CN207240214U - A kind of intelligent book conditioning machines people - Google Patents
A kind of intelligent book conditioning machines people Download PDFInfo
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- CN207240214U CN207240214U CN201720292339.2U CN201720292339U CN207240214U CN 207240214 U CN207240214 U CN 207240214U CN 201720292339 U CN201720292339 U CN 201720292339U CN 207240214 U CN207240214 U CN 207240214U
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Abstract
A kind of intelligent book conditioning machines people is the utility model is related to, belongs to robotic technology field.The utility model includes hollow out chassis, chassis case, books in stock case, independent driving wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system etc..Four-wheel rotating driving system is installed on hollow out chassis, four independent driving wheels are connected with four-wheel rotating driving system respectively, chassis case is installed on hollow out chassis, books in stock case is placed on chassis case, jacking system is installed on hollow out chassis, mechanical arm is installed on the rotating disc of jacking system, and grasping system is installed on the robotic arm.The utility model provides a kind of reasonable price economy, Windsor, the intelligent book conditioning machines people that application scenarios are more, accuracy is high, it can provide efficient easily books in stock, the service for taking book and intelligentized book classification management function for librarian or even average reading person.
Description
Technical field
A kind of intelligent book conditioning machines people is the utility model is related to, belongs to robotic technology field.
Background technology
School, the library book in society monthly have the lendings of up to ten thousand times and give back at present, this pipe to library
It is undoubtedly a very big burden, full manual operations, not only heavy workload, but also less efficient for reason personnel.Manpower is to figure
Book, which arranges, has hysteresis quality, and the efficiency of library's operation greatly reduces, and the books in library can not constantly keep neat,
It is unfavorable for retrieval, reading and guarantee books with its registration location corresponding unification of the reader to library collection.For this
Present situation, intelligent book management robot can replace manpower, allow robot books are identified with classification, then having classified
Books are sent on corresponding bookshelf, to achieve the purpose that to reduce manpower, reduce working strength, raising work efficiency.
The content of the invention
The technical problem to be solved by the present invention is to provide a kind of intelligent book conditioning machines people, to solve to give back books
Home position positioning and complete the crawl of whole books and some problems put.Development and work with the big data epoch
The reform of industry, informationization have incorporated the every aspect of modern society, and efficient work can be replaced by intelligent robot.This books
Management robot has the function of flexibly walk turning function, lifting, crawl function and numerous sensors auxiliary, can be complete
The processing of paired target location, target books.
The technical solution of the utility model is：A kind of intelligent book conditioning machines people includes hollow out chassis, chassis case, deposits
Bookcase, independent driving wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system etc..Four-wheel rotating driving system
On hollow out chassis, four independent driving wheels are connected with four-wheel rotating driving system respectively, and chassis case is installed on hollow out
On chassis, books in stock case is placed on chassis case, and jacking system is installed on hollow out chassis, and mechanical arm is installed on jacking system
On rotating disc, grasping system is installed on the robotic arm.
The hollow out chassis by supporting rack, chassis upper bracket, storage battery, chassis lower carriage, support column, support plate II,
Support plate III, tracing sensor, camera and ultrasonic sensor, wheel support frame composition.Supporting rack is fixed on chassis and props up
On frame；Connected between chassis upper bracket and chassis lower carriage by a support column；Storage battery is installed in support plate III, support plate
III is fixed on the lower carriage of chassis；Tracing sensor and camera and ultrasonic sensor are installed in support plate II；Wheel branch
Support is installed on the lower carriage of chassis.
Influenced in view of lifting mechanism caused by complete machine stability and the control of main screw lift, the hollow out chassis
By the way of upper and lower plates hollow out adds support column to connect, not only made chassis larger but also can allow weight saving.Followed in vertical supporting rod
Center of gravity inclination and slight vibration can be produced when robot motion, walking mechanism chassis is relatively low, can play stable work
With.There is the vertical and straight movement guide rod of grasping mechanism above chassis, guide rod is the Z axis motion guide of mechanical arm and grasping mechanism, support
Mechanism, length can highly be adjusted according to actual bookshelf, adjusted value about 140 ~ 200cm.The installation of storage battery is symmetrically distributed in two
Side, plays the effect of decentralization.4 books in stock casees are placed with supporting rack, books in stock case is sector, and there are separation baffles in centre,
Prevent books from collapsing.Chassis case material is acrylic, its main feature is that light transmission is good, firm, pure color, it is rich in color,
Beauty is smooth, service life is long, does not influence to use.
The independent driving wheel includes wheel, fixed block I, rotating bar, fixed block II, stepper motor II, motor bar, gear
Group I, wheel bar, fixed block III, independent drive wheel bracket, fixed block IV；Connected between two wheels by taking turns bar, wheel bar is fixed on
In independent drive wheel bracket, stepper motor II is connected with gear set I by motor bar, and two in gear set I gear is solid respectively
It is scheduled on motor bar and wheel bar and engages, fixed block I and push rod II is bolted, and fixed block I and rotating bar screw connect
Connect, fixed block II is used to independent driving wheel being fixed on chassis, and fixed block II is connected with wheel support frame, and fixed block III is used for
Connection rotating bar and independent drive wheel bracket, fixed block IV are fixed on wheel support frame.
The four-wheel rotating driving system includes slide bar I, screw, support plate I, sliding block, push rod I, attachment screw, push rod
Ⅱ；Four slide bars I are fixed in support plate I, and screw is fixed in support plate I, sliding block and screw engagement, and are fixed on 4
Unidirectional to slide on slide bar I, slip bocks system is divided into two layers up and down, controls the rotation of front and back wheel group respectively；Push rod I is fixed on sliding block
On, centre is bolted, can relative circumferential rotate, connected between push rod II and push rod I by attachment screw, movement relation
Ibid.
Library ground is relatively flat, can meet demand as walking mechanism using common roller.Since library has
Have that bookshelf is more, spacing distance is smaller, be unfavorable for the environment characteristics that robot integrally turns to, employed in each walking side
Designed with the twin tires of independent driving motor and box of tricks, drive rod piece institutional adjustment wheel to assist by vehicle body screw
The comprehensive steering of car body can be achieved in driving with stepper motor.Four two-wheels are evenly distributed with robot surrounding, except the fine twelve Earthly Branches of energy
Outside the weight for supportting robot, position error can be reduced in time according to the actual route of route adjustment that tracks.Each wheel has drive
Dynamic motor drives one of wheel movement.The steering of wheel is driven by plane rod piece mechanism, and mechanism is simple, and function implements
It is relatively easy to.Center of gravity inclination and slight vibration, walking mechanism can be produced when vertical supporting rod follows robot motion
Chassis is relatively low, can play stable effect.Motor control screw rotates, and then band movable slider translates, while sliding block translates,
Also the movement of push rod has been driven, push rod with rotation suitable, counterclockwise, be able to can be rotated respectively with the rotation of driven wheel group, wheel group
In " diamond shape position ", can so rotate in place.If realizing that movement is turned, differential principle, i.e. left and right wheel speed can be used not
With realizing, because each wheel independently drives.
The jacking system include mechanical arm support plate, lifting disk gear, rack bar, connection sheet, stepper motor I, turn
Moving plate gear, rotating disc, motor holding tray.Rack bar has 4 to be separately fixed on the upper bracket of chassis, the two ends between them
Part is attached with connection sheet；Stepper motor I is connected with lifting disk gear, gear and rack bar engagement, can Relative vertical fortune
It is dynamic；Stepper motor I is connected with rotating disc gear, rotating disc gear and rotating disc engagement, for rotating around rack bar,
It is mutual rotatable relation between mechanical arm support plate and rotating disc, is connected as the constraint of vertical direction.
Elevating mechanism includes turning to turntable, the handling module of mechanical arm and connection on the robotic arm.The mechanism passes through electricity
Machine transmission can allow 360 degree of turntable to rotate；Mechanical arm takes multiple degrees of freedom scheme to adapt to the books that various angles are put（It is i.e. smart
Determine position target books）；Lifting mechanism track is established on upright bar, is driven by motor, and lifting is more convenient.Lifting mechanism
Difference in height is different between solving the problems, such as bookshelf layer, using multivariant design, maximum rising height by elevating lever height
Degree determines that elevating lever height is highly determined by actual bookshelf.
The mechanical arm includes mechanical arm joint I, mechanical arm joint II, stepper motor I, motor cover, I-shaped joint.Mechanical arm
Section I is bolted in mechanical arm support plate, and mechanical I arm end of arm joint is put into stepper motor I, and motor cover in two end cap can
Utilize motor powered motion；Connected between mechanical arm joint I and mechanical arm joint II by I-shaped joint.
The grasping system includes dialling book piece, friction pulley, scanner, book brace, fixed link I, push rod III, tooth rest I, tooth
Wheel carrier II, motor box, fixed link II, stepper motor III, gear set II, slide bar II.Fixed link II and fixed link I are respectively welded at
Dial on book piece and book brace, fixed link II and all connection gear groups II of fixed link I, gear set is directly driven by a motor；Scanner
Installed in group book on piece；Friction pulley is installed on the end of book brace；Distinguish connection gear and fixed link II in III both ends of push rod；Gear
Group II is installed on tooth rest I and tooth rest II；Motor box is fixed on tooth rest I, stepper motor III directly and gear set
II connection；Slide bar II is installed on tooth rest I, end tooth connection wheel carrier II.
General book is due to lighter in weight, and rod piece mechanism is enough to support its weight, and clamping machine system employs more motors and drives
Dynamic mode grips and places books to operate grasping mechanism.First, in order to aid in clamp device smoothly to hold books, outer layer
Adding auxiliary body --- gap expanding unit, is equipped with visual sensor outside, and it is expansion target books and side figure that it, which is acted on,
The distance of book, larger operating space is provided to clamp device, facilitates the work of clamp device.Manipulator motion can be crawl
Mechanism provide bigger operating angle, such as capture it is irregular put bookcase in the case of can more accurately position books
Position.The angle rotatable of mechanical arm is 0 ° ~ 270 °, can realize large range of work.
The operation principle of the utility model is：The mode directly driven with stepper motor drives 4 wheel groups, rotating mechanism, machineries
Arm and clamping device；Each wheel group has a motor direct-drive, so wheel angular speed direction and rotating speed are all different, can
Realize the differential speed rotation on level land or directly walk；Rotating mechanism major function is that four wheel groups of control rotate at the same time, but often
The rotation direction of a wheel group is all different, to reach the effect rotated in place；The angle rotatable of mechanical arm is 0 ° ~ 270 °, three
Motor control arm section rotates, and the movable scope of clamping device has just reached 700 ° or so；Lifting mechanism movement has two kinds：Respectively
Be horizontal rotation and vertical movement, rotate horizontally and coordinate the movement on chassis to can be achieved with the complex works such as barcode scanning, vertical movement and
The cooperation of mechanical arm can make to take book and put book action to be achieved；Clamping device enables to dial book piece by the cooperation of motor and gear
It is enough to realize translation.Multivariant movement is the groundwork mode of robot.
The beneficial effects of the utility model are：
1st, chassis and its motion, which have, rotates in place, the function of precise motion；
2nd, lifting mechanism stability is good, and rise and fall are accurate；
3rd, clamping device can identify, good clamping effect book classification movement angle is big；
4th, replace being accomplished manually the operation such as undercarriage on books, carrying, classification, duplicate checking and joint strip code using robot, it is held
Scanning frequency degree is fast, efficient, can meet the needs of library's daily management mission；
5th, efficient library's conditioning machines people has higher market popularization value and application prospect.
Brief description of the drawings
Fig. 1 is the utility model structure diagram；
Fig. 2 is the structure diagram that the utility model removes shell and books in stock case；
Fig. 3 is the utility model bottom view；
Fig. 4 is the utility model body chassis schematic diagram；
Fig. 5 is the utility model wheel group schematic diagram；
Fig. 6 is the utility model clamping device schematic diagram；
In figure：1- groups of book pieces, 2- machineries arm joint I, 3- books in stock casees, 4- wheels, 5- chassis cases, 6- mechanical arm support plates,
7- lifting disk gears, 8- rack bars, 9- connection sheets, 10- machineries arm joint II, 11- stepper motors I, 12- motor covers, 13- rotating discs
Gear, 14- supporting racks, 15- chassis upper bracket, 16- storage batteries, 17- chassis lower carriage, 18- support columns, 19- rotating discs, 20-
Motor holding tray, the I-shaped joints of 21-, 22- slide bars I, 23- screws, 24- support plates I, 25- support plates II, 26- support plates III,
27- tracing sensors, 28- sliding blocks, 29- cameras and ultrasonic sensor, 30- push rods I, 31- attachment screws, 32- push rods II,
33- wheel support framves, 34- fixed blocks I, 35- rotating bars, 36- fixed blocks II, 37- stepper motors II, 38- motor bars, 39- teeth
Wheel group I, 40- wheel bars, 41- fixed blocks III, 42- independence drive wheel brackets, 43- fixed blocks IV, 44- friction pulleys, 45- scanners,
46- book braces, 47- fixed links I, 48- push rods III, 49- tooth rests I, 50- tooth rests II, 51- motor box, 52- fixed links II,
53- stepper motors III, 54- gear sets II, 55- slide bars II.
Embodiment
With reference to the accompanying drawings and detailed description, the utility model is described in further detail.
Embodiment 1：A kind of intelligent book conditioning machines people includes hollow out chassis, chassis case 5, books in stock case 3, independent driving
Wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system etc..Four-wheel rotating driving system is installed on hollow out chassis
On, four independent driving wheels are connected with four-wheel rotating driving system respectively, and chassis case 5 is installed on hollow out chassis, books in stock case 3
It is placed on chassis case, jacking system is installed on hollow out chassis, and mechanical arm is installed on the rotating disc of jacking system, clamping
System is installed on the robotic arm.
The hollow out chassis by supporting rack 14, chassis upper bracket 15, storage battery 16, chassis lower carriage 17, support column 18,
Support plate II 25, support plate III 26, tracing sensor 27, camera and ultrasonic sensor 29, wheel support frame 33 form.Branch
Support 14 is fixed on chassis upper bracket 15；Connected between chassis upper bracket 15 and chassis lower carriage 17 by 8 support columns 18；
Storage battery 16 is installed in support plate III 26, and support plate III 26 is fixed on chassis lower carriage 17；Tracing sensor 27 and shooting
Head and ultrasonic sensor 29 are installed in support plate II 25；Wheel support frame 33 is installed on chassis lower carriage 17.
Influenced in view of lifting mechanism caused by complete machine stability and the control of main screw lift, the hollow out chassis
By the way of upper and lower plates hollow out adds support column to connect, not only made chassis larger but also can allow weight saving.Followed in vertical supporting rod
Center of gravity inclination and slight vibration can be produced when robot motion, walking mechanism chassis is relatively low, can play stable work
With.There is the vertical and straight movement guide rod of grasping mechanism above chassis, guide rod is the Z axis motion guide of mechanical arm and grasping mechanism, support
Mechanism, length can highly be adjusted according to actual bookshelf, adjusted value about 140 ~ 200cm.The installation of storage battery is symmetrically distributed in two
Side, plays the effect of decentralization.4 books in stock casees 3 are placed with supporting rack 14, books in stock case is sector, and centre has separation to keep off
Plate, prevents books from collapsing.5 material of chassis case is acrylic, its main feature is that light transmission is good, firm, pure color, color are rich
Richness, beauty is smooth, service life is long, does not influence to use.
The independent driving wheel includes wheel 4, fixed block I 34, rotating bar 35, fixed block II 36, stepper motor II 37, electricity
Machine bar 38, gear set I 39, wheel bar 40, fixed block III 41, independent drive wheel bracket 42, fixed block IV 43；Between two wheels 4
Connected by taking turns bar 40, wheel bar is fixed in independent drive wheel bracket 42；Stepper motor II 37 and gear set I 39 pass through motor bar
38 connect, and two gears in gear set I 39 are separately fixed on motor bar 38 and wheel bar 40 and engage；I 34 He of fixed block
Push rod II 32 is bolted, and fixed block I 34 is connected with 35 screw of rotating bar,；Fixed block II 36 is to be used for fixed whole wheel
Group is fixed on chassis, and fixed block II 36 and wheel support frame 33 connect；Fixed block III 41 be used for connect rotating bar 35 and solely
Vertical drive wheel bracket 42；Fixed block IV 43 is fixed on wheel support frame 33.
The four-wheel rotating driving system includes slide bar I 22, screw 23, support plate I 24, sliding block 28, push rod I 30, company
Connect screw 31, push rod II 32；Four slide bars I 22 are fixed in support plate I 24, and screw 23 is fixed in support plate I 24, sliding block 28
Engage, and be fixed on 4 slide bars I 22 with screw 23, unidirectional to slide, slip bocks system is divided into two layers up and down, before controlling respectively
The rotation of rear wheels；Push rod I 30 is fixed on sliding block 28, and centre is bolted, can relative circumferential rotate, II 32 He of push rod
Connected between push rod I 30 by attachment screw 31, movement relation is same as above.
Library ground is relatively flat, can meet demand as walking mechanism using common roller.Since library has
Have that bookshelf is more, spacing distance is smaller, be unfavorable for the environment characteristics that robot integrally turns to, employed in each walking side
Designed with the twin tires of independent driving motor and box of tricks, drive rod piece institutional adjustment wheel to assist by vehicle body screw
The comprehensive steering of car body can be achieved in driving with stepper motor.Four two-wheels are evenly distributed with robot surrounding, except the fine twelve Earthly Branches of energy
Outside the weight for supportting robot, position error can be reduced in time according to the actual route of route adjustment that tracks.Each wheel has drive
Dynamic motor drives one of wheel movement.The steering of wheel is driven by plane rod piece mechanism, and mechanism is simple, and function implements
It is relatively easy to.Center of gravity inclination and slight vibration, walking mechanism can be produced when vertical supporting rod follows robot motion
Chassis is relatively low, can play stable effect.Motor control screw rotates, and then band movable slider translates, while sliding block translates,
Also the movement of push rod has been driven, push rod with rotation suitable, counterclockwise, be able to can be rotated respectively with the rotation of driven wheel group, wheel group
In " diamond shape position ", can so rotate in place.If realizing that movement is turned, differential principle, i.e. left and right wheel speed can be used not
With realizing, because each wheel independently drives.
The jacking system includes mechanical arm support plate 6, lifting disk gear 7, rack bar 8, connection sheet 9, stepper motor I
11st, rotating disc gear 13, rotating disc 19, motor holding tray 20.Rack bar 8 has 4 to be separately fixed on chassis upper bracket 15, it
Between two ends part connection sheet 9 be attached；Stepper motor I 11 and lifting disk gear 7 connect, gear 7 and rack
Bar 8 engages, can relative vertical movement；Stepper motor I 11 and rotating disc gear 13 connect, and rotating disc gear 13 and rotating disc 19 are nibbled
Close, be mutual rotatable relation for rotating around rack bar 8, between mechanical arm support plate 6 and rotating disc 19, even
It is connected in the constraint of vertical direction.
Elevating mechanism includes turning to turntable, the handling module of mechanical arm and connection on the robotic arm.The mechanism passes through electricity
Machine transmission can allow 360 degree of turntable to rotate；Mechanical arm takes multiple degrees of freedom scheme to adapt to the books that various angles are put（It is i.e. smart
Determine position target books）；Lifting mechanism track is established on upright bar, is driven by motor, and lifting is more convenient.Lifting mechanism
Difference in height is different between solving the problems, such as bookshelf layer, using multivariant design, maximum rising height by elevating lever height
Degree determines that elevating lever height is highly determined by actual bookshelf.
The mechanical arm includes mechanical arm joint I 2, mechanical arm joint II 10, stepper motor I 11, motor cover 12, I-shaped joint
21.Mechanical arm joint I 2 is bolted in mechanical arm support plate 6, and mechanical I 2 arm end of arm joint is put into stepper motor I 11, both ends
Motor cover 12 is covered, using motor powered motion；Pass through I-shaped joint 21 between mechanical arm joint I 2 and mechanical arm joint II 10
Connection.
The grasping system includes dialling book piece 1, friction pulley 44, scanner 45, book brace 46, fixed link I 47, push rod III
48th, tooth rest I 49, tooth rest II 50, motor box 51, fixed link II 52, stepper motor III 53, gear set II 54, slide bar II 55.
Fixed link II 52 and fixed link I 47, which are respectively welded at, to be dialled on book piece 1 and book brace 46, and fixed link II 52 and fixed link I 47 all connect
Gear set II 54 is connect, gear set is directly driven by a motor；Scanner 45, which is installed on, to be dialled on book piece 1；Friction pulley 44 is installed on folder book
The end of plate 46；Distinguish connection gear and fixed link II 52 in III 48 both ends of push rod；Gear set II 54 is installed in I 49 He of tooth rest
On tooth rest II 50；Motor box 51 is fixed on tooth rest I 49, and stepper motor III 53 is directly connected with gear set II 54；Slide bar
II 55 are installed on tooth rest I 49, end tooth connection wheel carrier II.
General book is due to lighter in weight, and rod piece mechanism is enough to support its weight, and clamping machine system employs more motors and drives
Dynamic mode grips and places books to operate grasping mechanism.First, in order to aid in clamp device smoothly to hold books, outer layer
Adding auxiliary body --- gap expanding unit, is equipped with visual sensor outside, and it is expansion target books and side figure that it, which is acted on,
The distance of book, larger operating space is provided to clamp device, facilitates the work of clamp device.Manipulator motion can be crawl
Mechanism provide bigger operating angle, such as capture it is irregular put bookcase in the case of can more accurately position books
Position.The angle rotatable of mechanical arm is 0 ° ~ 270 °, can realize large range of work.
Embodiment 2：A kind of intelligent book conditioning machines people includes hollow out chassis, chassis case 5, books in stock case 3, independent driving
Wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system etc..Four-wheel rotating driving system is installed on hollow out chassis
On, four independent driving wheels are connected with four-wheel rotating driving system respectively, and chassis case 5 is installed on hollow out chassis, books in stock case 3
It is placed on chassis case, jacking system is installed on hollow out chassis, and mechanical arm is installed on the rotating disc of jacking system, clamping
System is installed on the robotic arm.
The grasping system includes dialling book piece 1, friction pulley 44, scanner 45, book brace 46, fixed link I 47, push rod III
48th, tooth rest I 49, tooth rest II 50, motor box 51, fixed link II 52, stepper motor III 53, gear set II 54, slide bar II 55.
Fixed link II 52 and fixed link I 47, which are respectively welded at, to be dialled on book piece 1 and book brace 46, and fixed link II 52 and fixed link I 47 all connect
Gear set II 54 is connect, gear set is directly driven by a motor；Scanner 45, which is installed on, to be dialled on book piece 1；Friction pulley 44 is installed on folder book
The end of plate 46；Distinguish connection gear and fixed link II 52 in III 48 both ends of push rod；Gear set II 54 is installed in I 49 He of tooth rest
On tooth rest II 50；Motor box 51 is fixed on tooth rest I 49, and stepper motor III 53 is directly connected with gear set II 54；Slide bar
II 55 are installed on tooth rest I 49, end tooth connection wheel carrier II.
Grasping system is divided into two states when working：The first is the state for gripping books, another is to place books
State.When gripping books, dial book piece 1 and driven from motor, push rod to the translation of central point both sides, to the books beside target books
One thrust, makes target books both sides have the gap of 1 ~ 2cm, and then book brace 46 and friction pulley 44 are promoted to book inside, profit
Target books " absorption " are made then to dial book piece 1 in the cabin that can accommodate books and close up again with the frictional force of rubber on friction pulley, machine
Tool arm moves, and motor-driven rotation disk gear 13 drives rotating disc 19 to rotate in the horizontal plane, until mechanical arm is in 4 books in stock casees
Stop during 3 top, then drive mechanical arm to moving down, if clamping device apart from bottom farther out, can be with the motor in driving disc
Decline with gear along turntable along rack bar 8, target books are placed in books in stock case 3, completion takes book process；Place books
When, manipulator motion takes out books（Take book process and above-mentioned identical）, mechanical arm is first motionless, 7 edge of motor driving lifting disk gear
Turntable is translated along rack bar 8 to be risen, and mechanical arm is shunk upwards, and books position is ajusted, and driving disc rises to again at this time
Suitable position, dials book piece and injects among books and translated toward both sides, and after pushing books aside, book brace 46 and friction pulley 44 promote,
Target books is located proximate to inside bookshelf, then drive friction pulley 44 that book is pushed into suitable position again, book process is put in completion.
Embodiment 3：A kind of intelligent book conditioning machines people includes hollow out chassis, chassis case 5, books in stock case 3, independent driving
Wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system etc..Four-wheel rotating driving system is installed on hollow out chassis
On, four independent driving wheels are connected with four-wheel rotating driving system respectively, and chassis case 5 is installed on hollow out chassis, books in stock case 3
It is placed on chassis case, jacking system is installed on hollow out chassis, and mechanical arm is installed on the rotating disc of jacking system, clamping
System is installed on the robotic arm.
The hollow out chassis by supporting rack 14, chassis upper bracket 15, storage battery 16, chassis lower carriage 17, support column 18,
Support plate II 25, support plate III 26, tracing sensor 27, camera and ultrasonic sensor 29, wheel support frame 33 form.Branch
Support 14 is fixed on chassis upper bracket 15；Connected between chassis upper bracket 15 and chassis lower carriage 17 by 8 support columns 18；
Storage battery 16 is installed in support plate III 26, and support plate III 26 is fixed on chassis lower carriage 17；Tracing sensor 27 and shooting
Head and ultrasonic sensor 29 are installed in support plate II 25；Wheel support frame 33 is installed on chassis lower carriage 17.
The independent driving wheel includes wheel 4, fixed block I 34, rotating bar 35, fixed block II 36, stepper motor II 37, electricity
Machine bar 38, gear set I 39, wheel bar 40, fixed block III 41, independent drive wheel bracket 42, fixed block IV 43；Between two wheels 4
Connected by taking turns bar 40, wheel bar is fixed in independent drive wheel bracket 42；Stepper motor II 37 and gear set I 39 pass through motor bar
38 connect, and two gears in gear set I 39 are separately fixed on motor bar 38 and wheel bar 40 and engage；I 34 He of fixed block
Push rod II 32 is bolted, and fixed block I 34 is connected with 35 screw of rotating bar,；Fixed block II 36 is to be used for fixed whole wheel
Group is fixed on chassis, and fixed block II 36 and wheel support frame 33 connect；Fixed block III 41 be used for connect rotating bar 35 and solely
Vertical drive wheel bracket 42；Fixed block IV 43 is fixed on wheel support frame 33.
The four-wheel rotating driving system includes slide bar I 22, screw 23, support plate I 24, sliding block 28, push rod I 30, company
Connect screw 31, push rod II 32；Four slide bars I 22 are fixed in support plate I 24, and screw 23 is fixed in support plate I 24, sliding block 28
Engage, and be fixed on 4 slide bars I 22 with screw 23, unidirectional to slide, slip bocks system is divided into two layers up and down, before controlling respectively
The rotation of rear wheels；Push rod I 30 is fixed on sliding block 28, and centre is bolted, can relative circumferential rotate, II 32 He of push rod
Connected between push rod I 30 by attachment screw 31, movement relation is same as above.
Wheel group motion mode on chassis is divided into two kinds：Formula is rotated in place to turn and differential turning.Formula is rotated in place to turn
Curved is the then straight-line travelling again by rotating in place definite headstock direction, until next turning point.This mode benefit is can
To realize accurate movement using limited space, but a disadvantage is that movement is slower, determine that direction needs auxiliary equipment.It is transported
Dynamic process is as follows：Motor control screw rotates, and then band movable slider translates, and while sliding block translates, has also driven the fortune of push rod
Dynamic, push rod can be with the rotation of driven wheel group, and for wheel group respectively with rotation suitable, counterclockwise, it is in " diamond shape position " that can rotate, each wheel
Group voluntarily drives wheel movement, as long as the direction of motion is consistent, then can so rotate in place.Differential is turned can be to turn when walking
It is curved, but can only be in the larger plane motion in space, differential only needs the rotational speed regulation direction according to left and right two-wheeled；Fixed movement
During track, it is only necessary to adjust the angular speed of left and right two-wheeled according to algorithm and radius of curvature can be achieved with.
Specific embodiment of the present utility model is explained in detail above in association with attached drawing, but the utility model is not
It is limited to the above embodiment, within the knowledge of a person skilled in the art, this practicality can also be not being departed from
Various changes can be made on the premise of new objective.
Claims (8)
- A kind of 1. intelligent book conditioning machines people, it is characterised in that：Including hollow out chassis, chassis case（5）, books in stock case（3）, solely Vertical driving wheel, four-wheel rotating driving system, jacking system, mechanical arm, grasping system；Four-wheel rotating driving system is installed on hollow out On chassis, four independent driving wheels are connected with four-wheel rotating driving system respectively, chassis case（5）On hollow out chassis, Books in stock case（3）It is placed on chassis case, jacking system is installed on hollow out chassis, and mechanical arm is installed on the rotation of jacking system On disk, grasping system is installed on the robotic arm.
- 2. intelligent book conditioning machines people according to claim 1, it is characterised in that：The hollow out chassis is by supporting rack （14）, chassis upper bracket（15）, storage battery（16）, chassis lower carriage（17）, support column（18）, support plate II（25）, support plate Ⅲ（26）, tracing sensor（27）, camera and ultrasonic sensor（29）, wheel support frame（33）Composition；Supporting rack（14） It is fixed on chassis upper bracket（15）On, chassis upper bracket（15）With chassis lower carriage（17）Between pass through 8 support columns（18）Even Connect, storage battery（16）Installed in support plate III（26）On, support plate III（26）It is fixed on chassis lower carriage（17）On, track sensing Device（27）With camera and ultrasonic sensor（29）Installed in support plate II（25）On, wheel support frame（33）Installed in chassis Lower carriage（17）On.
- 3. intelligent book conditioning machines people according to claim 2, it is characterised in that：The independent driving wheel includes wheel （4）, fixed block I（34）, rotating bar（35）, fixed block II（36）, stepper motor II（37）, motor bar（38）, gear set I （39）, wheel bar（40）, fixed block III（41）, independent drive wheel bracket（42）, fixed block IV（43）；Two wheels（4）Between lead to Third wheel bar（40）Connection, takes turns bar（40）It is fixed on independent drive wheel bracket（42）On, stepper motor II（37）With gear set I（39） Pass through motor bar（38）Connection, gear set I（39）In two gears be separately fixed at motor bar（38）With wheel bar（40）On simultaneously And engage, fixed block I（34）With push rod II（32）It is bolted, fixed block I（34）And rotating bar（35）Screw connects, Gu Determine block II（36）For independent driving wheel to be fixed on chassis, fixed block II（36）With wheel support frame（33）Connection, it is fixed Block III（41）For connecting rotating bar（35）With independent drive wheel bracket（42）, fixed block IV（43）It is fixed on wheel support frame （33）On.
- 4. intelligent book conditioning machines people according to claim 1, it is characterised in that：The four-wheel rotating driving system bag Include slide bar I（22）, screw（23）, support plate I（24）, sliding block（28）, push rod I（30）, attachment screw（31）, push rod II（32）； Four slide bars I（22）It is fixed on support plate I（24）On, screw（23）It is fixed on support plate I（24）On, sliding block（28）And screw （23）Engage and be fixed on 4 slide bars I（22）Upper unidirectional slip；Push rod I（30）It is fixed on sliding block（28）On, push rod II（32） With push rod I（30）Between pass through attachment screw（31）Connection.
- 5. intelligent book conditioning machines people according to claim 2, it is characterised in that：The jacking system includes mechanical arm Support plate（6）, lifting disk gear（7）, rack bar（8）, connection sheet（9）, stepper motor I（11）, rotating disc gear（13）, rotate Disk（19）, motor holding tray（20）；Rack bar（8）There are 4, be separately fixed at chassis upper bracket（15）On, each rack bar（8） Between two ends part connection sheet（9）It is attached；Stepper motor I（11）With lifting disk gear（7）Connection, lifting disk tooth Wheel（7）And rack bar（8）Engagement, can relative vertical movement；Stepper motor I（11）With rotating disc gear（13）Connection, rotating disc Gear（13）And rotating disc（19）Engage and rack bar can be surrounded（8）Rotate, mechanical arm support plate（6）And rotating disc （19）Between be mutual rotatable relation, be connected as the constraint of vertical direction.
- 6. intelligent book conditioning machines people according to claim 5, it is characterised in that：The mechanical arm includes mechanical arm joint Ⅰ（2）, mechanical arm joint II（10）, motor cover（12）, I-shaped joint（21）；Mechanical arm joint I（2）It is bolted in machinery Arm support plate（6）On, mechanical arm joint I（2）Arm end is put into stepper motor I（11）, mechanical arm joint I（2）Both ends are equipped with motor cover （12）, mechanical arm joint I（2）With mechanical arm joint II（10）Between pass through I-shaped joint（21）Connection.
- 7. intelligent book conditioning machines people according to claim 1, it is characterised in that：The grasping system includes dialling book piece （1）, friction pulley（44）, scanner（45）, book brace（46）, fixed link I（47）, push rod III（48）, tooth rest I（49）, gear Frame II（50）, motor box（51）, fixed link II（52）, stepper motor III（53）, gear set II（54）, slide bar II（55）；It is fixed Bar II（52）It is welded on and dials book piece（1）On, fixed link I（47）It is welded on book brace（46）On, fixed link II（52）With fixed link I （47）All connection gear groups II（54）, gear set is directly driven by a motor；Scanner（45）Installed in group book piece（1）On, friction Wheel（44）Installed in book brace（46）End, push rod III（48）Distinguish connection gear and fixed link II in both ends（52）, gear set Ⅱ（54）It is installed in tooth rest I（49）With tooth rest II（50）On, motor box（51）It is fixed on tooth rest I（49）On, stepping Motor III（53）Direct and gear set II（54）Connection；Slide bar II（55）Installed in tooth rest I（49）Upper, end tooth connection wheel carrier Ⅱ（50）.
- 8. intelligent book conditioning machines people according to claim 2, it is characterised in that：The chassis case（5）Pass through spiral shell Tether and connect installed in chassis upper bracket（15）On, books in stock case（3）Installed in supporting rack（14）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292339.2U CN207240214U (en) | 2017-03-24 | 2017-03-24 | A kind of intelligent book conditioning machines people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292339.2U CN207240214U (en) | 2017-03-24 | 2017-03-24 | A kind of intelligent book conditioning machines people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207240214U true CN207240214U (en) | 2018-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720292339.2U Expired - Fee Related CN207240214U (en) | 2017-03-24 | 2017-03-24 | A kind of intelligent book conditioning machines people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207240214U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845991A (en) * | 2020-07-30 | 2020-10-30 | 贵州电网有限责任公司 | Robot suitable for but oil-immersed transformer inner wall electromagnetic adsorption and climbing |
| CN112046919A (en) * | 2020-08-03 | 2020-12-08 | 燕山大学 | Automatic file box storing and taking device and automatic file box taking and storing method |
| CN113277294A (en) * | 2021-04-09 | 2021-08-20 | 淘度客电子商务有限公司 | Book information storage system and storage method thereof |
-
2017
- 2017-03-24 CN CN201720292339.2U patent/CN207240214U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111845991A (en) * | 2020-07-30 | 2020-10-30 | 贵州电网有限责任公司 | Robot suitable for but oil-immersed transformer inner wall electromagnetic adsorption and climbing |
| CN112046919A (en) * | 2020-08-03 | 2020-12-08 | 燕山大学 | Automatic file box storing and taking device and automatic file box taking and storing method |
| CN113277294A (en) * | 2021-04-09 | 2021-08-20 | 淘度客电子商务有限公司 | Book information storage system and storage method thereof |
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