CN112318470A - Automatic book storing and taking unmanned vehicle integrated with mechanical arm - Google Patents

Automatic book storing and taking unmanned vehicle integrated with mechanical arm Download PDF

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Publication number
CN112318470A
CN112318470A CN202010963204.0A CN202010963204A CN112318470A CN 112318470 A CN112318470 A CN 112318470A CN 202010963204 A CN202010963204 A CN 202010963204A CN 112318470 A CN112318470 A CN 112318470A
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CN
China
Prior art keywords
module
book
grabbing
motion
vehicle body
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Pending
Application number
CN202010963204.0A
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Chinese (zh)
Inventor
王如意
吴万
赵海洋
韩冰
杨凌
王裕
李怡静
都杰铭
施禾羽子
王啸
王峥岩
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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Application filed by Wuhan University of Technology WUT filed Critical Wuhan University of Technology WUT
Priority to CN202010963204.0A priority Critical patent/CN112318470A/en
Publication of CN112318470A publication Critical patent/CN112318470A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1689Teleoperation

Abstract

The invention discloses an automatic book storing and taking unmanned vehicle integrating mechanical arms, which comprises a vehicle body, wherein a book grabbing mechanical arm, a book storing device, a state information monitoring module and a motion control module are arranged inside the vehicle body, and a chassis driving module is arranged at the bottom of the vehicle body; the book grabbing mechanical arm, the state information monitoring module and the chassis driving module are respectively and electrically connected with the motion control module; according to the invention, through the deep integration of the unmanned technology, the machine vision technology, the high-precision mechanical arm grabbing technology, the self-adaptive book storage technology and the like, the accurate grabbing and storage operation of books with different thicknesses and sizes is realized, and the books are transported to a specified place according to the needs, so that the book borrowing and returning efficiency of book borrowers is improved, related workers are liberated from the heavy book arrangement work, and finally the unmanned and intelligent management of the whole processes of book access, transportation, arrangement and the like is realized.

Description

Automatic book storing and taking unmanned vehicle integrated with mechanical arm
Technical Field
The invention belongs to the technical field of automatic book storing and taking, and particularly relates to an automatic book storing and taking unmanned vehicle integrated with a mechanical arm, which is suitable for places such as libraries, bookstores, archives and the like.
Background
With the gradual increase of the world status and the national image of China, the quality and the cultural degree of the nation are gradually improved, and the borne cultural influence is also spread worldwide. In recent years, the number of libraries in China is increasing day by day, the total number of libraries in 2019 reaches 10588, and the scale of users in the domestic knowledge paying market is nearly 4 hundred million people.
However, there are many disadvantages in the existing library management mode, which mainly include:
(1) the time spent by a borrower for searching books is long, and according to incomplete statistics, the time spent by the borrower for searching the books can averagely reach 30min, mainly because the book information is slowly updated and the library collection distribution of the borrower is unknown, so that the book storage position cannot be quickly found;
(2) the book management personnel work tediously and difficultly, and the main work of the management personnel comprises the steps of arranging and classifying books and conveying the books to a bookshelf, so that the process is complicated, time-consuming and labor-consuming.
In order to solve the defects, a smart library is produced by the self, and the smart library is an innovation body organically combining automatic management and traditional library work by applying an intelligent technology to the library. The patent with the publication number of CN110315550A discloses a four-claw type automatic book fetching device for a library, which comprises an AGV trolley, a vehicle-mounted micro bookshelf, an elevating mechanism, a book fetching mechanism and a CCD camera, wherein the vehicle-mounted micro bookshelf is arranged at the right end above the AGV trolley, the elevating mechanism is arranged at the left end above the AGV trolley, the book fetching mechanism is arranged above the elevating mechanism, and the CCD camera is arranged at the right end of the book fetching mechanism. The invention can be applied to libraries and archives, reduces the working pressure of managers and improves the working efficiency. The four-claw type access mechanism can automatically complete book storage and taking, cannot damage books, and simultaneously does not need to reconstruct the existing library on a large scale. The vehicle-mounted miniature bookshelf in the patent has the advantages that the number of stored books is small, the thickness of the books cannot be self-adapted, the books are too thick and cannot be placed in the vehicle-mounted miniature bookshelf, the books are too thin, the vehicle-mounted miniature bookshelf cannot clamp the books, the transportation process is unstable, and the books easily fall off from the vehicle-mounted miniature bookshelf; in addition, the lifting mechanism and the book storing and taking mechanism of the patent only have 3 degrees of freedom, the flexibility is poor, and the transverse movement is realized by the movement of a trolley; and the structure limits that the vehicle-mounted micro bookshelf must be an arc-shaped structure, and the conventional vehicle-mounted bookshelf cannot be matched with a lifting mechanism and a book storing and taking mechanism of the conventional vehicle-mounted bookshelf.
Disclosure of Invention
The invention aims to provide an automatic book storing and taking unmanned vehicle integrated with mechanical arms, and solves the problems that in the prior art, a vehicle-mounted bookshelf cannot adapt to the thickness of books in a self-adaptive mode, the books easily fall off, the flexibility of an existing book grabbing mechanical arm is poor, and the existing book grabbing mechanical arm cannot be matched with a conventional vehicle-mounted bookshelf.
In order to achieve the purpose, the invention adopts the technical scheme that:
an unmanned automatic book storing and taking vehicle integrating mechanical arms comprises a vehicle body, wherein a book grabbing mechanical arm, a book storing device, a state information monitoring module and a motion control module are arranged inside the vehicle body, and a chassis driving module is arranged at the bottom of the vehicle body; the book grabbing mechanical arm, the state information monitoring module and the chassis driving module are respectively and electrically connected with the motion control module;
the book grabbing mechanical arm comprises a horizontal movement module, a vertical movement module, a depth movement module, a rotary movement module and a tail end grabbing executing mechanism; the horizontal movement module and the depth movement module are respectively vertical to the vertical movement module; the vertical motion module is installed on the horizontal motion module through the rotary motion module, and the depth motion module is installed on the vertical motion module; the tail end grabbing executing mechanism is arranged at the free end of the depth movement module;
the book storage device comprises a plurality of layers of bookshelves, and a plurality of clamping devices and book ends are arranged on each layer of bookshelves; each layer of bookshelf is used for storing books with different thickness ranges; the book end is used for righting books.
The state information monitoring module comprises a central control display screen, and a battery electric quantity sensor, a vehicle speed sensor, a power supply temperature sensor, a counting module, a distance measuring sensor, a GPS positioning module and a GPRS module which are electrically connected with the central control display screen; the counting module is arranged on the bookshelf and used for counting the number of books stored on the bookshelf; the distance measuring sensors are arranged on the periphery of the vehicle body and used for detecting the distance between an obstacle outside the vehicle body and the vehicle body; the GPRS module is used for communicating with a background;
the motion control module comprises a central processing unit, and a vision sensing module, a laser sensing module, a pressure sensing module, an image recognition module, a path planning module and an autonomous navigation module which are electrically connected with the central processing unit; the visual sensing module is arranged on the book grabbing mechanical arm and used for acquiring book number and thickness information of books; the pressure sensing module is arranged on the tail end grabbing actuating mechanism and used for feeding back grabbing force of the tail end grabbing actuating mechanism.
The invention obtains the power supply electric quantity, temperature, driving speed, real-time position, surrounding environment obstacle condition, the number of books in the automatic storing and taking unmanned vehicle through the state information monitoring module, combines the book borrowing and returning information, the borrowing and returning order condition, the book storage position and other book information, displays the information on the central control display screen in a pattern or digital mode, and simultaneously sends the information to the background through the GPRS module in a wireless transmission mode, so that the manager can remotely monitor the running state of the automatic storing and taking unmanned vehicle of books, and can timely inform the background manager to make a quick response if an emergency occurs, thereby ensuring the normal running of the automatic storing and taking unmanned vehicle of books.
Specifically, the horizontal movement module drives the screw rod to rotate through the motor, and drives the vertical movement module to do linear movement along the horizontal movement module in the horizontal direction; the vertical motion module drives the screw rod to rotate through the motor, and drives the depth motion module to do linear motion along the vertical motion module in the vertical direction; the rotary motion module drives the vertical motion module to rotate along the central axis of the rotary motion module in the horizontal direction through the motor; the depth motion module drives the tail end grabbing actuating mechanism to do linear motion along the depth motion module in the horizontal direction through the electric push rod.
Furthermore, the tail end grabbing executing mechanism comprises a gear transmission module and two E-shaped grippers, the two grippers are respectively arranged at two free ends of the gear transmission module, and the two grippers are driven to mutually approach or move away through the gear transmission module, so that the clamping or loosening state of the tail end grabbing executing mechanism is realized; through setting up "E" font tongs, can guarantee to stably press from both sides and get books, avoid books to appear folding paper phenomenon gripping and the storage in-process.
Furthermore, a plurality of friction rollers are arranged on the E-shaped gripper, and the friction rollers can assist the gripper to accurately and stably place a book into the bookshelf.
Specifically, the clamping device comprises a clamping plate, and two mounting feet are arranged at the bottom of the clamping plate; the top surface of a shelf of the bookshelf is provided with two parallel guide grooves, and the cross section shapes and the sizes of the guide grooves are matched with those of the mounting feet; the distance between the two mounting feet is equal to the distance between the two guide grooves; the two mounting feet of the clamping plate are movably embedded in the two guide grooves; the mounting feet of the adjacent clamping plates are elastically connected through the spring, the distance between the two adjacent clamping plates is smaller than the thickness of the book, when the book is placed between the two clamping plates, the adjacent clamping plates can be spread, and under the resilience effect of the spring, the adjacent clamping plates have a certain clamping effect on the book, so that the book can be prevented from falling off the bookshelf; at the same time, the clamping device can adapt to books with a certain thickness range within the elastic range of the clamping device.
Specifically, the chassis driving module comprises 4 Mecanum wheels mounted on the chassis and 4 direct current motors respectively used for driving the 4 Mecanum wheels to rotate, and the direct current motors are connected with the Mecanum wheels through belts to transmit power; through adopting mecanum wheel as the walking wheel, can realize going straight, violently going, the slant, snaking, rotate and motion modes such as combination with the arbitrary angle of zero radius to can fix a position fast, be fit for working in the environment that the space of transporting is limited, the operation passageway is narrow, can improve operation guarantee efficiency, increase space utilization and reduce the human cost.
Furthermore, the chassis adopts a hollow design structure, the weight of the whole device is reduced under the requirement of ensuring the strength of the chassis, and the device is more environment-friendly in use.
Specifically, the side of automobile body is equipped with automatic flexible door, automatic flexible door is connected with the motion control module electricity, snatchs when the arm needs to stretch out the automobile body as books automatic flexible door is opened, makes things convenient for books to snatch the arm and puts books in the assigned position.
Specifically, an ultraviolet disinfection module is arranged inside the bookshelf and used for disinfecting and sterilizing books on the bookshelf.
Specifically, an alarm lamp is arranged outside the vehicle body and electrically connected with the motion control module; when the unmanned vehicle encounters an emergency (such as insufficient electric quantity, overhigh power supply temperature, or about to collide with an obstacle) the motion control module controls an alarm lamp to respond to an alarm prompt.
Compared with the prior art, the invention has the beneficial effects that:
(1) the book grabbing mechanical arm comprises a horizontal movement module, a vertical movement module, a depth movement module and a rotation movement module, has 4 degrees of freedom, can grab books flexibly and realizes the storage or taking out of the books;
(2) the bookshelf is provided with the clamping device adaptive to the thickness of books, the mounting feet of the adjacent clamping plates are connected through the springs, so that the storage and stable clamping functions of the books with different thicknesses can be realized, and the phenomenon that the next mechanical arm fails to take the books due to inclination or turnover caused by shaking of the books in the transportation process is avoided;
(3) according to the invention, by arranging the state information monitoring module based on multi-sensor fusion, the real-time monitoring of the power supply electric quantity, the temperature, the driving speed, the real-time position, the surrounding environment barrier condition, the automatic access of the number of books in the unmanned vehicle and other information of the device can be realized, and the information is transmitted to the background through a wireless sensing technology, so that the management personnel can conveniently carry out remote management on each state of the device, and meanwhile, the stable operation of the device is ensured.
Drawings
FIG. 1 is a schematic view of the interior structure of a vehicle body according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the book gripping robot arm of the present invention;
FIG. 3 is a schematic structural diagram of an end effector mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic view showing the overall structure of the book storage device according to the embodiment of the present invention;
FIG. 5 is a schematic view of a clamping device according to an embodiment of the present invention;
FIG. 6 is a schematic view of the clamping device and the mounting structure of the book stand on the bookrack according to the embodiment of the present invention;
FIG. 7 is a schematic block diagram of internal functional modules of a status information monitoring module according to an embodiment of the present invention;
FIG. 8a is a front view of a chassis drive module in an embodiment of the invention;
FIG. 8b is a side view of a chassis drive module in an embodiment of the invention;
FIG. 8c is a top view of a chassis drive module in an embodiment of the present invention;
FIG. 9 is a schematic diagram of a driving structure of a Mecanum wheel and a DC motor according to an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of a chassis according to an embodiment of the present invention;
FIG. 11 is a schematic block diagram of the internal functional blocks of the motion control module in an embodiment of the present invention;
FIG. 12 is a schematic view of an exemplary embodiment of a visual sensor module mounted on an end effector;
FIG. 13 is a schematic view of the overall structure of an unmanned vehicle according to an embodiment of the present invention;
in the figure: 1. a book grabbing mechanical arm; 101. a horizontal movement module; 102. a rotary motion module; 103. a vertical motion module; 104. a depth motion module; 105. a tail end grabbing executing mechanism; 1051. a gripper; 1052. a rubbing roller; 1053. a gear transmission module; 2. a book storage device; 201. a bookshelf; 202. a clamping device; 2021. a splint; 2022. mounting a foot; 2023. a spring; 203. a book stand; 204. a guide block; 205. a guide groove; 206. a support; 3. a status information monitoring module; 4. a chassis drive module; 401. a Mecanum wheel; 402. a direct current motor; 403. a direct current power supply; 404. a belt; 405. a chassis; 4051. a base plate; 4052. a reinforcing plate; 4053. an inner liner plate; 4054. a profiled hole; 5. a motion control module; 6. a vehicle body; 601. a housing; 602. an automatic retractable door; 603. an ultraviolet disinfection module; 604. an alarm light.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present embodiment provides an automatic book storing and taking unmanned vehicle integrated with a mechanical arm, which includes a vehicle body 6, a book grabbing mechanical arm 1, a book storage device 2, a status information monitoring module 3 and a motion control module 5 are arranged inside the vehicle body 6, and a chassis driving module 4 is arranged at the bottom of the vehicle body 6; the book grabbing mechanical arm 1, the state information monitoring module 3 and the chassis driving module 4 are respectively and electrically connected with the motion control module 5;
as shown in FIG. 2, the book gripping robot arm 1 comprises a horizontal movement module 101, a vertical movement module 103, a depth movement module 104, a rotational movement module 102 and an end gripping actuator 105; the horizontal movement module 101 and the depth movement module 104 are respectively perpendicular to the vertical movement module 103; the vertical motion module 103 is installed on the horizontal motion module 101 through the rotary motion module 102, and the depth motion module 104 is installed on the vertical motion module 103; the end grabbing actuator 105 is installed at the free end of the depth motion module 104;
as shown in fig. 4, in the present embodiment, the book storage device 2 includes 3 layers of bookshelves 201, and each layer of bookshelves 201 is provided with a plurality of clamping devices 202 and 3 book ends 203; each layer of bookshelf 201 is used for storing books with different thickness ranges; wherein, the bottom bookshelf 201 is used for storing books with the thickness more than 30 mm; the middle layer bookshelf 201 is used for storing books with the thickness of 20-30 mm; the top bookshelf 201 is used for storing books with the thickness less than 20mm so as to store books with different thickness gradients; the book stand 203 is used for righting the book.
As shown in fig. 7, the state information monitoring module 3 includes a central control display screen, and a battery power sensor, a vehicle speed sensor, a power supply temperature sensor, a counting module, a distance measuring sensor (in this embodiment, the distance measuring sensor employs an ultrasonic sensor), a GPS positioning module, and a GPRS module electrically connected to the central control display screen; the counting module is installed on the bookshelf 201 and used for counting the number of books stored on the bookshelf 201; the distance measuring sensors are arranged on the periphery of the vehicle body 6 and used for detecting the distance between an obstacle outside the vehicle body 6 and the vehicle body 6; the GPRS module is used for communicating with a background;
as shown in fig. 11, the motion control module 5 includes a central processing unit, and a vision sensing module, a laser sensing module, a pressure sensing module, an image recognition module, a path planning module, and an autonomous navigation module electrically connected to the central processing unit; the vision sensing module is installed on the book grabbing mechanical arm 1 (as shown in fig. 12) and used for acquiring book number and thickness information of books so as to automatically adjust the distance between the two E-shaped grabs 1051; the pressure sensing module is arranged on the tail end grabbing executing mechanism 105, and can sense the stress condition of the hand grip 1051 in the process of grabbing the book, so that negative feedback regulation of grabbing force is realized, and the book is prevented from being damaged due to overlarge grabbing force; the laser sensing module is arranged on the book grabbing mechanical arm 1 and used for transmitting and receiving laser to judge whether books are ready to be placed in corresponding positions; the image recognition module is used for processing the information obtained by the visual sensing module, and obtaining the book number, thickness and other information of the book after character recognition, filtering, denoising, sharpening and other processing, and the central processing unit controls the vehicle body 6 to move to a corresponding position according to the book number, thickness and other information of the book and controls the opening distance of the hand grips 1051 to adapt to the thickness of the book; the path planning module calculates the optimal path of multiple target points (the target points are the storage positions of books in a library and possibly on different floors) through a Dijkstra algorithm, and the autonomous navigation module can realize the functions of instant positioning and navigation so as to ensure that an unmanned vehicle can be automatically stored and taken by an unmanned book and accurately reach the designated position.
The invention obtains the power supply electric quantity, temperature, driving speed, real-time position, surrounding environment obstacle condition, the number of books in the automatic storing and taking unmanned vehicle through the state information monitoring module 3, combines the book borrowing and returning information, the borrowing and returning order condition, the book storage position and other book information, displays the information on the central control display screen in a pattern or digital mode, and simultaneously sends the information to the background through the GPRS module in a wireless transmission mode, so that the manager can remotely monitor the running state of the automatic storing and taking unmanned vehicle of books, and can timely inform the background manager to make a quick response if an emergency occurs, thereby ensuring the normal running of the automatic storing and taking unmanned vehicle of books.
Specifically, the horizontal movement module 101 drives a screw to rotate through a motor, and drives the vertical movement module 103 to move linearly along the horizontal movement module 101 in the horizontal direction; the vertical motion module 103 drives the screw to rotate through the motor, and drives the depth motion module 104 to do linear motion along the vertical motion module 103 in the vertical direction; the rotary motion module 102 drives the vertical motion module 103 to rotate along the central axis of the rotary motion module 102 in the horizontal direction through a motor; the depth motion module 104 drives the tail end grabbing actuator 105 to do linear motion along the depth motion module 104 in the horizontal direction through the electric push rod; the electric push rod comprises a primary electric push rod and a secondary electric push rod.
Further, as shown in fig. 3, the terminal grabbing actuator 105 includes a gear transmission module 1053 and two "E" shaped grippers 1051, the two grippers 1051 are respectively installed at two free ends of the gear transmission module 1053, and the two grippers 1051 are driven by the gear transmission module 1053 to move close to or away from each other, so as to achieve a clamping or releasing state of the terminal grabbing actuator 105; when the tail-end grabbing executing mechanism 105 executes book taking operation, the gear transmission module 1053 controls the distance between the two grabs 1051 to be slightly larger than the thickness of a book, and after the grabs 1051 extend into the two sides of the book to a certain depth, the gear transmission module 1053 controls the two grabs 1051 to fold, so that the book is clamped; by arranging the E-shaped gripper 1051, the book can be stably clamped, and the phenomenon of folding the book in the grabbing and storing processes is avoided.
Further, a plurality of friction rollers 1052 are arranged on the E-shaped hand grip 1051, and the friction rollers 1052 can assist the hand grip 1051 to accurately and smoothly place a book on the bookshelf 201.
Specifically, as shown in fig. 5, the clamping device 202 includes a clamping plate 2021, and two mounting feet 2022 are disposed at the bottom of the clamping plate 2021; two parallel guide grooves 205 are formed in the top surface of the shelf of the bookshelf 201, and the cross sectional shape and size of each guide groove 205 are matched with those of the installation legs 2022; the distance between the two mounting feet 2022 is equal to the distance between the two guide grooves 205; the two mounting feet 2022 of the clamping plate 2021 are movably embedded in the two guide grooves 205; the mounting feet 2022 of the adjacent clamping plates 2021 are elastically connected through a spring 2023, the distance between the two adjacent clamping plates 2021 is smaller than the thickness of the book, after the book is placed between the two clamping plates 2021, the adjacent clamping plates 2021 can be spread, the spring 2023 is in a stretching state, and under the resilience action of the spring 2023, the adjacent clamping plates 2021 have a certain clamping effect on the book, so that the book can be prevented from inclining or overturning in the transportation process; at the same time, the clamping device 202 can accommodate books of a range of thicknesses within its elastic range. In this embodiment, the clamping plate 2021 is a porous clamping plate 2021, which can reduce the weight of the clamping plate 2021.
In this embodiment, each layer of bookshelf 201 is configured with two sets of clamping devices 202, wherein the clamping devices 202 of the bottom layer bookshelf 201 and the middle layer bookshelf 201 are arranged up and down, that is, the clamping devices 202 are arranged at the bottom and the top of the bookshelf 201; the clamping devices 202 of the top bookshelf 201 are arranged below and on the side to improve the space utilization rate of the whole structure.
Specifically, as shown in fig. 6, the book stand 203 is in an inverted U shape, a guide block 204 is arranged at the bottom of the book stand 203, and the guide block 204 is movably embedded in a guide groove 205; the bottom of the bookshelf 201 is provided with a bracket 206, and the bookshelf 201 is installed inside the vehicle body 6 through the bracket 206.
Specifically, as shown in fig. 8 and 9, the chassis driving module 4 includes 4 mecanum wheels 401 mounted on a chassis 405, 4 dc motors 402 respectively for driving the 4 mecanum wheels 401 to rotate, and 4 dc power supplies 403 respectively for supplying power to the 4 dc motors 402; the dc power supply 403 and the dc motor 402 are both mounted on the base 4051 and are arranged in a compact manner to save space within the automated book retrieval and retrieval unmanned vehicle. The direct current motor 402 is connected with the Mecanum wheel 401 through a belt 404 to transmit power; the Mecanum wheel 401 comprises a wheat wheel roller and a wheel hub, wherein the central axis of the wheat wheel roller and the central axis of the wheel hub are arranged at an angle of 45 degrees; through adopting mecanum wheel 401 as the walking wheel, can realize going straight, violently going, the slant, snaking, rotate and motion modes such as combination with the arbitrary angle of zero radius to can fix a position fast, be fit for working in the environment that the space of transporting is limited, the operation passageway is narrow, can improve operation guarantee efficiency, increase space utilization and reduce the human cost.
Further, as shown in fig. 10, the chassis 405 includes a bottom plate 4051, a reinforcing plate 4052, an inner lining plate 4053, and a shaped hole 4054, wherein the bottom plate 4051 is a bottom platform of the unmanned vehicle for automatically storing and taking the whole book, and the reinforcing plate 4052 not only provides a moving space and a non-interference output environment for the belt 404, but also improves the carrying capacity of the whole structure. Inner lining plate 4053 is semi-circular, and mecanum wheel 401 moves under it, not only can prevent the interference of sundries brought up by rotation of mecanum wheel 401 to the automatic storing and taking unmanned car of books, but also increases the whole aesthetic property and harmony. The special-shaped hole 4054 is designed to reduce the weight of the entire structure and accelerate heat dissipation while ensuring the strength of the bottom plate 4051, so as to achieve the purposes of energy saving and environmental protection.
Specifically, as shown in fig. 13, the vehicle body 6 includes a housing 601; an automatic retractable door 602 is arranged on the side surface of the vehicle body 6, the automatic retractable door 602 is electrically connected with the motion control module 5, and when the book grabbing mechanical arm 1 needs to extend out of the vehicle body 6, the automatic retractable door 602 is opened, so that the book grabbing mechanical arm 1 can place books at a designated position conveniently; an ultraviolet disinfection module 603 is arranged in the vehicle body 6 and is used for disinfecting and sterilizing books on the bookshelf 201; an alarm lamp 604 is arranged outside the vehicle body 6, and the alarm lamp 604 is electrically connected with the motion control module 5; when the unmanned vehicle encounters an emergency (such as insufficient electric quantity, overhigh power supply temperature, or about to collide with an obstacle), the motion control module 5 controls an alarm lamp to respond to an alarm prompt; still be equipped with the module of charging in the automobile body 6, accessible charging module charges for the power when the power electric quantity is not enough.
The unmanned vehicle book-taking process in the embodiment is as follows: the order information of the user is acquired from the background through the GPRS module in the state information monitoring module 3, when the number of orders is accumulated to a certain number, the books are automatically stored and taken in the unmanned vehicle, the optimal path of multiple target points is planned through the path planning module according to the storage positions of the books in the order information, and the unmanned vehicle can be ensured to accurately reach the designated position through the instant positioning and navigation realized through the autonomous navigation module; after the book reaches a designated position (a storage position of a book to be borrowed in a library), the motion control module 5 controls the book grabbing mechanical arm 1 to move the tail end actuating mechanism to the height of the book to be grabbed, image information of the book to be grabbed is obtained through the vision sensing module, and after the book information is successfully matched, book thickness information is extracted through the image processing module; the motion control module 5 adjusts the distance between the E-shaped grippers 1051 according to the thickness information of the books, and then performs position correction through the laser sensing module, so that the two grippers 1051 are exactly positioned at the two sides of the books to be gripped; then, the tail end executing mechanism is pushed by the depth movement module 104, so that the book grabbing operation is realized, and the book is stored on the bookshelf 201 on the vehicle body 6 with the corresponding thickness through the book grabbing mechanical arm 1 according to the thickness of the book; and finishing single book fetching, and continuing to execute the next book fetching task. The book storing process and the book fetching process are the same in principle.
This embodiment accessible customer end carries out books inquiry, borrows and places an order and makes an appointment and get operations such as book, has practiced thrift the time that the books seeker looked for the book, and the book classification that is simultaneously boring and laboursome, the work of transporting is accomplished by the automatic access unmanned car of books, alleviates books managers' work load greatly, has not only brought into play the advantage of books resource to a great extent, has also improved quality of service.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The automatic book storing and taking unmanned vehicle integrated with the mechanical arm comprises a vehicle body and is characterized in that a book grabbing mechanical arm, a book storing device, a state information monitoring module and a motion control module are arranged inside the vehicle body, and a chassis driving module is arranged at the bottom of the vehicle body; the book grabbing mechanical arm, the state information monitoring module and the chassis driving module are respectively and electrically connected with the motion control module;
the book grabbing mechanical arm comprises a horizontal movement module, a vertical movement module, a depth movement module, a rotary movement module and a tail end grabbing executing mechanism; the horizontal movement module and the depth movement module are respectively vertical to the vertical movement module; the vertical motion module is installed on the horizontal motion module through the rotary motion module, and the depth motion module is installed on the vertical motion module; the tail end grabbing executing mechanism is arranged at the free end of the depth movement module;
the book storage device comprises a plurality of layers of bookshelves, and a plurality of clamping devices and book ends are arranged on each layer of bookshelves;
the state information monitoring module comprises a central control display screen, and a battery electric quantity sensor, a vehicle speed sensor, a power supply temperature sensor, a counting module, a distance measuring sensor, a GPS positioning module and a GPRS module which are electrically connected with the central control display screen; the counting module is arranged on the bookshelf and used for counting the number of books stored on the bookshelf; the distance measuring sensors are arranged on the periphery of the vehicle body and used for detecting the distance between an obstacle outside the vehicle body and the vehicle body; the GPRS module is used for communicating with a background;
the motion control module comprises a central processing unit, and a vision sensing module, a laser sensing module, a pressure sensing module, an image recognition module, a path planning module and an autonomous navigation module which are electrically connected with the central processing unit; the visual sensing module is arranged on the book grabbing mechanical arm and used for acquiring book number and thickness information of books; the pressure sensing module is arranged on the tail end grabbing actuating mechanism and used for feeding back grabbing force of the tail end grabbing actuating mechanism.
2. The automated mechanical arm integrated book storage and retrieval unmanned vehicle as claimed in claim 1, wherein the horizontal motion module drives the screw to rotate through the motor, and drives the vertical motion module to move linearly along the horizontal motion module in the horizontal direction; the vertical motion module drives the screw rod to rotate through the motor, and drives the depth motion module to do linear motion along the vertical motion module in the vertical direction; the rotary motion module drives the vertical motion module to rotate along the central axis of the rotary motion module in the horizontal direction through the motor; the depth motion module drives the tail end grabbing actuating mechanism to do linear motion along the depth motion module in the horizontal direction through the electric push rod.
3. The automatic book storing and taking unmanned vehicle integrated with mechanical arms as claimed in claim 1 or 2, wherein the end grabbing actuator comprises a gear transmission module and two E-shaped grippers, the two grippers are respectively mounted at two free ends of the gear transmission module, and the gear transmission module drives the two grippers to move close to or away from each other, so as to realize the clamping or loosening state of the end grabbing actuator.
4. The robotic arm integrated automated book access unmanned vehicle of claim 3, wherein the E-shaped gripper is provided with a plurality of friction rollers.
5. The robotic arm integrated automated book access unmanned vehicle of claim 1, wherein the clamping device comprises a clamping plate, and two mounting feet are provided at the bottom of the clamping plate; the top surface of a shelf of the bookshelf is provided with two parallel guide grooves, and the cross section shapes and the sizes of the guide grooves are matched with those of the mounting feet; the distance between the two mounting feet is equal to the distance between the two guide grooves; the two mounting feet of the clamping plate are movably embedded in the two guide grooves; the mounting feet of the adjacent clamping plates are elastically connected through springs.
6. The robot-integrated automated book accessing unmanned vehicle of claim 1, wherein the chassis driving module comprises 4 Mecanum wheels mounted on the chassis, 4 DC motors for driving the 4 Mecanum wheels to rotate respectively, and the DC motors are connected with the Mecanum wheels through belts for power transmission.
7. The robotic arm integrated automated book access unmanned vehicle of claim 6, wherein the chassis is of a hollowed-out design.
8. The unmanned vehicle integrating mechanical arms and automatic book storing and taking is characterized in that an automatic retractable door is arranged on the side face of the vehicle body and is electrically connected with the motion control module.
9. The robot-integrated automatic book storing and taking unmanned vehicle as claimed in claim 1, wherein an ultraviolet disinfection module is arranged inside the vehicle body.
10. The robot-arm-integrated automatic book storing and taking unmanned vehicle as claimed in claim 1, wherein an alarm lamp is arranged outside the vehicle body, and the alarm lamp is electrically connected with the motion control module.
CN202010963204.0A 2020-09-14 2020-09-14 Automatic book storing and taking unmanned vehicle integrated with mechanical arm Pending CN112318470A (en)

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