CN205572407U - Robot of library access arrangement - Google Patents
Robot of library access arrangement Download PDFInfo
- Publication number
- CN205572407U CN205572407U CN201620301917.XU CN201620301917U CN205572407U CN 205572407 U CN205572407 U CN 205572407U CN 201620301917 U CN201620301917 U CN 201620301917U CN 205572407 U CN205572407 U CN 205572407U
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- library
- robot
- bookshelf
- mobile platform
- access device
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Abstract
The utility model discloses a robot of library access arrangement, including manipulator device and moving platform, last on -vehicle bookshelf, control system and the power supply unit of being provided with of moving platform, on -vehicle bookshelf is used for placing waits the books that playback, control system is used for controlling moving platform removal and the motion of manipulator device, power supply unit is used for providing the power for manipulator device and control system, the manipulator device includes the arm of Z direction, the arm and the rotary mechanism of X direction, and rotary mechanism fixes on moving platform, and the arm of Z direction is installed perpendicularly on rotary mechanism, and the arm of X direction is installed perpendicularly on the arm of Z direction, install mechanical tongs on the arm of X direction, the machinery tongs includes mechanical tongs wrist and installs a pair of mechanical splint on tool tongs wrist. The utility model discloses simple structure, it is ingenious and economical, can conveniently get the book and put the book.
Description
Technical field
This utility model relates to mechanical engineering field, particularly to a kind of library robot access device.
Background technology
Along with popularizing of books, same class books a multitude of names, stress to have nothing in common with each other, the classification of books, carry, deposit and need to expend a large amount of manpower and time, and inefficiency, sometimes there is also the phenomenons such as shelving mistake, cause unnecessary trouble, the sorting placement problem of books highlights day by day.In order to solve the problems referred to above, there has been proposed such scheme in prior art, i.e. all install dividing plate in robot and bookshelf additional to facilitate the added books of mechanical hand, but still there is drawback: can only realize books added, structure is complicated, causes cost to increase.
Utility model content
The purpose of this utility model is to overcome shortcoming present in above-mentioned prior art, it is provided that a kind of library robot access device；Its simple in construction is ingenious and economical, it is possible to take book easily and put book.
To achieve these goals, the technical solution adopted in the utility model is:
A kind of library robot access device, including robot device and mobile platform；Vehicle-mounted bookshelf, control system and supply unit it is provided with on mobile platform；Vehicle-mounted bookshelf is used for placing books to be playbacked；Control system is used for controlling mobile platform and moves and robot device motion；Supply unit is for providing power supply to robot device and control system；Robot device includes the mechanical arm of Z-direction, the mechanical arm of X-direction and rotating mechanism, and rotating mechanism is fixing on a mobile platform, and the mechanical arm of Z-direction is vertically mounted on rotating mechanism, and the mechanical arm of X-direction is vertically mounted on the mechanical arm of Z-direction；On the mechanical arm of X-direction, mechanical gripper is installed；Mechanical gripper includes mechanical gripper wrist and a pair machinery clamping plate being installed on mechanical gripper wrist.
Further: Tui Shu mechanism is installed on vehicle-mounted bookshelf；Tui Shu mechanism is by the first motor, the second motor, threaded rod and pushes away book block and forms；First motor is to move on the vehicle-mounted bookshelf of rack type for driving whole Tui Shu mechanism at upper end-face edge；Second motor promotes books to be playbacked for driving promotion to push away book block reach/retrogressing by threaded rod.
Further: mechanical gripper wrist can rotate relative to the mechanical arm of X-direction；A pair machinery clamping plate is used for gripping books to be playbacked.
Further: also include with mechanical gripper with the use of library bookshelf, library bookshelf includes book drawer and the swash plate being arranged on book drawer, and swash plate is right high left low, and angle of inclination with respect to the horizontal plane is 3 °.
Further: bottom mobile platform, to be provided with wheel.
Further: on mobile platform, to be additionally provided with the ultrasonic sensor for ultrasonic avoidance.
Further: library ground is embedded with the magnetic card for positioning library bookshelf；It is additionally provided with on described mobile platform for the electromagnetic signal sensing magnetic card for positioning the electromagnetic induction sensor of library bookshelf.
Further: on mobile platform, to be additionally provided with run indicator.
This utility model has the advantages that
This utility model one library robot access device, only changes mechanical gripper, mobile platform and Tui Shu mechanism, it is achieved that the effect of library robot automatic access book.And this apparatus structure is simple, ingenious and economical, it is possible to take book easily and put book.
Accompanying drawing explanation
Fig. 1 is overall structure and the structure chart of bookcase of a kind of library robot access device；
Fig. 2 is the gripping structure figure picking and placeing book of a kind of library robot access device；
Fig. 3 is to push away book mechanism structure figure.
Wherein: 1, library bookcase；2, books；3-1, book drawer；3-2, swash plate；4, mechanical gripper；4-1, machinery clamping plate；4-2, mechanical gripper wrist；5, robot device；5-1, Z-direction mechanical arm；5-2, X-direction mechanical arm；5-3, rotating mechanism；6, run indicator；7, supply unit；8, electromagnetic induction sensor；9, wheel；10, control system；11 mobile platforms；12, vehicle-mounted bookshelf；13 ultrasonic sensors；14 display；15 Tui Shu mechanisms；15-1 motor；15-2 motor；15-3, threaded rod；15-4 pushes away book block.
Detailed description of the invention
Referring to shown in Fig. 1, Fig. 2 and Fig. 3, this utility model one library robot access device, including mobile platform 11 and robot device two large divisions.Run indicator 6, supply unit 7, ultrasonic sensor 13, wheel 9, control system 10, vehicle-mounted bookshelf 12, electromagnetic induction sensor 8, display 14, Tui Shu mechanism 15 it is equipped with on mobile platform 11；The mechanical gripper 4 taking books and periodicals is installed on robot device.It addition, library bookshelf 1 book drawer 3 is placed hang plate 3-2.
Being provided with wheel 9 bottom mobile platform 11, internally installed have supply unit 7 and control system 10；The top of mobile platform 11 is provided with vehicle-mounted bookshelf 12, is used for placing books to be playbacked.On vehicle-mounted bookshelf 12, Tui Shu mechanism 15 is installed, for releasing books to be playbacked by this, grips for robot device.
Robot device 5 is arranged at the top of mobile platform 11, and is positioned at the side of vehicle-mounted bookshelf 12.Robot device 5 includes the rotating mechanism 5-3 being positioned on mobile platform 11, and rotating mechanism 5-3 is provided with Z-direction mechanical arm 5-1, Z-direction mechanical arm 5-1 is provided with X-direction mechanical arm 5-2, X-direction mechanical arm 5-2 is provided with mechanical gripper 4.Robot device 5 has three independent coordinates, two linear motions (X, Z) and a rotary motion (θ), rotary motion is used for two bookcases 1 positioned in a passageway in opposite directions, linear motion is used for positioning the particular location of book drawer 3, rotates and straight line has all been coordinated by motor and screw structure.
The end of robot device 5 tightens up loosen to grip placement books and periodicals equipped with actuator mechanical gripper 4, two clamping plate 4-1 of gripper of manipulator 4, and the threaded rod of two the different rotation directions of driven by motor at handgrip rotates, thus drives two fixture block 4-1 to synchronize to move towards.The mechanical gripper wrist 4-2 of mechanical gripper 4 is rotatable, i.e. gripper of manipulator wrist 4-2 is driven by motor and can mutually rotate between X-direction mechanical arm 5-2, thus is more precisely located.
Tui Shu mechanism 15 is by two motors (15-1,15-2), threaded rod 15-3 and pushes away book block 15-4 and forms.It is to move on the vehicle-mounted bookshelf 12 of rack type at upper end-face edge that motor 15-1 drives internal gear to rotate thus drive whole Tui Shu mechanism 15.Motor 15-2 drives threaded rod 15-3 to rotate, thus pushes away book block 15-4 reach, promotes books and periodicals.
With mechanical gripper 4 with the use of library bookshelf 1 include book drawer 3-1 and the swash plate 3-2 being arranged on book drawer 3-1, swash plate 3-2 is right high left low, and angle of inclination with respect to the horizontal plane is 3 °.
The ultrasonic sensor 13 for ultrasonic avoidance it is additionally provided with on mobile platform 11.Library ground is embedded with the magnetic card for positioning library bookshelf 1；It is additionally provided with on mobile platform 11 for the electromagnetic signal sensing magnetic card for positioning the electromagnetic induction sensor 8 of library bookshelf 1.
Before this utility model one library robot access device runs, in original position, the books that need to give back placement are filled on vehicle-mounted bookshelf 12 by librarian, start machine.
Mechanical gripper 4 is arrived by alignment system when specifying position gripping books and periodicals, it is impossible to directly grip, books need to elapse forward a segment distance, the role that now Tui Shu mechanism 15 performer is important.First, the initial position of Tui Shu mechanism 15 is in the end points of vehicle-mounted bookshelf, and motor 15-2 runs and drives threaded rod 15-3 to rotate, thus drive pushes away book block 15-4 and is moved along, and is released by books and periodicals.After books and periodicals are released, mechanical gripper 4 grips books and periodicals and prepares to place, and now motor 15-2 rotates backward, and regains and pushes away book block 15-4.Again and motor 15-1 run drive Tui Shu mechanism 15 move along vehicle-mounted bookshelf edge, until pushing away book structure 15 to run into next this book, pushing away the pressure transducer in book structure 15 and experience pressure, motor 15-1 is out of service, and motor 15-2 starts rotating forward and continues to push away book.
The books and periodicals of mechanical gripper 4 gripping are scanned coding by vehicle control syetem 10, mobile platform 11 is according to encoding by electromagnetic induction sensor 8 positioning trip to specifying position, the motor of control system commander mechanical hand 5 simultaneously, mechanical hand is allowed to pass through rotating mechanism 5-3, X-direction travel mechanism 5-2, the book drawer 3 that these books and periodicals need to be put is found out in the movement of Z-direction travel mechanism 5-1, again by the gripper of manipulator 4 and X rotation between mechanical arm 5-2, books are vertically put into the low order end of book drawer 3-1, then gripper of manipulator 4 continues toward moving left, until the pressure transducer on gripper of manipulator fixture block 4-1 experiences pressure, i.e. unclamp books, exit book drawer.
So moving in circles, until vehicle-mounted books are placed complete, dolly can arrive starting point, continues dress book.
Wherein control system 10 is by programming, motor etc. is performed device switch, regularly, sequentially, motor control, it is also possible to communication networking, thus control whole machine and run in an orderly manner.
Run indicator 6 indicates the running status of machine.
Claims (8)
1. a library robot access device, it is characterised in that include robot device (5) and mobile platform (11)；
Vehicle-mounted bookshelf (12), control system (10) and supply unit (7) it is provided with on mobile platform (11)；Vehicle-mounted bookshelf (12) is used for placing books to be playbacked；Control system (10) is used for controlling mobile platform (11) and moves and robot device (5) motion；Supply unit (7) is for providing power supply to robot device (5) and control system (10)；
Robot device (5) includes the mechanical arm (5-1) of Z-direction, the mechanical arm (5-2) of X-direction and rotating mechanism (5-3), rotating mechanism (5-3) is fixed on mobile platform (11), the mechanical arm (5-1) of Z-direction is vertically mounted on rotating mechanism (5-3), and the mechanical arm (5-2) of X-direction is vertically mounted on the mechanical arm (5-1) of Z-direction；
On the mechanical arm (5-2) of X-direction, mechanical gripper (4) is installed；Mechanical gripper (4) includes mechanical gripper wrist (4-2) and a pair machinery clamping plate (4-1) being installed on mechanical gripper wrist (4-2).
A kind of library robot the most according to claim 1 access device, it is characterised in that: Tui Shu mechanism (15) is installed on vehicle-mounted bookshelf (12)；Tui Shu mechanism (15) is by the first motor, the second motor, threaded rod (15-3) and pushes away book block (15-4) and forms；First motor is used for driving whole Tui Shu mechanism (15) upper mobile at the vehicle-mounted bookshelf (12) that upper end-face edge is rack type；Second motor (15-2) promotes books to be playbacked for driving promotion to push away book block (15-4) reach/retrogressing by threaded rod (15-3).
A kind of library robot the most according to claim 1 access device, it is characterised in that: mechanical gripper wrist (4-2) can rotate relative to the mechanical arm (5-1) of X-direction；A pair machinery clamping plate (4-1) is used for gripping books to be playbacked.
A kind of library robot the most according to claim 1 access device, it is characterized in that: also include with mechanical gripper (4) with the use of library bookshelf (1), library bookshelf (1) includes book drawer (3-1) and the swash plate (3-2) being arranged on book drawer (3-1), swash plate (3-2) is right high left low, and angle of inclination with respect to the horizontal plane is 3 °.
A kind of library robot the most according to claim 1 access device, it is characterised in that: mobile platform (11) bottom is provided with wheel (9).
A kind of library robot the most according to claim 1 access device, it is characterised in that: it is additionally provided with the ultrasonic sensor (13) for ultrasonic avoidance on mobile platform (11).
A kind of library robot the most according to claim 4 access device, it is characterised in that: library ground is embedded with the magnetic card for positioning library bookshelf (1)；It is additionally provided with on described mobile platform (11) for the electromagnetic signal sensing magnetic card for positioning the electromagnetic induction sensor (8) of library bookshelf (1).
A kind of library robot the most according to claim 1 access device, it is characterised in that: it is additionally provided with run indicator (6) on mobile platform (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620301917.XU CN205572407U (en) | 2016-04-12 | 2016-04-12 | Robot of library access arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620301917.XU CN205572407U (en) | 2016-04-12 | 2016-04-12 | Robot of library access arrangement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205572407U true CN205572407U (en) | 2016-09-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620301917.XU Expired - Fee Related CN205572407U (en) | 2016-04-12 | 2016-04-12 | Robot of library access arrangement |
Country Status (1)
| Country | Link |
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| CN (1) | CN205572407U (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426202A (en) * | 2016-10-31 | 2017-02-22 | 宋奕潼 | Automatic tidying device for books of library |
| CN106625696A (en) * | 2016-10-31 | 2017-05-10 | 宋奕潼 | Bookshelf capable of automatically arranging and classifying books |
| CN106781110A (en) * | 2016-12-07 | 2017-05-31 | 江苏大学 | The automatic borrowing and returning device of books |
| CN107571234A (en) * | 2017-07-31 | 2018-01-12 | 青岛万祥如光机械技术研究有限公司 | A kind of automatic finisher |
| CN107571264A (en) * | 2017-07-31 | 2018-01-12 | 青岛万祥如光机械技术研究有限公司 | A kind of books position adjust automatically machine people |
| CN109397246A (en) * | 2018-12-17 | 2019-03-01 | 南京工程学院 | A kind of library book identification conditioning machines people |
| CN110561380A (en) * | 2019-08-26 | 2019-12-13 | 黄河科技学院 | working method of book management robot |
| CN110720759A (en) * | 2019-09-20 | 2020-01-24 | 南京浦口科学城建设发展有限公司 | Intelligent robot for high-rise bookshelf sorting |
| CN110774243A (en) * | 2019-11-13 | 2020-02-11 | 浙江航泽智能科技有限公司 | Storing and taking integrated workbench and use method thereof |
| CN110921174A (en) * | 2019-12-02 | 2020-03-27 | 辽宁科技学院 | Device and method for acquiring books in library |
| CN112008682A (en) * | 2020-08-28 | 2020-12-01 | 合肥工业大学 | Automatic change library management robot |
| CN112123357A (en) * | 2020-08-28 | 2020-12-25 | 江苏齐鑫智能科技有限公司 | Multi-angle archive management grabbing device and method |
| CN112757987A (en) * | 2020-12-30 | 2021-05-07 | 德鲁动力科技(成都)有限公司 | Intelligent book management robot |
| CN113715034A (en) * | 2021-07-29 | 2021-11-30 | 光华临港工程应用技术研发(上海)有限公司 | Automatic medicine taking and sending nurse robot |
| CN113974848A (en) * | 2017-06-20 | 2022-01-28 | 威博外科公司 | Cart for a robot arm and method and device for loading a magazine or cassette for an arm |
| CN114988131A (en) * | 2021-03-01 | 2022-09-02 | 广东博智林机器人有限公司 | Unstacking and taking device and brick supplying robot |
-
2016
- 2016-04-12 CN CN201620301917.XU patent/CN205572407U/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625696A (en) * | 2016-10-31 | 2017-05-10 | 宋奕潼 | Bookshelf capable of automatically arranging and classifying books |
| CN106426202A (en) * | 2016-10-31 | 2017-02-22 | 宋奕潼 | Automatic tidying device for books of library |
| CN106781110B (en) * | 2016-12-07 | 2019-03-05 | 江苏大学 | The automatic borrowing and returning device of books |
| CN106781110A (en) * | 2016-12-07 | 2017-05-31 | 江苏大学 | The automatic borrowing and returning device of books |
| CN113974848A (en) * | 2017-06-20 | 2022-01-28 | 威博外科公司 | Cart for a robot arm and method and device for loading a magazine or cassette for an arm |
| CN107571234A (en) * | 2017-07-31 | 2018-01-12 | 青岛万祥如光机械技术研究有限公司 | A kind of automatic finisher |
| CN107571264A (en) * | 2017-07-31 | 2018-01-12 | 青岛万祥如光机械技术研究有限公司 | A kind of books position adjust automatically machine people |
| CN109397246A (en) * | 2018-12-17 | 2019-03-01 | 南京工程学院 | A kind of library book identification conditioning machines people |
| CN110561380A (en) * | 2019-08-26 | 2019-12-13 | 黄河科技学院 | working method of book management robot |
| CN110720759A (en) * | 2019-09-20 | 2020-01-24 | 南京浦口科学城建设发展有限公司 | Intelligent robot for high-rise bookshelf sorting |
| CN110720759B (en) * | 2019-09-20 | 2021-05-04 | 南京浦口科学城建设发展有限公司 | Intelligent robot for high-rise bookshelf sorting |
| CN110774243A (en) * | 2019-11-13 | 2020-02-11 | 浙江航泽智能科技有限公司 | Storing and taking integrated workbench and use method thereof |
| CN110774243B (en) * | 2019-11-13 | 2023-11-10 | 浙江航泽智能科技有限公司 | Access integrated workbench and application method thereof |
| CN110921174A (en) * | 2019-12-02 | 2020-03-27 | 辽宁科技学院 | Device and method for acquiring books in library |
| CN110921174B (en) * | 2019-12-02 | 2021-01-08 | 辽宁科技学院 | Be used for library to acquire books device |
| CN112123357A (en) * | 2020-08-28 | 2020-12-25 | 江苏齐鑫智能科技有限公司 | Multi-angle archive management grabbing device and method |
| CN112008682A (en) * | 2020-08-28 | 2020-12-01 | 合肥工业大学 | Automatic change library management robot |
| CN112757987A (en) * | 2020-12-30 | 2021-05-07 | 德鲁动力科技(成都)有限公司 | Intelligent book management robot |
| CN112757987B (en) * | 2020-12-30 | 2022-04-01 | 德鲁动力科技(成都)有限公司 | Intelligent book management robot |
| CN114988131A (en) * | 2021-03-01 | 2022-09-02 | 广东博智林机器人有限公司 | Unstacking and taking device and brick supplying robot |
| CN114988131B (en) * | 2021-03-01 | 2023-09-05 | 广东博智林机器人有限公司 | Destacking and taking device and brick feeding robot |
| CN113715034A (en) * | 2021-07-29 | 2021-11-30 | 光华临港工程应用技术研发(上海)有限公司 | Automatic medicine taking and sending nurse robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160914 Termination date: 20170412 |
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| CF01 | Termination of patent right due to non-payment of annual fee |