CN111039002A - Book grabbing manipulator of intelligent book shelf and book taking and returning method thereof - Google Patents
Book grabbing manipulator of intelligent book shelf and book taking and returning method thereof Download PDFInfo
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- CN111039002A CN111039002A CN201911364705.0A CN201911364705A CN111039002A CN 111039002 A CN111039002 A CN 111039002A CN 201911364705 A CN201911364705 A CN 201911364705A CN 111039002 A CN111039002 A CN 111039002A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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Abstract
The invention discloses a book grabbing manipulator of an intelligent book shelf and a book taking and returning method of the book grabbing manipulator, and belongs to the field of intelligent book shelves. The book grabbing manipulator comprises a frame and a book grabbing mechanism, wherein the frame is provided with a side frame body and a supporting bottom frame, the supporting bottom frame is provided with a frame transverse moving mechanism, the side frame body is provided with a hand grip lifting mechanism, and the book grabbing mechanism is arranged on the hand grip lifting mechanism through a hand grip overturning mechanism. According to the book grabbing manipulator, the book grabbing mechanism can independently move transversely, lift and turn 90 degrees, the push rod book pushing mechanism capable of horizontally pushing out books and the side push plate book pushing mechanism capable of vertically pushing out the books are arranged, stable grabbing or returning of the books in the vertical bookshelf is achieved, stability of a book conveying process is guaranteed, the structural design is simple and compact, book grabbing actions are stable and reliable, the problems of automatic borrowing and returning of the books in an intelligent book management system are effectively solved, and intelligent management of a large number of books is met.
Description
Technical Field
The invention relates to a book grabbing manipulator, in particular to a book grabbing manipulator of an intelligent bookshelf and a book taking and returning 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 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.
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 mechanical arm in the existing intelligent book management system, and provides a book grabbing mechanical arm of an intelligent book shelf and a book fetching and returning method thereof, by adopting the technical scheme of the invention, a book grabbing mechanism of the book grabbing mechanical arm can independently move transversely, move up and down and turn over by 90 degrees, and the book grabbing mechanism is provided with a bottom push rod book pushing mechanism capable of horizontally pushing out a book and a side push plate book pushing mechanism capable of vertically pushing out the book, so that the stable grabbing or returning of the book in the vertical book shelf is realized, the book 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; 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 grabbing mechanism is not limited, and the grabbing of books with thinner thickness can be met.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the book grabbing manipulator of the intelligent book shelf comprises a frame and a book grabbing mechanism, wherein the frame is provided with a side frame body and a supporting bottom frame arranged at the bottom of the side frame body, the supporting bottom frame is provided with a frame transverse moving mechanism used for driving the frame to transversely move, a hand grip lifting mechanism is arranged on the side frame body, the book grabbing mechanism is arranged on the hand grip lifting mechanism through a hand grip overturning mechanism, and the hand grip overturning mechanism is used for driving the book grabbing mechanism to overturn under the horizontal state and the vertical state; wherein the content of the first and second substances,
the book grabbing mechanism comprises a fixed book clamping side 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 side plate is connected with the gripper turnover mechanism, the movable book clamping side plate is parallelly arranged on the fixed book clamping side 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 gripper turnover mechanism are formed in the fixed book clamping side 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 side plate, the transverse book pushing push rod is slidably arranged on the outer side wall of the fixed book clamping side 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, 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 side plate through a push plate driving mechanism; when the book grabbing mechanism is in a vertical state, a plurality of transverse book pushing push rods form a book supporting plate, the fixed book clamping side plate and the movable book clamping side 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 grabbing 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 transverse book pushing push rod is used for pushing books outwards from the fixed book clamping side plate.
Furthermore, the gripper overturning mechanism comprises an overturning fixing seat, a horizontal rotating joint and an overturning linear driver, the overturning fixing seat is installed on the gripper lifting mechanism, one side of a fixed book clamping side plate of the book grabbing mechanism is installed on the overturning fixing seat through the horizontal rotating joint, a lower support arm extends downwards on the overturning fixing seat, one end of the overturning linear driver is hinged to the lower support arm, the other end of the overturning linear driver is hinged to the outer wall of the fixed book clamping side plate, and the book grabbing mechanism is driven to rotate and overturn around the horizontal rotating joint through the telescopic motion of the overturning 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 of the movable book clamping side plate is in relative sliding fit with the fixed book clamping side plate through the movable side plate guide rod, the movable side plate linear driver is mounted on the fixed book clamping side 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 side plate.
Furthermore, the push rod sliding seat of the transverse book pushing push rod is arranged on the fixed book clamping side plate through a transverse sliding seat guide rail arranged on the outer wall of the fixed book clamping side plate.
Furthermore, the push plate driving mechanism comprises a push plate linear driver, a push plate driving slide block, a push plate driving guide rail and a push plate shear type telescopic mechanism, the back side of the fixed book clamping side plate extends to one side of the movable book clamping side plate to form a mounting seat, the push plate driving guide rail is fixed on the mounting seat, the push plate driving slide block is slidably arranged on the push plate driving guide rail, one end of the push plate shear type telescopic mechanism is hinged between the mounting seat and the push plate driving slide block, the other end of the push plate shear type telescopic mechanism is connected with a front and back book pushing push plate, the push plate linear driver is fixed on one side of the mounting seat, and the drive end of the push plate linear driver is connected with the push plate driving sliding block, and the push plate linear driver drives the push plate driving sliding block to move so as to drive the front and back book pushing push plate to move front and back through the push plate shear type telescopic mechanism.
Furthermore, the gripper lifting mechanism comprises a lifting driving motor, a lifting driving screw rod, a lifting guide rail, a lifting support and a lifting slide seat, wherein the lifting support seat is vertically and fixedly installed on the side frame body, the lifting driving screw rod and the lifting guide rail are vertically and parallelly installed on the lifting support seat, the lifting slide seat is slidably installed on the lifting guide rail and in threaded fit with the lifting driving screw rod, the driving end of the lifting driving motor is in transmission connection with one end of the lifting driving screw rod, and the gripper overturning mechanism is installed on the lifting slide seat.
Furthermore, the frame transverse moving mechanism comprises a transverse moving driving motor, a motor transmission shaft, an intermediate transmission mechanism, wheel shafts and idler wheels, wherein the front and the rear of a supporting bottom frame of the frame are respectively provided with one wheel shaft, two ends of each wheel shaft are respectively provided with a group of idler wheels matched with the ground rail, the transverse moving driving motor is fixed on the supporting bottom frame, an output shaft 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 and the rear wheel shafts through the intermediate transmission mechanism respectively and is used for driving the front and the rear wheel shafts to synchronously rotate in the same direction.
The invention discloses a book taking and returning method of a book grabbing mechanical arm of an intelligent book shelf, wherein the intelligent book shelf corresponding to the book grabbing mechanical arm is provided with a book pushing mechanism, and the book grabbing mechanical arm and the book pushing mechanism of the intelligent book shelf jointly complete book borrowing and returning 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, controlling the frame traversing mechanism to drive the book grabbing mechanism in the vertical state to move to the corresponding row 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 gripper lifting mechanism to drive the book grabbing mechanism to move to the corresponding row of the intelligent book shelf where the target book is located, and enabling the book grabbing mechanism in the vertical state to move to the front of the target book;
q2, a movable side plate opening and closing mechanism of the book grabbing mechanism drives the movable book clamping side plates to open outwards, so that the distance between the movable book clamping side plates and the fixed book clamping side plates is slightly larger than the thickness of the book, and the height of the transverse book pushing push rod is equal to or slightly lower than the bottom height of the target book;
q3, the intelligent book shelf pushes out a target book towards the book grabbing mechanism through the book pushing mechanism, so that the book vertically enters a plurality of transverse book pushing push rods between a fixed book clamping side plate and a movable book clamping side plate of the book grabbing mechanism, and then the movable side plate opening and closing mechanism drives the movable book clamping side plate to close and clamp the target book;
q4, the gripper turnover mechanism drives the book gripping mechanism to turn 90 degrees to one side of the fixed book clamping side plate, so that the target book is in a horizontal state, and then the gripper lifting 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 drive the book grabbing manipulator to move together with the target book to 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 drives the movable book clamping side plate to open, meanwhile, the push rod linear driver drives the transverse book pushing push rod to extend out to one side, 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 grabbing mechanical arm is driven to the conveying end position of the book conveying device by the frame traversing mechanism, the book grabbing mechanism is in a horizontally opened state, a fixed book clamping side plate of the book grabbing mechanism is equal to or slightly lower than the conveying plane of the book conveying device, and books to be returned conveyed by the book conveying device are received;
h2, a movable side plate opening and closing mechanism of the book grabbing 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 hand-grabbing turnover mechanism drives the book-grabbing mechanism to turn upwards by 90 degrees, so that the book to be returned is in a vertical state;
h3, driving a book grabbing mechanical arm and a book to be returned to move to a target row-column position of the intelligent book shelf by the frame transverse moving mechanism, driving the book grabbing mechanism to move to a corresponding row of the intelligent book shelf by the gripper lifting mechanism, and enabling the height of a transverse book pushing push rod to be equal to or slightly higher than the layer height of the corresponding row of the intelligent book shelf;
h4, driving the movable book clamping side plates to be outwards opened by a movable side plate opening and closing mechanism of the book grabbing mechanism so as to loosen books to be returned, and driving a front and back book pushing push plate to be outwards pushed into corresponding book returning positions of the intelligent book shelf by a book grabbing mechanism by a push plate driving mechanism;
h5, resetting the book grabbing 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 manipulator of the intelligent book shelf and the book taking and returning method of the book grabbing manipulator, a book grabbing mechanism of the book grabbing manipulator can independently move transversely, move in a lifting mode and turn over by 90 degrees, and is provided with a bottom push rod book pushing mechanism capable of pushing out books horizontally and a side push plate book pushing mechanism capable of pushing out the books vertically, 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 push rod book pushing mechanism adopts a structure that a push rod is matched with a push rod groove, the closing of a side plate of the book grabbing mechanism is not limited, the grabbing of books with thinner thickness can be met, and the stability and the reliability of the grabbing of the books are improved;
(2) the book grabbing manipulator of the intelligent book shelf can be used for stably taking and returning books from and to the vertical bookshelf, the vertical bookshelf is simple and compact in structure, high in book storage rate and convenient for book management, and effective book management and borrowing equipment is provided for an intelligent book management system;
(3) according to the book grabbing manipulator of the intelligent book shelf, the grabbing turnover mechanism of the manipulator controls the book grabbing mechanism to rotate and turn around the horizontal rotation joint by adopting the telescopic motion of the turning linear driver, the structural design is simple and compact, and the turnover switching in the vertical direction and the horizontal direction is stable and reliable;
(4) according to the book grabbing manipulator of the intelligent book shelf, the movable side plate opening and closing mechanism adopts the movable side plate linear driver to match with the guide rod for guiding, so that the opening and closing movement of the grabbing side plate of the book grabbing manipulator is realized, the opening and closing action response speed is high, and the grabbing control is more convenient;
(5) according to the book grabbing manipulator of the intelligent book shelf, the push rod sliding seat of the transverse book pushing push rod is arranged on the fixed book clamping side plate through the transverse sliding seat guide rail arranged on the outer wall of the fixed book clamping side plate, the push rod is arranged by utilizing the push rod sliding seat, the number of the push rods can be set according to needs, so that the book is pushed more reliably, the book is conveniently pushed to the book grabbing mechanism by the intelligent book shelf, and the transfer reliability of the book between the intelligent book shelf and the intelligent book shelf is improved;
(6) according to the book grabbing manipulator of the intelligent book shelf, the push plate driving mechanism is 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;
(7) according to the book grabbing manipulator of the intelligent book shelf, the grabbing lifting mechanism adopts the screw rod transmission mechanism, so that the movement is stable and reliable, the position precision is high, the book grabbing mechanism and the intelligent book shelf can be accurately positioned conveniently, and the transfer stability and reliability of books between the intelligent book shelf and the book grabbing mechanism are improved;
(8) according to the book grabbing manipulator of the intelligent book shelf, the frame transverse moving mechanism adopts the group of motors to control the four groups of rollers to transversely move on the rails on the ground, so that the linear motion stability of the book grabbing manipulator is ensured, the motion distance is not limited by the structure, and the book grabbing manipulator can be flexibly designed according to the length of the intelligent book shelf.
Drawings
Fig. 1 is a schematic structural view of an angle of a book grasping robot of an intelligent book shelf according to the present invention;
FIG. 2 is a schematic structural view of another angle of a book grabbing manipulator of an intelligent book shelf according to the present invention;
FIG. 3 is a schematic structural diagram of a hand gripping and overturning mechanism and a book gripping mechanism in a book gripping manipulator of the intelligent book shelf according to the invention;
FIG. 4 is a schematic view of a horizontal structure of a book grabbing mechanism in the book grabbing manipulator of the intelligent book shelf according to the present invention;
fig. 5 is a schematic view of a vertical structure of a book grabbing mechanism in the book grabbing manipulator of the intelligent book shelf according to the present invention.
The reference numerals in the schematic drawings illustrate:
11. a frame; 11-1, side frame body; 11-2, supporting the bottom frame; 12. a frame 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 gripper lifting mechanism; 13-1, a lifting driving motor; 13-2, lifting driving screw rods; 13-3, lifting guide rails; 13-4, a lifting support; 13-5, a lifting slide seat; 14. the gripper overturning mechanism; 14-1, turning over the fixed seat; 14-2, horizontal revolute joint; 14-3, a lower support arm; 14-4, a turnover linear driver; 15. a book grabbing mechanism; 15-1, fixing the book clamping side plate; 15-1a, fixing a side plate push rod groove; 15-2, movable book clamping side plates; 15-2a, a movable side plate push rod groove; 15-2b, a movable side plate mounting seat; 15-3, a movable side plate opening and closing mechanism; 15-3a, a movable side plate linear driver; 15-3b, a movable side plate guide rod; 15-4, transversely pushing the book push rod; 15-4a, a push rod sliding seat; 15-4b, transverse sliding seat guide rails; 15-5, a push rod linear driver; 15-6, pushing the book push plate forwards and backwards; 15-7, a push plate driving mechanism; 15-7-1, a push plate linear driver; 15-7-2, a push plate drives a slide block; 15-7-3, a push plate driving guide rail; 15-7-4, a push plate shear type telescopic 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.
Examples
Referring to fig. 1 and 2, the book grabbing manipulator of the intelligent book shelf of the embodiment includes a frame 11 and a book grabbing mechanism 15, where the frame 11 has a side frame body 11-1 and a supporting bottom frame 11-2 disposed at the bottom of the side frame body 11-1, the book grabbing mechanism 15 is mounted on the side frame body 11-1, the supporting bottom frame 11-2 has a frame traversing mechanism 12 for driving the frame 11 to move laterally, and the frame traversing mechanism 12 can drive the whole book grabbing manipulator to horizontally slide. The side frame body 11-1 is provided with a gripper lifting mechanism 13, the book grabbing mechanism 15 is mounted on the gripper lifting mechanism 13 through a gripper overturning mechanism 14, the gripper lifting mechanism 13 is used for driving the book grabbing mechanism 15 to move up and down, the gripper overturning mechanism 14 is used for driving the book grabbing mechanism 15 to perform 90-degree overturning motion, and the book grabbing mechanism 15 is driven to perform overturning motion in a horizontal state and a vertical state. Wherein the content of the first and second substances,
as shown in fig. 3, the book grabbing mechanism 15 comprises a fixed book clamping side plate 15-1, a movable book clamping side plate 15-2, a movable side plate opening and closing mechanism 15-3, a transverse book pushing rod 15-4, a pushing rod linear driver 15-5, a front and back book pushing plate 15-6 and a pushing plate driving mechanism 15-7, one end of the fixed book clamping side plate 15-1 is connected with a gripper turnover mechanism 14, the movable book clamping side plate 15-2 is parallelly installed on the fixed book clamping side plate 15-1 through the movable side plate opening and closing mechanism 15-3, and the movable book clamping side plate 15-2 can be opened and closed relative to the fixed book clamping side plate 15-1 under the driving of the movable side plate opening and closing mechanism 15-3, so that a gap between the movable book clamping side plate and the fixed book clamping side plate 15; a plurality of fixed side plate push rod grooves 15-1a vertical to the rotating axial direction of the gripper turnover mechanism 14 are formed in the fixed book clamping side plate 15-1, a plurality of movable side plate push rod grooves 15-2a corresponding to the fixed side plate push rod grooves 15-1a are formed in the movable book clamping side plate 15-2, namely the fixed side plate push rod grooves 15-1a and the movable side plate push rod grooves 15-2a are opposite up and down, the transverse book pushing push rods 15-4 are slidably mounted on the outer side wall of the fixed book clamping side plate 15-1, the transverse book pushing push rods 15-4 are located in the corresponding fixed side plate push rod grooves 15-1a and the movable side plate push rod grooves 15-2a and can slide in the fixed side plate push rod grooves 15-1a and the movable side plate push rod grooves 15-2a to push books; the driving end of the push rod linear driver 15-5 is connected with a push rod sliding seat 15-4a of the transverse book pushing push rod 15-4 and is used for driving the transverse book pushing push rod 15-4 to do book pushing movement along the groove direction of the fixed side plate push rod groove 15-1a and the movable side plate push rod groove 15-2 a; one end of each transverse book pushing push rod 15-4 is fixedly arranged on the push rod sliding seat 15-4a, the push rods are arranged by the push rod sliding seats 15-4a, the number of the push rods can be set according to needs, so that books can be pushed more reliably, the books can be conveniently pushed to the book grabbing mechanism by the intelligent bookshelf, and the transfer reliability of the books between the book grabbing mechanical arm and the intelligent book shelf 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 side plate of the book grabbing mechanism 15 is not limited to be closed, and grabbing of books with thinner thickness can be met. The front and back book pushing push plate 15-6 is arranged at the rear part of the inner side of the fixed book clamping side plate 15-1 through a push plate driving mechanism 15-7, and the push plate driving mechanism 15-7 can drive the front and back book pushing push plate 15-6 to push books between the fixed book clamping side plate 15-1 and the movable book clamping side plate 15-2. Under the vertical state of the book grabbing mechanism 15, a plurality of transverse book pushing push rods 15-4 form a book supporting plate, the fixed book clamping side plate 15-1 and the movable book clamping side plate 15-2 are used for grabbing or releasing books, and the front book pushing plate and the rear book pushing plate 15-6 are used for pushing the books outwards when returning the books; when the book grabbing mechanism 15 is turned to be horizontal towards one side of the fixed book clamping side plate 15-1, the fixed book clamping side plate 15-1 serves as a book bearing plate, and the transverse book pushing push rod 15-4 is used for pushing out a book from the fixed book clamping side plate 15-1.
As shown in fig. 3, 4 and 5, in this embodiment, the gripper turnover mechanism 14 includes a turnover fixing seat 14-1, a horizontal rotation joint 14-2 and a turnover linear driver 14-4, the turnover fixing seat 14-1 is mounted on the gripper lifting mechanism 13, and is driven by the gripper lifting mechanism 13 to move up and down, one side of a fixed book clamping side plate 15-1 of the book clamping mechanism 15 is mounted on the turnover fixing seat 14-1 through the horizontal rotation joint 14-2, the horizontal rotation joint 14-2 can be formed by a rotation pin shaft, and the fixed book clamping side plate 15-1 and the turnover fixing seat 14-1 are rotatably connected by a rotation pin shaft; a lower support arm 14-3 extends downwards on the overturning fixed seat 14-1, one end of an overturning linear driver 14-4 is hinged on the lower support arm 14-3, the other end of the overturning linear driver is hinged on the outer wall of the fixed book clamping side plate 15-1, a triangular structure is formed by two hinged points of the horizontal rotating joint 14-2 and the overturning linear driver 14-4, the book grabbing mechanism 15 is driven to rotate and overturn around the horizontal rotating joint 14-2 through the telescopic motion of the overturning linear driver 14-4, and the overturning switching motion of the fixed book clamping side plate 15-1 in a horizontal state and a vertical state is realized. The gripper turnover mechanism 14 adopts the telescopic motion of the turnover linear driver 14-4 to control the book gripping mechanism to rotate and turn around the horizontal rotation joint, the structural design is simple and compact, and turnover switching in the vertical and horizontal directions is stable and reliable.
Referring to fig. 3, 4 and 5, in the book grasping manipulator of the intelligent book shelf of the embodiment, the movable side plate opening and closing mechanism 15-3 includes a movable side plate linear driver 15-3a and a movable side plate guide rod 15-3b, the movable side plate mounting seat 15-2b at one side end of the movable book clamping side plate 15-2 is in relative sliding fit with the fixed book clamping side plate 15-1 through the movable side plate guide rod 15-3b, the movable side plate linear driver 15-3a is mounted on the fixed book clamping side plate 15-1, and the driving end of the movable side plate linear driver 15-3a is connected with the movable side plate mounting seat 15-2b of the movable book clamping side plate 15-2. The movable side plate linear driver 15-3a moves telescopically to drive the movable side plate mounting seat 15-2b to slide along the direction of the movable side plate guide rod 15-3b, so that the stable opening and closing movement of the movable book clamping side plate 15-2 is realized. The movable side plate opening and closing mechanism 15-3 adopts a movable side plate linear driver 15-3a to match with guide rods for guiding to realize the opening and closing movement of the grabbing side plates 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 embodiment, the push rod sliding seat 15-4a of the transverse book pushing push rod 15-4 is arranged on the fixed book clamping side plate 15-1 through the transverse sliding seat guide rail 15-4b arranged on the outer wall of the fixed book clamping side plate 15-1, so that the guide of the push rod sliding seat 15-4a is more stable, and the motion stability of the transverse book pushing push rod 15-4 is improved. In this embodiment, the push plate driving mechanism 15-7 includes a push plate linear driver 15-7-1, a push plate driving slider 15-7-2, a push plate driving guide rail 15-7-3, and a push plate scissor type telescopic mechanism 15-7-4, a mounting seat extends from the rear side of the fixed book clamping side plate 15-1 to one side of the movable book clamping side plate 15-2, the push plate driving guide rail 15-7-3 is fixed on the mounting seat, the push plate driving slider 15-7-2 is slidably mounted on the push plate driving guide rail 15-7-3, one end of the push plate scissor type telescopic mechanism 15-7-4 is hinged between the mounting seat and the push plate driving slider 15-7-2, and the other end of the push plate scissor type telescopic mechanism 15-7-4 is connected with the front and rear book pushing push plates 15-6, the push plate linear driver 15-7-1 is fixed on one side of the mounting seat, the driving end of the push plate linear driver 15-7-1 is connected with the push plate driving sliding block 15-7-2, and the push plate linear driver 15-7-1 drives the push plate driving sliding block 15-7-2 to move so as to drive the front and back book pushing push plates 15-6 to move back and forth through the push plate scissor type telescopic mechanism 15-7-4. The push plate shear type telescopic mechanism 15-7-4 consists of a plurality of X-shaped connecting rod units consisting of connecting rods, each X-shaped connecting rod unit consists of two connecting rods with the middle parts hinged with each other, one end of a first connecting rod of the X-shaped connecting rod unit positioned at one side end part is hinged with the mounting seat, one end of a second connecting rod is hinged with the push plate driving sliding block 15-7-2, one end of the first connecting rod of the X-shaped connecting rod unit positioned at the other side end part is hinged with the front and back book pushing push plate 15-6, one end of the second connecting rod is hinged with a sliding block arranged on a guide rail at the rear part of the front and back book, the push plate linear driver 15-7-1 pushes the push plate to drive the slide block 15-7-2 to move so as to drive the two connecting rods of the X-shaped connecting rod unit to change the angle, and further controls the push plate scissor type telescopic mechanism 15-7-4 to drive the front and back book pushing push plate 15-6 to move telescopically. The push plate driving mechanism 15-7 is controlled by a shear type telescopic mechanism controlled by a lead screw, and has the advantages of stable and compact structure, good telescopic motion reliability and accuracy and convenience for realizing automatic control.
Returning to fig. 2, in the present embodiment, the gripper lifting mechanism 13 includes a lifting driving motor 13-1, a lifting driving screw 13-2, a lifting guide rail 13-3, a lifting support 13-4 and a lifting slide 13-5, the lifting support 13-4 is vertically and fixedly installed on the side frame body 11-1, the lifting driving screw 13-2 and the lifting guide rail 13-3 are vertically and parallelly installed on the lifting support 13-4, the lifting slide 13-5 is slidably installed on the lifting guide rail 13-3, the lifting slide 13-5 is in threaded fit with the lifting driving screw 13-2, a driving end of the lifting driving motor 13-1 is in transmission connection with one end of the lifting driving screw 13-2, and the gripper overturning mechanism 14 is installed on the lifting slide 13-5. The lifting driving screw 13-2 preferably adopts a ball screw, so that the movement is stable and reliable, the position precision is high, the book grabbing mechanism and the intelligent book shelf can be accurately positioned conveniently, and the transfer stability and reliability of books between the intelligent book shelf and the book grabbing mechanism are improved. When the book grabbing mechanism 15 works, the lifting driving motor 13-1 drives the lifting driving screw rod 13-2 to rotate, and further drives the lifting slide seat 13-5 to move up and down along the lifting guide rail 13-3, so that the up-and-down height of the book grabbing mechanism 15 is adjusted.
As shown in fig. 2, in this embodiment, the frame traversing mechanism 12 includes a traversing driving motor 12-1, a motor transmission shaft 12-2, an intermediate transmission mechanism 12-3, a wheel axle 12-4 and a roller 12-5, a wheel axle 12-4 is respectively installed at the front and the rear of a supporting bottom frame 11-2 of the frame 11, a set of rollers 12-5 matched with a track on the ground is installed at both ends of each wheel axle 12-4, the traversing driving motor 12-1 is fixed on the supporting bottom frame 11-2, and the output shaft of the transverse moving driving motor 12-1 is in transmission connection with a motor transmission shaft 12-2, and the motor transmission shaft 12-2 is in transmission connection with the front and the rear wheel shafts 12-4 through an intermediate transmission mechanism 12-3 respectively and is used for driving the front and the 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 frame transverse moving mechanism 12 controls four groups of rollers 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 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.
In the book grabbing manipulator of the intelligent book shelf, the turning linear driver 14-4, the side plate linear driver 15-3a, the push rod linear driver 15-5 and the push plate linear driver 15-7-1 can all adopt electric push rods, and can also adopt air cylinders under the condition of air supply.
Referring to fig. 1 to 5, in the book retrieving and returning method of the book grabbing manipulator of the intelligent book shelf according to the embodiment, the intelligent book shelf corresponding to the book grabbing manipulator is provided with a book ejecting mechanism, the book grabbing manipulator and the book ejecting mechanism of the intelligent book shelf complete the book borrowing and returning under the control of the book management system, and the book retrieving and returning method specifically includes the following steps:
book borrowing time
Q1, under the control of the book management system, controlling the frame traversing mechanism 12 to drive the book grabbing mechanism 15 in a vertical state to move to the corresponding row 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 gripper lifting mechanism 13 to drive the book grabbing mechanism 15 to move to the corresponding row of the intelligent book shelf where the target book is located, and enabling the book grabbing mechanism 15 in a vertical state to move to the front of the target book;
q2, a movable side plate opening and closing mechanism 15-3 of the book grabbing mechanism 15 drives a movable book clamping side plate 15-2 to open outwards, so that the distance between the movable book clamping side plate 15-2 and the fixed book clamping side plate 15-1 is slightly larger than the thickness of a book, and the height of a transverse book pushing push rod 15-4 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 grabbing mechanism 15 through the book pushing mechanism, so that the book vertically enters a plurality of transverse book pushing push rods 15-4 between a fixed book clamping side plate 15-1 and a movable book clamping side plate 15-2 of the book grabbing mechanism 15, and then the movable side plate opening and closing mechanism 15-3 drives the movable book clamping side plate 15-2 to close and clamp the target book;
q4 and the gripper turnover mechanism 14 drive the book grabbing mechanism 15 to turn 90 degrees to one side of the fixed book clamping side plate 15-1, so that the target book is in a horizontal state, and then the gripper lifting 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 frame transverse moving mechanism 12 drive the book grabbing manipulator 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 movable side plate opening and closing mechanism 15-3 drives the movable book clamping side plate 15-2 to open, meanwhile, the push rod linear driver 15-5 drives the transverse book pushing push rod 15-4 to extend out to one side, the target book is pushed out from the fixed book clamping side plate 15-1, 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 is driven by the frame traversing mechanism 12 to the conveying end position of the book conveying device, the book grabbing mechanism 15 is in a horizontally opened state, a fixed book clamping side plate 15-1 of the book grabbing mechanism 15 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 15-3 of the book grabbing mechanism 15 drives a movable book clamping side plate 15-2 to contract inwards, so that the movable book clamping side plate 15-2 and a fixed book clamping side plate 15-1 are closed to clamp a book to be returned; then the hand-grabbing turnover mechanism 14 drives the book-grabbing mechanism 15 to turn 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 mechanical arm and the book to be returned to move to the target row-column position of the intelligent book shelf, the frame transverse moving mechanism 12 drives the book grabbing mechanism 15 to move to the corresponding row of the intelligent book shelf, and the gripper lifting mechanism 13 drives the book grabbing mechanism 15 to move to the corresponding row of the intelligent book shelf, so that the height of the transverse book pushing push rod 15-4 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 15-3 of the book grabbing mechanism 15 drives a movable book clamping side plate 15-2 to open outwards to loosen books to be returned, and then a push plate driving mechanism 15-7 drives a front and back book pushing push plate 15-6 to push the books to be returned outwards into the corresponding book returning position of the intelligent book shelf by the book grabbing mechanism 15;
h5, resetting the book grabbing mechanism 15 to finish returning the book.
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 manipulator of the intelligent book shelf and the book taking and returning method of the book grabbing manipulator, a book grabbing mechanism of the book grabbing manipulator can independently move transversely, move in a lifting mode and turn over by 90 degrees, and is provided with a bottom push rod book pushing mechanism capable of pushing out books horizontally and a side push plate book pushing mechanism capable of pushing out the books vertically, 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 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 grabbing mechanism is not limited, and the grabbing of books with thinner thickness can be met. In addition, the book borrowing and returning device can be used for stably taking and returning books from and to the vertical bookshelf, the vertical bookshelf is simple and compact in structure, high in book storage rate and convenient to manage the books, and effective book management and borrowing equipment is provided for an intelligent book management system.
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 (8)
1. The utility model provides a books of intelligence bookshelf snatchs manipulator, includes frame (11) and books snatchs mechanism (15), frame (11) have side support body (11-1) and locate support underframe (11-2) of side support body (11-1) bottom, support underframe (11-2) on have and be used for driving frame (11) lateral shifting's frame sideslip mechanism (12), side support body (11-1) on be equipped with tongs elevating system (13), its characterized in that: the book grabbing mechanism (15) is arranged on the hand grip lifting mechanism (13) through a hand grip turnover mechanism (14), and the hand grip turnover mechanism (14) is used for driving the book grabbing mechanism (15) to turn over in a horizontal state and a vertical state; wherein the content of the first and second substances,
the book grabbing mechanism (15) comprises a fixed book clamping side plate (15-1), a movable book clamping side plate (15-2), a movable side plate opening and closing mechanism (15-3), a transverse book pushing push rod (15-4), a push rod linear driver (15-5), a front book pushing push plate (15-6), a rear book pushing push plate driving mechanism (15-7), one end of the fixed book clamping side plate (15-1) is connected with a gripper overturning mechanism (14), the movable book clamping side plate (15-2) is parallelly arranged on the fixed book clamping side plate (15-1) through the movable side plate opening and closing mechanism (15-3), a plurality of fixed side plate push rod grooves (15-1a) perpendicular to the rotating axial direction of the gripper overturning mechanism (14) are formed in the fixed book clamping side plate (15-1), the movable book clamping side plate (15-2) is provided with a plurality of movable side plate push rod grooves (15-2a) corresponding to the fixed side plate push rod grooves (15-1a), the transverse book pushing push rod (15-4) is slidably arranged on the outer side wall of the fixed book clamping side plate (15-1), and the transverse book pushing push rod (15-4) is positioned in the corresponding fixed side plate push rod groove (15-1a) and the movable side plate push rod groove (15-2a), the driving end of the push rod linear driver (15-5) is connected with a push rod sliding seat (15-4a) of the transverse book pushing push rod (15-4), the book pushing device is used for driving a transverse book pushing push rod (15-4) to do book pushing movement along the groove direction of a fixed side plate push rod groove (15-1a) and a movable side plate push rod groove (15-2 a); the front and back book pushing push plate (15-6) is arranged at the rear part of the inner side of the fixed book clamping side plate (15-1) through a push plate driving mechanism (15-7); under the vertical state of the book grabbing mechanism (15), a plurality of transverse book pushing push rods (15-4) form a book supporting plate, the fixed book clamping side plate (15-1) and the movable book clamping side plate (15-2) are used for grabbing or releasing books, and the front and back book pushing push plates (15-6) are used for pushing the books outwards during book returning; when the book grabbing mechanism (15) is turned to be horizontal towards one side of the fixed book clamping side plate (15-1), the fixed book clamping side plate (15-1) serves as a book bearing plate, and the transverse book pushing push rod (15-4) is used for pushing the book outwards from the fixed book clamping side plate (15-1).
2. The book grabbing manipulator of the intelligent book shelf according to claim 1, wherein: the gripper overturning mechanism (14) comprises an overturning fixed seat (14-1), a horizontal rotating joint (14-2) and an overturning linear driver (14-4), the overturning fixing seat (14-1) is arranged on the gripper lifting mechanism (13), one side of a fixed book clamping side plate (15-1) of the book grabbing mechanism (15) is arranged on the overturning fixing seat (14-1) through a horizontal rotating joint (14-2), a lower support arm (14-3) extends downwards on the overturning fixed seat (14-1), one end of the overturning linear driver (14-4) is hinged on the lower support arm (14-3), the other end is hinged on the outer wall of the fixed book clamping side plate (15-1), the book grabbing mechanism (15) is driven to rotate and overturn around the horizontal rotating joint (14-2) through the telescopic motion of the overturning linear driver (14-4).
3. The book grasping robot of the intelligent book shelf according to claim 1 or 2, wherein: the movable side plate opening and closing mechanism (15-3) comprises a movable side plate linear driver (15-3a) and a movable side plate guide rod (15-3b), a movable side plate mounting seat (15-2b) at one side end of the movable book clamping side plate (15-2) is in relative sliding fit with the fixed book clamping side plate (15-1) through the movable side plate guide rod (15-3b), the movable side plate linear driver (15-3a) is mounted on the fixed book clamping side plate (15-1), and the driving end of the movable side plate linear driver (15-3a) is connected with the movable side plate mounting seat (15-2b) of the movable book clamping side plate (15-2).
4. The book grabbing manipulator of the intelligent book shelf according to claim 3, wherein: the push rod sliding seat (15-4a) of the transverse book pushing push rod (15-4) is arranged on the fixed book clamping side plate (15-1) through a transverse sliding seat guide rail (15-4b) arranged on the outer wall of the fixed book clamping side plate (15-1).
5. The book grasping robot of the intelligent book shelf according to claim 1 or 2, wherein: the push plate driving mechanism (15-7) comprises a push plate linear driver (15-7-1), a push plate driving sliding block (15-7-2), a push plate driving guide rail (15-7-3) and a push plate shear type telescopic mechanism (15-7-4), wherein a mounting seat extends from the rear side of the fixed book clamping side plate (15-1) to one side of the movable book clamping side plate (15-2), the push plate driving guide rail (15-7-3) is fixed on the mounting seat, the push plate driving sliding block (15-7-2) is slidably mounted on the push plate driving guide rail (15-7-3), one end of the push plate shear type telescopic mechanism (15-7-4) is hinged between the mounting seat and the push plate driving sliding block (15-7-2), the other end of the push plate shear type telescopic mechanism (15-7-4) is connected with a front and back book pushing push plate (15-6), the push plate linear driver (15-7-1) is fixed on one side of the mounting seat, the driving end of the push plate linear driver (15-7-1) is connected with the push plate driving sliding block (15-7-2), and the push plate linear driver (15-7-1) drives the push plate driving sliding block (15-7-2) to move so as to drive the front and back book pushing push plate (15-6) to move back and forth through the push plate shear type telescopic mechanism (15-7-4).
6. The book grasping robot of the intelligent book shelf according to claim 1 or 2, wherein: the gripper lifting mechanism (13) comprises a lifting driving motor (13-1), a lifting driving screw rod (13-2), a lifting guide rail (13-3), a lifting support (13-4) and a lifting sliding seat (13-5), the lifting support (13-4) is vertically and fixedly arranged on the side frame body (11-1), the lifting driving screw rod (13-2) and the lifting guide rail (13-3) are vertically and parallelly arranged on the lifting support (13-4), the lifting sliding seat (13-5) is slidably arranged on the lifting guide rail (13-3), the lifting sliding seat (13-5) is in threaded fit with the lifting driving screw rod (13-2), the driving end of the lifting driving motor (13-1) is in transmission connection with one end of the lifting driving screw rod (13-2), the gripper turnover mechanism (14) is arranged on the lifting slide seat (13-5).
7. The book grabbing manipulator of the intelligent book shelf according to claim 6, wherein: the frame transverse mechanism (12) comprises a transverse driving motor (12-1), motor transmission shafts (12-2), an intermediate transmission mechanism (12-3), wheel shafts (12-4) and rollers (12-5), wherein the front and the rear of a supporting bottom frame (11-2) of the frame (11) are respectively provided with one 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 driving motor (12-1) is fixed on the supporting bottom frame (11-2), an output shaft of the transverse driving motor (12-1) is in transmission connection with the motor transmission shafts (12-2), the motor transmission shafts (12-2) are respectively in transmission connection with the front and the rear wheel shafts (12-4) through the intermediate transmission mechanism (12-3), is used for driving the front and the rear wheel shafts (12-4) to synchronously rotate in the same direction.
8. The book retrieving method of the book grasping robot of the intelligent book shelf according to claim 1 or 2, wherein: this books snatch intelligent book shelf that manipulator corresponds has books release mechanism, and books release mechanism that books snatched manipulator and intelligent book shelf accomplishes borrowing and returning of books jointly under the control of books management system, specifically contains following step:
book borrowing time
Q1, under the control of the book management system, controlling the frame traversing mechanism (12) to drive the book grabbing mechanism (15) in a vertical state to move to the corresponding row 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 gripper lifting mechanism (13) to drive the book grabbing mechanism (15) to move to the corresponding row of the intelligent book shelf where the target book is located, and enabling the book grabbing mechanism (15) in a vertical state to move to the front of the target book;
q2, a movable side plate opening and closing mechanism (15-3) of the book grabbing mechanism (15) drives the movable book clamping side plate (15-2) to open outwards, so that the distance between the movable book clamping side plate (15-2) and the fixed book clamping side plate (15-1) is slightly larger than the thickness of the book, and the height of a transverse book pushing push rod (15-4) 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 grabbing mechanism (15) through the book pushing mechanism, so that the book vertically enters a plurality of transverse book pushing push rods (15-4) between a fixed book clamping side plate (15-1) and a movable book clamping side plate (15-2) of the book grabbing mechanism (15), and then the movable book clamping side plate opening and closing mechanism (15-3) drives the movable book clamping side plate (15-2) to close to clamp the target book;
q4, a gripper turnover mechanism (14) drives a book gripping mechanism (15) to turn 90 degrees to one side of a fixed book clamping side plate (15-1) so that a target book is in a horizontal state, and then a gripper lifting 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 a frame transverse moving mechanism (12) drive a book grabbing mechanical arm to move together with a target book to a book conveying device, after the book grabbing mechanical arm reaches a corresponding position of the book conveying device, a movable side plate opening and closing mechanism (15-3) drives a movable book clamping side plate (15-2) to open, meanwhile, a push rod linear driver (15-5) drives a transverse book pushing push rod (15-4) to extend to one side, the target book is pushed out from a fixed book clamping side plate (15-1), 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 mechanical arm is driven to the conveying tail end position of the book conveying device by the frame transverse moving mechanism (12), the book grabbing mechanism (15) is in a horizontally opened state, a fixed book clamping side plate (15-1) of the book grabbing mechanism (15) is equal to or slightly lower than the conveying plane of the book conveying device, and books to be returned conveyed by the book conveying device are received;
h2, a movable side plate opening and closing mechanism (15-3) of the book grabbing mechanism (15) drives the movable book clamping side plate (15-2) to contract inwards, so that the movable book clamping side plate (15-2) and the fixed book clamping side plate (15-1) are closed to clamp a book to be returned; then the book grabbing mechanism (15) is driven by the grabbing turnover mechanism (14) to turn 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 mechanical arm and the book to be returned to move to the target row-column position of the intelligent book shelf, the frame transverse moving mechanism (12) drives the book grabbing mechanism (15) to move to the corresponding row of the intelligent book shelf, and the gripper lifting mechanism (13) drives the book grabbing mechanism (15) to move to the corresponding row of the intelligent book shelf, so that the height of the transverse book pushing push rod (15-4) 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 (15-3) of the book grabbing mechanism (15) drives a movable book clamping side plate (15-2) to open outwards to loosen books to be returned, and then a push plate driving mechanism (15-7) drives a front and back book pushing push plate (15-6) to push the books to be returned outwards into a corresponding book returning position of the intelligent book shelf through the book grabbing mechanism (15);
h5, the book grabbing mechanism (15) is reset, and return of the books is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911364705.0A CN111039002A (en) | 2019-12-26 | 2019-12-26 | Book grabbing manipulator of intelligent book shelf and book taking and returning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911364705.0A CN111039002A (en) | 2019-12-26 | 2019-12-26 | Book grabbing manipulator of intelligent book shelf and book taking and returning method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN111039002A true CN111039002A (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911364705.0A Withdrawn CN111039002A (en) | 2019-12-26 | 2019-12-26 | Book grabbing manipulator of intelligent book shelf and book taking and returning method thereof |
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| Country | Link |
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| CN (1) | CN111039002A (en) |
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| CN111700401A (en) * | 2020-07-06 | 2020-09-25 | 胡敏佳 | Intelligent book classification placing rack |
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| CN111700401A (en) * | 2020-07-06 | 2020-09-25 | 胡敏佳 | Intelligent book classification placing rack |
| CN111942710A (en) * | 2020-08-24 | 2020-11-17 | 常州工学院 | Transition equipment integrating temporary book storage and reversing transfer and control method thereof |
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| CN112141582A (en) * | 2020-09-29 | 2020-12-29 | 广州标控科技有限公司 | Books are piled up and are got and put device |
| CN112537587A (en) * | 2020-12-02 | 2021-03-23 | 广州博高信息科技有限公司 | Mobile library |
| CN113498936A (en) * | 2021-09-02 | 2021-10-15 | 江苏安全技术职业学院 | Intelligent bookshelf convenient for storing books |
| CN113498936B (en) * | 2021-09-02 | 2022-10-21 | 江苏安全技术职业学院 | Intelligent bookshelf convenient for storing books |
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Application publication date: 20200421 |
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