CN112025668A

CN112025668A - Library book taking and returning robot system

Info

Publication number: CN112025668A
Application number: CN202010563325.6A
Authority: CN
Inventors: 卜王辉; 张书恺
Original assignee: Tongji University
Current assignee: Tongji University
Priority date: 2020-03-27
Filing date: 2020-06-19
Publication date: 2020-12-04
Anticipated expiration: 2040-06-19
Also published as: CN112025668B

Abstract

The invention relates to a library book taking and returning robot system, which comprises: a motion module; a lifting module: mounted on and moving with the motion module; a robot housing: the lifting module is arranged on the lifting module and can be driven to lift; a robot arm module disposed on the robot housing: comprises a long arm piece, a short arm piece, a clamping arm piece and a small arm piece; book access module set on the robot housing: the book lifting mechanism is used for lowering or lifting books into or out of the box body, and the book pushing mechanism and the book ejecting mechanism are respectively arranged on two sides of the box body and can be matched with each other to realize the transfer of the books between the book lifting mechanism and the book lifting mechanism; mechanical locking: the book shelf is arranged on the bookshelf and used for fixing the residual books on the bookshelf. Compared with the prior art, the invention integrates the book taking and returning functions of the library, has high action execution efficiency, and can realize the intellectualization and the unmanned book arrangement of the library.

Description

Library book taking and returning robot system

Technical Field

The invention belongs to the technical field of book taking and returning equipment, and relates to a robot system for taking and returning books in a library.

Background

Books in a library are various in types, and the positions of the books in the library are fixed, so that a reader needs to find the positions corresponding to the books in the book borrowing process, and a worker needs to find the storage positions corresponding to the books to store the books when returning the books, and much time and energy are spent in the searching process. Therefore, the problem of difficulty in the searching process is solved, so that the time of readers and workers is saved, and the method has important significance. Although the existing Chinese patent related to still books is CN 201710988126.8, although there are mechanical hands and movable bookshelves to find the corresponding positions of books, in fact, in a library in a school, there are clamping plates on one side of the books to prevent the books from toppling over, there is no gap between the books due to close contact, and the books have a certain sequence from one side to one side in the bookshelves, the corresponding positions must be poked to form a gap to put in the books, which can not be done by using only one mechanical hand actually; the Chinese patent CN 201610411005.2 related to the return book also can not solve the problems; meanwhile, the two patents only relate to a book returning process and do not relate to a book taking process; the Chinese patent CN 201810751744.5 related to book fetching only designs a mechanical arm for clamping books, but for the detailed problems, such as that the books are placed neatly in the bookshelf, no force is exerted for the mechanical arm to clamp the books, the subsequent actions can be carried out only by designing actions such as hooking the books, and the problem of bookshelf arrangement after the books are fetched is not considered in the patent. The present invention has been made in view of the above problems.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a library book taking and returning robot system.

The purpose of the invention can be realized by the following technical scheme:

the invention provides a library book taking and returning robot system, which is characterized by comprising the following components:

a motion module;

a lifting module: mounted on and moving with the motion module;

a robot housing: the lifting module is arranged on the lifting module and can be driven to lift;

a robot arm module disposed on the robot housing: comprises a long arm piece and a short arm piece for pushing, separating and/or propping up books on a bookshelf, and a clamping arm piece and a small arm piece for clamping and transferring the books;

book access module set on the robot housing: the book lifting mechanism is used for lowering or lifting books into or out of the box body, and the book pushing mechanism and the book ejecting mechanism are respectively arranged on two sides of the box body and can be matched with each other to realize the transfer of the books between the book lifting mechanism and the book lifting mechanism;

mechanical locking: the book shelf is arranged on the bookshelf and used for fixing the residual books on the bookshelf.

Furthermore, the long arm part comprises a long arm lead screw fixedly mounted on the robot shell, a long arm lifting section which is arranged on the long arm lead screw in a matched mode and can horizontally move back and forth along the long arm lead screw, and a long arm extending section mounted at the top of the long arm lifting section. The long arm lifting section and the long arm extension section both adopt functional part structures which are commonly used in the field and can realize lifting and extension, such as a hydraulic telescopic structure and the like, and meanwhile, the whole long arm piece can be also provided with a long arm lifting hydraulic cylinder, a long arm lifting oil pipe and the like which are matched with each other.

Furthermore, the short arm part comprises a short arm screw fixedly mounted on the robot shell, a short arm lifting section which is arranged on the short arm screw in a matching mode and can horizontally move back and forth along the short arm screw, and a short arm extending section mounted on the short arm lifting section.

Furthermore, the long arm lifting section and the short arm lifting section are respectively arranged on the long arm screw rod and the short arm screw rod through the long arm screw nut and the short arm screw nut, a group of long arm screw rod baffle plates and a group of short arm screw rod baffle plates are respectively arranged on the robot shell where the long arm lifting section and the short arm lifting section are arranged, and the long arm screw rod baffle plates and the short arm screw rod baffle plates respectively restrain the rotary motion of the long arm screw nut and the short arm screw nut, so that the long arm lifting section and the short arm lifting section move horizontally. Meanwhile, the long arm lead screw and the short arm lead screw can be driven by the corresponding long arm lead screw motor and the short arm lead screw motor respectively.

Further, the arm clamping part comprises an arm clamping part and an arm moving part, wherein the arm clamping part comprises an arm clamping frame, a driving part for clamping the arm clamping frame, and a pair of clamping arm clamping plates which are driven by the driving part for clamping the arm clamping frame and move relatively, the arm moving part comprises an arm clamping rotating motor arranged on the robot shell, an arm lifting section which is arranged on the arm clamping rotating motor and driven by the arm clamping rotating motor to rotate, and an arm clamping extending section which is arranged at the top of the arm lifting section, and the end part of the arm clamping extending section is fixedly arranged for clamping the arm clamping frame. The front end of the clamping arm is also provided with a camera for positioning and a sensing processing unit (comprising a sensor, a processor and the like) for data processing. The clamping arm lifting section and the clamping arm extending section can also adopt a common telescopic structure which can realize lifting and extending functions in the field, if a hydraulic telescopic mechanism is adopted, meanwhile, the whole clamping arm piece is also provided with a matched clamping arm extending hydraulic cylinder, a clamping arm lifting hydraulic cylinder and the like, and can be connected through the corresponding clamping arm extending oil pipe and the clamping arm lifting oil pipe. The front end of the whole clamping arm support can be further provided with a hook hand which is used for hooking out a book when the book is fetched and pressing the book when the book is returned and executing dumping action.

Furthermore, the small arm part comprises a small arm rotating motor which is fixedly installed, a small arm frame which is arranged on the small arm rotating motor and is driven by the small arm rotating motor to rotate, a small arm clamping driving part which is installed on the small arm frame, and a pair of small arm clamping plates which are driven by the small arm clamping driving part and move relatively.

Further, the arm clamping driving piece comprises a clamping arm clamping plate motor, a clamping arm rod, a clamping arm gear rod and a clamping arm motor gear, wherein the clamping arm motor gear is in driving connection with the clamping arm clamping plate motor, the gear portion of the clamping arm gear rod is meshed with the clamping arm motor gear, the rod portion of the clamping arm gear rod is hinged to the clamping arm clamping plate, and two ends of the clamping arm rod are hinged to the clamping arm frame and the clamping arm clamping plate respectively. The driving piece for clamping the small arm comprises a small arm clamping plate motor, a small arm rod, a small arm gear rod and a small arm motor gear, wherein the small arm motor gear is in driving connection with the small arm clamping plate motor, the gear part of the small arm gear rod is meshed with the small arm motor gear, the rod part of the small arm gear rod is hinged with the small arm clamping plate, and two ends of the small arm rod are hinged with the small arm frame and the small arm clamping plate respectively. The clamping arm gear rod and the small arm gear rod are both formed by welding gears and rods. Simultaneously, in order to realize the actions such as the book that presss from both sides and get arm splint and forearm splint, every presss from both sides gets the arm lever, presss from both sides and gets arm gear lever etc. and correspond respectively and connect one and press from both sides and get arm splint, simultaneously, press from both sides and get arm lever and press from both sides the preferred similar parallel state setting that adopts of arm gear lever, forearm splint also similar setting.

Furthermore, the book lifting mechanism comprises a lifting chain, a lifting gear engaged with the lifting chain, a lifting control motor for controlling the rotation of the lifting gear, and a lifting plate arranged on the lifting chain and positioned in the box body.

Furthermore, the book pushing mechanism comprises a book pushing double-port hydraulic cylinder arranged beside the book lifting mechanism and a book pushing telescopic rod which is connected with the book pushing double-port hydraulic cylinder and driven to stretch by the book pushing double-port hydraulic cylinder.

Furthermore, the book ejecting mechanism comprises a book ejecting rod screw rod arranged on the box body, a book ejecting rod frame which is arranged on the book ejecting rod screw rod in a matching mode and can horizontally move back and forth along the book ejecting rod screw rod, a book ejecting rod motor which is arranged on the book ejecting rod frame and can rotate in a vertical plane, and a book ejecting rod piece which is connected with the book ejecting rod motor. Furthermore, a screw nut is arranged on the lower portion of the book ejecting rod frame and is arranged on a book ejecting rod screw, and meanwhile a book ejecting rod screw baffle plate for restraining the rotary motion of the screw nut is arranged beside the book ejecting rod screw, so that the book ejecting rod frame can move in a translation mode. Two sets of book pushing mechanisms can be preferably arranged and are symmetrically arranged on two sides of the box body.

Furthermore, the book access module also comprises a position fine adjustment mechanism which is matched with the small arm to accurately place the book on the book lifting mechanism, the position fine adjustment mechanism comprises a fine adjustment push plate, a fine adjustment telescopic rod and a fine adjustment double-port hydraulic cylinder, the fine adjustment push plate is arranged beside the book lifting mechanism, the fine adjustment telescopic rod is driven to stretch back and forth, the fine adjustment push plate is arranged at the end part of the fine adjustment telescopic rod, the bottom of the fine adjustment push plate is in sliding fit with the fine adjustment telescopic rod in the vertical direction, and an inclined upward chute in sliding fit with the side wall of the box body is processed at the top of the fine adjustment push plate; when two mouthful pneumatic cylinder drive fine setting telescopic link of fine setting is extended, the fine setting push pedal under its and box top complex spout effect, upward movement and front end stretch into in the box, carry out the position fine setting to the books of arranging in the box through forearm spare clamp.

Furthermore, the mechanical lock comprises a lock shell which is sleeved on the bookshelf layer plate and can move back and forth along the bookshelf layer plate, and a mechanical lock clamping mechanism and a mechanical lock adjusting mechanism which are arranged on the lock shell, wherein the mechanical lock clamping mechanism and the mechanical lock adjusting mechanism are respectively positioned on the upper side and the lower side of the corresponding bookshelf layer plate and are used for being matched with the bookshelf to clamp and release the bookshelf.

Furthermore, the mechanical lock clamping mechanism comprises a locking rod, a reset rod, a force transmission steel ball group, a clamping spring, a locking movable block, a bottom movable block and a reset spring, wherein the locking rod is installed in the lock shell and can horizontally move along the locking rod, the locking movable block is arranged below the locking rod and can vertically move along the direction of the lower surface of the vertical locking rod, two ends of the clamping spring respectively support the locking rod and the locking movable block, the bottom movable block is arranged in the lock shell and can vertically move along the vertical direction, a locking baffle is fixedly arranged between the bottom movable block and the locking movable block, a through hole for the locking movable block to pass through to support the bottom movable block to move downwards is processed on the locking baffle,

the reset rod is arranged on the lock shell in a sliding mode in a state of being parallel to the locking rod, the end part of the reset rod, which extends into the lock shell, is conical, a conical bulge is also arranged on the side surface of the locking rod, which faces to the reset rod, the force transmission steel ball is movably arranged in the lock shell along the horizontal direction, the two horizontal ends of the force transmission steel ball set respectively abut against the conical end part of the reset rod and the conical bulge of the locking rod, and a reset spring which enables the reset rod to extend out of the lock shell is arranged between the reset rod and the lock shell;

when the locking rod is pushed into the lock shell to a position where the locking movable block is opposite to the through hole, the bottom of the locking movable block penetrates through the through hole and abuts against the bottom movable block to press the bookshelf layer plate, and at the moment, the mechanical lock is in a locking state;

when the reset rod is pressed into the lock shell, the conical end part of the reset rod extrudes the force transmission steel ball group, so that force is transmitted to the conical protrusion, the locking rod extends out of the lock shell, the locking movable block is driven to be separated from the bottom movable block, and at the moment, the mechanical lock is in an unlocking state.

Furthermore, the adjusting mechanism of the mechanical lock comprises an adjusting mechanism frame fixed on the lock shell, an adjusting block arranged on the adjusting mechanism frame and capable of moving up and down along the adjusting mechanism frame, and an adjusting lead screw arranged on the adjusting mechanism frame, wherein an adjusting nut horizontally moving along the adjusting lead screw is arranged on the adjusting lead screw in a matching manner, an arc-shaped concave path is processed on the surface of the adjusting block, the protruding end of the adjusting nut is inserted into the arc-shaped concave path, and when the adjusting nut moves along the arc-shaped concave path, the adjusting block moves up and down along the adjusting mechanism frame.

Furthermore, the lifting module comprises a scissor mechanism capable of realizing vertical lifting and a power mechanism for applying power to the scissor mechanism. The corresponding scissors and power mechanisms can adopt the conventional structure in the field. The shearing fork mechanism preferably comprises shearing fork rods, a fixed end support, a movable end support and a movable rod, the shearing fork rods are hinged, the uppermost shearing fork rod and the lowermost shearing fork rod are hinged to the fixed end support and hinged to the movable rod, and the movable rod is sleeved in the movable end support and can move along a gap in the movable end support. The power mechanism for providing power for the scissor mechanism preferably comprises a power telescopic rod and a power oil tank, wherein the power telescopic rod can enable the movable rod to move along the inner space of the movable end support, the power oil tank is used for controlling the power telescopic rod to move, and the outer end of the power telescopic rod is directly sleeved on the movable rod.

Further, the motion module comprises a motion platform, a Mecanum wheel arranged on the motion platform, and a wheel motor driving the Mecanum wheel.

Furthermore, the whole robot also comprises a robot shell which encapsulates each module and supports various motors and hydraulic cylinders, and a sensor and a processor which are arranged in the shell and can process various data, wherein the sensor and the processor can receive data generated in the motion process of each mechanism and control the motion of the mechanism.

Compared with the prior art, the invention has the following advantages:

(1) the action execution is reliable: all actions related to the method are close to actual conditions, and all actions can realize corresponding functions.

(2) The functions are complete: the invention can realize two functions of book taking and book returning, can store books in short time, can carry a plurality of books for taking and returning at one time, and can keep the order and the regularity of the books after the taking and returning are finished.

(3) The workload is reduced: if a reader wants to borrow a certain book, the reader does not need to go to a corresponding region to search difficultly, and the worker puts the book back to the bookshelf, namely, the worker only needs to put the book needing to be returned in the book box of the robot, and the worker does not need to go to the corresponding position of the corresponding floor, so that the workload of the reader and the worker is reduced.

(4) All actions can be completed through the intervention of the sensor and the processor, all actions can be completed under the condition of no need of human intervention, and intellectualization and unmanned operation are realized.

Drawings

FIG. 1 is an overall block diagram of the present invention;

FIG. 2 is an overall view of the robot of the present invention, with the interior removed and the side housing removed, in another aspect;

FIG. 3 is a general schematic view of a robot arm module;

FIG. 4 is a view of the structure of the long arm;

FIG. 5 is a view showing the construction of a short arm;

FIG. 6 is a general block diagram of the gripping arm;

FIG. 7 is a view showing a construction of a gripping section of the gripping arm;

FIG. 8 is a view of the structure of the forearm;

FIG. 9 is a general block diagram of a book accessing module;

FIG. 10 is a block diagram of the book lift mechanism of the book accessing module;

FIG. 11 is a block diagram of a position fine-tuning mechanism of the book accessing module;

FIG. 12 is a schematic diagram of the movement pattern of the fine adjustment mechanism;

FIG. 13 is a schematic view of the fine adjustment mechanism adjusting the book position;

FIG. 14 is a block diagram of a book pushing mechanism of the book accessing module;

FIG. 15 is a block diagram of a top book mechanism of the book access module;

FIG. 16 is a block diagram of a lift module;

FIG. 17 is a block diagram of the global motion module;

FIG. 18 is an overall structural view of the mechanical lock;

FIG. 19 is a block diagram of a mechanical lock adjustment mechanism;

FIG. 20 is a block diagram of a mechanical lock clamping mechanism;

FIG. 21 is a schematic view of the gripper arms positioning the book to be removed during the book removal process;

FIG. 22 is a schematic view of the gripper arms hooking out a book to be picked up with the catcher's fingers during the picking up of the book;

FIG. 23 is a schematic view of the clamp arm clamping a book with the clamp plate during the book picking process;

FIG. 24 is a schematic view of the gripper arms gripping a book during the book picking process and then shortening the extension section to pick the book out;

FIG. 25 is a schematic view of the gripper arms rising during book picking;

FIG. 26 is a schematic view of the gripper arm rotated into alignment with the forearm during book retrieval;

FIG. 27 is a schematic view of the clamp arm being lowered into contact with the robot housing during book picking;

FIG. 28 is a schematic view of the clamping arm being slightly released to adjust the attitude of the book during the book picking process;

FIG. 29 is a schematic view of the clamping of a book by the small arms during the book picking process;

FIG. 30 is a schematic view of the gripper arms releasing the book and returning to their original position during the book picking process;

FIG. 31 is a schematic view of the clockwise rotation of the small arm gripping the book during the book picking process;

FIG. 32 is a schematic view of the small arm rotating during the book picking process and then adjusting the book position with the position fine adjustment mechanism;

FIG. 33 is a schematic view of the lift mechanism feeding a book into the book case during a book picking process;

FIG. 34 is a schematic view of the lift mechanism delivering a book to the bottom of the book case during a book picking process;

FIG. 35 is a schematic view of a book pushing mechanism pushing a book to the other side during a book picking process;

FIG. 36 is a schematic view of a book pushing mechanism pushing a book to the other side during a book picking process;

FIG. 37 is a schematic view of a book bar holding a book during a book picking process;

FIG. 38 is a schematic view of the book pushing mechanism retracted and the lift plate returned to its home position during a book picking process;

FIG. 39 is a schematic view of the long arm being inserted into a position corresponding to the lock and the short arm unlocking the lock during the book picking process;

FIG. 40 is a schematic view of the long arm pushing the book during the book picking process and the short arm locking the lock;

FIG. 41 is a schematic view of all arms returning to their original positions after the book picking process;

FIG. 42 is a schematic view of the gripper arm hooking a book on the left side of the return position with a hook during the return process;

FIG. 43 is a schematic view showing the long arm inserted into a position corresponding to the lock and the short arm unlocking the lock during a book return process;

FIG. 44 is a schematic view of the long arm pulling the lock apart and the gripper arm pushing the book down during a book return;

FIG. 45 is a schematic view of the gripper arms raising a hooked book and the shorter arms locking the lock during a book return;

FIG. 46 is a schematic view of the movement of the long arm and short arm to a target position during a book return process;

FIG. 47 is a schematic view of the long arm and short arm moved to a target position during a book return process;

FIG. 48 is a schematic view of a book in the book case during a return process;

FIG. 49 is a schematic view of the lift plate raising a book and the forearm ready to be gripped during a return of the book;

FIG. 50 is a schematic view of the book pushing mechanism holding the book during a return process;

FIG. 51 is a schematic view of the lower arm clamping the book and the upper arm lowering into the gap during returning of the book;

FIG. 52 is a schematic view of the rotation of the small arm and the pushing of the long arm during the book return process;

FIG. 53 is a schematic view of the short arm inserted into the gap during returning the book and the gripper arm rotated to grip the book;

FIG. 54 is a schematic view of the gripper arms being returned to their original orientation during a book return;

FIG. 55 is a schematic view of the lowering of the clamp arm to place a book on the bookshelf during a book return;

FIG. 56 is a schematic view of the long, short and gripper arms being withdrawn and the book toppling during returning of the book;

FIG. 57 is a schematic view showing the long arm inserted into a position corresponding to the lock and the short arm unlocking the lock during a book return process;

FIG. 58 is a schematic view of the long arm pushing the book in order during a return of the book;

FIG. 59 is a schematic view of the short arm locking the lock again during a book return;

FIG. 60 is a schematic view of all arms returning to their original positions after the return process;

the notation in the figure is:

1-robot arm module, 11-long arm piece, 111-long arm extension, 112-long arm extension hydraulic cylinder, 113-long arm lift, 114-long arm lift, 115-long arm lift, 116-long arm screw motor, 117-long arm screw stop, 118-long arm screw, 12-short arm piece, 121-short arm extension, 122-short arm extension hydraulic cylinder, 123-short arm lift, 124-short arm lift, 125-short arm lift, 126-short arm screw motor, 127-short arm screw stop, 128-short arm screw, 13-gripper arm piece, 131-gripper arm gripper, 1311-gripper arm, 1312-camera, 1313-gripper arm sensor and processor, 1314-gripper arm lever, 1315-gripper arm gear lever, 1316-gripper arm motor gear, 1317-gripper arm gripper plate motor, 1318-gripper arm gripper plate, 132-gripper arm movement, 1321-gripper arm extension, 1322-gripper arm extension hydraulic cylinder, 1323-gripper arm elevation, 1324-gripper arm rotation motor, 1325-gripper arm elevation tubing, 1326-gripper arm elevation hydraulic cylinder, 14-small arm, 141-small arm gripper plate, 142-small arm gear lever, 143-small arm lever, 144-small arm motor gear, 145-small arm gripper plate motor, 146-small arm sensor and processor, 147-small arm frame, 148-small arm rotation motor;

2-book access module, 21-book lifting mechanism, 211-lifting chain, 212-lifting gear, 213-lifting control motor, 214-lifting plate, 22-position fine adjustment mechanism, 221-fine adjustment push plate, 222-fine adjustment telescopic rod, 223-fine adjustment double-port hydraulic cylinder, 23-book pushing mechanism, 231-book pushing telescopic rod, 232-book pushing double-port hydraulic cylinder, 24-book pushing mechanism, 241-book pushing rod piece, 242-book pushing rod motor, 243-book pushing rod frame, 244-book pushing rod screw rod, 245-book pushing rod screw rod baffle, 246-book pushing rod screw rod motor and 25-box body;

3-lifting module, 31-scissor mechanism, 311-scissor rod, 312-fixed end support, 313-movable end support, 314-movable rod, 32-power mechanism, 321-power oil tank and 322-power telescopic rod;

4-integral motion module, 41-Mecanum wheel, 42-wheel motor;

5-a mechanical lock, 51-a mechanical lock adjusting mechanism, 511-an adjusting screw rod, 512-an adjusting nut, 513-an adjusting screw rod baffle, 514-an adjusting block, 515-an adjusting mechanism frame, 52-a mechanical lock clamping mechanism, 521-a locking rod, 522-a reset rod, 523-a force transmission steel ball group, 524-a clamping spring, 525-a locking movable block, 526-a bottom movable block and 527-a reset spring;

6-robot housing.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.

In the following embodiments or examples, functional components or structures that are not specifically described are all component structures that are conventional in the art for achieving the corresponding functions.

The invention provides a library book taking and returning robot system, the structure of which is shown in figures 1 and 2, and the system comprises:

a motion module 4;

the lifting module 3: mounted on the motion module 4 and moving therewith;

robot housing 6: the lifting module 3 is arranged on the lifting module and can be driven to lift;

the robot arm module 1 provided on the robot housing 6: as shown in fig. 3, it includes a long arm 11 and a short arm 12 having freedom in horizontal and vertical directions for pushing, separating and/or holding books on the bookshelf, and a gripping arm 13 and a small arm 14 for gripping and transferring the books;

book access module 2 provided on robot housing 6: referring to fig. 9, the book lifting device comprises a box 25, and a book lifting mechanism 21, a book pushing mechanism 23 and a book ejecting mechanism 24 which are arranged on the box 25, wherein the book lifting mechanism 21 is used for lifting books into or out of the box 25, the book pushing mechanism 23 and the book ejecting mechanism 24 are respectively arranged on two sides of the box 25 and can cooperate to realize the transfer of the books between the book lifting mechanism 21 and the book lifting mechanism;

and (5) mechanical lock: the book shelf is arranged on the bookshelf and used for fixing the residual books on the bookshelf.

In an embodiment of the present invention, referring to fig. 4, the long arm 11 includes a long arm screw 118 fixedly mounted on the robot housing 6, a long arm lifting section 113 disposed on the long arm screw 118 and horizontally movable back and forth along the long arm screw, and a long arm extension 111 mounted on top of the long arm lifting section 113. The long arm lifting section 113 and the long arm extending section 111 both adopt functional component structures that are commonly used in the art and can realize lifting and extending, such as a hydraulic telescopic structure, and meanwhile, the whole long arm member 11 can be equipped with a long arm lifting hydraulic cylinder 115, a long arm lifting oil pipe 114, a long arm extending hydraulic cylinder 112, and the like.

In an embodiment of the present invention, referring to fig. 5, the short arm member 12 includes a short arm screw 128 fixedly mounted on the robot housing 6, a short arm lifting segment 123 disposed on the short arm screw 128 and horizontally movable back and forth along the short arm screw, and a short arm extension segment 121 mounted on the short arm lifting segment 123. Meanwhile, the short arm member 12 may be designed with reference to the long arm member 11, and may be provided with a short arm extension hydraulic cylinder 122, a short arm lift oil pipe 124, a short arm lift hydraulic cylinder 125, and the like.

Furthermore, the long arm lifting section 113 and the short arm lifting section 123 are respectively arranged on the long arm screw 118 and the short arm screw 128 through a long arm screw 118 nut and a short arm screw 128 nut, a group of long arm screw baffles 117 and a group of short arm screw baffles 127 are respectively arranged on the robot shell 6, and the long arm screw baffles 117 and the short arm screw baffles 127 respectively constrain the rotation motion of the long arm screw 118 nut and the short arm screw 128 nut, so that the long arm lifting section 113 and the short arm lifting section 123 move horizontally. Meanwhile, the long arm screw 118 and the short arm screw 128 may be driven by the long arm screw 118 motor 116 and the short arm screw 128 motor 126, respectively.

In a specific embodiment of the present invention, referring to fig. 6 and 7, the grasping arm 13 includes a grasping arm clamping unit 131 and a grasping arm moving unit, wherein the grasping arm clamping unit 131 includes a grasping arm 1311, a grasping arm clamping driving unit mounted on the grasping arm 1311, and a pair of grasping arm clamping plates 1318 driven by the grasping arm clamping driving unit and moving relatively, the grasping arm moving unit includes a grasping arm rotating motor mounted on the robot housing 6, a grasping arm lifting unit 1323 mounted on the grasping arm rotating motor and rotating along with the grasping arm rotating motor, and a grasping arm extending unit disposed on top of the grasping arm lifting unit 1323, and the grasping arm clamping unit 1311 is fixedly mounted on an end of the grasping arm extending unit. The front end of the gripping arm 13 is also provided with a camera 1312 mounted for positioning, and a sensing processing unit (including a gripping arm sensor and processor 1313, etc.) for data processing. The gripping arm lifting section 1323 and the gripping arm extending section may also adopt a telescopic structure commonly used in the field to realize lifting and extending functions, for example, a hydraulic telescopic mechanism is adopted, and meanwhile, the whole gripping arm 13 is further provided with a gripping arm extending hydraulic cylinder 1322 and a gripping arm lifting hydraulic cylinder 1326, etc. which are matched with each other, and can be connected through the corresponding gripping arm extending oil pipe and the gripping arm lifting oil pipe. The front end of the whole clamping arm support 1311 can be further provided with a hook hand for hooking out a book when taking the book and pressing the book when returning the book and performing dumping.

In a specific embodiment of the present invention, referring to fig. 8 and 13, the small arm 14 includes a small arm rotating motor 148, a small arm support 147 disposed on the small arm rotating motor 148 and driven by the small arm rotating motor 148 to rotate, a small arm clamping driving member mounted on the small arm support 147, and a pair of small arm clamping plates 141 driven by the small arm clamping driving member to move relatively.

Furthermore, the driving member for gripping the arm comprises a motor 1317 for gripping arm, a lever 1314 for gripping arm, a lever 1315 for gripping arm gear, and a gear 1316 for gripping arm, wherein the gear 1316 for gripping arm is drivingly connected to the motor 1317 for gripping arm, the gear portion of the lever 1315 for gripping arm gear is engaged with the lever 1316 for gripping arm, the lever portion of the lever 1315 for gripping arm is hinged to the lever 1318 for gripping arm, and the two ends of the lever 1314 for gripping arm are hinged to the gripping arm 1311 and the gripping arm 1318, respectively.

The small arm clamping driving part comprises a small arm clamping plate motor 145, a small arm rod 143, a small arm gear rod 142 and a small arm motor gear 144, wherein the small arm motor gear 144 is in driving connection with the small arm clamping plate motor 145, a gear part of the small arm gear rod 142 is meshed with the small arm motor gear 144, a rod part of the small arm gear rod 142 is hinged with the small arm clamping plate 141, and two ends of the small arm rod 143 are respectively hinged with the small arm frame 147 and the small arm clamping plate 141. The gripping arm gear lever 1315 and the small arm gear lever 142 are both formed by welding gears and levers. Meanwhile, in order to perform the book clamping and the like of the clamp arm plate 1318 and the arm plate 141, each of the clamp arm lever 1314, the clamp arm gear lever 1315, and the like is connected to one clamp arm plate 1318, respectively, and at the same time, the clamp arm lever 1314 and the clamp arm gear lever 1315 are preferably arranged in a parallel-like state, and the arm plate 141 is also arranged similarly. Referring to fig. 13, the small arm clamp motors 145 have two motors on the left and right, and after clamping a book, the two small arm clamp motors 145 rotate in the same direction but at slightly different angles, thereby changing the relative position of the book and the small arm 14

In one embodiment of the present invention, referring to fig. 10, the book lifting mechanism 21 comprises a lifting chain 211, a lifting gear 212 engaged with the lifting chain 211, a lifting control motor 213 for controlling the rotation of the lifting gear 212, and a lifting plate 214 mounted on the lifting chain 211 and located inside the box 25.

In a specific embodiment of the present invention, please refer to fig. 14, the book pushing mechanism 23 includes a double-opening hydraulic cylinder 232 installed beside the book lifting mechanism 21, and a book pushing telescopic rod 231 connected to the double-opening hydraulic cylinder 232 and driven to extend and retract by the same.

In an embodiment of the present invention, referring to fig. 15, the book ejecting mechanism 24 includes a book ejecting rod screw 244 disposed on the box 25, a book ejecting rod frame 243 disposed on the book ejecting rod screw 244 and capable of moving horizontally back and forth along the book ejecting rod screw, a book ejecting rod motor 242 mounted on the book ejecting rod frame 243 and capable of rotating in a vertical plane, and a book ejecting rod 241 connected to the book ejecting rod motor 242. Furthermore, a screw nut is mounted on the lower portion of the book supporting rod frame 243 and is mounted on the book supporting rod screw 244, and a book supporting rod screw baffle 245 for restricting the rotation of the screw nut is disposed beside the book supporting rod screw 244, so that the book supporting rod frame 243 performs the translational motion. The book cover 24 may preferably be provided in two sets, symmetrically disposed on both sides of the case 25. The top book bar screw 244 may be driven by a top book bar screw motor 246.

In a specific embodiment of the present invention, please refer to fig. 11 and 12, the book accessing module 2 further includes a position fine-tuning mechanism 22 for matching with the small arm to accurately place the book on the book lifting mechanism 21, the position fine-tuning mechanism 22 includes a fine-tuning push plate 221, a fine-tuning telescopic rod 222, and a fine-tuning double-port hydraulic cylinder 223 for driving the fine-tuning telescopic rod 222 to extend and retract back and forth, the fine-tuning push plate 221 is installed at an end of the fine-tuning telescopic rod 222, a bottom of the fine-tuning push plate 221 is in sliding fit with the fine-tuning telescopic rod 222 in a vertical direction, and an inclined upward chute in sliding fit with a side wall of the box 25 is processed at a top of the fine-tuning push plate 221; when the fine-tuning double-port hydraulic cylinder 223 drives the fine-tuning telescopic rod 222 to extend, the fine-tuning push plate 221 moves upwards under the action of the sliding groove matched with the top of the box 25, and the front end of the fine-tuning push plate extends into the box 25, so as to perform position fine tuning on the book clamped in the box 25 by the small arm piece 14.

In a specific embodiment of the present invention, the mechanical lock 5 comprises a lock housing sleeved on the shelf board and capable of moving back and forth along the shelf board, and a mechanical lock clamping mechanism 52 and a mechanical lock adjusting mechanism 51 arranged on the lock housing, wherein the mechanical lock clamping mechanism 52 and the mechanical lock adjusting mechanism 51 are respectively located at the upper side and the lower side of the corresponding shelf board and are used for cooperatively realizing the clamping and the releasing of the bookshelf.

Furthermore, as shown in fig. 18, the mechanical lock clamping mechanism 52 includes a locking rod 521, a reset rod 522, a force-transmitting steel ball set 523, a clamping spring 524, a locking movable block 525, a bottom movable block 526 and a reset spring 527, wherein the locking rod 521 is installed in the lock housing and can move horizontally along the locking rod 521, the locking movable block 525 is disposed below the locking rod 521 and can move up and down along a direction perpendicular to the lower surface of the locking rod 521, two ends of the clamping spring 524 respectively abut against the locking rod 521 and the locking movable block 525, the bottom movable block 526 is disposed in the lock housing and can move up and down along a vertical direction, a locking baffle is further fixedly disposed between the bottom movable block 526 and the locking movable block 525, a through hole is formed on the locking baffle for the locking movable block 525 to pass through to abut against the bottom movable block 526 to move down,

the reset rod 522 is arranged on the lock shell in a sliding mode in a state of being parallel to the locking rod 521, the end part of the reset rod 522, which extends into the lock shell, is conical, a conical bulge is also arranged on the side surface of the locking rod 521, which faces to the reset rod 522, the force transmission steel ball is movably arranged in the lock shell along the horizontal direction, the horizontal two ends of the force transmission steel ball group 523 respectively abut against the conical end part of the reset rod 522 and the conical bulge of the locking rod 521, and a reset spring 527, which enables the reset rod 522 to extend out of the lock shell, is also arranged between the reset rod 522 and the lock shell;

when the locking rod 521 is pushed into the lock case to a position where the locking movable block 525 faces the through hole, the bottom of the locking movable block 525 penetrates through the through hole and abuts against the bottom movable block 526 to press the bookshelf layer plate, and at the moment, the mechanical lock 5 is in a locking state;

when the reset rod 522 is pressed into the lock case, the tapered end portion of the reset rod extrudes the force transmission steel ball group 523, so that force is transmitted to the tapered protrusion, the lock rod 521 extends out of the lock case, the lock movable block 525 is driven to be separated from the bottom movable block 526, and at the moment, the mechanical lock 5 is in an unlocking state. The number of the steel balls of the force transmission steel ball group 523 can be one or more in combination.

Further, referring to fig. 17, the mechanical lock adjusting mechanism 51 includes an adjusting mechanism frame 515 fixed on the lock housing, an adjusting block 514 mounted on the adjusting mechanism frame 515 and capable of moving up and down along the adjusting mechanism frame 515, and an adjusting screw 511 mounted on the adjusting mechanism frame 515, wherein an adjusting nut 512 horizontally moving along the adjusting screw 511 is cooperatively disposed on the adjusting screw 511, an arc-shaped recessed path is formed on a surface of the adjusting block 514, a protruding end of the adjusting nut 512 is inserted into the arc-shaped recessed path, and when the adjusting nut 512 moves along the arc-shaped recessed path, the adjusting block 514 moves up and down along the adjusting mechanism frame 515. An adjusting screw baffle 513 for limiting the rotation of the adjusting nut 512 is further disposed beside the adjusting screw 511, so that the adjusting nut 512 moves back and forth along the direction of the adjusting screw 511.

In a specific embodiment of the present invention, please refer to fig. 16, the lifting module 3 includes a scissors mechanism 31 capable of lifting up and down, and a power mechanism 32 for applying power to the scissors mechanism 31. The corresponding scissors mechanism 31 and power mechanism 32 may be of conventional construction in the art. The scissors mechanism 31 preferably includes a scissors rod 311, a fixed end support 312, a movable end support 313 and a movable rod 314, the scissors rod 311 is hinged, while the uppermost and lowermost scissors rods 311 are hinged to the fixed end support 312 and hinged to the movable rod 314, and the movable rod 314 is sleeved in the movable end support 313 and can move along the gap in the movable end support 313. The power mechanism 32 for providing power to the scissors mechanism 31 preferably comprises a power expansion rod 322 for enabling the movable rod 314 to move along the gap in the movable end support 313, and a power oil tank 321 for controlling the movement of the power expansion rod 322, wherein the outer end of the power expansion rod 322 is directly sleeved on the movable rod 314.

In one embodiment of the present invention, referring to fig. 15, the motion module 4 includes a motion platform, a mecanum wheel 41 disposed on the motion platform, and a wheel motor 42 for driving the mecanum wheel 41.

In the invention, the whole robot can be provided with a robot shell 6 for packaging each module and supporting various motors and hydraulic cylinders according to actual needs, a sensor and a processor which are arranged in the shell and can process various data, and the sensor and the processor can receive data generated in the motion process of each mechanism and control the motion of the mechanism.

The above embodiments may be implemented individually, or in any combination of two or more.

The present invention will be further described with reference to the following examples.

Example 1:

the embodiment provides an automatic book fetching and returning robot for a library, the structure of which is shown in fig. 1 and fig. 2, and the robot comprises:

the mechanical arm module 1: referring specifically to fig. 3, the book picking and returning device comprises a long arm 11 for pushing a book and a lock and resisting the book from falling, a short arm 12 for opening and closing the lock and resisting the book from falling during the book picking and returning, a clamping arm 13 for taking the book out of the bookshelf and putting the book into the bookshelf during the book returning, and a small arm 14 for taking the book over the clamping arm during the book picking and taking the book out of the lifting mechanism of the book access module during the book returning;

book access module 2: referring specifically to fig. 9, the book storage and retrieval device comprises a book lifting mechanism 21 for lowering or lifting a book into or out of a book box, a position fine adjustment mechanism 22 for accurately placing the book in the lifting mechanism in cooperation with a small arm, a book pushing mechanism 23 for pushing the book lowered into the book box to the other side of the book box and pushing the book in the book box during a book returning action, a book pushing mechanism 24 for preventing the book from toppling over during the movement in the book box and pushing the book in the book box to the other end during the book returning action, and a box body 25 of a book storage and retrieval module;

the lifting module 3: referring to fig. 16, the robot includes a scissors mechanism 31 for controlling the upper half of the robot to lift, and a power mechanism 32 for providing power to the scissors mechanism;

the overall movement module 4: with particular reference to FIG. 17, includes Mecanum wheels 41 for robot motion and wheel motors 42 that power Mecanum wheels 41;

mechanical lock 5 mounted on bookshelf: referring to fig. 18, the bookshelf comprises a mechanical lock adjusting mechanism 51 for adjusting the gap between the upper part and the lower part of the mechanical lock according to the thickness of the shelf board of the bookshelf, and a mechanical lock clamping mechanism 52 for controlling the clamping and the loosening of the mechanical lock and the bookshelf;

a robot housing 6 for enclosing the modules and supporting the various motors and hydraulic cylinders.

Referring to fig. 4, the long arm includes a long arm extension 111, a long arm extension hydraulic cylinder 112 corresponding to the long arm extension 111 and mounted on the long arm lifting section 113, a long arm lifting hydraulic cylinder 115 corresponding to the long arm lifting section 113 and fixed on the robot housing 6, a long arm lifting oil pipe 114 connecting the long arm lifting section 113 and the long arm lifting hydraulic cylinder 115, a long arm screw 118 fixedly disposed, a pair of long arm screw baffles 117 disposed above and below the long arm screw 118, and a long arm screw motor 116 connected to the long arm screw 118 and fixed on the robot housing 6, wherein a screw nut is mounted on a lower portion of the long arm lifting section 113, and is mounted on the long arm screw 118, and the long arm screw baffle 117 restrains a rotational movement of the screw nut, so that the long arm 11 performs a translational movement along the long arm screw 118.

Referring to fig. 5, the short arm includes a short arm extension section 121, a short arm extension hydraulic cylinder 122 corresponding to the short arm extension section 121 and installed on the short arm lifting section 123, a short arm lifting hydraulic cylinder 125 corresponding to the short arm lifting section 123 and fixed on the robot housing 6, a short arm lifting oil pipe 124 connecting the short arm lifting section 123 and the short arm lifting hydraulic cylinder 125, a short arm screw 128 fixedly installed, a pair of short arm screw baffles 127 arranged above and below the short arm screw 128, and a short arm screw motor 126 connected to the short arm screw 128 and fixed on the robot housing 6, wherein a screw nut is installed on a lower portion of the short arm lifting section 123, and is installed on the short arm screw 128, and the short arm screw baffles 127 constrain a rotational movement of the screw nut, so that the entire short arm 12 performs a translational movement along the short arm screw 128.

As shown in fig. 6 and 7, the grasping arm 13 includes a grasping arm grasping portion 131 and a grasping arm moving portion 132. The gripping arm gripper 131 includes a gripping arm frame 1311 on which various gripping apparatuses are mounted, a camera 1312 for positioning, a gripping arm sensor and processor 1313 for data processing, left and right gripping arm clamps 1318 for book gripping, a gripping arm clamp motor 1317 for controlling the gripping arm clamps 1318, a gripping arm lever 1314, a gripping arm gear lever 1315, a gripping arm motor gear 1316 engaged with a gear on the gripping arm gear lever 1315; the gripping arm moving section 132 includes a gripping arm extension section 1321, a gripping arm extension hydraulic cylinder 1322 which corresponds to the gripping arm extension section 1321 and is mounted on the gripping arm lifting section 1323, a gripping arm lifting hydraulic cylinder 1326 which corresponds to the gripping arm lifting section 1323 and is fixed to the robot housing 6, a gripping arm lifting oil pipe 1325 which connects the gripping arm lifting section 1323 and the gripping arm lifting hydraulic cylinder 1326, and a gripping arm rotating motor 1324 for controlling the entire gripping arm 13 to perform a rotating motion. The clamp arm gear lever 1315 is formed by welding a gear and a lever; the clamp arm clamp motor 1317 rotates by controlling the clamp arm motor gear 1316, and then drives the gear on the clamp arm gear lever to rotate, so that the clamp arm gear lever 1315 rotates, and the clamp arm clamp plate 1318 can be moved.

Referring to fig. 6 and 7 again, the arm 1311 for installing various gripping devices is directly connected to the outer end of the gripping arm extension 1321, and the extension and retraction of the gripping arm extension 1321 directly drives the arm 1311 to move; the front end of the clamping arm support 1311 is provided with a hook hand which is used for hooking out a book when the book is fetched, pressing the book when the book is returned and executing dumping action.

Referring to fig. 8, the small arm 14 includes a small arm frame 147 for mounting the clamp apparatus, left and right small arm clamps 141 for clamping a book, a small arm clamp motor 145 for controlling the small arm clamps 141, a small arm sensor and processor 146 for processing data, a small arm lever 143, a small arm gear lever 142, a small arm motor gear 144 engaged with a gear on the small arm gear lever 142, and a small arm rotation motor 147 for controlling the entire small arm 14 to perform a rotation motion. The small arm gear rod 142 is formed by welding a gear and a rod; the small arm clamp motor 145 controls the small arm motor gear 144 to rotate, so as to drive the gear on the small arm gear rod 142 to rotate, and the small arm gear rod 142 rotates, so that the small arm clamp 141 can move.

Referring to fig. 4, 5, 6 and 8, the long arm 11 and the short arm 12 are movable relative to the robot housing 6, and the gripping arm 13 and the small arm 14 are fixed relative to the robot housing 6.

Referring to fig. 10, the book lifting mechanism 21 for lifting a book into or out of the book box includes a lifting chain 211, a lifting gear 212 corresponding to the lifting chain 211, a lifting control motor 213 for controlling the rotation of the lifting gear 212, and a lifting plate 214 for lifting the book, wherein the lifting plate 214 is directly mounted on the lifting chain 211, and the lifting chain 211 drives the lifting plate 214 to move up and down.

Referring to fig. 11, the position fine adjustment mechanism 22 for accurately placing a book on the lifting mechanism 21 by matching with the small arm member 14 includes a fine adjustment push plate 221, a fine adjustment telescopic rod 222, and a fine adjustment double-port hydraulic cylinder 223 for controlling the telescopic section to extend and retract, and an end of the fine adjustment telescopic rod 223 is directly connected to the fine adjustment push plate 221.

Referring to fig. 12 again, when the oil is filled into the fine adjustment telescopic rod 222, the outer end of the oil extends to drive the fine adjustment push plate 221 to move, and the box 25 is provided with a groove matched with the fine adjustment push plate 221, so that the fine adjustment push plate 221 not only moves horizontally, but also moves vertically.

Referring again to fig. 8 and 13, the two small arm clamp motors 145 are provided on the left and right, and after the book is clamped, the two small arm clamp motors 145 can rotate in the same direction but at slightly different angles, so as to complete the change of the relative position of the book and the small arm 14, and the fine adjustment push plate 221 pushes the book before the book is moved to a specified position, and the push force is detected by the small arm sensor and the processor 146 to perform the adjustment.

Referring to fig. 14, the book pushing mechanism 23 for pushing a book lowered into the book box to the other side of the book box and supporting the book in the book box during the book returning operation includes a book pushing telescopic rod 231 and a book pushing double-port hydraulic cylinder 232 for controlling the telescopic rod to extend and retract, and the book pushing telescopic rod 231 is a three-section telescopic rod.

Referring to fig. 15, the book pushing mechanism 24 for preventing the book from falling down when the book is moved in the book box and pushing the book in the book box to the other end when the book is returned includes a book pushing rod 241, a book pushing rod motor 242 for controlling the rotation of the book pushing rod 241, a book pushing rod frame 243 for mounting the book pushing rod 241 and the book pushing rod motor 242, a book pushing rod screw 244 fixedly disposed, a pair of book pushing rod screw baffles 245 disposed at the left and right of the book pushing rod frame 243, a book pushing rod screw motor 246 for controlling the movement of the book pushing rod screw 244, a screw nut mounted on the book pushing rod screw 244 and restrained by the book pushing rod screw baffles 245, thereby, the book-ejecting rod frame 243 can perform translational motion along the book-ejecting rod screw 244, and the book-ejecting rod 241 can perform rotational motion in a plane perpendicular to the upper surface of the robot housing 6 under the control of the book-ejecting rod motor 242.

Referring to fig. 9 again, the book pushing mechanisms 24 have two sets and are symmetrically arranged on the left and right sides of the book box.

Referring to fig. 16, the scissors mechanism 31 for controlling the upper half of the robot to lift includes a scissors rod 311, a fixed end support 312, a movable end support 313, and a movable rod 314, wherein the scissors rod 311 is hinged, the uppermost and lowermost scissors rods 311 are hinged to the fixed end support 312 and hinged to the movable rod 314, and the movable rod 314 is sleeved in the movable end support 313 and can move along a gap in the movable end support 313.

Referring to fig. 16, the power mechanism 32 for providing power to the scissors mechanism 31 includes a power extension rod 322 for moving the movable rod 314 along the gap in the movable end support 313, and a power oil tank 321 for controlling the movement of the extension rod 322, and the outer end of the power extension rod 322 is directly sleeved on the movable rod.

Referring to fig. 15, mecanum wheels 41 for robot motion are omni-directionally movable with the wheel orientation unchanged, and each mecanum wheel 41 is controlled by a separate wheel motor 42.

Referring to fig. 17, the mechanical lock adjusting mechanism 51 includes a fixed adjusting screw 511, an adjusting screw stop 513 disposed above and below the adjusting screw 511, an adjusting nut 512, an adjusting block 514, and an adjusting mechanism frame 515, wherein a protruding end of the adjusting nut 512 is inserted into a concave path of the adjusting block 514, and the adjusting screw 511 is rotated to allow the adjusting nut 512 to change the up-and-down position of the adjusting block 514 through the protruding end and under the constraint of the adjusting mechanism frame 515 during the translational movement along the adjusting screw 511.

Referring to fig. 18, the mechanical lock clamping mechanism 52 includes a locking rod 521, a reset rod 522, a force transmission steel ball set 523, a clamping spring 524, a locking movable block 525, a bottom movable block 526, and a reset spring 527; the clamping spring 524 has a certain compression amount and is sleeved on the locking rod 521, the locking movable block 525 is arranged below the clamping spring 524 and can move along with the locking rod 521, meanwhile, under the action of the clamping spring 524, the locking movable block 525 also has a certain degree of freedom along the vertical locking rod 521, and the bottom movable block 526 is arranged on the shell bottom of the mechanical lock 5 and can move up and down relative to the shell bottom; once the locking rod 521 is pushed inwards to enable the locking movable block 525 to be opposite to the bottom movable block 526, the locking movable block 525 can penetrate through the through hole between the locking movable block and the bottom movable block 526 to abut against the bottom movable block 526, so that the bottom movable block 526 can be pressed against the bookshelf, and the mechanical lock 5 can be fixed in position relative to the bookshelf by means of friction; the end of the reset rod 522 is tapered, when the reset rod 522 is pressed in, the end can apply force to the corresponding tapered position of the locking rod 521 through the force transmission steel ball group 523 to enable the locking rod 521 to retreat (namely the locking movable block 525 is separated from the bottom movable block 526), the locking state is released, and the reset rod 522 can return to the original position through the lower reset spring 527 when no external force is applied; the mechanical lock 5 has a gap for the long arm 11 to fit into, and facilitate insertion of the long arm 11.

The following examples 2 and 3 propose two specific working processes of the automatic library book picking and returning robot of the above example 1, which are divided into two parts of example 2 (picking book) and example 3 (returning book).

Example 2:

the whole book fetching process is roughly divided into four parts, namely a book fetching process of the clamping arm piece 13, a book receiving process of the small arm piece 14, a book storing and taking process, a bookshelf arrangement process and a mechanical arm module 1 resetting process.

The grasping arm 13 takes a book as shown in fig. 21 to 28. Firstly, the robot moves to a designated bookshelf, the camera 1312 on the clamping arm piece 13 finds the position of the book to be taken out, and then the upper part of the book is hooked by a hook hand; then the clamping arm extension section 1321 contracts, and meanwhile the clamping arm lifting section 1323 descends, and the two actions are matched with each other to enable the book to be hooked out of the bookshelf at a certain angle; after the book is hooked out of the book shelf, the clamp arm clamp 1318 will clamp the book under the control of the clamp arm clamp motor 1317 while the clamp arm extensions 1321 continue to retract until the book is completely off the book shelf; to prevent the following movement from interfering with the small arm 14, the gripping arm lifting section 1323 is raised and then rotated clockwise by a certain angle until it is aligned with the small arm 14; since the book is still clamped in an inclined state, the clamp arm lift 1323 is first lowered until the book comes into contact with the robot housing, and then the force of the clamp arm clamp 1318 is slightly relieved, while the clamp arm extension 1321 is slightly extended to adjust the posture of the book. In this process, the long arm 11 and the short arm 12 move to the other end first, providing a space for movement of the gripping arm 13.

The small arm 14 is connected as shown in fig. 29 to 32. The small arm piece 14 clamps the book after the book is adjusted in posture, and the clamping arm piece 13 releases the book and rotates back to the original position; the small arm rotates clockwise after clamping the book until the book is turned to the position of the lifting plate 214; since the thickness of the book may not allow the book to be lowered into the book box, the fine position adjustment mechanism 22 is activated and the small arm member 14 adjusts the book to the correct position under its engagement.

The book accessing process is shown in FIGS. 33-38. After the book is positioned, the small arm 14 will release the clamping force but keep the contact state with the book to prevent the book from toppling, and the lifting plate 214 will lower the book into the book box under the control of the lifting control motor 213, and the book-propping rod 241 (one of them) will rotate into the book box to prop the book against toppling under the control of the book-propping rod motor 242 during the book lowering process; when the book descends to the bottom of the box, the book pushing double-port hydraulic cylinder 232 starts the book pushing telescopic rod 231 to push the book to the other end, and the book pushing rod piece 241 (one of the book pushing rod pieces) also moves towards the other end to prevent the book from toppling too early when the book moves; when the book is moved to a proper position, the book-pushing rod pieces 241 (one of the book-pushing rod pieces) are rotated out, the other book-pushing rod piece 241 (the other book-pushing rod piece) which supports the existing book in the book box is also rotated out of the book box, and the book-pushing telescopic rod 231 continues to push the book until the book cannot be pushed continuously; the book-pushing rod 241 (the other) for holding the existing book in the book box is turned into the book box to hold the book, the other book-pushing rod 241 (one) moves back to the initial position, and the book-pushing telescopic rod 231 also retracts to the initial position; after the book pushing rod 231 is retracted, the lifting plate 214 is raised back to the original position.

The bookshelf finishing and the robot arm module 1 resetting process is shown in fig. 39 to 41. When the long arm 11 moves to a position corresponding to the mechanical lock 5, the long arm extension 111 extends and is inserted into the lock corresponding gap, and meanwhile, the short arm extension 121 of the short arm 12 also extends after moving to the corresponding position, and the reset rod 522 is pressed to unlock the mechanical lock 5; the long arm part 11 pushes the lock and the book to the other direction under the action of the long arm lead screw motor 116, so that the book on the bookshelf can be tightly attached, meanwhile, the short arm extension section 121 is shortened to the shortest, the short arm lifting section 123 is reduced to the lowest, and the short arm part moves along the moving direction of the long arm part 11, so that a moving space is provided for the long arm part 11 under the condition of avoiding interference with the clamping arm part 13; after the long arm 11 is pushed, the short arm 12 moves to a position corresponding to the mechanical lock 5, and meanwhile, the short arm extension 121 extends and presses the locking lever 521 of the mechanical lock to lock the mechanical lock 5; finally, the long arm extension 111 is retracted and the long arm 11 and the short arm 12 return to the original positions. The whole book fetching process is completed.

Example 3:

the whole book returning process is also roughly divided into four parts, namely a gap manufacturing process, a book box book conveying process, a clamping arm piece 13 book conveying process, a bookshelf sorting process and a mechanical arm module 1 resetting process. The different processes may overlap in time, taking into account efficiency considerations.

The void fabrication process is shown in fig. 42-47 and 51-53. Firstly, the robot returns a label on a book and a label on a bookshelf as required to determine the position where the book is to be inserted, the clamping arm piece 13 is positioned by the camera 1312 corresponding to the book on the left side of the insertion position, and then the book is hooked by a hook hand; the long arm piece 11 moves to a corresponding position of the mechanical lock 5, the long arm extension section 111 is extended and inserted into a gap of the mechanical lock 5, the short arm piece 12 moves to a corresponding position, and the short arm extension section 121 is extended to press the lock reset rod 522 to unlock the mechanical lock 5; then the long arm 11 pulls the lock and the book apart by a certain distance at the long arm lead screw motor 116, the short arm 12 also moves together, and after the movement is finished, the locking lever 521 is pressed to lock the mechanical lock 5; the clamping arm extension section 1321 extends, the clamping arm rotating motor 1324 rotates, the two actions are matched, the hooked book is utilized to push down the right book, and then the hooked book is supported to be in an upright state; the long arm extension 111 is moved from above the book to the corresponding position, and the short arm member 12 is moved in the same direction; after the long arm 11 moves to the corresponding position, the long arm lifting section 113 descends to enable the long arm extension section 111 to fall into the gap, and the long arm lead screw motor 116 controls the long arm 11 to push the toppled book towards the direction of the mechanical lock 5, so that the book returns to the upright state under the extrusion action; the short arm extensions 121 are extended against the book hooked by the gripping arm members 13, whereby a gap is created and neither of the two books will topple over.

The book case feeding process is shown in fig. 48 to 52. When the robot is set to the book return mode, the book in the book box is pushed to one end by the book pushing rod 241 (the other one). Firstly, the lifting plate 214 lifts a book under the control of the lifting control motor 213, and in the lifting process, the book pushing telescopic rod 231 is required to support the book at a proper time in time, so that the lifting plate 214 cannot be lowered back to the bottom end due to the falling of the book, the book supporting rod pieces 241 (one of the book supporting rod pieces) are also required to be matched, the falling of the book in the lifting process is prevented, and the small arm piece 14 is also required to control the small arm clamping plate 141 to be placed at a preset position; after the book is lifted, the small arm piece 14 controls the small arm clamp plate 141 to clamp the book, and then the relative position of the book and the small arm piece 14 is adjusted according to the reverse process of position fine adjustment in the book taking process; after the lifting plate 214 has sent the book, it is lowered back to the bottom end, and the arm member 14 rotates counterclockwise by a predetermined angle to wait for the gripping arm member 13 to grip the book.

The book transporting process by the gripping arm 13 is shown in fig. 53 to 55. The gripping arm 13 releases the hooked book and rotates clockwise to be opposite to the small arm 14, and the gripping arm clamp 1318 is controlled to grip the book; the small arm 14 is released after the gripping arm 13 grips the book; the gripping arm 13 then rotates counterclockwise back to its original orientation, the gripping arm lift 1323 is raised, and the gripping arm extension 1321 is retracted to a minimum to avoid interference with other arms; the book can be put into the gap after the arm member 13 is rotated. The robot also needs to move correspondingly, and the long arm and the short arm always prop up books on two sides, so that the clamping arms can align to the gap.

The bookshelf finishing and the robot arm module 1 resetting process is shown in fig. 56 to 60. After the book is placed in the gap, the clamping arm piece 13 releases the book, the book returns to the initial state, the short arm extension section 121 retracts, the long arm lifting section 113 rises, and the book can topple over in the process, but the book is not used; the long arm 11 and the short arm 12 move to the corresponding positions of the mechanical lock 5, the long arm extension 111 is inserted into the gap of the mechanical lock 5, and the short arm 12 presses the reset rod 522 of the mechanical lock 5 by using the short arm extension 121 of the short arm 12 to unlock the mechanical lock 5; then, the long arm 11 pushes the lock and the book to be tidy under the control of the long arm lead screw motor 116, and the short arm 12 moves correspondingly to provide a movement space for the long arm 11; after the long arm 11 is pushed, the short arm 12 presses the locking lever 521 of the mechanical lock 5 to lock the mechanical lock 5, and then the long arm 11 and the short arm 12 move back to the initial positions. The whole book returning process is completed.

The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.

Claims

1. A library book fetching and returning robot system, comprising:

a motion module;

a lifting module: mounted on and moving with the motion module;

2. The library book taking and returning robot system according to claim 1, wherein the long arm member comprises a long arm screw fixedly mounted on the robot housing, a long arm lifting section fitted on the long arm screw and horizontally movable back and forth along the long arm screw, and a long arm extension section mounted on top of the long arm lifting section;

the short arm part comprises a short arm lead screw fixedly installed on the robot shell, a short arm lifting section which is arranged on the short arm lead screw in a matched mode and can horizontally move back and forth along the short arm lead screw, and a short arm extending section installed on the short arm lifting section.

3. The system of claim 2, wherein the long arm lifting section and the short arm lifting section are respectively disposed on the long arm screw and the short arm screw through a long arm screw nut and a short arm screw nut, the robot housing is further respectively provided with a group of long arm screw baffles and a group of short arm screw baffles, and the long arm screw baffles and the short arm screw baffles respectively constrain the rotation of the long arm screw nut and the short arm screw nut, so that the long arm lifting section and the short arm lifting section move horizontally.

4. The system of claim 1, wherein the clamping arm comprises a clamping arm clamping part and a clamping arm moving part, wherein the clamping arm clamping part comprises a clamping arm support, a clamping arm clamping driving part mounted on the clamping arm support, and a pair of clamping arm clamping plates driven by the clamping arm clamping driving part and moving relatively, the clamping arm moving part comprises a clamping arm rotating motor mounted on the robot housing, a clamping arm lifting section arranged on the clamping arm rotating motor and driven to rotate by the clamping arm rotating motor, and a clamping arm extending section arranged at the top of the clamping arm lifting section, and the clamping arm support is fixedly mounted at the end of the clamping arm extending section;

the small arm part comprises a small arm rotating motor, a small arm frame, a small arm clamping driving part and a pair of small arm clamping plates, wherein the small arm rotating motor is fixedly installed, the small arm frame is arranged on the small arm rotating motor and driven by the small arm rotating motor to rotate, the small arm clamping driving part is installed on the small arm frame, and the pair of small arm clamping plates are driven by the small arm clamping driving part to move relatively.

5. The system of claim 4, wherein the clamping arm clamping driving member comprises a clamping arm clamping plate motor, a clamping arm lever, a clamping arm gear lever and a clamping arm motor gear, wherein the clamping arm motor gear is in driving connection with the clamping arm clamping plate motor, the gear portion of the clamping arm gear lever is in gear engagement with the clamping arm motor, the lever portion of the clamping arm gear lever is hinged to the clamping arm clamping plate, and two ends of the clamping arm lever are hinged to the clamping arm and the clamping arm clamping plate respectively;

the driving piece for clamping the small arm comprises a small arm clamping plate motor, a small arm rod, a small arm gear rod and a small arm motor gear, wherein the small arm motor gear is in driving connection with the small arm clamping plate motor, the gear part of the small arm gear rod is meshed with the small arm motor gear, the rod part of the small arm gear rod is hinged with the small arm clamping plate, and two ends of the small arm rod are hinged with the small arm frame and the small arm clamping plate respectively.

6. The system of claim 1, wherein the book lifting mechanism comprises a lifting chain, a lifting gear engaged with the lifting chain, a lifting control motor for controlling the rotation of the lifting gear, and a lifting plate mounted on the lifting chain and located in the box;

the book pushing mechanism comprises a book pushing double-port hydraulic cylinder arranged beside the book lifting mechanism and a book pushing telescopic rod which is connected with the book pushing double-port hydraulic cylinder and driven by the book pushing double-port hydraulic cylinder to stretch;

the book ejecting mechanism comprises a book ejecting rod screw rod arranged on the box body, a book ejecting rod frame which is arranged on the book ejecting rod screw rod in a matching mode and can horizontally move back and forth along the book ejecting rod screw rod, a book ejecting rod motor which is arranged on the book ejecting rod frame and can rotate in a vertical plane, and a book ejecting rod piece which is connected with the book ejecting rod motor.

7. The system of claim 1 or 6, wherein the book access module further comprises a position fine adjustment mechanism for matching with a small arm to accurately place a book on the book lifting mechanism, the position fine adjustment mechanism comprises a fine adjustment push plate, a fine adjustment telescopic rod and a fine adjustment double-port hydraulic cylinder, the fine adjustment push plate is arranged beside the book lifting mechanism, the fine adjustment telescopic rod is driven to extend and retract back and forth, the fine adjustment push plate is arranged at the end part of the fine adjustment telescopic rod, the bottom of the fine adjustment push plate is in sliding fit with the fine adjustment telescopic rod in the vertical direction, and an upward inclined sliding groove in sliding fit with the side wall of the box body is machined at the top of the fine adjustment push plate;

when two mouthful pneumatic cylinder drive fine setting telescopic link of fine setting is extended, the fine setting push pedal under its and box top complex spout effect, upward movement and front end stretch into in the box, carry out the position fine setting to the books of arranging in the box through forearm spare clamp.

8. The system of claim 1, wherein the mechanical lock comprises a lock case that is sleeved on the shelf board and can move back and forth along the shelf board, and a mechanical lock clamping mechanism and a mechanical lock adjusting mechanism that are arranged on the lock case, wherein the mechanical lock clamping mechanism and the mechanical lock adjusting mechanism are respectively arranged on the upper side and the lower side of the corresponding shelf board and are used for being matched with clamping and releasing of the bookshelf.

9. The system of claim 8, wherein the mechanical lock clamping mechanism comprises a locking rod, a reset rod, a force-transmitting steel ball set, a clamping spring, a locking movable block, a bottom movable block and a reset spring, wherein the locking rod is installed in the lock housing and can move horizontally along the locking rod, the locking movable block is arranged below the locking rod and can move up and down along a direction perpendicular to the lower surface of the locking rod, two ends of the clamping spring respectively abut against the locking rod and the locking movable block, the bottom movable block is arranged in the lock housing and can move up and down along a perpendicular direction, a locking baffle is fixedly arranged between the bottom movable block and the locking movable block, and a through hole is formed in the locking baffle and used for the locking movable block to penetrate through to abut against the bottom movable block to move downwards,

10. The library book taking and returning robot system as claimed in claim 8, wherein the mechanical lock adjusting mechanism comprises an adjusting mechanism frame fixed on the lock case, an adjusting block mounted on the adjusting mechanism frame and capable of moving up and down along the adjusting mechanism frame, and an adjusting screw rod mounted on the adjusting mechanism frame, an adjusting nut horizontally moving along the adjusting screw rod is arranged on the adjusting screw rod in a matching manner, an arc-shaped concave path is processed on the surface of the adjusting block, the protruding end of the adjusting nut is inserted into the arc-shaped concave path, and when the adjusting nut moves along the arc-shaped concave path, the adjusting block moves up and down along the adjusting mechanism frame along with the adjusting nut.