CN111820626A

CN111820626A - Book storing and taking device based on horizontal conveying type book grabbing mechanical arm and control method thereof

Info

Publication number: CN111820626A
Application number: CN202010714551.XA
Authority: CN
Inventors: 田文彤; 卜金伟; 杨辉
Original assignee: Changzhou Institute of Technology
Current assignee: Changzhou Institute of Technology
Priority date: 2020-07-23
Filing date: 2020-07-23
Publication date: 2020-10-27

Abstract

The invention discloses a book storing and taking device based on a horizontal feeding type book grabbing mechanical arm and a control method of the book storing and taking device, and belongs to the field of intelligent book shelves. The book storing and taking device comprises a book shelf and a book grabbing mechanical arm, wherein the book grabbing mechanical arm adopts a flat-conveying design to grab and convey books, and is matched with a telescopic push plate design of a book box module of the book shelf, so that the grabbing and transferring of the books can be stably realized, the storing and taking stability of the books on the book shelf is improved, and the books are grabbed and conveyed by utilizing an upper book clamping conveying belt mechanism and a lower book clamping conveying belt mechanism, so that the books are protected, and the books are effectively prevented from being damaged in the mechanical storing and taking process; meanwhile, the book box modules are arranged in an opening and closing mode in an up-and-down overlapping mode, the book box modules can be provided with enough openings in the book storing and taking process, the books are further convenient to store and take, the structural design of the book shelf is more compact, more book boxes can be arranged in the book shelf with the same size conveniently, and the space utilization rate of the book shelf is improved.

Description

Book storing and taking device based on horizontal conveying type book grabbing mechanical arm and control method thereof

Technical Field

The invention relates to a book management device, in particular to a book storing and taking device based on a horizontal book grabbing mechanical arm and a control 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.

In order to solve the problems of the conventional bookshelf, related technical personnel also provide a plurality of improved schemes, and a plurality of intelligent bookshelves are designed, wherein the intelligent bookshelves need to realize automatic searching and taking of books. For example, the Chinese patent application No. 201810450263.0, published as 2018, 9 and 4, is named as: 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 grabbing put, 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. 201910409500.3, published as 8.9.2019, the name of the invention is: a robot for storing and taking books in a library relates to a robot for storing and taking books in the library, and comprises a bookshelf mechanism, a hand clamping mechanism and a walking mechanism, wherein the bookshelf mechanism comprises a framework, a bookshelf monomer, a chassis driving unit and a book holder, the bookshelf monomer comprises a chassis, an upper rail and a lower rail which are all of annular structures and provided with notches, the notches are communicated with a central hole of the annular structures and can be passed by the hand clamping mechanism, the upper rail is arranged below the chassis, the upper rail is in guide fit with the lower rail, and the chassis is driven by the chassis driving unit; the clamping mechanism comprises a 7-shaped shifting rod, a shifting rod upper end driving unit and a shifting rod lower end driving unit, the shifting rod is arranged between the pair of clamping arms, and the shifting rod is driven to rotate asynchronously through the shifting rod upper end driving unit and the shifting rod lower end driving unit, so that the book shifting operation is realized. This library access book robot mainly used annular book shelf, its space occupies great, leads to space utilization to be lower, and the action of the robot of just getting books is comparatively single, needs the rotation of cooperation annular book shelf to realize grabbing of books, and the bookshelf structure is also comparatively complicated.

The book grabbing mechanical arm is a key part for transferring books on the book shelf, the efficiency and the quality of book transferring are directly affected by the design of the book grabbing mechanical arm, and folding edges of the books and even damage of the books can be caused when the book grabbing mechanical arm is not well designed.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention aims to overcome the defects of poor book grabbing stability, easy damage to books and the like of the conventional book grabbing device, and provides a book grabbing device based on a horizontal book grabbing mechanical arm and a control method thereof, by adopting the technical scheme, the book grabbing mechanical arm adopts a horizontal design to grab and convey the books, and is matched with a telescopic push plate design of a book box module of a book shelf, so that the grabbing and transferring of the books can be stably realized, the access stability of the books on the book shelf is improved, and the books are grabbed and conveyed by utilizing an upper book clamping conveying belt mechanism and a lower book clamping conveying belt mechanism, so that the books are protected, and the books are effectively prevented from being damaged in the mechanical access process; meanwhile, the book box modules are in an opening and closing design and are arranged in an up-and-down overlapping mode, so that the book box modules can have enough opening sizes in the book storing and taking process, the book storing and taking are further facilitated, the structural design of the book shelf is more compact, more book boxes can be conveniently arranged in the book shelf with the same size, and the space utilization rate of the book shelf is improved; moreover, the book grabbing mechanical arm can adapt to book boxes of different specifications by detecting the thickness of the books, so that the books are guaranteed to be correctly stored and taken, and the book grabbing mechanical arm is particularly suitable for quick shelving storage of a large number of different books.

2. Technical scheme

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

the invention discloses a book storing and taking device based on a horizontal delivery type book grabbing mechanical arm, which comprises a book shelf and the book grabbing mechanical arm matched with the book shelf, wherein the book shelf comprises a bookshelf outer frame and a plurality of book box modules arranged on the bookshelf outer frame; the book grabbing mechanical arm comprises a horizontal transverse moving mechanism, an up-down lifting mechanism and a book grabbing mechanism, wherein the up-down lifting mechanism is arranged on the horizontal transverse moving mechanism and drives the up-down lifting mechanism to horizontally and transversely move along the arrangement direction of the book shelf; the book grabbing mechanism is arranged on the up-down lifting mechanism, and is driven by the up-down lifting mechanism to move up and down along the height direction of the book shelf; wherein:

at least two groups of the book box modules are overlapped up and down to form a book box unit, and the book box units are arranged on the outer frame of the bookshelf in a transverse and longitudinal array mode; the book box module comprises a base, an upper clamping plate, a push plate, a book box opening and closing mechanism and a push plate driving mechanism, wherein the upper clamping plate is arranged on the base through the book box opening and closing mechanism, and the book box opening and closing mechanism drives the upper clamping plate to move up and down on the base; the push plate is arranged on the base through a push plate driving mechanism, and the push plate driving mechanism drives the push plate to move back and forth on the base in a telescopic mode;

the book grabbing mechanism comprises a book grabbing lifting support, a book grabbing transverse driving mechanism, an upper book clamping mechanism and a lower book clamping mechanism, the book grabbing lifting support is arranged on the upper and lower lifting mechanisms, the book grabbing transverse support is arranged on the book grabbing lifting support through the book grabbing transverse driving mechanism, the book grabbing transverse driving mechanism drives the book grabbing transverse support to transversely move left and right, the upper book clamping mechanism and the lower book clamping mechanism are oppositely arranged, one of the upper book clamping mechanism and the lower book clamping mechanism is fixed on the book grabbing transverse support, the other one of the upper book clamping mechanism and the lower book clamping mechanism is arranged on the book grabbing transverse support through the book clamping driving mechanism, and the upper book clamping mechanism and the lower book clamping mechanism are driven to clamp or open through the book clamping driving mechanism; the upper book clamping mechanism and the lower book clamping mechanism are respectively provided with a book clamping conveying belt mechanism which is arranged in parallel, and the book clamping conveying belt mechanism and a push plate corresponding to the book box module extend out to be matched to act.

Furthermore, the book box opening and closing mechanism comprises a scissor-type book clamping mechanism, a sliding rod, a book box opening and closing motor and a book box opening and closing driving screw rod, the upper clamping plate is arranged on the base through the scissor-type book clamping mechanism, the sliding rod is arranged on the base in a sliding manner through a guide rod, hinge joints at two sides of the lower part of the scissor-type book clamping mechanism are respectively hinged with the sliding rod and a baffle plate in the middle of the base, hinge joints at two sides of the upper part of the scissor-type book clamping mechanism are respectively hinged with a sliding groove arranged on the upper clamping plate and a side wall of the upper clamping plate, the book box opening and closing motor is arranged at the rear part of the base, the book box opening and closing driving screw rod is arranged on the base, the rear end of the book box opening and closing driving screw rod is in transmission connection with an output shaft of the book box opening and closing motor, the sliding rod is in threaded fit with the book box opening and closing driving screw rod, and the book box, thereby driving the base and the upper clamping plate to move up and down; the push plate driving mechanism comprises a push rod, the rear end of the push rod is fixed on a sliding rod, the front end of the push rod penetrates through a baffle to be connected with the push plate, the sliding rod drives the push plate to move in a front-back telescopic mode, the base and the upper clamping plate are opened and simultaneously drive the push plate to extend outwards, and the telescopic direction of the push plate is parallel to the conveying direction of a book clamping conveying belt mechanism of the upper book clamping mechanism and the conveying direction of a book clamping conveying belt mechanism of the lower book clamping mechanism.

Furthermore, the upper book clamping mechanism comprises an upper book clamping support, an upper book clamping conveying motor, an upper book clamping conveying transmission mechanism and an upper book clamping conveying belt, the upper book clamping support is arranged on the book grabbing transverse support through the book clamping driving mechanism, the upper book clamping conveying belt is arranged on the lower portion of the upper book clamping support through a belt wheel, the upper book clamping conveying motor is arranged on the upper book clamping support, and an output shaft of the upper book clamping conveying motor is in transmission connection with a driving belt wheel of the upper book clamping conveying belt through the upper book clamping conveying transmission mechanism; the lower book clamping mechanism comprises a lower book clamping support, a lower book clamping conveying motor, a lower book clamping conveying transmission mechanism and a lower book clamping conveying belt, the lower book clamping support is fixed to the lower portion of the book grabbing transverse moving support, the lower book clamping conveying belt is installed on the upper portion of the lower book clamping support through a belt wheel, the lower book clamping conveying motor is installed on the lower book clamping support, and an output shaft of the lower book clamping conveying motor is in transmission connection with a driving belt wheel of the lower book clamping conveying belt through the lower book clamping conveying transmission mechanism.

Furthermore, two groups of book in-place sensors are arranged on the book grabbing transverse moving support and are respectively arranged on the left side and the right side of the book clamping conveying belt mechanism in the conveying direction; and the upper book clamping mechanism or the lower book clamping mechanism is provided with a book thickness sensor for detecting the distance between the upper book clamping mechanism and the lower book clamping mechanism.

Furthermore, the book grabbing and transversely moving driving mechanism comprises a book grabbing and transversely moving motor, a transversely moving synchronous belt transmission mechanism, a book transversely moving driving screw rod and a book transversely moving guide rod, the book transversely moving guide rod is horizontally arranged on the book grabbing and lifting support, the book grabbing and transversely moving support is arranged on the book transversely moving guide rod through a sliding block, the book transversely moving driving screw rod and the book transversely moving guide rod are arranged on the book grabbing and lifting support in parallel, the book transversely moving driving screw rod is in threaded fit with the book grabbing and transversely moving support, the book grabbing and transversely moving motor is fixed on the book grabbing and lifting support, an output shaft of the book grabbing and transversely moving motor is in transmission connection with one end of the book transversely moving driving screw rod through the transversely moving synchronous belt transmission mechanism, the book grabbing and transversely moving motor drives the book transversely moving driving screw rod to rotate through the transversely, thereby driving the book grabbing and transversely moving support to horizontally and transversely move.

Furthermore, books centre gripping actuating mechanism include books centre gripping driving motor, books centre gripping driving lead screw and books centre gripping guide bar all vertically install on books snatch the sideslip support, last double-layered book mechanism pass through books centre gripping slide slidable mounting on books centre gripping guide bar, and screw-thread fit between books centre gripping driving lead screw and the books centre gripping slide, books centre gripping driving motor be fixed in books snatch the sideslip support on, books centre gripping driving motor's output and books centre gripping driving lead screw transmission be connected, books centre gripping driving motor drive books centre gripping driving lead screw rotatory, books centre gripping driving lead screw is rotatory to drive books centre gripping slide and is reciprocated.

Furthermore, the horizontal traversing mechanism of the book grabbing manipulator comprises a track frame, a moving base and a traversing driving mechanism, wherein a horizontal guide rail is transversely arranged on the track frame along the arrangement direction of the book shelf, at least two groups of traversing rollers are arranged at the bottom of the moving base through traversing wheel shafts, the traversing rollers are arranged on the horizontal guide rail in a matching way, the traversing driving mechanism comprises a traversing driving motor and a traversing transmission mechanism, the traversing driving motor is arranged on the moving base, an output shaft of the traversing driving motor is in transmission connection with the traversing wheel shafts through the traversing transmission mechanism, and adjacent traversing wheel shafts are in transmission connection through the wheel shaft transmission mechanism; book snatch elevating system of manipulator include lifting support, lift slide and lift actuating mechanism, lifting support be fixed in on the removal base, the lift slide install on lifting support through lift actuating mechanism, book snatch the mechanism and install on the lift slide, lift actuating mechanism include lift driving motor, lift drive lead screw and lift guide bar, the vertical installation of lift guide bar on lifting support, lift drive lead screw and lift guide bar install on lifting support parallelly, and the one end of lift drive lead screw is connected with the output transmission of fixing the lift driving motor on lifting support, lift slide slidable mounting on the lift guide bar, and lift slide and lift drive lead screw thread fit.

The invention discloses a control method of a book storing and taking device based on a horizontal book grabbing mechanical arm, which comprises the following steps:

A. when the book is stored:

a-1, a book grabbing mechanical arm receives a book from a book conveying platform, an upper book clamping mechanism and a lower book clamping mechanism of a book grabbing mechanism clamp the book to be stored, and the book is moved to the middle of the book grabbing mechanism by a book clamping conveying belt mechanism of the upper book clamping mechanism and the lower book clamping mechanism;

a-2, driving the book grabbing mechanism to move towards a target book box module on the bookshelf by a horizontal traversing mechanism and an up-down lifting mechanism of the book grabbing mechanical arm, so that the book grabbing mechanism drives the book to be stored to move to the corresponding target book box module;

a-3, the book box opening and closing mechanism of the target book box module drives the base and the upper clamping plate to open, so that the opening of the target book box module is opened, and meanwhile, the push plate driving mechanism drives the push plate to extend outwards from the base;

a-4, driving the book grabbing mechanism and the book to be stored to move towards the direction of the target book box module by the book grabbing transverse moving driving mechanism, so that the book grabbing mechanism is in butt joint with the extended push plate; then an upper book clamping mechanism and a lower book clamping mechanism of the book grabbing mechanism synchronously act, and a book clamping conveying belt mechanism is utilized to drive books to be stored to move to a push plate;

a-5, after the book to be stored moves to the push plate, the push plate driving mechanism drives the push plate to contract backwards, and meanwhile, book clamping conveying belt mechanisms of the upper book clamping mechanism and the lower book clamping mechanism continuously convey the book to the direction of the target book box module, so that the book enters the target book box module along with the push plate; meanwhile, the book box opening and closing mechanism drives the upper clamping plate and the base to clamp tightly, so that books to be stored are clamped in the target book box module, and the book storing process is finished;

B. when taking a book:

b-1, driving the book grabbing mechanism to move towards a target book to be fetched on the bookshelf by a horizontal traversing mechanism and an up-down lifting mechanism of the book grabbing mechanical arm, and moving the book grabbing mechanism to the corresponding target book box module;

b-2, a book clamping driving mechanism of the book grabbing mechanism drives the upper book clamping mechanism and the lower book clamping mechanism to open, so that the upper book clamping mechanism and the lower book clamping mechanism are opened upwards;

b-3, driving the book grabbing mechanism to move towards the book box module where the target book is located by the book grabbing transverse moving driving mechanism, so that the book grabbing mechanism is in butt joint with the book box module where the target book is located;

b-4, the book box opening and closing mechanism of the book box module where the target book is located drives the base and the upper clamping plate to be opened, so that the target book is loosened by the upper clamping plate, and meanwhile, the push plate driving mechanism drives the push plate and the target book to extend outwards, so that the target book is partially moved to a lower book clamping mechanism of the book grabbing mechanism;

and B-5, driving the upper book clamping mechanism and the lower book clamping mechanism to be closed by a book clamping driving mechanism of the book grabbing mechanism, clamping the target book, synchronously working book clamping conveying belt mechanisms of the upper book clamping mechanism and the lower book clamping mechanism, and moving the target book to a position between the upper book clamping mechanism and the lower book clamping mechanism to finish the book taking process.

Furthermore, the book grabbing mechanism is provided with book in-place sensors positioned on the left side and the right side of the book clamping conveying belt mechanism in the conveying direction and a book thickness sensor used for detecting the distance between the upper book clamping mechanism and the lower book clamping mechanism; the book in-place sensor is matched with the book clamping conveying belt mechanism of the upper book clamping mechanism and the lower book clamping mechanism to move the book to the middle position of the upper book clamping mechanism and the lower book clamping mechanism in the book grabbing process of the book grabbing mechanism; the book thickness sensor identifies the thickness of the book grabbed by the book grabbing mechanism in the book storage process, and distributes a book box module with the thickness suitable for the book shelf for the book according to the thickness information of the book.

3. Advantageous effects

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

(1) the book access device comprises a book shelf and a book grabbing mechanical arm matched with the book shelf, wherein the book grabbing mechanical arm adopts a flat-type design to grab and convey books, and is matched with a telescopic push plate design of a book box module of the book shelf, so that the grabbing and transferring of the books can be stably realized, the access stability of the books on the book shelf is improved, and the books are grabbed and conveyed by utilizing an upper book clamping conveying belt mechanism and a lower book clamping conveying belt mechanism, so that the books are protected, and the books are effectively prevented from being damaged in the mechanical access process; meanwhile, the book box modules are in an opening and closing design and are arranged in an up-and-down overlapping mode, so that the book box modules can have enough opening sizes in the book storing and taking process, the book storing and taking are further facilitated, the structural design of the book shelf is more compact, more book boxes can be conveniently arranged in the book shelf with the same size, and the space utilization rate of the book shelf is improved;

(2) the invention relates to a book storing and taking device based on a horizontal feeding type book grabbing mechanical arm and a control method thereof.A book box opening and closing mechanism comprises a scissor-fork type book clamping mechanism, a sliding rod, a book box opening and closing motor and a book box opening and closing driving lead screw, a push plate driving mechanism comprises a push rod, the rear end of the push rod is fixed on the sliding rod, and the front end of the push rod penetrates through a baffle plate and is connected with the push plate; the book box opening and closing mechanism and the push plate driving mechanism are in linkage design, the book box opening and closing mechanism drives the book box module to open and simultaneously drives the push plate to outwards push out, the structure is simple and compact, the book box opening and closing movement and the push plate telescopic movement are coordinated and stable, and books can be stably transferred between the book box and the upper and lower book clamping mechanisms;

(3) according to the book storing and taking device based on the horizontal book grabbing mechanical arm and the control method thereof, the upper book clamping mechanism and the lower book clamping mechanism have the same structure, the book clamping conveying motor is adopted to drive the book clamping conveying belt to move through the book clamping conveying transmission mechanism to clamp and convey books, the structure is simple and compact, the book clamping and transferring actions are more stable and reliable, and the books are not easy to damage;

(4) according to the book storing and taking device based on the horizontal conveying type book grabbing mechanical arm and the control method thereof, two groups of book in-place sensors are arranged on the book grabbing transverse support and are respectively arranged on the left side and the right side of the conveying direction of the book clamping conveying belt mechanism, the books can be clamped between the upper book clamping mechanism and the lower book clamping mechanism by the book in-place sensors on the two sides, and the position accuracy of book grabbing is improved; the book thickness sensor for detecting the distance between the upper book clamping mechanism and the lower book clamping mechanism is arranged on the upper book clamping mechanism or the lower book clamping mechanism, the thickness of a book can be determined through the distance between the upper book clamping mechanism and the lower book clamping mechanism after the book is clamped, data support is provided for storing the subsequent book into the book shelf, the book is guaranteed to be correctly stored and taken, the problem that the book cannot be stored due to the fact that the book is too thick is avoided, and the book thickness sensor is particularly suitable for fast shelf storage of a large number of different books;

(5) the book grabbing and transversely moving driving mechanism comprises a book grabbing and transversely moving motor, a transversely moving synchronous belt transmission mechanism, a book transversely moving driving screw rod and a book transversely moving guide rod, wherein the book grabbing and transversely moving motor drives the book transversely moving driving screw rod to rotate through the transversely moving synchronous belt transmission mechanism so as to drive the book grabbing and transversely moving support to horizontally and transversely move, and the book grabbing and transversely moving driving mechanism can drive an upper book clamping mechanism and a lower book clamping mechanism to move in the front and back directions, so that the lower book clamping mechanism can be accurately and stably butted with a corresponding book box of a book shelf or a book conveying platform of the book shelf, and the books are guaranteed to be stably and reliably transferred on the upper book clamping mechanism and the lower book clamping mechanism;

(6) the book access device based on the horizontal feeding type book grabbing mechanical arm and the control method thereof are characterized in that a book clamping driving mechanism comprises a book clamping driving motor, a book clamping driving screw rod and a book clamping guide rod, the book clamping driving motor drives the book clamping driving screw rod to rotate, the book clamping driving screw rod rotates to drive a book clamping sliding seat to move up and down, a screw rod nut mechanism is adopted to drive an upper book clamping mechanism and a lower book clamping mechanism to move on and off, the movement is stable, and the position control precision is high;

(7) according to the book storing and taking device based on the horizontal book grabbing mechanical arm and the control method thereof, the horizontal transverse moving mechanism of the book grabbing mechanical arm adopts a mode that a motor drives a roller to slide on a guide rail, the up-down lifting mechanism drives the book grabbing mechanism to move in a mode that the motor drives a screw-nut transmission pair, and the book storing and taking device is simple in structural design and stable and reliable in operation.

Drawings

FIG. 1 is a schematic perspective view of a book storing and taking device based on a horizontal book grabbing manipulator according to the present invention;

FIG. 2 is a schematic structural diagram of a book case module in a book storing and taking device based on a horizontal book grabbing manipulator according to the present invention;

FIG. 3 is a schematic structural view of a book grabbing manipulator in a book storing and taking device based on a horizontal book grabbing manipulator according to the present invention;

FIG. 4 is a schematic structural view of a book grabbing mechanism in a book storing and taking device based on a horizontal book grabbing manipulator according to the present invention;

fig. 5 is a schematic structural view of a traverse driving mechanism of a book grabbing manipulator in a book storing and taking device based on a translation type book grabbing manipulator according to the present invention.

The reference numerals in the schematic drawings illustrate:

1. a book shelf; 11. a bookshelf outer frame; 11-1, bookshelf casters; 12. a book case module; 12-1, a base; 12-1a, a baffle; 12-2, an upper splint; 12-2a, a chute; 12-3, a scissor type book clamping mechanism; 12-4, connecting rod; 12-5, a sliding rod; 12-6, a book box opening and closing motor; 12-7, a lead screw is driven to open and close the book box; 12-8, a push rod; 12-9, push plate;

2. a book grabbing manipulator; 21. a track frame; 21a, a horizontal guide rail; 22. moving the base; 23. a traverse driving mechanism; 23-1, a transverse moving driving motor; 23-2, a transverse moving transmission mechanism; 23-3, transversely moving the wheel shaft; 23-4, traversing rollers; 23-5, a wheel axle transmission mechanism; 24. a lifting support; 25. a lifting slide seat; 26. a lifting drive mechanism; 26-1, a lifting driving motor; 26-2, lifting driving screw rods; 26-3, a lifting guide rod; 27. a book grabbing mechanism; 27-1, a book grabbing lifting support; 27-2, a book grabbing and traversing motor; 27-3, a transverse moving synchronous belt transmission mechanism; 27-4, a book grabbing transverse moving support; 27-5, a book clamping slide seat; 27-6, a book clamping driving motor; 27-7, a book clamping mechanism; 27-7a, an upper book clamping support; 27-7b, a book clamping and conveying motor; 27-7c, a book clamping and conveying transmission mechanism; 27-7d, putting a book clamping conveying belt on the book clamping conveying belt; 27-8, a book clamping mechanism; 27-8a, a lower book clamping support; 27-8c, a lower book clamping conveying transmission mechanism; 27-8d, placing a book clamping conveying belt; 27-9, a book in-position sensor; 27-10, a book thickness sensor; 27-11, a book transverse moving driving screw rod; 27-12, book transverse moving guide rods; 27-13, book clamping driving screw rods; 27-14 and book clamping guide rods.

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 ]

As shown in fig. 1, the book storing and taking device based on the horizontal book grabbing manipulator of the embodiment includes a book shelf 1 and a book grabbing manipulator 2 matched with the book shelf 1, wherein the book grabbing manipulator 2 is used for storing and taking books on the book shelf 1, the book shelf 1 includes a shelf outer frame 11 and a plurality of book box modules 12 arranged on the shelf outer frame 11, and a shelf caster 11-1 with a self-locking function is further arranged at the bottom of the shelf outer frame 11 in order to facilitate the installation and movement of the book shelf 1; the book grabbing manipulator 2 comprises a horizontal traversing mechanism, an up-down lifting mechanism and a book grabbing mechanism 27, wherein the up-down lifting mechanism is arranged on the horizontal traversing mechanism and is driven by the horizontal traversing mechanism to horizontally and transversely move along the arrangement direction of the book shelf 1; the book grabbing mechanism 27 is mounted on the up-down lifting mechanism, and the up-down lifting mechanism drives the book grabbing mechanism 27 to move up and down along the height direction of the book shelf 1; the book grabbing mechanism 27 is driven by the horizontal transverse moving mechanism and the vertical lifting mechanism to move transversely and in the height direction on the vertical surface of the book shelf 1, so that the corresponding books can be stored and taken. In this embodiment, at least two groups of book box modules 12 are stacked up and down to form a book box unit, and the book box units are arranged on the bookshelf outer frame 11 in a transverse and longitudinal array. The number of the book box modules 12 of each book box unit can be determined according to specific design requirements, and the general design is 4-8 better groups, so that the space utilization rate can be ensured, and the bearing weight of the bottommost book box module 12 can be reduced. As shown in fig. 2, the book box module 12 comprises a base 12-1, an upper clamp plate 12-2, a push plate 12-9, a book box opening and closing mechanism and a push plate driving mechanism, wherein the upper clamp plate 12-2 is mounted on the base 12-1 through the book box opening and closing mechanism, and the book box opening and closing mechanism drives the upper clamp plate 12-2 to move up and down on the base 12-1; the push plate 12-9 is arranged on the base 12-1 through a push plate driving mechanism, and the push plate driving mechanism drives the push plate 12-9 to move back and forth on the base 12-1 in a telescopic mode. Push plate 12-9 is preferably an L-shaped structure that is shorter than base 12-1 and is capable of extending beyond base 12-1 to provide access to a book. As shown in FIG. 3, the book gripping mechanism 27 comprises a book gripping lifting support 27-1, a book gripping traverse support 27-4, a book gripping traverse driving mechanism, an upper book clamping mechanism 27-7 and a lower book clamping mechanism 27-8, the book gripping lifting support 27-1 is mounted on the upper and lower lifting mechanisms, the book gripping traverse support 27-4 is mounted on the book gripping lifting support 27-1 through the book gripping traverse driving mechanism, the book gripping traverse support 27-4 is driven by the book gripping traverse driving mechanism to move transversely left and right, the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 are arranged oppositely, one of the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 is fixed on the book gripping traverse support 27-4, the other is mounted on the book gripping traverse support 27-4 through the book clamping driving mechanism, the book clamping driving mechanism drives the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 to clamp or open; the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 are both provided with a book clamping conveying belt mechanism which is arranged in parallel, and the book clamping conveying belt mechanism and the push plate 12-9 of the corresponding book box module 12 extend to cooperate. The book grabbing mechanical arm 2 adopts a flat-feeding design to grab and convey books, and is matched with a telescopic push plate design of a book box module 12 of a book shelf, so that the grabbing and transferring of the books can be stably realized, the access stability of the books on the book shelf 1 is improved, and the books are grabbed and conveyed by utilizing an upper book clamping conveying belt mechanism and a lower book clamping conveying belt mechanism, so that the books are protected, and the books are effectively prevented from being damaged in the mechanical access process; meanwhile, the book box modules 12 are opened and closed and stacked up and down, so that the book box modules can have enough opening sizes in the book storing and taking process, the book storing and taking are further facilitated, the structural design of the book shelf is more compact, more book boxes can be conveniently arranged in the book shelf with the same size, and the space utilization rate of the book shelf is improved.

As shown in fig. 2, in this embodiment, the book case opening and closing mechanism and the pusher driving mechanism are designed in a linkage manner. Namely, the book box opening and closing mechanism comprises a scissor type book clamping mechanism 12-3, a sliding rod 12-5, a book box opening and closing motor 12-6 and a book box opening and closing driving screw rod 12-7, an upper clamping plate 12-2 is arranged on a base 12-1 through the scissor type book clamping mechanism 12-3, the sliding rod 12-5 is arranged on the base 12-1 through a guide rod in a sliding way, the scissor type book clamping mechanism 12-3 is an X-shaped connecting rod unit and is formed by hinging the middle parts of two connecting rods, hinge points at two sides of the lower part of the scissor type book clamping mechanism 12-3 are respectively hinged with the sliding rod 12-5 and a baffle plate 12-1a at the middle part of the base 12-1, hinge points at two sides of the upper part of the scissor type book clamping mechanism 12-3 are respectively hinged with a sliding groove 12-2a arranged on the upper clamping plate 12-2 and a side wall, the two groups of scissor-type book clamping mechanisms 12-3 are arranged on the left and right of the book box module 12, the two groups of scissor-type book clamping mechanisms 12-3 are connected with a connecting rod 12-4 through a sliding rod 12-5, and the connecting rod 12-4 is positioned in the sliding groove 12-2 a; a book box opening and closing motor 12-6 is arranged at the rear part of the base 12-1, a book box opening and closing driving screw rod 12-7 is arranged on the base 12-1, the rear end of the book box opening and closing driving screw rod 12-7 is in transmission connection with an output shaft of the book box opening and closing motor 12-6, a sliding rod 12-5 and the book box opening and closing driving screw rod 12-7 are in threaded fit, the sliding rod 12-5 can be driven to move back and forth by the rotation of the book box opening and closing driving screw rod 12-7 to drive a scissor type book clamping mechanism 12-3 to move up and down, and further the base 12-1 and an upper clamping plate 12-2 are driven to move up and; the push plate driving mechanism comprises a push rod 12-8, the rear end of the push rod 12-8 is fixed on a sliding rod 12-5, the front end of the push rod 12-8 penetrates through a baffle plate 12-1a to be connected with the push plate 12-9, the push plate 12-9 is driven by the sliding rod 12-5 to move back and forth in a telescopic mode, the push plate 12-9 is driven to extend outwards when the base 12-1 and the upper clamping plate 12-2 are opened, and the telescopic direction of the push plate 12-9 is parallel to the conveying direction of the book clamping conveying belt mechanisms of the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8. By adopting the book box module 12, the up-and-down opening and closing action of the book box module 12 and the push plate extending action are in linkage design, the book box opening and closing mechanism drives the book box module 12 to open and simultaneously drives the push plates 12-9 to outwards push out, the structure is simple and compact, the book box opening and closing movement and the push plate stretching movement are coordinated and stable, and books can be stably transferred between the book box and the up-and-down book clamping mechanism. Moreover, the plurality of groups of book box modules 12 are stacked up and down, only one group of book boxes is opened in the process of taking or placing books on the book shelf 1, and the rest of book boxes are in a closed state, so that the book boxes on the book shelf are arranged more compactly, the space utilization rate is higher, and more books can be placed in the same space.

As shown in FIGS. 3 and 4, in this embodiment, the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 have the same structure, the upper book clamping mechanism 27-7 includes an upper book clamping support 27-7a, an upper book clamping conveying motor 27-7b, an upper book clamping conveying transmission mechanism 27-7c and an upper book clamping conveying belt 27-7d, the upper book clamping support 27-7a is mounted on the book grabbing traverse support 27-4 through a book clamping driving mechanism, the upper book clamping conveying belt 27-7d is mounted on the lower portion of the upper book clamping support 27-7a through a belt wheel, the upper book clamping conveying motor 27-7b is mounted on the upper book clamping support 27-7a, and the output shaft of the upper book clamping conveying motor 27-7b is in transmission connection with the driving belt wheel of the upper book clamping conveying belt 27-7d through the upper book clamping conveying transmission mechanism 27-7c, the upper book clamping conveying motor 27-7b drives the upper book clamping conveying belt 27-7d to move through the upper book clamping conveying transmission mechanism 27-7 c; the lower book clamping mechanism 27-8 comprises a lower book clamping support 27-8a, a lower book clamping conveying motor, a lower book clamping conveying transmission mechanism 27-8c and a lower book clamping conveying belt 27-8d, the lower book clamping support 27-8a is fixed on the lower portion of the book grabbing transverse support 27-4, the lower book clamping conveying belt 27-8d is installed on the upper portion of the lower book clamping support 27-8a through a belt wheel, the lower book clamping conveying motor is installed on the lower book clamping support 27-8a, an output shaft of the lower book clamping conveying motor is in transmission connection with a driving belt wheel of the lower book clamping conveying belt 27-8d through the lower book clamping conveying transmission mechanism 27-8c, and the lower book clamping conveying motor drives the lower book clamping conveying belt 27-8d to move through the lower book clamping conveying transmission mechanism 27-8 c. The upper book clamping conveying transmission mechanism 27-7c and the lower book clamping conveying transmission mechanism 27-8c adopt synchronous belt transmission mechanisms. The upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 both adopt a book clamping conveying motor to drive the book clamping conveying belt to move through the book clamping conveying transmission mechanism to realize the clamping conveying of books, the structure is simple and compact, the book clamping and transferring actions are more stable and reliable, and the books are not easy to damage.

As shown in fig. 4, in order to position books on the upper and lower book clamping mechanisms, two groups of book in-place sensors 27-9 are arranged on the book grabbing transverse support 27-4, the book in-place sensors 27-9 are respectively arranged at the left side and the right side of the book clamping conveying belt mechanism in the conveying direction, and the book in-place sensors 27-9 preferably adopt photoelectric induction sensors, so that the book in-place sensors 27-9 at the two sides can be used for ensuring that the books are positioned in the middle of the upper and lower book clamping mechanisms for clamping, and the position precision of book grabbing is improved; the book thickness sensor 27-10 for detecting the distance between the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 is arranged on the upper book clamping mechanism 27-7 or the lower book clamping mechanism 27-8, the thickness of the book can be determined according to the distance between the upper book clamping mechanism and the lower book clamping mechanism after the book is clamped, data support is provided for subsequent book storage and book shelf storage, correct book storage and fetching are guaranteed, the problem that the book cannot be stored due to over-thickness is avoided, and the book thickness sensor is particularly suitable for rapid shelf storage of a large number of different books. In addition, in this embodiment, the book grabbing traverse driving mechanism includes a book grabbing traverse motor 27-2, a traverse synchronous belt transmission mechanism 27-3, a book traverse driving screw 27-11 and a book traverse guide bar 27-12, the book traverse guide bar 27-12 is horizontally installed on the book grabbing elevating support 27-1, the book grabbing traverse support 27-4 is installed on the book traverse guide bar 27-12 through a slider, the book traverse driving screw 27-11 is installed on the book grabbing elevating support 27-1 in parallel with the book traverse guide bar 27-12, the book traverse driving screw 27-11 is screw-engaged with the book grabbing traverse support 27-4, the book grabbing traverse motor 27-2 is fixed on the book grabbing elevating support 27-1, and the output shaft of the book grabbing traverse motor 27-2 is in transmission connection with one end of the book traverse driving screw rod 27-11 through the traverse synchronous belt transmission mechanism 27-3, the book grabbing traverse motor 27-2 drives the book traverse driving screw rod 27-11 to rotate through the traverse synchronous belt transmission mechanism 27-3, so as to drive the book grabbing traverse support 27-4 to horizontally and transversely move, adjust the book receiving positions of the upper and lower book clamping mechanisms, improve the position precision of the books on the upper and lower book clamping mechanisms, so that the lower book clamping mechanism 27-8 can be accurately and stably butted with the corresponding book boxes or book conveying platforms of the book shelf 1, and ensure that the books can be stably and reliably transferred on the upper and lower book clamping mechanisms. The book clamping driving mechanism comprises a book clamping driving motor 27-6, a book clamping driving screw 27-13 and a book clamping guide rod 27-14, wherein the book clamping driving screw 27-13 and the book clamping guide rod 27-14 are vertically arranged on a book grabbing transverse support 27-4, an upper book clamping mechanism 27-7 is slidably arranged on the book clamping guide rod 27-14 through a book clamping slide seat 27-5, the book clamping driving screw 27-13 is in threaded fit with the book clamping slide seat 27-5, the book clamping driving motor 27-6 is fixed on the book grabbing transverse support 27-4, the output end of the book clamping driving motor 27-6 is in transmission connection with the book clamping driving screw 27-13, and the book clamping driving motor 27-6 drives the book clamping driving screw 27-13 to rotate, the book clamping driving screw rod 27-13 rotates to drive the book clamping sliding seat 27-5 to move up and down, so that the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 are closed or opened.

Referring to fig. 3 and 5, in this embodiment, the horizontal traversing mechanism of the book grasping robot 2 includes a rail frame 21, a moving base 22 and a traversing driving mechanism 23, a horizontal guide rail 21a is transversely provided on the rail frame 21 along the arrangement direction of the book shelves 1, at least two sets of traversing rollers 23-4 are provided at the bottom of the moving base 22 through traversing wheel shafts 23-3, the traversing rollers 23-4 are cooperatively installed on the horizontal guide rail 21a, the traversing driving mechanism 23 includes a traversing driving motor 23-1 and a traversing transmission mechanism 23-2, the traversing driving motor 23-1 is installed on the moving base 22, an output shaft of the traversing driving motor 23-1 is in transmission connection with the traversing wheel shafts 23-3 through the traversing transmission mechanism 23-2, adjacent traversing wheel shafts 23-3 are in transmission connection through wheel shaft transmission mechanisms 23-5, in order to improve the moving stability of the horizontal traversing mechanism, three groups of traversing rollers 23-4 are preferably arranged, a traversing driving motor 23-1 is in transmission connection with a middle traversing wheel shaft 23-3 through a traversing transmission mechanism 23-2, the traversing wheel shafts 23-3 at two sides are respectively in transmission connection with the middle traversing wheel shaft 23-3 through wheel shaft transmission mechanisms 23-5, the traversing transmission mechanism 23-2 and the wheel shaft transmission mechanisms 23-5 both adopt synchronous belt transmission mechanisms, the traversing driving motor 23-1 synchronously drives the traversing wheel shafts 23-3 to rotate through the traversing transmission mechanism 23-2 and the wheel shaft transmission mechanisms 23-5, the traversing wheel shafts 23-3 are utilized to drive the traversing rollers 23-4 to rotate, and then horizontally move on a horizontal guide rail 21a for horizontally moving in the arrangement direction of the book shelf 1, the access of books in each row of the book shelf 1 is satisfied. The up-down lifting mechanism of the book grabbing manipulator 2 comprises a lifting support 24, a lifting slide 25 and a lifting driving mechanism 26, wherein the lifting support 24 is fixed on the movable base 22, the lifting slide 25 is installed on the lifting support 24 through the lifting driving mechanism 26, the book grabbing mechanism 27 is installed on the lifting slide 25, the lifting driving mechanism 26 comprises a lifting driving motor 26-1, a lifting driving screw rod 26-2 and a lifting guide rod 26-3, the lifting guide rod 26-3 is vertically installed on the lifting support 24, the lifting driving screw rod 26-2 and the lifting guide rod 26-3 are installed on the lifting support 24 in parallel, one end of the lifting driving screw rod 26-2 is in transmission connection with the output end of the lifting driving motor 26-1 fixed on the lifting support 24, the lifting slide 25 is installed on the lifting guide rod 26-3 in a sliding manner, the lifting slide seat 25 is in threaded fit with the lifting driving screw rod 26-2; the lifting driving motor 26-1 rotates to drive the lifting driving screw rod 26-2 to rotate, and further drives the lifting slide 25 to move up and down on the lifting guide rod 26-3. The horizontal transverse moving mechanism of the book grabbing manipulator 2 adopts a mode that a motor drives a roller to slide on a guide rail, and the up-down lifting mechanism drives the book grabbing mechanism to move by adopting a mode that the motor drives a screw nut transmission pair, so that the book grabbing mechanism is simple in structural design and stable and reliable in operation.

The embodiment also discloses a control method of the book storing and taking device based on the horizontal book grabbing manipulator, which comprises the following steps:

A. when the book is stored:

a-1, a book grabbing manipulator 2 receives books from a book conveying platform, the book conveying platform can be a belt conveying mechanism and can convey the books in a lying mode, when the book grabbing manipulator 2 receives the books from the book conveying platform, a book grabbing mechanism 27 is driven by a horizontal traversing mechanism and an up-down lifting mechanism to move to the end portion of the book conveying platform, a lower book clamping mechanism 27-8 of the book grabbing mechanism 27 is enabled to be in butt joint with the book conveying platform, meanwhile, a book clamping driving mechanism drives an upper book clamping mechanism 27-7 and a lower book clamping mechanism 27-8 to be opened, when the books are conveyed by the book conveying platform, a book clamping conveying belt mechanism of the lower book clamping mechanism 27-8 synchronously moves in the same direction, and the books are moved to the lower book clamping mechanism 27-8 by the book conveying platform; then an upper book clamping mechanism 27-7 and a lower book clamping mechanism 27-8 of the book grabbing mechanism 27 clamp books to be stored, and the books are moved to the middle of the book grabbing mechanism 27 by utilizing a book clamping conveying belt mechanism of the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8; specifically, the position of the book grabbing mechanism 27 is controlled by a transverse moving driving motor 23-1 and a lifting driving motor 26-1, after the lower book clamping mechanism 27-8 reaches the height of the book conveying platform, the book grabbing transverse moving motor 27-2 works to drive the book grabbing mechanism 27 to further move towards the book conveying platform, so that the lower book clamping mechanism 27-8 is in close butt joint with the book conveying platform, the book can stably move onto the lower book clamping mechanism 27-8, when the book enters the lower book clamping mechanism 27-8, the lower book clamping conveying motor of the lower book clamping mechanism 27-8 synchronously works to drive the lower book clamping conveying belt 27-8d to move, and the book is stably moved onto the lower book clamping mechanism 27-8 by the book conveying platform; when the book moves to the lower book clamping mechanism 27-8, the book clamping driving motor 27-6 drives the upper book clamping mechanism 27-7 to move downwards, and the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 are used for clamping the book. In the process, the book in-position sensor 27-9 is used for detecting whether the book completely reaches the lower book clamping mechanism 27-8, and the book thickness sensor 27-10 is used for detecting the thickness of the book.

A-2, driving the book grabbing mechanism 27 to move towards the target book box module 12 on the bookshelf 1 by a horizontal traversing mechanism and an up-down lifting mechanism of the book grabbing manipulator 2, so that the book grabbing mechanism 27 carries the book to be stored to move to the corresponding target book box module 12; the moving process of the book catching mechanism 27 is similar to that of step a-1, and is controlled by the operation of the traverse driving motor 23-1 and the elevation driving motor 26-1, which will not be described in detail herein.

A-3, the book box opening and closing mechanism of the target book box module 12 drives the base 12-1 and the upper clamping plate 12-2 to open, so that the opening of the target book box module 12 is opened, and meanwhile, the push plate driving mechanism drives the push plate 12-9 to extend outwards from the base 12-1; specifically, the book box opening and closing motor 12-6 works to drive the book box opening and closing driving screw rod 12-7 to rotate, so as to drive the sliding rod 12-5 to move forwards, the sliding rod 12-5 simultaneously drives the upper clamping plate 12-2 to open upwards through the scissor type book clamping mechanism 12-3, and simultaneously drives the push plate 12-9 to extend outwards through the push rod 12-8.

A-4, the book grabbing transverse driving mechanism drives the book grabbing mechanism 27 and the book to be stored to move towards the direction of the target book box module 12, so that the book grabbing mechanism 27 is butted with the extended push plate 12-9; then an upper book clamping mechanism 27-7 and a lower book clamping mechanism 27-8 of the book grabbing mechanism 27 synchronously act, and a book clamping conveying belt mechanism is utilized to drive books to be stored to move to a push plate 12-9; specifically, a book grabbing transverse moving motor 27-2 in the book grabbing transverse moving driving mechanism works, and a book grabbing transverse moving support 27-4 is driven to move towards the direction of the target book box module 12 through a book transverse moving driving screw 27-11, so that the conveying plane of the lower book clamping mechanism 27-8 is butted with the extended push plate 12-9.

A-5, after the book to be stored moves to the push plate 12-9, the push plate driving mechanism drives the push plate 12-9 to contract backwards, and meanwhile, the book clamping conveying belt mechanisms of the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 continuously convey the book towards the direction of the target book box module 12, so that the book enters the target book box module 12 along with the push plate 12-9; meanwhile, the book box opening and closing mechanism drives the upper clamping plate 12-2 and the base 12-1 to clamp tightly, so that books to be stored are clamped in the target book box module 12, and the book storing process is finished; the process of retracting the push plate 12-9 in the case module 12 and clamping the case module 12 is opposite to the process of opening the case module 12 in step a-3, and will not be described in detail.

B. When taking a book:

b-1, driving the book grabbing mechanism 27 to move towards a target book to be fetched on the bookshelf 1 by a horizontal traversing mechanism and an up-down lifting mechanism of the book grabbing manipulator 2, and moving the book grabbing mechanism 27 to the corresponding target book box module 12; specifically, the position of the book gripping mechanism 27 is controlled by the traverse driving motor 23-1 and the lifting driving motor 26-1, so that the lower book clamping mechanism 27-8 reaches the height position of the target book box module 12.

B-2, the book clamping driving mechanism of the book grabbing mechanism 27 drives the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 to be opened, so that the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 are opened upwards; specifically, the book clamping driving motor 27-6 drives the book clamping driving screw 27-13 to rotate, and drives the book clamping slide 27-5 to move upward, so as to drive the upper book clamping mechanism 27-7 to move upward, so that the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 are opened to a certain height, and a book can conveniently enter the book grabbing mechanism 27.

B-3, driving the book grabbing mechanism 27 to move towards the book box module 12 where the target book is located by the book grabbing transverse driving mechanism, so that the book grabbing mechanism 27 is in butt joint with the book box module 12 where the target book is located; specifically, a book grabbing transverse moving motor 27-2 in the book grabbing transverse moving driving mechanism works, and a book grabbing transverse moving support 27-4 is driven to move towards the direction of a target book box module 12 through a book transverse moving driving screw 27-11, so that a conveying plane of a lower book clamping mechanism 27-8 is butted with a push plate 12-9 extending out of the book box module 12.

B-4, the book box opening and closing mechanism of the book box module 12 where the target book is located drives the base 12-1 and the upper clamping plate 12-2 to open, so that the upper clamping plate 12-2 loosens the target book, and meanwhile, the push plate driving mechanism drives the push plate 12-9 to extend outwards together with the target book, so that the target book is partially moved to the lower book clamping mechanism 27-8 of the book grabbing mechanism 27; specifically, a book box opening and closing motor 12-6 works to drive a book box opening and closing driving screw rod 12-7 to rotate, and further drives a sliding rod 12-5 to move forwards, the sliding rod 12-5 simultaneously drives an upper clamping plate 12-2 to open upwards through a scissor type book clamping mechanism 12-3, and simultaneously drives a push plate 12-9 to extend outwards through a push rod 12-8, and as the length of the push plate 12-9 is smaller than the size of a book, only part of the book is on the push plate 12-9, and the other part of the book is exposed outwards, so that part of the book extends between an upper book clamping mechanism 27-7 and a lower book clamping mechanism 27-8.

B-5, the book clamping driving mechanism of the book grabbing mechanism 27 drives the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 to be closed, a target book is clamped, meanwhile, the book clamping conveying belt mechanisms of the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 work synchronously, the target book is moved between the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8, and the book taking process is completed. The closing action of the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 is opposite to the opening action in the step B-2, the book clamping driving motor 27-6 rotates reversely to drive the lower book clamping mechanism 27-8 to move downwards to clamp the book, and meanwhile, the upper book clamping conveying motor 27-7B and the lower book clamping conveying motor work to transfer the book from the book box where the target book is located to the book grabbing mechanism 27.

In the embodiment, the book grabbing mechanism 27 is further provided with book in-place sensors 27-9 positioned at the left and right sides of the book clamping and conveying belt mechanism in the conveying direction and a book thickness sensor 27-10 used for detecting the distance between the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8; the book in-place sensor 27-9 is matched with the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 book clamping conveying belt mechanism to move the book to the middle position of the upper book clamping mechanism 27-7 and the lower book clamping mechanism 27-8 in the process that the book clamping mechanism 27 clamps the book, so that the book clamping accuracy is improved; the book thickness sensor 27-10 recognizes the thickness of the book grabbed by the book grabbing mechanism 27 in the book storage process, and allocates the book box module 12 with the appropriate thickness on the book shelf 1 to the book according to the thickness information of the book, so that the book is guaranteed to be correctly stored and taken.

According to the book storing and taking device based on the horizontal feeding type book grabbing mechanical arm and the control method thereof, the book grabbing mechanical arm adopts a horizontal feeding type design to grab and convey books, the telescopic push plate design of a book box module of a book shelf is matched, the grabbing and transferring of the books can be stably realized, the storing and taking stability of the books on the book shelf is improved, the books are grabbed and conveyed by utilizing an upper book clamping conveying belt mechanism and a lower book clamping conveying belt mechanism, the books are protected, and the books are effectively prevented from being damaged in the mechanical storing and taking process; meanwhile, the book box modules are in an opening and closing design and are arranged in an up-and-down overlapping mode, so that the book box modules can have enough opening sizes in the book storing and taking process, the book storing and taking are further facilitated, the structural design of the book shelf is more compact, more book boxes can be conveniently arranged in the book shelf with the same size, and the space utilization rate of the book shelf is improved; moreover, the book grabbing mechanical arm can adapt to book boxes of different specifications by detecting the thickness of the books, so that the books are guaranteed to be correctly stored and taken, and the book grabbing mechanical arm is particularly suitable for quick shelving storage of a large number of different books.

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 storing and taking device based on a flat-feeding book grabbing mechanical arm comprises a book shelf (1) and a book grabbing mechanical arm (2) matched with the book shelf (1), wherein the book shelf (1) comprises a bookshelf outer frame (11) and a plurality of book box modules (12) arranged on the bookshelf outer frame (11); the book grabbing manipulator (2) comprises a horizontal transverse moving mechanism, an up-down lifting mechanism and a book grabbing mechanism (27), wherein the up-down lifting mechanism is arranged on the horizontal transverse moving mechanism and drives the up-down lifting mechanism to horizontally and transversely move along the arrangement direction of the book shelf (1); the book grabbing mechanism (27) is arranged on the up-down lifting mechanism, and the up-down lifting mechanism drives the book grabbing mechanism (27) to move up and down along the height direction of the book shelf (1); the method is characterized in that:

at least two groups of the book box modules (12) are overlapped up and down to form a book box unit, and the book box units are arranged on the outer frame (11) of the bookshelf in a transverse and longitudinal array manner; the book box module (12) comprises a base (12-1), an upper clamping plate (12-2), a push plate (12-9), a book box opening and closing mechanism and a push plate driving mechanism, wherein the upper clamping plate (12-2) is arranged on the base (12-1) through the book box opening and closing mechanism, and the book box opening and closing mechanism drives the upper clamping plate (12-2) to move up and down and open and close on the base (12-1); the push plate (12-9) is arranged on the base (12-1) through a push plate driving mechanism, and the push plate driving mechanism drives the push plate (12-9) to move back and forth on the base (12-1) in a telescopic manner;

the book grabbing mechanism (27) comprises a book grabbing lifting support (27-1), a book grabbing transverse support (27-4), a book grabbing transverse driving mechanism, an upper book clamping mechanism (27-7) and a lower book clamping mechanism (27-8), the book grabbing lifting support (27-1) is arranged on the upper and lower lifting mechanisms, the book grabbing transverse support (27-4) is arranged on the book grabbing lifting support (27-1) through the book grabbing transverse driving mechanism, the book grabbing transverse driving mechanism drives the book grabbing transverse support (27-4) to transversely move left and right, the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8) are oppositely arranged, and one of the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8) is fixed on the book grabbing transverse support (27-4), the other one is arranged on a book grabbing transverse moving support (27-4) through a book clamping driving mechanism, and the book clamping driving mechanism drives an upper book clamping mechanism (27-7) and a lower book clamping mechanism (27-8) to be clamped and closed or opened; the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8) are respectively provided with a book clamping conveying belt mechanism which is arranged in parallel, and the book clamping conveying belt mechanism and a push plate (12-9) corresponding to the book box module (12) extend to be matched to act.

2. The book storing and taking device based on the flatwise book grabbing manipulator as claimed in claim 1, wherein: the book box opening and closing mechanism comprises a scissor type book clamping mechanism (12-3), a sliding rod (12-5), a book box opening and closing motor (12-6) and a book box opening and closing driving screw rod (12-7), the upper clamping plate (12-2) is installed on the base (12-1) through the scissor type book clamping mechanism (12-3), the sliding rod (12-5) is installed on the base (12-1) in a sliding mode through a guide rod, hinge points on two sides of the lower portion of the scissor type book clamping mechanism (12-3) are respectively hinged with the sliding rod (12-5) and a baffle plate (12-1a) in the middle of the base (12-1), hinge points on two sides of the upper portion of the scissor type book clamping mechanism (12-3) are respectively hinged with a sliding groove (12-2a) arranged on the upper clamping plate (12-2) and a side wall of the upper clamping plate (12-2), the book box opening and closing motor (12-6) is arranged at the rear part of the base (12-1), the book box opening and closing driving screw rod (12-7) is arranged on the base (12-1), the rear end of the book box opening and closing driving screw rod (12-7) is in transmission connection with an output shaft of the book box opening and closing motor (12-6), the sliding rod (12-5) and the book box opening and closing driving screw rod (12-7) are in threaded fit, the sliding rod (12-5) can be driven to move back and forth through the rotation of the book box opening and closing driving screw rod (12-7) to drive the scissor type book clamping mechanism (12-3) to move up and down, and further the base (12-1) and the upper clamping plate (12-2) are driven to move up and down to be opened and closed; the push plate driving mechanism comprises a push rod (12-8), the rear end of the push rod (12-8) is fixed on a sliding rod (12-5), the front end of the push rod (12-8) penetrates through a baffle plate (12-1a) to be connected with the push plate (12-9), the sliding rod (12-5) drives the push plate (12-9) to move back and forth in a telescopic mode, the push plate (12-9) is driven to extend outwards when the base (12-1) and the upper clamping plate (12-2) are opened, and the telescopic direction of the push plate (12-9) is parallel to the conveying direction of the book clamping conveying belt mechanisms of the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8).

3. The book storing and taking device based on the flatwise book grabbing manipulator as claimed in claim 1 or 2, characterized in that: the book clamping mechanism (27-7) comprises a book clamping support (27-7a), a book clamping conveying motor (27-7b), a book clamping conveying transmission mechanism (27-7c) and a book clamping conveying belt (27-7d), the upper book clamping support (27-7a) is arranged on the book grabbing transverse support (27-4) through a book clamping driving mechanism, the upper book clamping conveying belt (27-7d) is arranged at the lower part of the upper book clamping support (27-7a) through a belt wheel, the upper book clamping conveying motor (27-7b) is arranged on the upper book clamping support (27-7a), and the output shaft of the upper book clamping conveying motor (27-7b) is in transmission connection with the driving belt wheel of the upper book clamping conveying belt (27-7d) through an upper book clamping conveying transmission mechanism (27-7 c); the lower book clamping mechanism (27-8) comprises a lower book clamping support (27-8a), a lower book clamping conveying motor, a lower book clamping conveying transmission mechanism (27-8c) and a lower book clamping conveying belt (27-8d), the lower book clamping support (27-8a) is fixed on the lower portion of the book grabbing transverse moving support (27-4), the lower book clamping conveying belt (27-8d) is installed on the upper portion of the lower book clamping support (27-8a) through a belt wheel, the lower book clamping conveying motor is installed on the lower book clamping support (27-8a), and an output shaft of the lower book clamping conveying motor is in transmission connection with a driving belt wheel of the lower book clamping conveying belt (27-8d) through the lower book clamping conveying transmission mechanism (27-8 c).

4. The book accessing device based on the flatwise book grabbing manipulator as claimed in claim 3, wherein: two groups of book in-place sensors (27-9) are arranged on the book grabbing transverse support (27-4), and the book in-place sensors (27-9) are respectively arranged on the left side and the right side of the book clamping conveying belt mechanism in the conveying direction; the book thickness sensor (27-10) for detecting the distance between the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8) is arranged on the upper book clamping mechanism (27-7) or the lower book clamping mechanism (27-8).

5. The book accessing device based on the flatwise book grabbing manipulator as claimed in claim 4, wherein: the book grabbing transverse moving driving mechanism comprises a book grabbing transverse moving motor (27-2), a transverse moving synchronous belt transmission mechanism (27-3), a book transverse moving driving screw rod (27-11) and book transverse moving guide rods (27-12), the book transverse moving guide rods (27-12) are horizontally arranged on a book grabbing lifting support (27-1), the book grabbing transverse moving support (27-4) is arranged on the book transverse moving guide rods (27-12) through sliding blocks, the book transverse moving driving screw rod (27-11) and the book transverse moving guide rods (27-12) are arranged on the book grabbing lifting support (27-1) in parallel, the book transverse moving driving screw rod (27-11) and the book grabbing transverse moving support (27-4) are in threaded fit, and the book grabbing transverse moving motor (27-2) is fixed on the book grabbing lifting support (27-1) ) And an output shaft of the book grabbing transverse moving motor (27-2) is in transmission connection with one end of the book transverse moving driving screw rod (27-11) through a transverse synchronous belt transmission mechanism (27-3), and the book grabbing transverse moving motor (27-2) drives the book transverse moving driving screw rod (27-11) to rotate through the transverse synchronous belt transmission mechanism (27-3), so that the book grabbing transverse moving support (27-4) is driven to horizontally and transversely move.

6. The book accessing device based on the flatwise book grabbing manipulator as claimed in claim 5, wherein: the book clamping driving mechanism comprises a book clamping driving motor (27-6), a book clamping driving screw rod (27-13) and a book clamping guide rod (27-14), the book clamping driving screw rod (27-13) and the book clamping guide rod (27-14) are vertically arranged on a book grabbing transverse support (27-4), the book clamping mechanism (27-7) is slidably arranged on the book clamping guide rod (27-14) through a book clamping sliding seat (27-5), the book clamping driving screw rod (27-13) is in threaded fit with the book clamping sliding seat (27-5), the book clamping driving motor (27-6) is fixed on the book grabbing transverse support (27-4), the output end of the book clamping driving motor (27-6) is in transmission connection with the book clamping driving screw rod (27-13), the book clamping driving motor (27-6) drives the book clamping driving screw rod (27-13) to rotate, and the book clamping driving screw rod (27-13) rotates to drive the book clamping sliding seat (27-5) to move up and down.

7. The book accessing device based on the flatwise book grabbing manipulator as claimed in claim 6, wherein: the horizontal transverse moving mechanism of the book grabbing manipulator (2) comprises a track frame (21), a moving base (22) and a transverse moving driving mechanism (23), wherein a horizontal guide rail (21a) is transversely arranged on the track frame (21) along the arrangement direction of the book shelf (1), at least two groups of transverse moving rollers (23-4) are arranged at the bottom of the moving base (22) through transverse moving wheel shafts (23-3), the transverse moving rollers (23-4) are installed on the horizontal guide rail (21a) in a matching mode, the transverse moving driving mechanism (23) comprises a transverse moving driving motor (23-1) and a transverse moving transmission mechanism (23-2), the transverse moving driving motor (23-1) is installed on the moving base (22), and an output shaft of the transverse moving driving motor (23-1) is in transmission connection with the transverse moving wheel shafts (23-3) through the transverse moving transmission mechanism (23-2), the adjacent transverse moving wheel shafts (23-3) are in transmission connection through wheel shaft transmission mechanisms (23-5); the book grabbing manipulator (2) is characterized in that the up-down lifting mechanism comprises a lifting support (24), a lifting sliding seat (25) and a lifting driving mechanism (26), the lifting support (24) is fixed on a movable base (22), the lifting sliding seat (25) is installed on the lifting support (24) through the lifting driving mechanism (26), the book grabbing mechanism (27) is installed on the lifting sliding seat (25), the lifting driving mechanism (26) comprises a lifting driving motor (26-1), a lifting driving screw rod (26-2) and a lifting guide rod (26-3), the lifting guide rod (26-3) is vertically installed on the lifting support (24), the lifting driving screw rod (26-2) and the lifting guide rod (26-3) are installed on the lifting support (24) in parallel, and one end of the lifting driving screw rod (26-2) and the lifting driving screw rod (26-2) fixed on the lifting support (24) are connected with each other through the lifting driving mechanism (26) The output end of the motor (26-1) is in transmission connection, the lifting slide seat (25) is slidably mounted on the lifting guide rod (26-3), and the lifting slide seat (25) is in threaded fit with the lifting driving screw rod (26-2).

8. A method for controlling a book storing and taking device based on a flat type book grasping robot as claimed in any one of claims 1 to 7, comprising the steps of:

A. when the book is stored:

a-1, a book grabbing mechanical arm (2) receives books from a book conveying platform, an upper book clamping mechanism (27-7) and a lower book clamping mechanism (27-8) of a book grabbing mechanism (27) clamp books to be stored tightly, and the books are moved to the middle of the book grabbing mechanism (27) by utilizing a book clamping conveying belt mechanism of the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8);

a-2, driving a book grabbing mechanism (27) to move towards a target book box module (12) on a bookshelf (1) by a horizontal transverse moving mechanism and an up-down lifting mechanism of a book grabbing mechanical arm (2), so that the book grabbing mechanism (27) carries books to be stored to move to the corresponding target book box module (12);

a-3, a book box opening and closing mechanism of the target book box module (12) drives the base (12-1) and the upper clamping plate (12-2) to open, so that an opening of the target book box module (12) is opened, and meanwhile, the push plate driving mechanism drives the push plate (12-9) to extend outwards from the base (12-1);

a-4, the book grabbing transverse moving driving mechanism drives the book grabbing mechanism (27) and the book to be stored to move towards the direction of the target book box module (12), so that the book grabbing mechanism (27) is in butt joint with the extended push plate (12-9); then an upper book clamping mechanism (27-7) and a lower book clamping mechanism (27-8) of the book grabbing mechanism (27) synchronously act, and a book clamping conveying belt mechanism is utilized to drive books to be stored to move to a push plate (12-9);

a-5, after the book to be stored moves to the push plate (12-9), the push plate driving mechanism drives the push plate (12-9) to contract backwards, and meanwhile, the book clamping conveying belt mechanisms of the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8) continuously convey the book to the direction of the target book box module (12), so that the book enters the target book box module (12) along with the push plate (12-9); meanwhile, the book box opening and closing mechanism drives the upper clamping plate (12-2) and the base (12-1) to clamp tightly, so that books to be stored are clamped in the target book box module (12) to finish the book storing process;

B. when taking a book:

b-1, driving the book grabbing mechanism (27) to move towards a target book to be fetched on the bookshelf (1) by a horizontal transverse moving mechanism and an up-down lifting mechanism of the book grabbing mechanical arm (2), and moving the book grabbing mechanism (27) to the corresponding target book box module (12);

b-2, a book clamping driving mechanism of the book grabbing mechanism (27) drives the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8) to be opened, so that the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8) are opened upwards;

b-3, driving the book grabbing mechanism (27) to move towards the book box module (12) where the target book is located by the book grabbing transverse driving mechanism, so that the book grabbing mechanism (27) is butted with the book box module (12) where the target book is located;

b-4, a book box opening and closing mechanism of a book box module (12) where the target book is located drives the base (12-1) and the upper clamping plate (12-2) to be opened, so that the upper clamping plate (12-2) loosens the target book, and meanwhile, the push plate driving mechanism drives the push plate (12-9) to extend outwards together with the target book, so that the target book is partially moved to a lower book clamping mechanism (27-8) of the book grabbing mechanism (27);

b-5, a book clamping driving mechanism of the book grabbing mechanism (27) drives the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8) to be closed, a target book is clamped, meanwhile, a book clamping conveying belt mechanism of the upper book clamping mechanism (27-7) and a book clamping conveying belt mechanism of the lower book clamping mechanism (27-8) work synchronously, the target book is moved between the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8), and the book taking process is completed.

9. The method for controlling a book storing and taking device based on a flatwise book grasping robot according to claim 8, wherein: book in-place sensors (27-9) positioned at the left side and the right side of the book clamping conveying belt mechanism in the conveying direction and book thickness sensors (27-10) used for detecting the distance between the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8) are arranged on the book grabbing mechanism (27); the book in-place sensor (27-9) is matched with the book clamping conveying belt mechanism of the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8) to move books to the middle positions of the upper book clamping mechanism (27-7) and the lower book clamping mechanism (27-8) in the process that the book clamping mechanism (27) clamps books; the book thickness sensor (27-10) identifies the thickness of the book grabbed by the book grabbing mechanism (27) in the book storage process, and allocates a book box module (12) with the thickness suitable for the book shelf (1) to the book according to the thickness information of the book.