CN112757987B

CN112757987B - Intelligent book management robot

Info

Publication number: CN112757987B
Application number: CN202011626897.0A
Authority: CN
Inventors: 李学生; 龚迪琛; 黄元辉
Original assignee: Delu Power Technology Chengdu Co ltd
Current assignee: Delu Power Technology Chengdu Co ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2022-04-01
Anticipated expiration: 2040-12-30
Also published as: CN112757987A

Abstract

The invention relates to an intelligent book management robot, which comprises a bookcase, a placing rack, a lifting support and a vehicle body; the bookcase comprises a bookshelf and at least one removable book bracket, the bookshelf is fixedly arranged on the vehicle body, and the removable book bracket is operably arranged on the bookshelf; the placing frame comprises a grabbing table for taking out the removable book bracket and a book pushing assembly for pushing out a book in the removable book bracket, wherein the book pushing assembly comprises a book pushing plate; the lifting support is arranged on the vehicle body, the grabbing platform is arranged on the lifting support, and the grabbing platform can horizontally move longitudinally and transversely relative to the bookcase; the book pushing plate can do rotary motion and linear motion relative to the grabbing table in the horizontal plane. The invention has simple mechanical structure, easy control, high stability and lower cost; the size of the robot is controllable, so that the robot can conveniently pass through a complex environment among bookshelves of a library; the invention can greatly improve the intelligent and automatic management capability of the library books and can effectively reduce the working intensity of a librarian.

Description

Intelligent book management robot

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent book management robot.

Background

With the development of science and technology and the coming of the era of automation and intelligence, various complex works have been gradually replaced by machines. The management of books in libraries has been a work that has huge data volume and consumes a lot of manpower, but at present, a book information management system based on the RFID technology has been basically realized. With the continuous improvement of book information management systems and the increase of book borrowing amount, the old facilities of libraries have difficulty meeting the requirements of readers. Therefore, it is imperative to apply automation and intelligence techniques to the transportation, classification and display of books, and intelligent book management robots are in the process of transportation.

Most of the existing intelligent book management robots adopt a design scheme of 'traveling system + base + bookshelf + manipulator'. The main defects of the scheme are that the size of the intelligent book management robot is large due to the existence of the manipulator, and the environment among book shelves of a library is complex, so that the angle control of each joint of the manipulator is difficult. In addition, the stability of the manipulator control is difficult to guarantee strictly.

Disclosure of Invention

The invention provides an intelligent book management robot for solving the technical problems.

The invention is realized by the following technical scheme:

the intelligent book management robot comprises a bookcase, a placing rack, a lifting support and a vehicle body; the bookcase comprises a bookshelf and at least one removable book bracket, the bookshelf is fixedly arranged on the vehicle body, and the removable book bracket is operably arranged on the bookshelf;

the placing frame comprises a grabbing table for taking out the removable book bracket and a book pushing assembly for pushing out a book in the removable book bracket, wherein the book pushing assembly comprises a book pushing plate;

the lifting support is arranged on the vehicle body, the grabbing platform is arranged on the lifting support, and the grabbing platform can horizontally move longitudinally and transversely relative to the bookcase; the book pushing plate can do rotary motion and linear motion relative to the grabbing table in the horizontal plane.

Furthermore, the removable book bracket comprises a bottom plate and two side plates, and the two side plates are respectively arranged on the left side and the right side of the bottom plate;

the bottom plate is provided with at least two jacks, and one side plate is provided with a spring clamping plate mechanism for clamping books;

fingers matched with the jacks are arranged on the grabbing table.

Furthermore, a guide plate is arranged on the grabbing table at a position corresponding to the book pushing assembly, and the fingers and the guide plate are respectively arranged on the opposite sides of the grabbing table. Furthermore, the grabbing table is fixedly arranged on a lifting support, and the lifting support can horizontally move longitudinally and transversely relative to the vehicle body.

Further, the vehicle body comprises a chassis, a longitudinal guide rail, a transverse guide rail and wheels; the two longitudinal guide rails are arranged on the top surface of the chassis in parallel, the transverse guide rail is arranged on the two longitudinal guide rails, and the lifting support is arranged on the transverse guide rail;

the vehicle body is provided with a driving device for driving the transverse guide rail to move longitudinally along the longitudinal guide rail and a driving device for driving the lifting bracket to move transversely along the transverse guide rail.

Furthermore, the book pushing assembly further comprises a book pushing plate attachment, one end of the book pushing plate attachment is rotatably connected with the grabbing table, and a rotary driving device for driving the book pushing plate attachment to rotate in a horizontal plane relative to the grabbing table is arranged on the grabbing table;

the book pushing plate is arranged on the book pushing plate attachment device, and the book pushing plate attachment device is provided with a linear driving device for driving the book pushing plate to move linearly in a horizontal plane relative to the grabbing table.

Furthermore, the rotary driving device comprises an automatic rotary table, the automatic rotary table is rotatably connected with one end of the grabbing table, and one end of the book pushing plate attachment is fixedly connected with the automatic rotary table.

Furthermore, the linear driving device comprises a horizontal sliding rail and a driving mechanism, the horizontal sliding rail is arranged along the length direction of the book pushing plate attachment, and the book pushing plate is connected with the horizontal sliding rail in a sliding manner.

Furthermore, a camera is arranged on the automatic rotary table, and a scanning head is arranged on the book pushing plate.

Furthermore, an electric appliance cabinet is integrated on the bookshelf.

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

the invention has the advantages of simple mechanical structure, easy control, high stability and lower cost; the size of the robot is controllable, so that the robot can conveniently pass through a complex environment among bookshelves of a library; the intelligent and automatic library book management system can greatly improve the intelligent and automatic library book management capability and effectively reduce the working intensity of a book manager;

2, the book shelf keeps the book posture by using an elastic clamping plate mechanism consisting of the springs and the clamping plates, simplifies the mechanical structure of the book shelf part and effectively reduces the design cost;

3, the invention adopts the integrated design of the bookshelf and the electrical cabinet, saves space and is beneficial to wiring;

4, the design of a push rod and a rotating arm mechanism is adopted, the task of placing books on the bookshelf of the library from the bookcase of the robot is completed by utilizing a simple structural design, the mechanical structure is simplified, and meanwhile, the stability of the robot is effectively improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention.

FIG. 1 is a three-dimensional view of the present invention;

FIG. 2 is a three-dimensional view of a bookcase;

FIG. 3 is a three-dimensional view of the bookshelf;

FIG. 4 is a three-dimensional view of a removable book holder;

FIG. 5 is a schematic view of the integration of the stand with the lifting bracket in a normal state;

FIG. 6 is a three-dimensional view of the rack when the book pushing plate is rotated to the rear side according to the first embodiment;

FIG. 7 is a three-dimensional view of the vehicle body;

fig. 8 is a three-dimensional view of the placing frame when the book pushing plate is rotated to the rear in the second embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.

Example one

As shown in fig. 1, the intelligent book management robot disclosed in this embodiment includes a bookcase 1, a placing rack 2, a lifting bracket 3, and a vehicle body 4.

As shown in fig. 2, 3 and 4, the bookcase 1 comprises a bookshelf 11 and at least one removable book holder 12. The bookshelf 11 is integrally connected with the vehicle body 4, so that the space is saved. The width of the vehicle body 4 is substantially consistent with that of the bookshelf 11. The removable book holder 12 may be horizontally installed in the lattice of the bookshelf 11 or may be removed like a drawer.

The placing frame 2 comprises a grabbing table 20 for taking out the removable book bracket 12 and a book pushing plate 25 for pushing out the book in the removable book bracket 12;

the lifting support 3 is arranged on the vehicle body 4, the grabbing platform 20 is arranged on the lifting support 3, and the grabbing platform 20 can move horizontally in the longitudinal direction and the transverse direction relative to the bookcase 1, so that the removable book bracket 12 can be taken out and put in. The book pushing plate 25 can rotate and linearly move in the horizontal plane relative to the grabbing table 20, so that the book is taken out, and finally, the book 5 is taken out of the bookcase 1 and accurately placed on a bookshelf of a library.

In the present embodiment, the taking-out direction of the removable book holder 12 and the pushing-out direction of the book are parallel to the longitudinal direction.

As shown in fig. 2 and 4, the removable book holder 12 includes a bottom plate 121 and two side plates 122, and the two side plates 122 are respectively disposed on the left and right sides of the bottom plate 121.

The bottom plate 121 is provided with two insertion holes 13, one side plate 122 is provided with a spring clamping plate mechanism for clamping the book 5, the spring clamping plate mechanism comprises a clamping plate 15 and a spring 14, one end of the spring 14 is connected with the side plate 122, the other end of the spring 14 is connected with the clamping plate 15, and the posture of the book 5 is kept through the elastic force of the spring 15.

As shown in fig. 1 and 3, the bookshelf 11 in this embodiment comprises a rectangular frame and two layers of boards, forming a three-layer grid, the upper two layers being used for respectively placing a removable book holder 12. The electrical cabinet 6 is placed on the lowest layer, and the electrical cabinet 6 and the bookshelf 11 are integrated to facilitate wiring.

As shown in fig. 5 and 6, the placing frame 2 comprises a grabbing table 20 and a book pushing assembly, wherein the book pushing assembly comprises a book pushing plate attachment 27 and a book pushing plate 25 mounted on the book pushing plate attachment 27.

The book pushing plate 25 can perform linear motion and rotary motion in a horizontal plane relative to the grabbing table 20, and there are many ways to realize the linear motion and the rotary motion of the book pushing plate 25 in the horizontal plane.

In this embodiment, the book pushing plate attachment 27 is rotatably connected to the grasping table, the book pushing plate 25 is connected to the book pushing plate attachment 27 through the push rod 29, and the book pushing plate attachment 27 is provided with a linear driving device for driving the book pushing plate 25 to move linearly in a horizontal plane with respect to the grasping table 20.

Specifically, an automatic rotating table 22 is arranged at one end of the grabbing table 20, the automatic rotating table 22 is rotatably connected with the grabbing table 20, and one end of the book pushing plate attachment 27 is fixedly connected with the automatic rotating table 22 through a first pin shaft 21. The book pushing plate attachment 27 is provided with a horizontal sliding rail 271, the sliding block 28 is arranged on the horizontal sliding rail 271, and the book pushing plate attachment 27 is provided with a driving mechanism for driving the sliding block 28 to horizontally slide. The driving mechanism can be driven by a motor, and can also be driven by an air cylinder, a hydraulic cylinder and the like. If motor driving is selected, a transmission mechanism for converting the rotary motion of the motor into linear motion needs to be matched, and the transmission mechanism can be any mechanism capable of converting the rotary motion into the linear motion, such as a screw nut transmission mechanism, a gear rack transmission mechanism, a synchronous belt transmission mechanism, a chain transmission mechanism and the like.

One end of a push rod 29 is fixedly connected with the slide block 28, the other end of the push rod 29 is connected with a book pushing plate 25, a scanning head 26 is arranged on the book pushing plate 25, and the scanning head 26 can be an RFID scanning head.

The gripping table 20 has two fingers 201 on its back side, the two fingers 201 fitting into the two insertion holes 13 of the removable book holder 12. So that the removable book holder 12 can be taken out by the rack 2 like a drawer to facilitate the rack 2 to take out and place the book 5 in a corresponding position of the library shelf.

The front side of the grabbing table 20 is provided with a guide plate 24 at a position corresponding to the book pushing assembly, and the rotation of the automatic rotating table 22 can be driven by a motor. The automatic turntable 22 is provided with a camera 23, and when the push rod 29 is parallel to the gripping table 20, the camera 23 faces right ahead.

The working principle of the placing rack 2 is as follows:

the automatic turntable 22 rotates to drive the book pushing plate attachment 27, the push rod 29, the book pushing plate 25, the scanning head 26 and the camera 23 to synchronously rotate, so that the book pushing plate 25 can rotate in a horizontal plane relative to the grabbing table 20.

The driving mechanism on the book pushing plate attachment 27 operates to drive the sliding block 28, the push rod 29, the book pushing plate 25 and the scanning head 26 to synchronously and linearly move along the horizontal sliding rail 271, so that the book pushing plate 25 can linearly move in a horizontal plane relative to the grabbing table 20.

As shown in fig. 5, the lifting bracket 3 includes two telescopic legs and a base 33, wherein the bottoms of the telescopic legs are connected with the base 33, and the tops of the telescopic legs are connected with the grabbing table 20. In the present embodiment, a plurality of support plates 31 and second pins 32 are connected to form a scissor-type telescopic leg. The lower part of the lifting bracket 3 is connected with the vehicle body 4 through a base 33. The lifting support 3 is used for supporting and conveying the placing rack 2 to a corresponding height.

As shown in fig. 7, the vehicle body 4 includes a chassis 42, a longitudinal rail 41, a lateral rail 44, front wheels, and rear wheels. The number of the longitudinal rails 41 is two, the two longitudinal rails 41 are arranged on the top surface of the chassis 42 in parallel, and the transverse rail 44 is arranged on the two longitudinal rails 41.

The vehicle body 4 is driven by a front wheel which is two inflatable rubber wheels 45 and is arranged on a chassis 42 of the vehicle through a connecting motor. The rear wheels use two omni wheels 43 to ensure that the vehicle can complete the predetermined path.

During assembly, the base 33 of the lifting bracket 3 is connected with the transverse guide rail 44, and the base 33 can move transversely along the transverse guide rail 44; meanwhile, the transverse guide rail 44 can move longitudinally along the longitudinal guide rail 41, so that the lifting support 3 can move longitudinally and transversely relative to the vehicle body 4, and the placing frame 2 can rotate relative to the lifting support 3, so that the placing frame 2 can rotate, move transversely, move longitudinally in a horizontal plane and move vertically in a vertical plane relative to the vehicle body 4 and the bookcase 1, and the movement requirement of the placing frame 2 in the process of taking books from the bookcase 1 can be met.

The driving device for driving the transverse guide rail 44 to move longitudinally and the driving device for driving the base 33 to move transversely can select common mechanisms such as motor drive, air cylinders, hydraulic cylinders and the like; the lifting of the lifting carriage 3 may be hydraulically actuated, as is conventional in the art and will not be described further herein.

The bookcase 1 is parallel to the cross-guide 44, and the two fingers 201 of the grabbing station 20 are perpendicular to the cross-guide 44. When the removable book holder 12 is loaded in the bookshelf 11, the spring clamp mechanism of the removable book holder 12 is moved away from the end where the guide plate 24 is provided, so that the book is pushed toward the end where the guide plate 24 is provided by the spring clamp mechanism.

The length of the standard section of the lifting support 3 is long, so that the lifting height of the placing frame 2 is enough, and the joint adopts a high-strength bolt, so that the structure is more stable. The vehicle body 4 is made of aluminum alloy.

The working principle of the invention is described in connection with fig. 1-7:

the lifting support 3 drives the placing rack 2 to ascend or descend, and after the placing rack 2 reaches the corresponding height, the automatic rotary table 22 rotates to drive and push the book plate attachment 27, the book plate 25, the scanning head 26 and the push rod 29 to rotate 180 degrees;

then, the longitudinal movement of the transverse guide rail 44 of the vehicle body 4 drives the lifting support 3 and the placing frame 2 to synchronously move longitudinally, and finally, the two fingers 11 of the grabbing table 20 are inserted into the two insertion holes 13 of the removable book bracket 12;

then, the removable book holder 12 is taken out of the bookshelf 11 again by the reverse longitudinal movement of the cross guide 44;

subsequently, the automatic turntable 22 continues to rotate 90 degrees, and drives and pushes the book plate attachment 27, the book plate 25, the scanning head 26 and the push rod 29 to rotate to the rear 90 ° position, as shown in fig. 6; at this time, the book pushing plate 25 is just behind the book;

then, the scanning head 26 scans the RFID tag of the book to obtain book information, and then the driving mechanism acts to drive the sliding block 28, the pushing rod 29 and the book pushing plate 25 to synchronously move horizontally and linearly in a direction parallel to the fingers 201 and the side plates 122; so that the book pushing plate 25 can push the book 5 onto the guiding plate 24, and finally the book 5 is placed at the position corresponding to the bookshelf in the library;

due to the elastic force of the spring clamping plate mechanism, when a book 5 is pushed away, the book 5 at the side can be automatically replaced under the action of the spring 14.

Example two

The difference between this embodiment and the first embodiment is: the construction of the putter assembly differs in the embodiments themselves.

As shown in fig. 8, in this embodiment, the push rod 29 is a telescopic arm, one end of the push rod 29 is fixedly connected to the book pushing plate attachment 27 through the connecting plate 281, and the book pushing plate 25 is driven to move horizontally by the extension and contraction of the push rod 29 itself, so as to push a book. The telescopic arm can be selected from the existing structures, and the details are not repeated here.

EXAMPLE III

The difference between this embodiment and the second embodiment is: in this embodiment, the book pushing plate attachment 27 is a telescopic arm, and the book pushing plate attachment 27 is telescopic to drive the push rod 29 and the book pushing plate 25 to move horizontally, so as to push a book.

Example four

This embodiment differs from the previous single embodiment in that: in the embodiment, the lifting support 3 is fixedly arranged on the chassis 42, and the longitudinal guide rail 41 and the transverse guide rail 44 on the chassis 42 are changed into the longitudinal guide rail and the transverse guide rail which are arranged on the top of the lifting support 3. Specifically, two longitudinal guide rails 41 are fixedly connected with the top of the lifting bracket 3, a transverse guide rail 44 is arranged on the two longitudinal guide rails 41, and the grabbing platform 20 is arranged on the transverse guide rail 44 and can move transversely along the transverse guide rail 44.

Of course, the lifting bracket 3 is provided with a driving device for driving the transverse rail 44 to move longitudinally along the longitudinal rail 41 and a driving device for driving the grabbing table 20 to move transversely along the transverse rail 44.

The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. Intelligent books management robot, its characterized in that: comprises a bookcase, a placing rack, a lifting bracket and a vehicle body; the bookcase comprises a bookshelf and at least one removable book bracket, the bookshelf is fixedly arranged on the vehicle body, and the removable book bracket is operably arranged on the bookshelf;

the placing frame comprises a grabbing table for taking out the removable book bracket and a book pushing assembly for pushing out books in the removable book bracket, wherein the book pushing assembly comprises a book pushing plate and a book pushing plate attachment device, one end of the book pushing plate attachment device is rotatably connected with the grabbing table, and a rotary driving device for driving the book pushing plate attachment device to rotate in a horizontal plane relative to the grabbing table is arranged on the grabbing table; the book pushing plate is arranged on the book pushing plate attachment device, and the book pushing plate attachment device is provided with a linear driving device for driving the book pushing plate to move linearly in a horizontal plane relative to the grabbing table;

the lifting support is arranged on the vehicle body, the grabbing platform is arranged on the lifting support, and the grabbing platform can move horizontally in the longitudinal direction and the transverse direction relative to the bookshelf; the book pushing plate can do rotary motion and linear motion in a horizontal plane relative to the grabbing table;

the removable book bracket comprises a bottom plate and two side plates, wherein the two side plates are respectively arranged on the left side and the right side of the bottom plate; the bottom plate of the removable book bracket is provided with a jack, the grabbing table is provided with a finger matched with the jack, the book pushing plate is provided with a scanning head, and one side plate of the removable book bracket is provided with a spring clamping plate mechanism for clamping a book;

the working method of the intelligent book management robot comprises the following steps:

the lifting support drives the placing rack to ascend or descend, and after the placing rack reaches a corresponding height, the rotary driving device drives the book pushing plate attachment device and the book pushing plate to rotate;

the lifting support and the placing frame synchronously move longitudinally, so that fingers of the grabbing table are inserted into the insertion holes of the removable book bracket, and the lifting support and the placing frame reversely move longitudinally to take the removable book bracket out of the bookshelf;

the rotary driving device rotates to drive the book pushing plate attachment and the book pushing plate to rotate, so that the book pushing plate is positioned behind a book on the removable book bracket; scanning the RFID label of the book by the scanning head to obtain book information;

then the linear driving device drives the book pushing plate to move, and the book pushing plate pushes the book from the removable book bracket to a position corresponding to the library bookshelf; when the book pushing plate pushes away a book, the book on the side can be automatically replaced under the action of the spring clamping plate mechanism.

2. The intelligent book management robot of claim 1, wherein: the bottom plate is provided with at least two jacks.

3. The intelligent book management robot of claim 2, wherein: and the positions, corresponding to the book pushing assemblies, on the grabbing table are provided with guide plates, and the fingers and the guide plates are respectively arranged on the opposite sides of the grabbing table.

4. The intelligent book management robot of claim 1, 2 or 3, wherein: the grabbing table is fixedly arranged on a lifting support, and the lifting support can horizontally move longitudinally and transversely relative to the vehicle body.

5. The intelligent book management robot of claim 4, wherein: the vehicle body comprises a chassis, a longitudinal guide rail, a transverse guide rail and wheels; the two longitudinal guide rails are arranged on the top surface of the chassis in parallel, the transverse guide rail is arranged on the two longitudinal guide rails, and the lifting support is arranged on the transverse guide rail;

6. The intelligent book management robot of claim 1, 2 or 3, wherein: the rotary driving device comprises an automatic rotary table, the automatic rotary table is rotatably connected with one end of the grabbing table, and one end of the book pushing plate attachment is fixedly connected with the automatic rotary table.

7. The intelligent book management robot of claim 6, wherein: the linear driving device comprises a horizontal sliding rail and a driving mechanism, the horizontal sliding rail is arranged along the length direction of the book pushing plate attachment, and the book pushing plate is connected with the horizontal sliding rail in a sliding mode.

8. The intelligent book management robot of claim 6, wherein: and the automatic rotary table is provided with a camera.

9. The intelligent book management robot of claim 1, wherein: an electric appliance cabinet is integrated on the bookshelf.