod 22' -4 is equal to or slightly lower than the bottom height of the target book;

q3, the intelligent book shelf pushes out the target book towards the book clamping jaw mechanism 22' through the book pushing mechanism, so that the book vertically enters a plurality of transverse book pushing push rods 22' -4 between the fixed book clamping plate 22' -1 and the movable book clamping plate 22' -2 of the book clamping jaw mechanism 22', and then the movable side plate opening and closing mechanism 22' -3 drives the movable book clamping plate 22' -2 to close and clamp the target book;

q4, the book turnover mechanism 21' drives the book clamping jaw mechanism 22' to turn 90 degrees to one side of the fixed book clamping plate 22' -1, so that the target book is in a horizontal state, and then the scissors type telescopic mechanism 13 adjusts the height of the target book to make the target book slightly higher than the conveying plane of the book conveying device;

q5 and the transverse moving mechanism 12 drive the book grabbing manipulator 200 and the target book to move towards the book conveying device, after the book grabbing manipulator reaches the corresponding position of the book conveying device, the movable side plate opening and closing mechanism 22' -3 drives the movable book clamping plate 22' -2 to open, meanwhile, the push rod linear driver 22' -5 drives the transverse book pushing push rod 22' -4 to extend out to one side, the target book is pushed out from the fixed book clamping plate 22' -1, the book falls onto the book conveying device, and borrowing of the book is completed;

second, when the book is returned

H1, under the control of the book management system, the book grabbing manipulator 200 is driven by the traversing mechanism 12 to the conveying end position of the book conveying device, the book clamping jaw mechanism 22' is in a horizontal open state, and the fixed book clamping plate 22' -1 of the book clamping jaw mechanism 22' is equal to or slightly lower than the conveying plane of the book conveying device and receives books to be returned conveyed by the book conveying device;

h2, a movable side plate opening and closing mechanism 22' -3 of the book clamping jaw mechanism 22' drives the movable book clamping plate 22' -2 to contract inwards, so that the movable book clamping plate 22' -2 and the fixed book clamping plate 22' -1 are closed to clamp a book to be returned; then the book turnover mechanism 21 'drives the book clamping jaw mechanism 22' to turn upwards by 90 degrees, so that the book to be returned is in a vertical state;

h3, the transverse moving mechanism 12 drives the book grabbing manipulator and the book to be returned to move to the target row-column position of the intelligent book shelf, the transverse moving mechanism 12 drives the book clamping jaw mechanism 22' to move to the corresponding row of the intelligent book shelf, and the scissor type telescopic mechanism 13 drives the book clamping jaw mechanism 22' to move to the corresponding row of the intelligent book shelf, so that the height of the transverse book pushing push rod 22' -4 is equal to or slightly higher than the layer height of the corresponding row of the intelligent book shelf;

h4, a movable side plate opening and closing mechanism 22'-3 of the book clamping jaw mechanism 22' drives a movable book clamping plate 22'-2 to open outwards to loosen books to be returned, and then a push plate driving mechanism 22' -7 drives a front and back book pushing push plate 22'-6 to push the books to be returned outwards into the corresponding book returning position of the intelligent book shelf through the book clamping jaw mechanism 22';

h5, the book clamping jaw mechanism 22' is reset, and the return of the book is completed.

The invention relates to an intelligent book shelf book grabbing device based on scissor type lifting, which solves the problem that the scissor type lifting mechanism is applied to intelligent book shelf book grabbing equipment and the lifting stroke is difficult to meet the requirement of high-low book fetching of a book shelf; and moreover, the scissor type telescopic mechanism with short consumption realizes lifting movement with larger stroke, the lifting stability and reliability of the scissor type telescopic mechanism are further improved, the structure of the book grabbing device is simpler and more compact, and intelligent control is facilitated.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims

1. The utility model provides an intelligence bookshelf book grabbing device based on cut formula lift, includes sideslip device (100) and installs book grabbing manipulator (200) on sideslip device (100), its characterized in that: lifting and horizontal moving device (100) include underframe (11), install in sideslip mechanism (12) of underframe (11) lower part, install in shear type telescopic machanism (13) on underframe (11) upper portion and install in top mounting bracket (14) at shear type telescopic machanism (13) top, one side downwardly extending of top mounting bracket (14) be equipped with side mount pad (14-2), side mount pad (14-2) on vertically install lift guide rail (14-5), lift guide rail (14-5) on be equipped with lift slide (17), books snatch manipulator (200) fixed mounting on lift slide (17), the upper portion of top mounting bracket (14) be equipped with switching-over sheave (15), lift slide (17) on be connected with traction rope (16), the other end of traction rope (16) connect down under shear type telescopic machanism (13) after switching-over sheave (15) switching-over A middle part;

when the scissor type telescopic mechanism (13) descends to the lowest position, the distance from the connecting point of the traction pull rope (16) and the scissor type telescopic mechanism (13) to the top mounting rack (14) is shortest, and the lifting slide seat (17) is located at the lowest position of the lifting guide rail (14-5) of the side mounting seat (14-2); when the scissor type telescopic mechanism (13) ascends, the distance from a connecting point of the traction pull rope (16) and the scissor type telescopic mechanism (13) to the top mounting rack (14) is gradually increased, the traction pull rope (16) pulls the lifting slide seat (17) to slide upwards relative to the side mounting rack (14-2), when the scissor type telescopic mechanism (13) ascends to the highest position, the distance from the connecting point of the traction pull rope (16) and the scissor type telescopic mechanism (13) to the top mounting rack (14) is longest, and at the moment, the lifting slide seat (17) is located at the highest position of the lifting guide rail (14-5) of the side mounting rack (14-2).

2. The book grabbing device of the intelligent book shelf based on scissor lifting as claimed in claim 1, wherein: the scissor type telescopic mechanism (13) comprises a bottom support frame (13-1), a bottom guide rail (13-2), a lifting driving screw rod (13-3), a bottom sliding block (13-4), a lifting driving motor (13-5), a scissor type connecting rod assembly (13-6), a bottom lifting guide seat (13-7) and a top sliding block (13-8), wherein the bottom support frame (13-1) is fixed on a bottom frame (11), the bottom guide rail (13-2) is horizontally arranged on the bottom support frame (13-1), the end parts of two connecting rods at the bottom of the scissor type connecting rod assembly (13-6) are respectively hinged with the bottom sliding block (13-4), the bottom sliding blocks (13-4) at two sides are respectively arranged on the bottom guide rail (13-2) in a sliding manner, the lifting driving motor (13-5) is arranged on the bottom support frame (13-1), the lifting driving screw rod (13-3) and the bottom guide rail (13-2) are arranged on the bottom support frame (13-1) in parallel, the driving end of the lifting driving motor (13-5) is in transmission connection with the lifting driving screw rod (13-3), two groups of bottom sliding blocks (13-4) on two sides are respectively in threaded fit with the lifting driving screw rod (13-3) in opposite rotating directions, the bottom lifting guide seat (13-7) is fixed on the bottom support frame (13-1), a middle hinged shaft at least at the lower part of the shear type connecting rod assembly (13-6) is in up-and-down sliding fit with the bottom lifting guide seat (13-7), the end parts of two connecting rods on the top of the shear type connecting rod assembly (13-6) are respectively hinged with a top sliding block (13-8), the top sliding blocks (13-8) on two sides are respectively arranged on the bottom of the top mounting frame (14) in The top mounting rack (14) is in up-and-down sliding guide fit with a middle articulated shaft of the scissor type connecting rod assembly (13-6).

3. The book grabbing device of the intelligent book shelf based on scissor lifting as claimed in claim 2, wherein: the side, opposite to the side mounting seat (14-2), of the top mounting frame (14) extends downwards to form a top lifting guide seat (14-4), the side mounting seat (14-2) is provided with a vertically arranged guide sliding groove (14-3), and a middle hinged shaft at least at the upper part of the scissor type connecting rod assembly (13-6) is in up-and-down sliding guide fit with the top lifting guide seat (14-4) and the guide sliding groove (14-3) on the side mounting seat (14-2).

4. The book grabbing device of the intelligent book shelf based on scissor lifting as claimed in claim 3, wherein: the transverse moving mechanism (12) comprises a transverse moving driving motor (12-1), a motor transmission shaft (12-2), an intermediate transmission mechanism (12-3), a wheel shaft (12-4) and a roller (12-5), the front and the back of the bottom frame (11) are respectively provided with a wheel shaft (12-4), two ends of each wheel shaft (12-4) are respectively provided with a group of rollers (12-5) matched with a track on the ground, the transverse moving driving motor (12-1) is fixed on the bottom frame (11), and the driving end of the transverse moving driving motor (12-1) is in transmission connection with a motor transmission shaft (12-2), the motor transmission shaft (12-2) is in transmission connection with the front wheel shaft (12) and the rear wheel shaft (12-4) through the middle transmission mechanism (12-3) respectively and is used for driving the front wheel shaft (12) and the rear wheel shaft (12-4) to synchronously rotate in the same direction.

5. The scissor lift based intelligent book shelf and book grabbing device of any one of claims 1 to 4, wherein: the book grabbing manipulator (200) comprises a book overturning mechanism (21) and a book clamping jaw mechanism (22), the book clamping jaw mechanism (22) is arranged on the lifting slide seat (17) through the book overturning mechanism (21), wherein,

the book turnover mechanism (21) comprises a turnover frame (21-3), a turnover motor (21-4), a turnover driving gear (21-5) and a turnover fixing gear wheel (21-6), wherein the turnover fixing gear wheel (21-6) is fixedly arranged on the lifting slide seat (17), one end of the turnover frame (21-3) is coaxially and rotatably connected with the turnover fixing gear wheel (21-6), the turnover driving gear wheel (21-5) is arranged on the turnover frame (21-3), the turnover driving gear wheel (21-5) is meshed with the turnover fixing gear wheel (21-6), the turnover motor (21-4) is arranged on the turnover frame (21-3), and an output shaft of the turnover motor (21-4) is in transmission connection with the turnover driving gear wheel (21-5), in the process that the overturning motor (21-4) drives the overturning driving gear (21-5) to rotate, the overturning driving gear (21-5) drives the overturning frame (21-3) to rotate and overturn along the circumferential direction of the overturning fixed gearwheel (21-6);

the book clamping jaw mechanism (22) comprises a clamping jaw main body support (22-1) fixedly arranged on the turnover frame (21-3), a fixed book clamping side plate (22-2) arranged on one side of the clamping jaw main body support (22-1), a movable book clamping side plate (22-3) arranged on the other side of the clamping jaw main body support (22-1) through a book clamping side plate opening and closing mechanism (22-4), a bottom push plate (22-5) arranged at the bottom of the clamping jaw main body support (22-1) through a bottom push plate driving mechanism (22-6), and a side push plate (22-7) arranged at the rear part of the clamping jaw main body support (22-1) through a side push plate driving mechanism (22-8); under the vertical state of the book clamping jaw mechanism (22), the bottom push plate (22-5) is used as a book bearing plate, the fixed book clamping side plate (22-2) and the movable book clamping side plate (22-3) are used for grabbing or releasing a book, and the side push plate (22-7) is used for pushing the book outwards when returning the book; when the book clamping jaw mechanism (22) is turned to be horizontal towards one side of the fixed book clamping side plate (22-2), the fixed book clamping side plate (22-2) serves as a book bearing plate, and the bottom push plate (22-5) is used for pushing out a book from the fixed book clamping side plate (22-2).

6. The book grabbing device of the intelligent book shelf based on scissor lifting as claimed in claim 5, wherein: the fixed book clamping side plate (22-2) is fixedly arranged on one side of the bottom of the clamping jaw main body support (22-1), the movable book clamping side plate (22-3) is oppositely arranged on the other side of the clamping jaw main body support (22-1), the book clamping side plate opening and closing mechanism (22-4) comprises a book clamping plate driving motor (22-4-1), a book clamping plate driving screw rod (22-4-2), a book clamping plate driving sliding block (22-4-3), a book clamping plate shear type telescopic mechanism (22-4-4) and a book clamping plate driving guide rail (22-4-5), the book clamping plate driving screw rod (22-4-2) and the book clamping plate driving guide rail (22-4-5) are arranged on a support extending out of the bottom of the fixed book clamping side plate (22-2) towards the inner side in parallel, the book clamping plate driving sliding block (22-4-3) is slidably mounted on a book clamping plate driving guide rail (22-4-5), the book clamping plate driving sliding block (22-4-3) is in threaded fit with a book clamping plate driving screw rod (22-4-2), one end of the book clamping plate shear type telescopic mechanism (22-4-4) is mounted between a support of the fixed book clamping side plate (22-2) and the book clamping plate driving sliding block (22-4-3), the other end of the book clamping plate shear type telescopic mechanism (22-4-4) is mounted on the movable book clamping side plate (22-3), the driving end of the book clamping plate driving motor (22-4-1) is in transmission connection with the book clamping plate driving screw rod (22-4-2), and the book clamping plate driving motor (22-4-1) is provided with a belt through the book clamping plate driving screw rod (22-4-2) The movable book clamping plate drives the sliding block (22-4-3) to move, and then the movable book clamping side plate (22-3) is driven to open and close relative to the fixed book clamping side plate (22-2) through the book clamping plate scissor type telescopic mechanism (22-4-4).

7. The intelligent book shelf and book grabbing device based on scissor lifting as claimed in claim 6, wherein: the bottom push plate driving mechanism (22-6) comprises a bottom push plate driving support (22-6-1), a bottom push plate driving motor (22-6-2), a bottom push plate driving screw rod (22-6-3), a bottom push plate driving slide block (22-6-4), a bottom push plate driving guide rail (22-6-5) and a bottom push plate shear type telescopic mechanism (22-6-6), wherein the bottom push plate driving support (22-6-1) is arranged on a support extending out of the bottom of the fixed book clamping side plate (22-2) towards the inner side, the bottom push plate driving screw rod (22-6-3) and the bottom push plate driving guide rail (22-6-5) are arranged on the bottom push plate driving support (22-6-1) in parallel, the bottom push plate driving sliding block (22-6-4) is slidably mounted on the bottom push plate driving guide rail (22-6-5), the bottom push plate driving sliding block (22-6-4) is in threaded fit with the bottom push plate driving screw rod (22-6-3), one end of the bottom push plate scissor type telescopic mechanism (22-6-6) is mounted between the bottom push plate driving support (22-6-1) and the bottom push plate driving sliding block (22-6-4), the other end of the bottom push plate scissor type telescopic mechanism (22-6-6) is in fit connection with the bottom push plate (22-5), the driving end of the bottom push plate driving motor (22-6-2) is in transmission connection with the bottom push plate driving screw rod (22-6-3), the bottom push plate driving motor (22-6-2) drives the bottom push plate driving slide block (22-6-4) to move through the bottom push plate driving screw rod (22-6-3) so as to drive the bottom push plate (22-5) to move up and down through the bottom push plate shear type telescopic mechanism (22-6-6).

8. The scissor lift based intelligent book shelf and book grabbing device of any one of claims 1 to 4, wherein: the book grabbing manipulator (200) comprises a book overturning mechanism (21') and a book clamping jaw mechanism (22'), the book clamping jaw mechanism (22') is arranged on the lifting slide seat (17) through the book overturning mechanism (21'), wherein,

the book clamping jaw mechanism (22') comprises a fixed book clamping plate (22' -1), a movable book clamping plate (22'-2), a movable side plate opening and closing mechanism (22' -3), a transverse book pushing push rod (22'-4), a push rod linear driver (22' -5), a front book pushing push plate, a rear book pushing push plate (22'-6) and a push plate driving mechanism (22' -7), one end of the fixed book clamping plate (22'-1) is connected with the book overturning mechanism (21'), the movable book clamping plate (22'-2) is parallelly arranged on the fixed book clamping plate (22' -1) through the movable side plate opening and closing mechanism (22'-3), a plurality of fixed side plate push rod grooves (22' -1a) vertical to the rotation axial direction of the book overturning mechanism (21') are formed in the fixed book clamping plate (22' -1), the movable book clamping plate (22' -2) is provided with a plurality of movable side plate push rod grooves (22' -2a) corresponding to the fixed side plate push rod grooves (22' -1a), the transverse book pushing push rod (22'-4) is arranged on the outer side wall of the fixed book clamping plate (22' -1) in a sliding way, and the transverse book pushing push rods (22' -4) are positioned in the corresponding fixed side plate push rod grooves (22' -1a) and the movable side plate push rod grooves (22' -2a), the driving end of the push rod linear driver (22' -5) is connected with a push rod sliding seat (22' -4a) of the transverse book pushing rod (22' -4), the book pushing device is used for driving the transverse book pushing push rods (22' -4) to do book pushing movement along the groove directions of the fixed side plate push rod grooves (22' -1a) and the movable side plate push rod grooves (22' -2 a); the front and back book pushing push plate (22' -6) is arranged at the rear part of the inner side of the fixed book clamping plate (22' -1) through a push plate driving mechanism (22' -7); under the vertical state of the book clamping jaw mechanism (22'), a plurality of transverse book pushing push rods (22' -4) form a book supporting plate, the fixed book clamping plate (22' -1) and the movable book clamping plate (22' -2) are used for grabbing or releasing books, and the front and back book pushing push plates (22' -6) are used for pushing the books outwards during book returning; when the book clamping jaw mechanism (22') is turned to be horizontal towards one side of the fixed book clamping plate (22' -1), the fixed book clamping plate (22' -1) is used as a book bearing plate, and the transverse book pushing push rod (22' -4) is used for pushing out a book from the fixed book clamping plate (22' -1).

9. The book grabbing device of the intelligent book shelf based on scissor lifting as claimed in claim 8, wherein: the book turnover mechanism (21') comprises a turnover fixing seat (21' -1), a horizontal rotation joint (21' -2) and a turnover linear driver (21' -4), the turnover fixing seat (21' -1) is installed on the lifting slide seat (17), one side of a fixed book clamping plate (22' -1) of the book clamping jaw mechanism (22') is installed on the turnover fixing seat (21' -1) through the horizontal rotation joint (21' -2), a lower support arm (21' -3) extends downwards from the turnover fixing seat (21' -1), one end of the turnover linear driver (21' -4) is hinged to the lower support arm (21' -3), the other end of the turnover linear driver is hinged to the outer wall of the fixed book clamping plate (22' -1), and the book clamping jaw mechanism (22') is driven to rotate around the horizontal rotation joint (21' -1) through the telescopic motion of the turnover linear driver (21' -4) ' -2) rotational flipping.

10. The book grabbing device of the intelligent book shelf based on scissor lifting as claimed in claim 9, wherein: the movable side plate opening and closing mechanism (22'-3) comprises a movable side plate linear driver (22' -3a) and a movable side plate guide rod (22'-3b), a movable side plate mounting seat (22' -2b) at one side end part of the movable book clamping plate (22'-2) is in relative sliding fit with the fixed book clamping plate (22' -1) through the movable side plate guide rod (22'-3b), the movable side plate linear driver (22' -3a) is mounted on the fixed book clamping plate (22'-1), and the driving end of the movable side plate linear driver (22' -3a) is connected with the movable side plate mounting seat (22'-2b) of the movable book clamping plate (22' -2);

the push plate driving mechanism (22'-7) comprises a push plate linear driver (22' -7-1), a push plate driving sliding block (22'-7-2), a push plate driving guide rail (22' -7-3) and a push plate scissor type telescopic mechanism (22'-7-4), wherein a mounting seat extends from the rear side of the fixed book clamping plate (22' -1) to one side of the movable book clamping plate (22'-2), the push plate driving guide rail (22' -7-3) is fixed on the mounting seat, the push plate driving sliding block (22'-7-2) is slidably mounted on the push plate driving guide rail (22' -7-3), one end of the push plate scissor type telescopic mechanism (22'-7-4) is hinged between the mounting seat and the push plate driving sliding block (22' -7-2), the other end of the push plate shear type telescopic mechanism (22' -7-4) is connected with the front and back book pushing push plate (22' -6), the push plate linear driver (22' -7-1) is fixed on one side of the mounting seat, the driving end of the push plate linear driver (22' -7-1) is connected with the push plate driving sliding block (22' -7-2), and the push plate linear driver (22' -7-1) drives the push plate driving sliding block (22' -7-2) to move so as to drive the front and back book pushing push plate (22' -6) to move back and forth through the push plate shear type telescopic mechanism (22' -7-4).