CN205766103U - A kind of books placement machine people's device - Google Patents
A kind of books placement machine people's device Download PDFInfo
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- CN205766103U CN205766103U CN201620514447.5U CN201620514447U CN205766103U CN 205766103 U CN205766103 U CN 205766103U CN 201620514447 U CN201620514447 U CN 201620514447U CN 205766103 U CN205766103 U CN 205766103U
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- hydraulic cylinder
- bar
- revolute pair
- extension bar
- books
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Abstract
The utility model discloses a kind of books placement machine people's device, it is specifically related to robot field, is made up of car body, disk, hydraulic cylinder one cylinder body, hydraulic cylinder one extension bar, base plate one, hydraulic cylinder two cylinder body, hydraulic cylinder two extension bar, gripper shoe, end effector, controller, wheel etc..End effector can be moved at books or bookshelf by the propelling of mechanical arm, the use of clamp-type end effector, the gripping of books can be completed.This utility model can be used for putting the books of different-thickness, efficiently reduces the workload of books administrative staff, and improves work efficiency, can realize that speed is fast, stability is high, reliability high.
Description
Technical field
This utility model belongs to robot field, is specifically related to a kind of books placement machine people's device.
Background technology
In current height modernized society, the concept of automatization and mechanization has been rooted in the hearts of the people.Under this production model, robotics is arisen at the historic moment.Being the combination of mechanization and automatization, it has liberation labour force, ensures functional reliability and work efficiency advantages of higher.According to the existing situation of China, what domestic Ge great colleges and universities commonly used is manually to put books, the workload causing managerial personnel of library is the heaviest, in order to alleviate the work degree of management personnel, can have the books placement machine people of automatization by use and effectively change the situation that libraries of the universities' amount of labour is excessive.The product of research and development at present is many, but owing to design is not reasonable, many schemes are used in actual life and unreliable, cause nowadays library to be the most also dependent on a dead lift books.Therefore it is necessary to work out a kind of Novel book placement machine people, and can realize that speed is fast, stability is high, reliability high, compared to traditional book bidding robot, these features Modern University Library just is required.
Summary of the invention
This utility model is to provide for a kind of librarian of help and carries out the device that a large amount of books are put, and is the most also dependent on the present situation of a dead lift books solving present library.
In order to achieve the above object, the technical solution adopted in the utility model is: rely on the wheel under car body, car body can be moved to specified location by operator, end effector can be moved at books or bookshelf by the propelling of mechanical arm, the use of clamp-type end effector, can complete the gripping of books.The lifting of this device, mechanical arm advance, the gripping of end effector relies on controller and drives hydraulic cylinder extension bar to complete.
Realizing concrete scheme of the present utility model is: a kind of books placement machine people's device, it is characterised in that: include car body, revolute pair one, disk, hydraulic cylinder one cylinder body, moving sets one, hydraulic cylinder one extension bar, base plate one, hydraulic cylinder two cylinder body, moving sets two, hydraulic cylinder two extension bar, gripper shoe, end effector, controller, wheel；Described hydraulic cylinder one cylinder body is bolted on car body；Described hydraulic cylinder one extension bar is bolted on hydraulic cylinder one cylinder body；Described hydraulic cylinder two cylinder body is fixed with hydraulic cylinder one extension bar by bolt；Described hydraulic cylinder two extension bar is bolted on hydraulic cylinder two cylinder body；Described hydraulic cylinder two extension bar is bolted on end effector；Described wheel has four, and wheel is arranged on car body lower end.
Such as Fig. 1, shown in Fig. 2, a kind of books placement machine people's device, it is characterised in that: described end effector comprises revolute pair six, bar three, revolute pair four, bar one, base plate two, revolute pair two, contiguous block, bracing frame, moving sets three, hydraulic cylinder three cylinder body, hydraulic cylinder three extension bar, revolute pair three, bar two, revolute pair five, bar four, revolute pair seven；Described hydraulic cylinder three cylinder body is bolted on the supporting plate；Described hydraulic cylinder three extension bar is bolted on hydraulic cylinder three cylinder body；Described hydraulic cylinder three extension bar is bolted on contiguous block；Described bar one is connected with contiguous block by revolute pair two；Described bar two is connected with contiguous block by revolute pair three；Described bar three is connected with bar one by revolute pair four；Described bar four is connected with bar two by revolute pair five；Described bar three is connected with base plate two by revolute pair six；Described bar four is connected with base plate two by revolute pair seven.
The beneficial effects of the utility model are: the simple in construction of a kind of books placement machine people's device, easy to use, favorable integrated operability, good operating stability, work efficiency height, and low cost of manufacture, parts replaceability is good, easy to maintenance.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is end effector structures schematic diagram of the present utility model.
Car body 1 in figure, revolute pair 1, disk 3, hydraulic cylinder one cylinder body 4, moving sets 1, hydraulic cylinder one extension bar 6, base plate 1, hydraulic cylinder two cylinder body 8, moving sets 29, hydraulic cylinder two extension bar 10, gripper shoe 11, end effector 12, controller 13, wheel 14, revolute pair 6 15, bar 3 16, revolute pair 4 17, bar 1, base plate 2 19, revolute pair 2 20, contiguous block 21, bracing frame 22, moving sets 3 23, hydraulic cylinder three cylinder body 24, hydraulic cylinder three extension bar 25, revolute pair 3 26, bar 2 27, revolute pair 5 28, bar 4 29, revolute pair 7 30.
Detailed description of the invention
For the technological means making this utility model be realized, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with specific embodiment and diagram, this utility model is expanded on further.
As shown in Figure 1, a kind of books placement machine people's device, it is characterised in that: include car body 1, revolute pair 1, disk 3, hydraulic cylinder one cylinder body 4, moving sets 1, hydraulic cylinder one extension bar 6, base plate 1, hydraulic cylinder two cylinder body 8, moving sets 29, hydraulic cylinder two extension bar 10, gripper shoe 11, end effector 12, controller 13, wheel 14；Described hydraulic cylinder one cylinder body 4 is bolted on car body 1；Described hydraulic cylinder one extension bar 6 is bolted on hydraulic cylinder one cylinder body 4；Described hydraulic cylinder two cylinder body 8 is fixed with hydraulic cylinder one extension bar 6 by bolt；Described hydraulic cylinder two extension bar 10 is bolted on hydraulic cylinder two cylinder body 8；Described hydraulic cylinder two extension bar 10 is bolted on end effector 12；Described wheel 14 has four, and wheel 14 is arranged on car body 1 lower end.
Such as Fig. 1, shown in Fig. 2, a kind of books placement machine people's device, it is characterised in that: described end effector 12 comprises revolute pair 6 15, bar 3 16, revolute pair 4 17, bar 1, base plate 2 19, revolute pair 2 20, contiguous block 21, bracing frame 22, moving sets 3 23, hydraulic cylinder three cylinder body 24, hydraulic cylinder three extension bar 25, revolute pair 3 26, bar 2 27, revolute pair 5 28, bar 4 29, revolute pair 7 30；Described hydraulic cylinder three cylinder body 24 is bolted in gripper shoe 11；Described hydraulic cylinder three extension bar 25 is bolted on hydraulic cylinder three cylinder body 24；Described hydraulic cylinder three extension bar 25 is bolted on contiguous block 21；Described bar 1 is connected with contiguous block 21 by revolute pair 2 20；Described bar 2 27 is connected with contiguous block 21 by revolute pair 3 26；Described bar 3 16 is connected with bar 1 by revolute pair 4 17；Described bar 4 29 is connected with bar 2 27 by revolute pair 5 28；Described bar 3 16 is connected with base plate 2 19 by revolute pair 6 15；Described bar 4 29 is connected with base plate 2 19 by revolute pair 7 30.
During use, this device is moved at books by the wheel 14 under car body 1 by operator, the thickness of the books according to required gripping chooses the open-angle of end effector 12, control hydraulic cylinder three extension bar 25 opposing hydraulic cylinder three cylinder body 24 by controller 13 to move, driving contiguous block 21 to move, bar 1 will rotate around revolute pair 2 20, and bar 2 27 will rotate around revolute pair 3 26, thus driven rod 3 16 rotates around revolute pair 4 17, and bar 4 29 rotates around revolute pair 5 28；Bar 3 16 will rotate on base plate 2 19 around revolute pair 6 15, and bar 4 29 will rotate on base plate 2 19 around revolute pair 7 30, can be thus that end effector 12 selects an angle, complete expansion action.
Control hydraulic cylinder two extension bar 10 hydraulic cylinder two cylinder body 8 dorsad by controller 13 to move, drive gripper shoe 11 is moved, i.e. can complete the propelling action of end effector 12, end effector 12 can be advanced into the position that can press from both sides books.
Control hydraulic cylinder three extension bar 25 by controller 13 to be displaced outwardly relative to hydraulic cylinder three cylinder body 24, drive contiguous block 21 is moved, bar 1 will rotate around revolute pair 2 20, bar 2 27 will rotate around revolute pair 3 26, thus driven rod 3 16 rotates around revolute pair 4 17, and bar 4 29 rotates around revolute pair 5 28；Bar 3 16 will rotate on base plate 2 19 around revolute pair 6 15, and bar 4 29 will rotate on base plate 2 19 around revolute pair 7 30, can be thus that end effector 12 selects an angle, can be clamped by books.
Operator is according to the height of specified bookshelf, control hydraulic cylinder one extension bar 6 hydraulic cylinder one cylinder body 4 dorsad by controller 13 to move or move relative to hydraulic cylinder one cylinder body 4, make base plate 1 lifting being connected with hydraulic cylinder one extension bar 6, move to the corresponding height of bookshelf, thus complete the lifting action of base plate 1.
Hydraulic cylinder one cylinder body 4 controlling to be connected on disk 3 by controller 13 rotates around revolute pair 1, the base plate 1 being connected with hydraulic cylinder one extension bar 6 will be driven to complete go to action, goes to end effector 12 specify at bookshelf.
Control hydraulic cylinder two extension bar 10 hydraulic cylinder two cylinder body 8 dorsad by controller 13 to move, drive gripper shoe 11 is moved, i.e. can complete the propelling action of end effector 12, end effector 12 can be moved to the wait of bookshelf position and put book.
Control hydraulic cylinder three extension bar 25 opposing hydraulic cylinder three cylinder body 24 by controller 13 to move, drive contiguous block 21 is moved, bar 1 will rotate around revolute pair 2 20, bar 2 27 will rotate around revolute pair 3 26, thus driven rod 3 16 rotates around revolute pair 4 17, and bar 4 29 rotates around revolute pair 5 28；Bar 3 16 will rotate on base plate 2 19 around revolute pair 6 15, and bar 4 29 will rotate on base plate 2 19 around revolute pair 7 30, can be thus that end effector 12 selects an angle, complete expansion action, can be put by folded books to bookshelf appointment position.
Controlled the movement of hydraulic cylinder two extension bar 10 opposing hydraulic cylinder 28 by controller 13, drive gripper shoe 11 is moved, i.e. can complete the backward movement of end effector 12, end effector 12 can be regained state undetermined.
Claims (2)
1. books placement machine people's device, it is characterised in that: include car body (1), revolute pair one (2), disk (3), hydraulic cylinder one cylinder body (4), moving sets one (5), hydraulic cylinder one extension bar (6), base plate one (7), hydraulic cylinder two cylinder body (8), moving sets two (9), hydraulic cylinder two extension bar (10), gripper shoe (11), end effector (12), controller (13), wheel (14)；Described hydraulic cylinder one cylinder body (4) is bolted on car body (1)；Described hydraulic cylinder one extension bar (6) is bolted on hydraulic cylinder one cylinder body (4)；Described hydraulic cylinder two cylinder body (8) is fixed with hydraulic cylinder one extension bar (6) by bolt；Described hydraulic cylinder two extension bar (10) is bolted on hydraulic cylinder two cylinder body (8)；Described hydraulic cylinder two extension bar (10) is bolted on end effector (12)；Described wheel (14) has four, and wheel (14) is arranged on car body (1) lower end.
A kind of books placement machine people's device the most according to claim 1, it is characterized in that: described end effector (12) comprises revolute pair six (15), bar three (16), revolute pair four (17), bar one (18), base plate two (19), revolute pair two (20), contiguous block (21), bracing frame (22), moving sets three (23), hydraulic cylinder three cylinder body (24), hydraulic cylinder three extension bar (25), revolute pair three (26), bar two (27), revolute pair five (28), bar four (29), revolute pair seven (30)；Described hydraulic cylinder three cylinder body (24) is bolted in gripper shoe (11)；Described hydraulic cylinder three extension bar (25) is bolted on hydraulic cylinder three cylinder body (24)；Described hydraulic cylinder three extension bar (25) is bolted on contiguous block (21)；Described bar one (18) is connected with contiguous block (21) by revolute pair two (20)；Described bar two (27) is connected with contiguous block (21) by revolute pair three (26)；Described bar three (16) is connected with bar one (18) by revolute pair four (17)；Described bar four (29) is connected with bar two (27) by revolute pair five (28)；Described bar three (16) is connected with base plate two (19) by revolute pair six (15)；Described bar four (29) is connected with base plate two (19) by revolute pair seven (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620514447.5U CN205766103U (en) | 2016-05-24 | 2016-05-24 | A kind of books placement machine people's device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620514447.5U CN205766103U (en) | 2016-05-24 | 2016-05-24 | A kind of books placement machine people's device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205766103U true CN205766103U (en) | 2016-12-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620514447.5U Expired - Fee Related CN205766103U (en) | 2016-05-24 | 2016-05-24 | A kind of books placement machine people's device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205766103U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108706514A (en) * | 2018-04-17 | 2018-10-26 | 鹿文骏 | A kind of library books intelligent acquisition device and its application method |
| CN108818505A (en) * | 2018-07-10 | 2018-11-16 | 华北理工大学 | Qu Shu robot of library |
| CN111203900A (en) * | 2020-03-16 | 2020-05-29 | 浙江志创企业管理有限公司 | Robot for acquiring and recycling book information |
| CN113264097A (en) * | 2021-05-26 | 2021-08-17 | 黄河水利职业技术学院 | Be used for library's books handling device |
-
2016
- 2016-05-24 CN CN201620514447.5U patent/CN205766103U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108706514A (en) * | 2018-04-17 | 2018-10-26 | 鹿文骏 | A kind of library books intelligent acquisition device and its application method |
| CN108818505A (en) * | 2018-07-10 | 2018-11-16 | 华北理工大学 | Qu Shu robot of library |
| CN111203900A (en) * | 2020-03-16 | 2020-05-29 | 浙江志创企业管理有限公司 | Robot for acquiring and recycling book information |
| CN113264097A (en) * | 2021-05-26 | 2021-08-17 | 黄河水利职业技术学院 | Be used for library's books handling device |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161207 Termination date: 20190524 |