CN111038900A

CN111038900A - Book grabbing device for intelligent book shelf and book taking and returning method thereof

Info

Publication number: CN111038900A
Application number: CN201911352946.3A
Authority: CN
Inventors: 杨辉; 田文彤
Original assignee: Changzhou Institute of Technology
Current assignee: Changzhou Institute of Technology
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2020-04-21

Abstract

The invention discloses a book grabbing device for an intelligent book shelf and a book taking and returning method thereof, and belongs to the field of intelligent book shelves. The book grabbing device comprises a frame and a book clamping jaw mechanism, wherein the bottom of the frame is provided with a frame transverse moving mechanism, and the book clamping jaw mechanism is arranged on a transverse and longitudinal driving mechanism through a clamping jaw turnover mechanism. The book grabbing device can move transversely as a whole, the book clamping jaw mechanisms in the book grabbing device can independently move transversely, move up and down and turn over by 90 degrees, and meanwhile, the book clamping jaw mechanisms are provided with the bottom book pushing mechanism capable of horizontally pushing out books and the side book pushing mechanism capable of vertically pushing out the books, so that the books in the vertical bookshelf can be stably grabbed or returned, the stability of the book conveying process is ensured, the structural design is simple and compact, the book grabbing action is stable and reliable, the book fetching efficiency and reliability are improved, and the automatic borrowing and returning problems of the books in an intelligent book management system are effectively solved.

Description

Book grabbing device for intelligent book shelf and book taking and returning method thereof

Technical Field

The present invention relates to a book grasping apparatus, and more particularly, to a book grasping apparatus for an intelligent book shelf and a book retrieving method thereof.

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 books of the same kind together, because books of different kinds all are in the position of same row, generally press from both sides between the adjacent books tighter, 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 up 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 looking up of the same management and the reader of a large amount of books.

To solve the above problems of the conventional bookshelf, related technical personnel also provide a plurality of improved schemes, and design a plurality of intelligent bookshelves, wherein the intelligent bookshelves need to realize automatic searching and taking of books, and book grabbing machinery is a necessary device in an intelligent bookshelf system. 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.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention aims to overcome the defects of complex structure, low book grabbing efficiency, difficulty in intelligent book management and the like of a book grabbing device in the existing intelligent book management system, and provides a book grabbing device for an intelligent book shelf and a book fetching and returning method thereof, by adopting the technical scheme of the invention, the book grabbing device can move transversely as a whole, a book clamping jaw mechanism in the book grabbing device can independently move transversely, move up and down and turn over by 90 degrees, and meanwhile, the book clamping jaw mechanism is provided with a bottom book pushing mechanism capable of horizontally pushing out books and a side book pushing mechanism capable of vertically pushing out the books, so that stable grabbing or returning of the books in the vertical book shelf is realized, the books can be horizontally conveyed, the stability of the book conveying process is ensured, the structural design is simple and compact, the book grabbing action is stable and reliable, and the book fetching and returning efficiency and reliability are improved, the automatic borrowing and returning problems of books in the intelligent book management system are effectively solved, and the intelligent management of a large number of books is met.

2. Technical scheme

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

the book grabbing device for the intelligent book shelf comprises a frame and a book clamping jaw mechanism, wherein the bottom of the frame is provided with a frame transverse moving mechanism for driving the frame to transversely move; wherein the content of the first and second substances,

the clamping jaw overturning mechanism comprises an overturning frame, an overturning motor, an overturning driving gear and an overturning fixed gear wheel, wherein the overturning fixed gear wheel is fixedly arranged on a transverse and longitudinal driving mechanism, one end of the overturning frame is coaxially and rotatably connected with the overturning fixed gear wheel, the overturning driving gear is arranged on the overturning frame, the overturning driving gear is meshed with the overturning fixed gear wheel, the overturning motor is in transmission connection with the overturning driving gear wheel, and the overturning driving gear wheel drives the overturning frame to rotate and overturn along the circumferential direction of the overturning fixed gear wheel in the process that the overturning motor drives the overturning 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.

Furthermore, the side push plate driving mechanism comprises a side push plate driving motor, a side push plate driving lead screw, a side push plate driving slide block, a side push plate driving guide rail, a side push plate shear type telescopic mechanism and a side push plate driving support, wherein the side push plate driving support is vertically arranged on the clamping jaw main body support, the side push plate driving lead screw and the side push plate driving guide rail are vertically and parallelly arranged on the side push plate driving support, the side push plate driving slide block is slidably arranged on the side push plate driving guide rail, the side push plate driving slide block is in threaded fit with the side push plate driving lead screw, one end of the side push plate shear type telescopic mechanism is arranged between the side push plate driving support and the side push plate driving slide block, the other end of the side push plate shear type telescopic mechanism is in fit connection with the side push plate, and the driving end of the side push plate driving motor is, the side push plate driving motor drives the side push plate driving slide block to move through the side push plate driving lead screw and then drives the side push plate to move back and forth through the side push plate shear type telescopic mechanism.

Furthermore, the overturning fixed gearwheel is mounted on the overturning mounting seat, a limiting groove which takes the axis of the overturning fixed gearwheel as the center of a circle is arranged on the overturning mounting seat, the limiting groove is a quarter arc groove, a connecting line between a stop position at the upper end of the limiting groove and the axis of the overturning fixed gearwheel is vertical, a connecting line between a stop position at the lower end of the limiting groove and the axis of the overturning fixed gearwheel is horizontal, and a wheel shaft of the overturning driving gear is positioned in the limiting groove.

Furthermore, the transverse and longitudinal driving mechanism comprises a clamping jaw transverse moving mechanism and a clamping jaw lifting mechanism, the clamping jaw transverse moving mechanism comprises a transverse moving support, a clamping jaw transverse moving motor, a clamping jaw transverse moving screw rod, a transverse moving guide rail and a transverse moving slide block, the transverse moving support is horizontally and transversely and fixedly arranged on the frame, the clamping jaw transverse moving screw rod and the transverse moving guide rail are transversely and parallelly arranged on the transverse moving support, the transverse moving slide block is slidably arranged on the transverse moving guide rail, the transverse moving slide block is in threaded fit with the clamping jaw transverse moving screw rod, and the driving end of the clamping jaw transverse moving motor is in transmission connection with one end of the clamping jaw transverse moving; clamping jaw elevating system include lifting support, clamping jaw elevator motor, clamping jaw lift lead screw, lifting guide and lift slide, the vertical fixed mounting of lifting support on sideslip slider, clamping jaw lift lead screw and lifting guide install on lifting support vertically parallelly, lift slide slidable mounting on lifting guide, and lift slide and clamping jaw lift lead screw-thread fit, clamping jaw elevator motor's drive end be connected with the one end transmission of clamping jaw lift lead screw, the upset mount pad be fixed in on the lift slide.

Furthermore, the frame transverse moving mechanism comprises a rack, a frame transverse moving motor, a transverse moving transmission shaft and a transverse moving gear, wherein the rack is horizontally fixed on the ground transversely, rollers matched with a track on the ground are arranged at the bottom of the frame, the transverse moving transmission shaft is perpendicular to the rack and is arranged at the bottom of the frame, the transverse moving gear is arranged on the transverse moving transmission shaft, the transverse moving gear is meshed with the rack, the frame transverse moving motor is arranged at the bottom of the frame, and the driving end of the frame transverse moving motor is in transmission connection with one end of the transverse moving transmission shaft.

The invention discloses a book taking and returning method for a book grabbing device of an intelligent book shelf, wherein the intelligent book shelf corresponding to the book grabbing device is provided with a book pushing mechanism, the intelligent book shelf is formed by arranging a plurality of book shelf subunits side by side, the length of each book shelf subunit is matched with the transverse moving stroke of a book clamping jaw mechanism of the book grabbing device, and the book grabbing device and the book pushing mechanism of the intelligent book shelf complete borrowing and returning of books under the control of a book management system, and the book taking and returning method specifically comprises the following steps:

book borrowing time

Q1, under the control of the book management system, the book grabbing device is driven to the position of a bookshelf sub-unit of the intelligent book shelf where the target book is located by the frame transverse moving mechanism, and then the transverse and longitudinal driving mechanisms are controlled to drive the book clamping jaw mechanisms to move to the front of the target book according to the row and column position information of the bookshelf unit where the target book is located;

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

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

q4, the clamping jaw turnover mechanism drives the book clamping jaw mechanism to turn 90 degrees to one side, so that the target book is in a horizontal state, and then the transverse and longitudinal driving mechanism 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, the frame transverse moving mechanism drives the book grabbing device and the target book to move towards the book conveying device, after the book grabbing device and the target book reach the corresponding position of the book conveying device, the book clamping side plate opening and closing mechanism drives the movable book clamping side plate to open, meanwhile, the bottom push plate driving mechanism drives the bottom push plate to extend forwards, the target book is pushed out from the fixed book clamping side plate, 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 gripping device is driven to the conveying end position of the book conveying device by the frame traversing mechanism, the book clamping jaw mechanism is in a horizontally opened state, a fixed book clamping side plate of the book clamping jaw mechanism is equal to or slightly lower than the conveying plane of the book conveying device, and the book to be returned conveyed by the book conveying device is received;

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

h3, driving the book grabbing device and the book to be returned to move to a target bookshelf sub-unit of the intelligent book shelf by the frame transverse moving mechanism, and driving the book clamping jaw mechanism to move to a corresponding book returning position of the bookshelf sub-unit by the transverse and longitudinal driving mechanism according to the row and column position information of the book shelf unit where the book to be returned is located after the book grabbing device and the book to be returned move to the target bookshelf sub-unit of the intelligent book shelf in place, so that the height of the bottom push plate is equal to or slightly higher than the corresponding layer height of the bookshelf sub;

h4, a book clamping side plate opening and closing mechanism of the book clamping jaw mechanism drives a movable book clamping side plate to be opened outwards to loosen the book to be returned, and then a side push plate driving mechanism drives a side push plate to be pushed outwards to push the book to be returned into a corresponding book returning position of the book shelf unit through the book clamping jaw mechanism;

h5, resetting the book clamping jaw mechanism to finish returning the book.

3. Advantageous effects

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

(1) according to the book grabbing device for the intelligent book shelf and the book taking and returning method thereof, the book grabbing device can move transversely as a whole, the book clamping jaw mechanisms in the book grabbing device can independently move transversely, move up and down and turn over by 90 degrees, meanwhile, the book clamping jaw mechanisms are provided with the bottom book pushing mechanism capable of horizontally pushing out books and the side book pushing mechanism capable of vertically pushing out the books, so that the books in the vertical book shelf can be grabbed or returned stably, meanwhile, the 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 taking and returning efficiency and reliability are improved, the automatic borrowing and returning problems of the books in an intelligent book management system are effectively solved, and the intelligent management of a large number of books is met;

(2) the book grabbing device for the intelligent book shelf can be used for stably taking and returning books from and to the vertical bookshelf, and the vertical bookshelf is simple and compact in structure, high in book storage rate and convenient to manage the books;

(3) according to the book grabbing device for the intelligent book shelf, the book clamping side plate opening and closing mechanism of the movable book clamping side plate, the bottom push plate and the push plate driving mechanism of the side push plate are controlled by the scissor type telescopic mechanisms controlled by the 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;

(4) according to the book grabbing device for the intelligent book shelf, the overturning fixed large gear is mounted on the overturning mounting seat, the overturning mounting seat is provided with the limiting groove taking the axis of the overturning fixed large gear as the center of a circle, the overturning mounting seat is utilized to improve the overturning motion stability of the clamping jaw overturning mechanism, and the overturning motion of the book clamping jaw mechanism is more flexible and reliable;

(5) according to the book grabbing device for the intelligent book shelf, the transverse and longitudinal driving mechanism comprises the clamping jaw transverse moving mechanism and the clamping jaw lifting mechanism, the clamping jaw transverse moving mechanism and the clamping jaw lifting mechanism both adopt screw rod transmission mechanisms, the movement is stable and reliable, the position precision is high, the book clamping jaw mechanism and the intelligent book shelf can be conveniently and accurately positioned, and the transfer stability and reliability of books between the intelligent book shelf and the book grabbing device are improved;

(6) according to the book grabbing device for the intelligent book shelf, the frame transverse moving mechanism adopts the gear rack transmission mechanism and is matched with the guide rail design of the frame, so that the linear motion stability of the book grabbing device is ensured, the motion distance is not limited by the structure, and the book grabbing device can be flexibly designed according to the length of the intelligent book shelf;

(7) according to the book taking and returning method for the book grabbing device of the intelligent book shelf, the book grabbing device and the bookshelf sub-units of the intelligent book shelf are correspondingly designed, so that the target books are searched and positioned step by step, each book has the bookshelf sub-unit serial number and the row and column information of the book in the bookshelf sub-unit in the intelligent book shelf, the book searching or the book returning position determining is facilitated, the book taking and returning efficiency is improved, and the intelligent management of the books is facilitated.

Drawings

Fig. 1 is a schematic view illustrating an angle of a book grasping apparatus for an intelligent book shelf according to the present invention;

FIG. 2 is a schematic structural view of another angle of the book grasping device for the intelligent book shelf according to the present invention;

FIG. 3 is a schematic structural diagram of a clamping jaw overturning mechanism and a book clamping jaw mechanism in the book grabbing device for the intelligent book shelf of the invention;

FIG. 4 is a schematic view illustrating an angle of a book clamping jaw mechanism in the book grasping device for an intelligent book shelf according to the present invention;

FIG. 5 is a schematic structural view of another angle of the book clamping jaw mechanism in the book grasping device for the intelligent book shelf according to the present invention;

fig. 6 is a schematic view illustrating a horizontally-reversed state of a book clamping jaw mechanism in the book grasping device for an intelligent book shelf according to the present invention.

The reference numerals in the schematic drawings illustrate:

100. a book grasping device; 11. a frame; 11-1, rollers; 12. a frame traversing mechanism; 12-1, a rack; 12-2, a frame traversing motor; 12-3, transversely moving the transmission shaft; 12-4, a transverse gear; 13. a clamping jaw traversing mechanism; 13-1, transversely moving the bracket; 13-2, a clamping jaw transverse moving motor; 13-3, transversely moving the clamping jaws to a screw rod; 13-4, transversely moving the guide rail; 13-5, transversely moving the sliding block; 14. a jaw lifting mechanism; 14-1, a lifting bracket; 14-2, a clamping jaw lifting motor; 14-3, a clamping jaw lifting screw rod; 14-4, lifting guide rails; 14-5, overturning the mounting seat; 14-6, a limiting groove; 15. a clamping jaw turnover mechanism; 15-1, a roll-over stand; 15-2, turning over a motor; 15-3, overturning the driving gear; 15-4, overturning and fixing the large gear; 16. a book clamping jaw mechanism; 16-1, a jaw body support; 16-2, fixing the book clamping side plate; 16-3, movable book clamping side plates; 16-4, a book clamping side plate opening and closing mechanism; 16-4-1, a book clamping plate driving motor; 16-4-2, driving a screw rod by a book clamping plate; 16-4-3, a book clamping plate driving sliding block; 16-4-4, a book clamping plate shear type telescopic mechanism; 16-4-5, a book clamping plate driving guide rail; 16-5, a bottom push plate; 16-6, a bottom push plate driving mechanism; 16-6-1, a bottom push plate driving bracket; 16-6-2, a bottom push plate driving motor; 16-6-3, a bottom push plate drives a screw rod; 16-6-4, a bottom push plate drives a sliding block; 16-6-5, a bottom push plate driving guide rail; 16-6-6, a bottom push plate shear type telescopic mechanism; 16-7, a side push plate; 16-8, a side push plate driving mechanism; 16-8-1, a side push plate driving motor; 16-8-2, driving a screw rod by a side push plate; 16-8-3, a side push plate drives the sliding block; 16-8-4, a side push plate driving guide rail; 16-8-5, a side push plate shear type telescopic mechanism; 16-8-6, and a side push plate driving bracket.

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.

Examples

Referring to fig. 1 and 2, the book grabbing device for the intelligent book shelf of the embodiment includes a frame 11 and a book clamping jaw mechanism 16 installed on the frame 11, the frame 11 may be formed by assembling rod members and has a bottom frame and side frames, the side frames are vertically fixed on the bottom frame, a frame traversing mechanism 12 for driving the frame 11 to move transversely is provided at the bottom of the frame 11, and the frame traversing mechanism 12 can drive the whole book grabbing device 100 to horizontally slide. Book clamping jaw mechanism 16 is installed on the horizontal and vertical drive mechanism on locating frame 11 through clamping jaw tilting mechanism 15, and horizontal and vertical drive mechanism is used for driving book clamping jaw mechanism 16 lateral shifting and lifting movement on frame 11, and clamping jaw tilting mechanism 15 can drive book clamping jaw mechanism 16 and carry out 90 upset motion, drives book clamping jaw mechanism 16 and at the horizontal and vertical two kinds of state upset motion down. Wherein the content of the first and second substances,

as shown in figure 3, the clamping jaw overturning mechanism 15 comprises an overturning frame 15-1, an overturning motor 15-2, an overturning driving gear 15-3 and an overturning fixed gear 15-4, the overturning fixed gear 15-4 is fixedly arranged on a transverse and longitudinal driving mechanism, the overturning frame 15-1 is approximately L-shaped, one end of the overturning frame 15-1 is coaxially and rotatably connected with the overturning fixed gear 15-4, the other end of the overturning frame 15-1 extends towards one side of the overturning fixed gear 15-4, the overturning driving gear 15-3 is arranged on the overturning frame 15-1, the overturning driving gear 15-3 is meshed with the overturning fixed gear 15-4, the overturning motor 15-2 is in transmission connection with the overturning driving gear 15-3, and in the process that the overturning driving gear 15-3 is driven by the overturning motor 15-2 to rotate, the overturning driving gear 15-3 drives the overturning frame 15-1 to rotate and overturn along the circumferential direction of the overturning fixed gearwheel 15-4. In order to improve the motion stability of the clamping jaw overturning mechanism 15, in the embodiment, the overturning fixed gearwheel 15-4 is arranged on an overturning mounting seat 14-5, a limiting groove 14-6 taking the axle center of the overturning fixed gearwheel 15-4 as the center is arranged on the overturning mounting seat 14-5, the limiting groove 14-6 is a quarter arc groove, the connecting line between the top dead center position of the limiting groove 14-6 and the axle center of the overturning fixed gearwheel 15-4 is vertical, the connecting line between the bottom dead center position of the limiting groove 14-6 and the axle center of the overturning fixed gearwheel 15-4 is horizontal, the wheel axle of the overturning driving gearwheel 15-3 is positioned in the limiting groove 14-6, the overturning frame 15-1 and the overturning driving gearwheel 15-3 are limited by the limiting groove 14-6, and the overturning motion stability of the clamping jaw overturning mechanism 15 is improved, the book clamping jaw mechanism 16 can be turned more flexibly and reliably.

As shown in fig. 3, the book clamping jaw mechanism 16 comprises a clamping jaw main body support 16-1 fixedly arranged on the turning frame 15-1, a fixed book clamping side plate 16-2 arranged on one side of the clamping jaw main body support 16-1, a movable book clamping side plate 16-3 arranged on the other side of the clamping jaw main body support 16-1 through a book clamping side plate opening and closing mechanism 16-4, a bottom push plate 16-5 arranged at the bottom of the clamping jaw main body support 16-1 through a bottom push plate driving mechanism 16-6, and a side push plate 16-7 arranged at the rear part of the clamping jaw main body support 16-1 through a side push plate driving mechanism 16-8. The clamping jaw body support 16-1 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 preferably located at the axle center of the overturning fixed gearwheel 15-4, so that the overturning action of the whole book clamping jaw mechanism 16 is more stable and reliable. The book clamping side plate opening and closing mechanism 16-4 is used for driving the movable book clamping side plate 16-3 to move relative to the fixed book clamping side plate 16-2 in an opening and closing manner, the bottom push plate driving mechanism 16-6 is used for driving the bottom push plate 16-5 to move in an extending and contracting manner, the side push plate driving mechanism 16-8 is used for driving the side push plate 16-7 to move in an extending and contracting manner, the bottom push plate 16-5 serves as a book bearing plate, the fixed book clamping side plate 16-2 and the movable book clamping side plate 16-3 are used for grabbing or releasing books in a vertical state of the book clamping jaw mechanism 16, and the side push plate 16-7 is used for pushing out the; when the book clamping jaw mechanism 16 is turned to be horizontal towards one side of the fixed book clamping side plate 16-2, the fixed book clamping side plate 16-2 is used as a book bearing plate, and the bottom push plate 16-5 is used for pushing out a book from the fixed book clamping side plate 16-2.

Referring to fig. 4, 5 and 6, in the book grabbing device for the intelligent book shelf of the embodiment, a fixed book clamping side plate 16-2 is fixedly installed at one side of the bottom of a clamping jaw body support 16-1, a movable book clamping side plate 16-3 is oppositely installed at the other side of the clamping jaw body support 16-1, specifically, a support is arranged at the inner side of the bottom of the fixed book clamping side plate 16-2, and the fixed book clamping side plate 16-2 is fixed on the bottom wall of the clamping jaw body support 16-1 through the support; the book clamping side plate opening and closing mechanism 16-4 comprises a book clamping plate driving motor 16-4-1, a book clamping plate driving screw rod 16-4-2, a book clamping plate driving sliding block 16-4-3, a book clamping plate shear type telescopic mechanism 16-4-4 and a book clamping plate driving guide rail 16-4-5, the book clamping plate driving screw rod 16-4-2 adopts a ball screw rod, the book clamping plate driving screw rod 16-4-2 and the book clamping plate driving guide rail 16-4-5 are parallelly arranged on a support extending inwards from the bottom of the fixed book clamping side plate 16-2, the book clamping plate driving sliding block 16-4-3 is slidably arranged on the book clamping plate driving guide rail 16-4-5, and the book clamping plate driving sliding block 16-4-3 is in threaded fit with the book clamping plate driving screw rod 16-4-2, the book clamping plate driving screw rod 16-4-2 rotates to drive the book clamping plate driving slide block 16-4-3 to slide on the book clamping plate driving guide rail 16-4-5, one end of the book clamping plate scissors type telescopic mechanism 16-4-4 is arranged between a support of the fixed book clamping side plate 16-2 and the book clamping plate driving slide block 16-4-3, the other end of the book clamping plate scissors type telescopic mechanism 16-4-4 is arranged on the movable book clamping side plate 16-3, the driving end of the book clamping plate driving motor 16-4-1 is in transmission connection with the book clamping plate driving screw rod 16-4-2, the book clamping plate driving motor 16-4-1 drives the book clamping plate driving slide block 16-4-3 to move through the book clamping plate driving screw rod 16-4-2, and then the movable book clamping side plate 16-3 is driven by the book clamping plate scissors type telescopic mechanism 16-4-4 to move relative to the book clamping plate driving slide block The book clamping side plate 16-2 is fixed to move in an opening and closing mode. The book clamping plate scissor type telescopic mechanism 16-4-4 is composed of an X-shaped unit composed of connecting rods, the X-shaped connecting rod unit is composed 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 16-2, 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 16-3 in a sliding mode, specifically, a long waist-shaped groove is formed in the inner side of the bottom of the movable book clamping side plate 16-3, and; one end of the second connecting rod is hinged with the bottom of the movable book clamping side plate 16-3, the other end of the second connecting rod is hinged with the book clamping plate driving sliding block 16-4-3, the second connecting rod is driven to move by the book clamping plate driving sliding block 16-4-3 so as to drive the book clamping plate scissor type telescopic mechanism 16-4 to perform telescopic movement, and the movable book clamping side plate 16-3 and the fixed book clamping side plate 16-2 perform relative opening and closing movement.

In this embodiment, the bottom pushing plate driving mechanism 16-6 and the side pushing plate driving mechanism 16-8 also adopt a telescopic motion mechanism similar to the book clamping side plate opening and closing mechanism 16-4, and the number of the corresponding X-shaped link units of the scissor type telescopic mechanism is designed according to the telescopic motion stroke. Specifically, the bottom push plate driving mechanism 16-6 comprises a bottom push plate driving bracket 16-6-1, a bottom push plate driving motor 16-6-2, a bottom push plate driving screw 16-6-3, a bottom push plate driving slider 16-6-4, a bottom push plate driving guide rail 16-6-5 and a bottom push plate scissor type telescopic mechanism 16-6-6, wherein the bottom push plate driving bracket 16-6-1 is arranged on a support extending inwards from the bottom of the fixed book clamping side plate 16-2, the bottom push plate driving screw 16-6-3 and the bottom push plate driving guide rail 16-6-5 are arranged on the bottom push plate driving bracket 16-6-1 in parallel, the bottom push plate driving slider 16-6-4 is arranged on the bottom push plate driving guide rail 16-6-5 in a sliding manner, and the bottom push plate driving slide block 16-6-4 is in threaded fit with the bottom push plate driving screw rod 16-6-3, one end of the bottom push plate scissor type telescopic mechanism 16-6-6 is arranged between the bottom push plate driving support 16-6-1 and the bottom push plate driving slide block 16-6-4, the other end of the bottom push plate scissor type telescopic mechanism 16-6-6 is in fit connection with the bottom push plate 16-5, the driving end of the bottom push plate driving motor 16-6-2 is in transmission connection with the bottom push plate driving screw rod 16-6-3, the bottom push plate driving motor 16-6-2 drives the bottom push plate driving slide block 16-6-4 to move through the bottom push plate driving screw rod 16-6-3, and further drives the bottom push plate 16-5 to move up and down through the bottom push plate scissor type telescopic mechanism 16-6-6. The side push plate driving mechanism 16-8 comprises a side push plate driving motor 16-8-1, a side push plate driving screw rod 16-8-2, a side push plate driving slide block 16-8-3, a side push plate driving guide rail 16-8-4, a side push plate shear type telescopic mechanism 16-8-5 and a side push plate driving support 16-8-6, wherein the side push plate driving support 16-8-6 is vertically arranged on the clamping jaw main body support 16-1, the side push plate driving screw rod 16-8-2 and the side push plate driving guide rail 16-8-4 are vertically and parallelly arranged on the side push plate driving support 16-8-6, the side push plate driving slide block 16-8-3 is slidably arranged on the side push plate driving guide rail 16-8-4, and the side push plate driving slide block 16-8-3 is in threaded fit with the side push plate driving screw rod 16-8-2, one end of the side push plate scissor type telescopic mechanism 16-8-5 is arranged between the side push plate driving support 16-8-6 and the side push plate driving slide block 16-8-3, the other end of the side push plate scissor type telescopic mechanism 16-8-5 is in fit connection with the side push plate 16-7, the driving end of the side push plate driving motor 16-8-1 is in transmission connection with the side push plate driving screw rod 16-8-2, the side push plate driving motor 16-8-1 drives the side push plate driving slide block 16-8-3 to move through the side push plate driving screw rod 16-8-2, and further drives the side push plate 16-7 to move back and forth through the side push plate scissor type telescopic mechanism 16-8-5. The bottom push plate scissor type telescopic mechanism 16-6-6 and the side push plate scissor type telescopic mechanism 16-8-5 can adopt two groups of X-shaped connecting rod units, and the bottom push plate driving screw rod 16-6-3 and the side push plate driving screw rod 16-8-2 also adopt ball screw rod transmission mechanisms, so that the transmission precision and the stability are better. In addition, the book clamping side plate opening and closing mechanism 16-4 of the movable book clamping side plate 16-3, the bottom push plate 16-5 and the push plate driving mechanism of the side push plate 16-7 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.

Returning to fig. 2, in this embodiment, the transverse and longitudinal driving mechanism includes a clamping jaw traversing mechanism 13 and a clamping jaw lifting mechanism 14, the clamping jaw traversing mechanism 13 and the clamping jaw lifting mechanism 14 are vertically disposed, the clamping jaw traversing mechanism 13 is configured to drive the book clamping jaw mechanism 16 to horizontally move, and the clamping jaw lifting mechanism 14 is configured to drive the book clamping jaw mechanism 16 to vertically lift. The clamping jaw transverse moving mechanism 13 comprises a transverse moving support 13-1, a clamping jaw transverse moving motor 13-2, a clamping jaw transverse moving screw rod 13-3, a transverse moving guide rail 13-4 and a transverse moving slide block 13-5, the transverse moving support 13-1 is horizontally and transversely and fixedly arranged on the frame 11, the clamping jaw transverse moving screw rod 13-3 and the transverse moving guide rail 13-4 are transversely and parallelly arranged on the transverse moving support 13-1, the transverse moving slide block 13-5 is slidably arranged on the transverse moving guide rail 13-4, the transverse moving slide block 13-5 is in threaded fit with the clamping jaw transverse moving screw rod 13-3, and the driving end of the clamping jaw transverse moving motor 13-2 is in transmission connection with one end of the clamping jaw. The clamping jaw lifting mechanism 14 comprises a lifting support 14-1, a clamping jaw lifting motor 14-2, a clamping jaw lifting screw rod 14-3, a lifting guide rail 14-4 and a lifting slide seat, wherein the lifting support 14-1 is vertically and fixedly arranged on a transverse moving slide block 13-5, the clamping jaw lifting screw rod 14-3 and the lifting guide rail 14-4 are vertically and parallelly arranged on the lifting support 14-1, the lifting slide seat is slidably arranged on the lifting guide rail 14-4 and is in threaded fit with the clamping jaw lifting screw rod 14-3, the driving end of the clamping jaw lifting motor 14-2 is in transmission connection with one end of the clamping jaw lifting screw rod 14-3, and the overturning mounting seat 14-5 is fixed on the lifting slide seat. Ball screws are preferably adopted by the clamping jaw transverse moving screw 13-3 and the clamping jaw lifting screw 14-3, so that the book clamping jaw mechanism is stable and reliable in movement and high in position precision, the book clamping jaw mechanism 16 and the intelligent book shelf can be accurately positioned conveniently, and the stability and reliability of transferring books between the intelligent book shelf and the book grabbing device 100 are improved.

As shown in FIG. 2, in this embodiment, the frame traversing mechanism 12 comprises a rack 12-1, a frame traversing motor 12-2, a traversing transmission shaft 12-3 and a traversing gear 12-4, the rack 12-1 is horizontally fixed on the ground, the bottom of the frame 11 is provided with a roller 11-1 matched with a track on the ground, the traversing transmission shaft 12-3 is arranged at the bottom of the frame 11 perpendicular to the rack 12-1, the traversing gear 12-4 is arranged on the traversing transmission shaft 12-3, the traversing gear 12-4 is meshed with the rack 12-1, the frame traversing motor 12-2 is arranged at the bottom of the frame 11, and the driving end of the frame traversing motor 12-2 is in transmission connection with one end of the traversing transmission shaft 12-3. The frame traversing mechanism 12 adopts a gear rack transmission mechanism, and is matched with the guide rail design of the frame 11, so that the linear motion stability of the book grabbing device 100 is ensured, the motion distance is not limited by a structure, and flexible design can be performed according to the length of the intelligent book shelf.

Referring to fig. 1 to 6, in the method for retrieving and returning books of the book grasping device for the intelligent book shelf according to the embodiment, the intelligent book shelf corresponding to the book grasping device 100 has a book ejecting mechanism, the intelligent book shelf is formed by arranging a plurality of shelf subunits side by side, the length of each shelf subunit is adapted to the lateral movement stroke of the book clamping jaw 16 of the book grasping device 100, the book grasping device 100 and the book ejecting mechanism of the intelligent book shelf are uniformly controlled by a book management system, the book grasping device 100 and the book ejecting mechanism of the intelligent book shelf complete borrowing and returning of books under the control of the book management system, and the method specifically comprises the following steps:

book borrowing time

Q1, under the control of the book management system, the book gripping device 100 is driven by the frame traversing mechanism 12 to the position of the bookshelf sub-unit of the intelligent book shelf where the target book is located, and then the transverse and longitudinal driving mechanisms are controlled according to the row and column position information of the book shelf unit where the target book is located to drive the book clamping jaw mechanisms 16 to move to the front of the target book;

q2, a book clamping side plate opening and closing mechanism 16-4 of the book clamping jaw mechanism 16 drives a movable book clamping side plate 16-3 to open outwards, so that the distance between the movable book clamping side plate 16-3 and a fixed book clamping side plate 16-2 is slightly larger than the thickness of a book, and the height of a bottom push plate 16-5 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 16;

q3, the intelligent book shelf pushes out the target book towards the book clamping jaw mechanism 16 through the book pushing mechanism, so that the book vertically enters the bottom push plate 16-5 between the movable book clamping side plate 16-3 and the fixed book clamping side plate 16-2 of the book clamping jaw mechanism 16, and then the book clamping side plate opening and closing mechanism 16-4 drives the movable book clamping side plate 16-3 to close and clamp the target book;

q4 and the clamping jaw turnover mechanism 15 drive the book clamping jaw mechanism 16 to turn 90 degrees to one side, so that the target book is in a horizontal state, and then the transverse and longitudinal driving mechanism adjusts the height of the target book, so that the target book is slightly higher than the conveying plane of the book conveying device;

q5 and the frame traversing mechanism 12 drive the book grabbing device 100 to move towards the book conveying device together with the target book, after the book grabbing device reaches the corresponding position of the book conveying device, the book clamping side plate opening and closing mechanism 16-4 drives the movable book clamping side plate 16-3 to open, meanwhile, the bottom push plate driving mechanism 16-6 drives the bottom push plate 16-5 to extend forwards, the target book is pushed out from the fixed book clamping side plate 16-2, 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 gripping device 100 is driven by the frame traversing mechanism 12 to the conveying end position of the book conveying device, the book clamping jaw mechanism 16 is in a horizontal opening state, the fixed book clamping side plate 16-2 of the book clamping jaw mechanism 16 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 16-4 of the book clamping jaw mechanism 16 drives the movable book clamping side plate 16-3 to contract inwards, so that the movable book clamping side plate 16-3 and the fixed book clamping side plate 16-2 are closed to clamp the book to be returned; then the clamping jaw overturning mechanism 15 drives the book clamping jaw mechanism 16 to overturn upwards by 90 degrees, so that the book to be returned is in a vertical state;

h3, the frame transverse moving mechanism 12 drives the book grabbing device 100 and the book to be returned to move to the target bookshelf sub-unit of the intelligent book shelf, and after the book grabbing device and the book to be returned move to the target bookshelf sub-unit of the intelligent book shelf, the book clamping jaw mechanism 16 is driven by the transverse and longitudinal driving mechanism to move to the corresponding book returning position of the bookshelf sub-unit according to the row and column position information of the book shelf unit where the book to be returned is located, so that the height of the bottom push plate 16-5 is equal to or slightly higher than the corresponding layer height of the bookshelf sub-;

h4, a book clamping side plate opening and closing mechanism 16-4 of the book clamping jaw mechanism 16 drives a movable book clamping side plate 16-3 to open outwards to loosen the book to be returned, and then a side push plate driving mechanism 16-8 drives a side push plate 16-7 to push the book to be returned outwards into the corresponding book returning position of the book shelf unit through the book clamping jaw mechanism 16;

h5, the book clamping jaw mechanism 16 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.

According to the book grabbing device for the intelligent book shelf and the book taking and returning method thereof, the book grabbing device can move transversely as a whole, the book clamping jaw mechanisms in the book grabbing device can independently move transversely, move up and down and turn over by 90 degrees, meanwhile, the book clamping jaw mechanisms are provided with the bottom book pushing mechanism capable of horizontally pushing out books and the side book pushing mechanism capable of vertically pushing out the books, so that the books in the vertical book shelf can be grabbed or returned stably, meanwhile, the 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 taking and returning efficiency and reliability are improved, the automatic borrowing and returning problems of the books in an intelligent book management system are effectively solved, and the intelligent management of a large number of books is met. In addition, the book taking and returning method for the book grabbing device of the intelligent book shelf is characterized in that the book grabbing device and the bookshelf sub-units of the intelligent book shelf are correspondingly designed, so that the target books are searched and positioned step by step, and each book has the bookshelf sub-unit serial number and the rank information of the book in the bookshelf sub-unit in the intelligent book shelf, so that the book searching or the book returning position determining is facilitated, the book taking and returning efficiency is improved, and the book intelligent management 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. A book grabbing device for an intelligent book shelf comprises a frame (11) and a book clamping jaw mechanism (16), wherein the bottom of the frame (11) is provided with a frame transverse moving mechanism (12) for driving the frame (11) to transversely move, and the book grabbing device is characterized in that: the book clamping jaw mechanism (16) is arranged on a transverse and longitudinal driving mechanism arranged on the frame (11) through a clamping jaw turnover mechanism (15), the transverse and longitudinal driving mechanism is used for driving the book clamping jaw mechanism (16) to move transversely and lift and move on the frame (11), and the clamping jaw turnover mechanism (15) is used for driving the book clamping jaw mechanism (16) to turn over under the horizontal state and the vertical state; wherein the content of the first and second substances,

the clamping jaw overturning mechanism (15) comprises an overturning frame (15-1), an overturning motor (15-2), an overturning driving gear (15-3) and an overturning fixed gear wheel (15-4), wherein the overturning fixed gear wheel (15-4) is fixedly arranged on a transverse and longitudinal driving mechanism, one end of the overturning frame (15-1) is coaxially and rotatably connected with the overturning fixed gear wheel (15-4), the overturning driving gear wheel (15-3) is arranged on the overturning frame (15-1), the overturning driving gear wheel (15-3) is meshed with the overturning fixed gear wheel (15-4), the overturning motor (15-2) is in transmission connection with the overturning driving gear wheel (15-3), and in the process that the overturning motor (15-2) drives the overturning driving gear wheel (15-3) to rotate, the overturning driving gear (15-3) drives the overturning frame (15-1) to rotate and overturn along the circumferential direction of the overturning fixed gearwheel (15-4);

the book clamping jaw mechanism (16) comprises a clamping jaw main body support (16-1) fixedly arranged on the turning frame (15-1), a fixed book clamping side plate (16-2) arranged on one side of the clamping jaw main body support (16-1), a movable book clamping side plate (16-3) arranged on the other side of the clamping jaw main body support (16-1) through a book clamping side plate opening and closing mechanism (16-4), a bottom push plate (16-5) arranged at the bottom of the clamping jaw main body support (16-1) through a bottom push plate driving mechanism (16-6), and a side push plate (16-7) arranged at the rear part of the clamping jaw main body support (16-1) through a side push plate driving mechanism (16-8); under the vertical state of the book clamping jaw mechanism (16), the bottom push plate (16-5) is used as a book bearing plate, the fixed book clamping side plate (16-2) and the movable book clamping side plate (16-3) are used for grabbing or releasing a book, and the side push plate (16-7) is used for pushing the book outwards when returning the book; when the book clamping jaw mechanism (16) is turned to be horizontal towards one side of the fixed book clamping side plate (16-2), the fixed book clamping side plate (16-2) serves as a book bearing plate, and the bottom push plate (16-5) is used for pushing out a book from the fixed book clamping side plate (16-2).

2. The book grasping device for the intelligent book shelf according to claim 1, wherein: the fixed book clamping side plate (16-2) is fixedly arranged on one side of the bottom of the clamping jaw main body support (16-1), the movable book clamping side plate (16-3) is oppositely arranged on the other side of the clamping jaw main body support (16-1), the book clamping side plate opening and closing mechanism (16-4) comprises a book clamping plate driving motor (16-4-1), a book clamping plate driving screw rod (16-4-2), a book clamping plate driving sliding block (16-4-3), a book clamping plate shear type telescopic mechanism (16-4-4) and a book clamping plate driving guide rail (16-4-5), the book clamping plate driving screw rod (16-4-2) and the book clamping plate driving guide rail (16-4-5) are arranged on a support extending out of the bottom of the fixed book clamping side plate (16-2) towards the inner side in parallel, the book clamping plate driving sliding block (16-4-3) is arranged on a book clamping plate driving guide rail (16-4-5) in a sliding mode, the book clamping plate driving sliding block (16-4-3) is in threaded fit with a book clamping plate driving screw rod (16-4-2), one end of the book clamping plate shear type telescopic mechanism (16-4-4) is arranged between a support of the fixed book clamping side plate (16-2) and the book clamping plate driving sliding block (16-4-3), the other end of the book clamping plate shear type telescopic mechanism (16-4-4) is arranged on the movable book clamping side plate (16-3), the driving end of the book clamping plate driving motor (16-4-1) is in transmission connection with the book clamping plate driving screw rod (16-4-2), and the book clamping plate driving motor (16-4-1) is provided with a belt through the book clamping plate driving screw rod (16-4-2) The movable book clamping plate drives the sliding block (16-4-3) to move, and then the movable book clamping side plate (16-3) is driven to open and close relative to the fixed book clamping side plate (16-2) through the book clamping plate scissor type telescopic mechanism (16-4-4).

3. The book grasping device for the intelligent book shelf according to claim 2, wherein: the bottom push plate driving mechanism (16-6) comprises a bottom push plate driving support (16-6-1), a bottom push plate driving motor (16-6-2), a bottom push plate driving screw rod (16-6-3), a bottom push plate driving slide block (16-6-4), a bottom push plate driving guide rail (16-6-5) and a bottom push plate shear type telescopic mechanism (16-6-6), the bottom push plate driving support (16-6-1) is arranged on a support extending out of the bottom of the fixed book clamping side plate (16-2) towards the inner side, the bottom push plate driving screw rod (16-6-3) and the bottom push plate driving guide rail (16-6-5) are arranged on the bottom push plate driving support (16-6-1) in parallel, the bottom push plate driving sliding block (16-6-4) is slidably mounted on the bottom push plate driving guide rail (16-6-5), the bottom push plate driving sliding block (16-6-4) is in threaded fit with the bottom push plate driving screw rod (16-6-3), one end of the bottom push plate scissor type telescopic mechanism (16-6-6) is mounted between the bottom push plate driving support (16-6-1) and the bottom push plate driving sliding block (16-6-4), the other end of the bottom push plate scissor type telescopic mechanism (16-6-6) is in fit connection with the bottom push plate (16-5), the driving end of the bottom push plate driving motor (16-6-2) is in transmission connection with the bottom push plate driving screw rod (16-6-3), the bottom push plate driving motor (16-6-2) drives the bottom push plate driving slide block (16-6-4) to move through the bottom push plate driving screw rod (16-6-3) so as to drive the bottom push plate (16-5) to move up and down through the bottom push plate shear type telescopic mechanism (16-6-6).

4. The book grasping device for the intelligent book shelf according to claim 3, wherein: the side push plate driving mechanism (16-8) comprises a side push plate driving motor (16-8-1), a side push plate driving screw rod (16-8-2), a side push plate driving sliding block (16-8-3), a side push plate driving guide rail (16-8-4), a side push plate shear type telescopic mechanism (16-8-5) and a side push plate driving support (16-8-6), wherein the side push plate driving support (16-8-6) is vertically arranged on the clamping jaw main body support (16-1), the side push plate driving screw rod (16-8-2) and the side push plate driving guide rail (16-8-4) are vertically and parallelly arranged on the side push plate driving support (16-8-6), and the side push plate driving sliding block (16-8-3) is slidably arranged on the side push plate driving guide rail (16-8-4), a side push plate driving slide block (16-8-3) is in threaded fit with a side push plate driving screw rod (16-8-2), one end of a side push plate scissors type telescopic mechanism (16-8-5) is arranged between a side push plate driving support (16-8-6) and the side push plate driving slide block (16-8-3), the other end of the side push plate scissors type telescopic mechanism (16-8-5) is in fit connection with a side push plate (16-7), a driving end of a side push plate driving motor (16-8-1) is in transmission connection with the side push plate driving screw rod (16-8-2), and the side push plate driving motor (16-8-1) drives the side push plate driving slide block (16-8-3) to move through the side push plate driving screw rod (16-8-2) And then the side push plate (16-7) is driven to move back and forth by the side push plate scissor type telescopic mechanism (16-8-5).

5. The book grasping device for the intelligent book shelf according to any one of claims 1 to 4, wherein: the overturning fixed gearwheel (15-4) is arranged on an overturning mounting seat (14-5), a limiting groove (14-6) taking the axis of the overturning fixed gearwheel (15-4) as the center of a circle is arranged on the overturning mounting seat (14-5), the limiting groove (14-6) is a quarter arc groove, a connecting line between a dead point position at the upper end of the limiting groove (14-6) and the axis of the overturning fixed gearwheel (15-4) is vertical, a connecting line between a dead point position at the lower end of the limiting groove (14-6) and the axis of the overturning fixed gearwheel (15-4) is horizontal, and a wheel shaft of the overturning driving gearwheel (15-3) is positioned in the limiting groove (14-6).

6. The book grasping device for the intelligent book shelf according to claim 5, wherein: the transverse and longitudinal driving mechanism comprises a clamping jaw transverse moving mechanism (13) and a clamping jaw lifting mechanism (14), the clamping jaw transverse moving mechanism (13) comprises a transverse moving support (13-1), a clamping jaw transverse moving motor (13-2), a clamping jaw transverse moving screw rod (13-3), a transverse moving guide rail (13-4) and a transverse moving slider (13-5), the transverse moving support (13-1) is horizontally and transversely and fixedly installed on the frame (11), the clamping jaw transverse moving screw rod (13-3) and the transverse moving guide rail (13-4) are transversely and parallelly installed on the transverse moving support (13-1), the transverse moving slider (13-5) is installed on the transverse moving guide rail (13-4) in a sliding mode, the transverse moving slider (13-5) is in threaded fit with the clamping jaw transverse moving screw rod (13-3), and a driving end of the clamping jaw motor (13-2) and one end of the clamping jaw transverse moving screw rod (13-3) are transmitted Moving connection; the clamping jaw lifting mechanism (14) comprises a lifting bracket (14-1), a clamping jaw lifting motor (14-2), a clamping jaw lifting screw rod (14-3), a lifting guide rail (14-4) and a lifting slide seat, the lifting support (14-1) is vertically and fixedly arranged on the transverse sliding block (13-5), the clamping jaw lifting screw rod (14-3) and the lifting guide rail (14-4) are vertically and parallelly arranged on the lifting support (14-1), the lifting slide seat is slidably arranged on the lifting guide rail (14-4), the lifting slide seat is in threaded fit with the clamping jaw lifting screw rod (14-3), the driving end of the clamping jaw lifting motor (14-2) is in transmission connection with one end of the clamping jaw lifting screw rod (14-3), and the overturning mounting seat (14-5) is fixed on the lifting slide seat.

7. The book grasping device for the intelligent book shelf according to claim 6, wherein: the frame transverse mechanism (12) comprises a rack (12-1), a frame transverse motor (12-2), a transverse transmission shaft (12-3) and a transverse gear (12-4), the rack (12-1) is horizontally fixed on the ground transversely, the bottom of the frame (11) is provided with a roller (11-1) matched with a track on the ground, the transverse moving transmission shaft (12-3) is perpendicular to the rack (12-1) and is arranged at the bottom of the frame (11), the transverse moving gear (12-4) is arranged on the transverse moving transmission shaft (12-3), and the traversing gear (12-4) is meshed with the rack (12-1), the frame traversing motor (12-2) is arranged at the bottom of the frame (11), and the driving end of the frame transverse moving motor (12-2) is in transmission connection with one end of the transverse moving transmission shaft (12-3).

8. The book retrieving method for the book grasping device of the intelligent book shelf of claim 1, wherein: this intelligent book shelf that books grabbing device (100) corresponded has books ejecting mechanism, and intelligent book shelf is formed by arranging side by side a plurality of bookshelf subunits, and the length of every bookshelf subunit all suits with books clamping jaw mechanism (16) the lateral shifting stroke of books grabbing device (100), and books grabbing device (100) and intelligent book shelf's books ejecting mechanism accomplish borrowing and returning of books under the control of books management system jointly, specifically contain following step:

book borrowing time

Q1, under the control of the book management system, the book grabbing device (100) is driven to the position of a bookshelf sub-unit of the intelligent book shelf where the target book is located by the frame transverse moving mechanism (12), and then the transverse and longitudinal driving mechanism is controlled to drive the book clamping jaw mechanism (16) to move to the front of the target book according to the row and column position information of the book shelf unit where the target book is located;

q2, a book clamping side plate opening and closing mechanism (16-4) of the book clamping jaw mechanism (16) drives the movable book clamping side plate (16-3) to open outwards, so that the distance between the movable book clamping side plate (16-3) and the fixed book clamping side plate (16-2) is slightly larger than the thickness of the book, and the height of the bottom push plate (16-5) is equal to or slightly lower than the bottom surface of the target book;

q3, the intelligent book shelf pushes out a target book towards the book clamping jaw mechanism (16) through the book pushing mechanism, so that the book vertically enters a bottom push plate (16-5) between a movable book clamping side plate (16-3) and a fixed book clamping side plate (16-2) of the book clamping jaw mechanism (16), and then a book clamping side plate opening and closing mechanism (16-4) drives the movable book clamping side plate (16-3) to be closed to clamp the target book;

q4 and a clamping jaw turnover mechanism (15) drive a book clamping jaw mechanism (16) to turn 90 degrees to one side, so that a target book is in a horizontal state, and then a transverse and longitudinal driving mechanism 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 frame transverse moving mechanism (12) drive the book grabbing device (100) and the target book to move towards the book conveying device, after the book grabbing device and the target book reach the corresponding position of the book conveying device, the book clamping side plate opening and closing mechanism (16-4) drives the movable book clamping side plate (16-3) to open, meanwhile, the bottom push plate driving mechanism (16-6) drives the bottom push plate (16-5) to extend forwards, the target book is pushed out from the fixed book clamping side plate (16-2), 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 gripping device (100) is driven to the conveying end position of the book conveying device by the frame transverse moving mechanism (12), the book clamping jaw mechanism (16) is in a horizontal opening state, a fixed book clamping side plate (16-2) of the book clamping jaw mechanism (16) 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 (16-4) of the book clamping jaw mechanism (16) drives the movable book clamping side plate (16-3) to contract inwards, so that the movable book clamping side plate (16-3) and the fixed book clamping side plate (16-2) are closed to clamp a book to be returned; then the clamping jaw turnover mechanism (15) drives the book clamping jaw mechanism (16) to turn upwards by 90 degrees, so that the book to be returned is in a vertical state;

h3, a frame transverse moving mechanism (12) drives a book grabbing device (100) and a book to be returned to move to a target bookshelf sub-unit of the intelligent book shelf, and after the book grabbing device and the book to be returned move to the target bookshelf sub-unit of the intelligent book shelf, a transverse and longitudinal driving mechanism drives a book clamping jaw mechanism (16) to move to a corresponding book returning position of the bookshelf sub-unit according to the row and column position information of the book shelf unit where the book to be returned is located, so that the height of a bottom push plate (16-5) is equal to or slightly higher than the corresponding layer height of the bookshelf sub-unit;

h4, a book clamping side plate opening and closing mechanism (16-4) of the book clamping jaw mechanism (16) drives a movable book clamping side plate (16-3) to open outwards to loosen the book to be returned, and then a side push plate driving mechanism (16-8) drives a side push plate (16-7) to push the book to be returned outwards into the corresponding book returning position of the bookshelf sub-unit through the book clamping jaw mechanism (16);

h5, the book clamping jaw mechanism (16) is reset, and the return of the book is completed.