CN112265768A

CN112265768A - Automatic robot for storing and taking books in library

Info

Publication number: CN112265768A
Application number: CN202011143801.5A
Authority: CN
Inventors: 杨幸然; 崔璘
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-10-23
Filing date: 2020-10-23
Publication date: 2021-01-26

Abstract

The invention provides a robot for automatically storing and taking books in a library, relates to the technical field of intelligent robots, and solves the problem that unloading of books cannot be automatically completed when a book taking arm is retracted through structural improvement; the replacement of the adjusting power can not be realized by the aid of a matching mechanism through structural improvement, so that the aim of reducing the cost is fulfilled. A robot for automatically storing and taking books in a library comprises a base; the base is provided with an adjusting structure, and the adjusting structure is provided with a book taking structure; the base is provided with an auxiliary structure, and the base is also provided with a discharging structure. Because the unloading block is the triangular prism column structure, and two centre gripping arms contact with the piece of unloading when the centre gripping arm moves 15cm backward to can realize the elastic deformation of centre gripping arm under the stirring of unloading block, and then realized unloading of books.

Description

Automatic robot for storing and taking books in library

Technical Field

The invention belongs to the technical field of intelligent robots, and particularly relates to a robot for automatically storing and taking books in a library.

Background

The library is an indispensable important place in daily life of people as a main storage and reading place of books, and the great number of book management work in the library becomes the key point of general attention; the intelligent vehicle and robot system is combined with popularization and application of current intelligent vehicle and robot technology, and replaces human managers to finish collection and access of books in libraries with high repeatability and boring property, so that labor force is saved, and accuracy is improved.

As in application No.: CN201911298484.1, the invention provides a robot for automatically accessing books in a library, a control system and a control method thereof, the robot consists of a signal acquisition and recognition unit for acquiring road surface and book images, a book access execution unit for controlling the clamping of books and a running chassis unit, the control system comprises an environment module in a library, a wireless communication module, an image signal acquisition module, a vehicle body signal module and a central processing module, wherein book name information, road surface and book image information and robot motion state information which are respectively acquired by the wireless communication module, the image signal acquisition module and the vehicle body signal module are sent to the central processing module, and are analyzed and processed by the central processing module to generate corresponding control signals to control a book access execution unit and a running chassis unit to run. The invention can realize accurate recognition, stable grabbing and efficient storage of books in different library environments.

The book fetching robot similar to the above application has the following defects:

one is that the existing device needs a plurality of electric elements to finish three actions of extending out and taking a book, retracting a book taking arm and putting down the book, but cannot automatically finish the unloading of the book when the book taking arm retracts through structural improvement; moreover, the conventional device needs an electric element to drive when clamping books with different numbers, but cannot realize the replacement of adjusting power through the auxiliary matching mechanism through structural improvement so as to achieve the purpose of reducing the cost.

Therefore, in view of the above, research and improvement are made for the existing structure and defects, and a robot for automatically accessing books in a library is provided, so as to achieve the purpose of higher practical value.

Disclosure of Invention

In order to solve the technical problems, the invention provides a robot for automatically storing and taking books in a library, which aims to solve the problem that the existing device can be completed only by a plurality of electric elements when three actions of stretching out and taking the books, retracting a book taking arm and putting down the books are completed, but can not automatically complete the unloading of the books when the book taking arm retracts through structural improvement; moreover, the conventional device needs an electric element to drive when clamping books with different numbers, but cannot realize the replacement of the adjusting power through the auxiliary matching mechanism through structural improvement so as to realize the purpose of reducing the cost.

The invention relates to a robot for automatically storing and taking books in a library, which is achieved by the following specific technical means:

a robot for automatically storing and taking books in a library comprises a base; the base is provided with an adjusting structure, and the adjusting structure is provided with a book taking structure; the base is provided with an auxiliary structure, and the base is also provided with a discharging structure; the auxiliary structure comprises two sliding rods C, a gear row and an elastic piece, wherein the two sliding rods C are connected to the base in a sliding mode and are of stepped shaft-shaped structures; the head ends of the two sliding rods C are welded with the gear row, the two sliding rods C are sleeved with an elastic piece, and the two elastic pieces jointly form an elastic reset structure of the sliding rods C and the gear row; the book fetching structure further comprises a gear, the gear is mounted on the adjusting rod, and the gear is meshed with the gear row; the discharging structure comprises a frame body and a discharging block, the frame body is welded on the sliding rail and is of a concave structure, and the discharging block is welded on the top end face of the inner wall of the frame body; the unloading block is of a triangular prism-shaped structure, and the two clamping arms are in contact with the unloading block when the clamping arms move backwards for 15 cm.

Further, the base comprises a fixed seat and a fastening bolt, the base is of an L-shaped seat-shaped structure, and the fixed seat is welded on the base; the fixing base is a concave groove steel structure, two fastening bolts are connected to the fixing base in a threaded mode, and the fixing base and the fastening bolts jointly form a fixing structure of the base.

Furthermore, the adjusting structure comprises four sliding rods A, a sliding track and an electric telescopic rod B, wherein the four sliding rods A are slidably connected to the base, and the four sliding rods A are all of stepped shaft-shaped structures; electric telescopic handle B fixed connection is on the base, and electric telescopic handle B head end and slip track fixed connection to electric telescopic handle B has constituteed the orbital perpendicular regulation formula structure that slides.

Further, the base also comprises a sliding groove, and the sliding groove is formed in the base; the adjusting structure further comprises a sliding block, a sliding seat and an electric telescopic rod A, wherein the sliding block is connected in the sliding track in a sliding mode; sliding seat sliding connection is in the sliding tray, and passes through bolt fixedly connected with electric telescopic handle A on the sliding seat to electric telescopic handle A's head end and sliding block fixed connection.

Furthermore, the book taking structure comprises a mounting seat, sliding rods B, clamping arms and an adjusting rod, wherein the mounting seat is welded on the sliding blocks, the two sliding rods B are welded on the mounting seat, and the two clamping arms are connected on the sliding rods B in a sliding manner; the adjusting rod is rotatably connected to the mounting seat, and the head end and the tail end of the adjusting rod are respectively in threaded connection with the two clamping arms; the screw thread direction of adjusting rod head end and tail end is opposite, and adjusts the synchronous reverse regulation formula structure of pole constitution two centre gripping arms.

Further, get book structure and still include the arch, the inboard of two centre gripping arms all is the welding of rectangle array form and has protruding, and protruding wavy structure to the stable clamping structure of books has been constituteed jointly to the protruding of rectangle array form welded.

Furthermore, the base further comprises a discharge hole, the base is provided with the discharge hole, the discharge hole is of a rectangular hole-shaped structure, and the discharge hole is aligned with the clamping arm.

Compared with the prior art, the invention has the following beneficial effects:

through the cooperation setting of adjusting the structure, getting book structure, auxiliary structure and the structure of unloading, can realize getting the book structure and stretch out forward the centre gripping that carries out books and get the book structure shrink and take out books, can realize the automatic discharge of books through the cooperation with the structure of unloading this moment, and can realize the quick adjustment of books centre gripping quantity through the regulation of adjusting the structure, specifically go into down: firstly, the adjusting rod is rotatably connected to the mounting seat, and the head end and the tail end of the adjusting rod are respectively in threaded connection with the two clamping arms; the thread directions of the head end and the tail end of the adjusting rod are opposite, and the adjusting rod forms a synchronous reverse adjusting structure of the two clamping arms, so that synchronous reverse adjustment of the two clamping arms can be realized; secondly, the head ends of the two sliding rods C are connected with the gear row in a welding mode, the two sliding rods C are respectively sleeved with an elastic piece, and the two elastic pieces jointly form an elastic reset structure of the sliding rods C and the gear row; the book taking structure further comprises a gear, the gear is mounted on the adjusting rod and is meshed with the gear row, so that on one hand, when the electric telescopic rod B drives the sliding track to vertically extend and retract, the adjusting rod can be rotated and adjusted through meshing transmission of the gear and the gear row, further, the distance between the two clamping arms can be adjusted, and finally, clamping of books with different quantities can be achieved, and on the other hand, the gear row can still be meshed with the gear after the electric telescopic rod A drives the sliding block to extend and retract through the arrangement of the elastic piece; thirdly, because the unloading block is a triangular prism-shaped structure, and when the clamping arms move backwards for 15cm, the two clamping arms are in contact with the unloading block, so that the elastic deformation of the clamping arms can be realized under the stirring of the unloading block, and the unloading of books is realized.

Drawings

Fig. 1 is a schematic axial view of the present invention.

Fig. 2 is a schematic front view of the present invention.

Fig. 3 is a schematic axial view of the adjusting mechanism of the present invention.

Fig. 4 is a schematic axial view of the present invention in another direction as shown in fig. 3.

Fig. 5 is a schematic axial view of the base of the present invention.

Fig. 6 is an enlarged schematic axial view of the adjusting structure, the book taking structure, the auxiliary structure and the discharging structure of the present invention.

Fig. 7 is an enlarged schematic view of fig. 6 a according to the present invention.

In the drawings, the corresponding relationship between the component names and the reference numbers is as follows:

1. a base; 101. a fixed seat; 102. fastening a bolt; 103. a sliding groove; 104. a discharge opening; 2. an adjustment structure; 201. a slide bar A; 202. a sliding track; 203. a slider; 204. a sliding seat; 205. an electric telescopic rod A; 206. an electric telescopic rod B; 3. a book taking structure; 301. a mounting seat; 302. a slide bar B; 303. a clamp arm; 304. adjusting a rod; 305. a protrusion; 306. a gear; 4. an auxiliary structure; 401. a slide bar C; 402. a tooth row; 403. an elastic member; 5. a discharging structure; 501. a frame body; 502. and (7) discharging the blocks.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example (b):

as shown in figures 1 to 7:

the invention provides a robot for automatically storing and taking books in a library, which comprises a base 1; an adjusting structure 2 is arranged on the base 1, and a book taking structure 3 is arranged on the adjusting structure 2; an auxiliary structure 4 is arranged on the base 1, and a discharging structure 5 is also arranged on the base 1; referring to fig. 5 and 6, the auxiliary structure 4 includes two sliding rods C401, two rows of teeth 402 and an elastic member 403, the two sliding rods C401 are slidably connected to the base 1, and the two sliding rods C401 are each of a stepped shaft-like structure; the head ends of the two sliding rods C401 are connected with the tooth row 402 in a welding mode, the two sliding rods C401 are respectively sleeved with an elastic piece 403, and the two elastic pieces 403 jointly form an elastic reset structure of the sliding rods C401 and the tooth row 402; the book taking structure 3 further comprises a gear 306, the gear 306 is mounted on the adjusting rod 304, and the gear 306 is meshed with the tooth row 402, so that on one hand, when the electric telescopic rod B206 drives the sliding track 202 to vertically extend and retract, the gear 306 and the tooth row 402 are meshed for transmission, so that the rotating adjustment of the adjusting rod 304 can be realized, the distance between the two clamping arms 303 can be adjusted, and finally, the clamping of different numbers of books can be realized, and on the other hand, the tooth row 402 can still be meshed with the gear 306 after the electric telescopic rod a205 drives the sliding block 203 to extend and retract through the arrangement of the elastic member 403; referring to fig. 5, the discharging structure 5 comprises a frame body 501 and a discharging block 502, wherein the frame body 501 is welded on the sliding rail 202, the frame body 501 is of a concave structure, and the discharging block 502 is welded on the top end surface of the inner wall of the frame body 501; the discharging block 502 is of a triangular prism structure, and when the clamping arms 303 move 15cm backwards, the two clamping arms 303 are in contact with the discharging block 502, so that elastic deformation of the clamping arms 303 can be realized under the stirring of the discharging block 502, and further, the discharging of books is realized.

Referring to fig. 3, the base 1 includes a fixing seat 101 and a fastening bolt 102, the base 1 is an L-shaped seat-shaped structure, and the fixing seat 101 is welded on the base 1; the fixing seat 101 is a concave-groove steel structure, two fastening bolts 102 are connected to the fixing seat 101 in a threaded manner, and the fixing seat 101 and the fastening bolts 102 jointly form a fixing structure of the base 1, so that the device can be fixed on a book shelf through the fixing seat 101 and the fastening bolts 102.

Referring to fig. 2 and 3, the adjusting structure 2 includes four sliding rods a201, four sliding rails 202 and an electric telescopic rod B206, the four sliding rods a201 are slidably connected to the base 1, and the four sliding rods a201 are all stepped shaft-shaped structures; electric telescopic handle B206 fixed connection is on base 1, and electric telescopic handle B206 head end and slip track 202 fixed connection to electric telescopic handle B206 has constituteed the vertical direction regulation formula structure of slip track 202.

Referring to fig. 5 and 6, the base 1 further includes a sliding groove 103, and the sliding groove 103 is formed on the base 1; the adjusting structure 2 further comprises a sliding block 203, a sliding seat 204 and an electric telescopic rod A205, wherein the sliding block 203 is connected in the sliding track 202 in a sliding manner; sliding seat 204 sliding connection is in sliding tray 103, and passes through bolt fixedly connected with electric telescopic handle A205 on the sliding seat 204 to electric telescopic handle A205's head end and sliding block 203 fixed connection, thereby do not influence the upper and lower displacement of sliding rail 202 when the cooperation through sliding seat 204 and sliding tray 103, and can realize the front and back displacement of sliding block 203 through electric telescopic handle A205.

Referring to fig. 7, the book fetching structure 3 includes a mounting seat 301, a sliding rod B302, a clamping arm 303 and an adjusting rod 304, the mounting seat 301 is welded on the sliding block 203, two sliding rods B302 are welded on the mounting seat 301, and two clamping arms 303 are slidably connected on the sliding rods B302; the adjusting rod 304 is rotatably connected to the mounting base 301, and the head end and the tail end of the adjusting rod 304 are respectively in threaded connection with the two clamping arms 303; the thread directions of the head end and the tail end of the adjusting rod 304 are opposite, and the adjusting rod 304 forms a synchronous reverse adjusting structure of the two clamping arms 303, so that synchronous reverse adjustment of the two clamping arms 303 can be realized.

Referring to fig. 6, the book fetching structure 3 further includes protrusions 305, the protrusions 305 are welded to the inner sides of the two clamping arms 303 in a rectangular array, the protrusions 305 are in a wave-shaped structure, and the protrusions 305 welded in a rectangular array jointly form a stable clamping structure for a book, so that the stability of clamping the book can be improved.

Referring to fig. 5, the base 1 further includes a discharge hole 104, the base 1 is provided with a discharge hole 104, the discharge hole 104 has a rectangular hole structure, and the discharge hole 104 is aligned with the clamping arm 303, so that the book can fall through the discharge hole 104 to complete the discharge.

The specific use mode and function of the embodiment are as follows:

when the book taking mechanism is used, when a book needs to be taken, the book can be taken by stretching the electric telescopic rod A205, and when the electric telescopic rod A205 extends out, the sliding block 203 and the book taking structure 3 can be pushed to move forwards to complete the clamping of the book;

when the number of book clamps needs to be adjusted, firstly, the adjusting rod 304 is rotatably connected to the mounting base 301, and the head end and the tail end of the adjusting rod 304 are respectively in threaded connection with the two clamping arms 303; the thread directions of the head end and the tail end of the adjusting rod 304 are opposite, and the adjusting rod 304 forms a synchronous reverse adjusting structure of the two clamping arms 303, so that synchronous reverse adjustment of the two clamping arms 303 can be realized; secondly, the head ends of the two sliding rods C401 are connected with the tooth row 402 in a welding manner, the two sliding rods C401 are respectively sleeved with an elastic piece 403, and the two elastic pieces 403 jointly form an elastic reset structure of the sliding rods C401 and the tooth row 402; the book taking structure 3 further comprises a gear 306, the gear 306 is mounted on the adjusting rod 304, and the gear 306 is meshed with the tooth row 402, so that on one hand, when the electric telescopic rod B206 drives the sliding track 202 to vertically extend and retract, the gear 306 and the tooth row 402 are meshed for transmission, so that the rotating adjustment of the adjusting rod 304 can be realized, the distance between the two clamping arms 303 can be adjusted, and finally, the clamping of different numbers of books can be realized, and on the other hand, the tooth row 402 can still be meshed with the gear 306 after the electric telescopic rod a205 drives the sliding block 203 to extend and retract through the arrangement of the elastic member 403;

when the book unloading device needs to unload the book, the unloading block 502 is in a triangular prism structure, and the two clamping arms 303 are in contact with the unloading block 502 when the clamping arms 303 move backwards for 15cm, so that the elastic deformation of the clamping arms 303 can be realized under the stirring of the unloading block 502, and the book unloading is further realized.

The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

1. The utility model provides an automatic access books robot in library which characterized in that: comprises a base (1); the base (1) is provided with an adjusting structure (2), and the adjusting structure (2) is provided with a book fetching structure (3); an auxiliary structure (4) is arranged on the base (1), and a discharging structure (5) is also arranged on the base (1); the auxiliary structure (4) comprises two sliding rods C (401), a gear row (402) and an elastic piece (403), the two sliding rods C (401) are arranged, the two sliding rods C (401) are connected to the base (1) in a sliding mode, and the two sliding rods C (401) are of stepped shaft-shaped structures; the head ends of the two sliding rods C (401) are connected with the tooth row (402) in a welding mode, the two sliding rods C (401) are respectively sleeved with an elastic piece (403), and the two elastic pieces (403) jointly form an elastic reset structure of the sliding rods C (401) and the tooth row (402); the book fetching structure (3) further comprises a gear (306), the gear (306) is installed on the adjusting rod (304), and the gear (306) is meshed with the gear row (402); the discharging structure (5) comprises a frame body (501) and a discharging block (502), the frame body (501) is welded on the sliding rail (202), the frame body (501) is of a concave structure, and the discharging block (502) is welded on the top end face of the inner wall of the frame body (501); the discharging block (502) is of a triangular prism-shaped structure, and the two clamping arms (303) are in contact with the discharging block (502) when the clamping arms (303) move 15cm backwards.

2. The robot for automatically accessing books in a library of claim 1, wherein: the base (1) comprises a fixed seat (101) and a fastening bolt (102), the base (1) is of an L-shaped seat-shaped structure, and the fixed seat (101) is welded on the base (1); the fixing seat (101) is of a concave groove steel structure, two fastening bolts (102) are connected to the fixing seat (101) in a threaded mode, and the fixing seat (101) and the fastening bolts (102) jointly form a fixing structure of the base (1).

3. The robot for automatically accessing books in a library of claim 1, wherein: the adjusting structure (2) comprises four sliding rods A (201), four sliding rails (202) and an electric telescopic rod B (206), wherein the four sliding rods A (201) are arranged, the four sliding rods A (201) are all connected to the base (1) in a sliding mode, and the four sliding rods A (201) are all of stepped shaft-shaped structures; electric telescopic handle B (206) fixed connection is on base (1), and electric telescopic handle B (206) head end and slip track (202) fixed connection to electric telescopic handle B (206) has constituteed the vertical direction regulation formula structure of slip track (202).

4. The robot for automatically accessing books in a library of claim 1, wherein: the base (1) further comprises a sliding groove (103), and the sliding groove (103) is formed in the base (1); the adjusting structure (2) further comprises a sliding block (203), a sliding seat (204) and an electric telescopic rod A (205), wherein the sliding block (203) is connected in the sliding track (202) in a sliding mode; sliding seat (204) sliding connection is in sliding tray (103), and passes through bolt fixedly connected with electric telescopic handle A (205) on sliding seat (204), and the head end and the sliding block (203) fixed connection of electric telescopic handle A (205).

5. The robot for automatically accessing books in a library of claim 1, wherein: the book taking structure (3) comprises a mounting seat (301), sliding rods B (302), clamping arms (303) and an adjusting rod (304), wherein the mounting seat (301) is welded on a sliding block (203), the mounting seat (301) is welded with the two sliding rods B (302), and the sliding rods B (302) are connected with the two clamping arms (303) in a sliding manner; the adjusting rod (304) is rotatably connected to the mounting base (301), and the head end and the tail end of the adjusting rod (304) are respectively in threaded connection with the two clamping arms (303); the thread directions of the head end and the tail end of the adjusting rod (304) are opposite, and the adjusting rod (304) forms a synchronous reverse adjusting type structure of the two clamping arms (303).

6. The robot for automatically accessing books in a library of claim 1, wherein: get book structure (3) and still include arch (305), the inboard of two centre gripping arms (303) all is the welding of rectangular array form and has arch (305), and arch (305) are wavy structure to the stable clamping structure of books has been constituteed jointly in rectangular array form welded arch (305).

7. The robot for automatically accessing books in a library of claim 1, wherein: the base (1) further comprises a discharge hole (104), the base (1) is provided with the discharge hole (104), the discharge hole (104) is of a rectangular hole-shaped structure, and the discharge hole (104) is aligned with the clamping arm (303).