CN207737922U - A kind of book bidding robot architecture - Google Patents
A kind of book bidding robot architecture Download PDFInfo
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- CN207737922U CN207737922U CN201721796882.2U CN201721796882U CN207737922U CN 207737922 U CN207737922 U CN 207737922U CN 201721796882 U CN201721796882 U CN 201721796882U CN 207737922 U CN207737922 U CN 207737922U
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Abstract
The utility model discloses a kind of book bidding robot architectures, including torso portion, arm part and robot section, torso portion includes holder and rack-mount vertical lead screw and the bearing on vertical lead screw, arm part includes the horizontal lead screw being mounted on bearing and is sleeved on the horizontal silk seat of horizontal lead screw and the double-lever mechanism mounted on horizontal silk seat, and robot section includes the pedestal being connect with double-lever mechanism, the Jia Shu mechanisms on pedestal and Fen Shu mechanisms.The torso portion and arm part that the utility model is utilized can make the position of the destination layer and target column residing for robot arrival target books, and the two neighboring books of target books or so are separated on the shelf by Fen Shu mechanisms, and reserve target location for target books, target books are pushed in target location by double-lever mechanism and Jia Shu mechanisms again, it can realize automatic taxonomic revision books, the labor intensity for alleviating librarian, improves work efficiency.
Description
Technical field
The utility model is related to a kind of robots, more particularly, to a kind of book bidding robot architecture.
Background technology
In recent years, the large-scale library in colleges and universities is fast-developing, there are up to ten thousand books lendings in library and return daily
Also, growing Mobile Books amount increases prodigious burden to existing manual operation and management mode.In traditional work
Under operation mode, librarian must take a substantial amount of time daily with energy for classifying, arranging, upper undercarriage and carrying
The repetitive work Deng dull.Therefore, hot spot, the robot developed at present are become to the research of book bidding robot
Most of is to carry humanoid robot, and carrying humanoid robot will need the target books arranged to be transported to the mesh on corresponding bookshelf
After cursor position, but carrying humanoid robot cannot complete to push to target books into the action in target location, can only be by books
Shop staff pushes to target books in target location manually；For the above technical problem, a kind of books are nowadays proposed
Conditioning machines people's structure.
Utility model content
The technical problem to be solved by the utility model is to the deficiencies in for the above-mentioned prior art, provide a kind of books
Conditioning machines people's structure, simple structure and reasonable design can make robot reach mesh using torso portion and arm part
The position of destination layer and target column residing for bidding documents nationality, and described target books or so are located at by the Fen Shu mechanisms on the shelf
Two books of both sides separate, and reserve target location for target books, then by double-lever mechanism and Jia Shu mechanisms by target book
Nationality pushes in target location, can realize automatic taxonomic revision books, alleviate the labor intensity of librarian, carry
High working efficiency.
In order to solve the above technical problems, the technical solution adopted in the utility model is：A kind of book bidding robot architecture,
It is characterized in that：Including torso portion, arm part and robot section, the torso portion includes holder and is mounted on described
Vertical lead screw on holder and the bearing on the vertical lead screw, the arm part include the water being mounted on bearing
Flat lead screw and it is sleeved on the horizontal silk seat of horizontal lead screw and the double-lever mechanism mounted on horizontal silk seat, the holder includes parallel
The bottom plate and top plate of laying and the column being vertically installed between the bottom plate and top plate are provided with below the bottom plate
Traveling wheel mechanism, the robot section include the pedestal being connect with the double-lever mechanism, the folder on the pedestal
Book mechanism and Fen Shu mechanisms, Jia Shu mechanisms laying parallel with the Fen Shu mechanisms, the Jia Shu mechanisms include opposite lay
The first book brace and the second book brace, drive first book brace and flexible the first lead screw mobile mechanism of the second book brace
With the first connecting rod mechanism for driving first book brace and the folding of the second book brace, the Fen Shu mechanisms include opposite lay
The the second lead screw mobile mechanism and band that first point of book plate and second point of book plate, first point of book plate of drive and second point of book plate stretch
Move the second connecting rod mechanism of first point of book plate and the folding of second point of book plate.
A kind of above-mentioned book bidding robot architecture, it is characterised in that：First lead screw mobile mechanism includes one end
The first lead screw on the pedestal and first seat being sleeved on the first lead screw, the first book brace fixed installation
On first seat, second book brace is slidably mounted on first seat, and first lead screw is driven by first motor, institute
It states the second book brace to be driven by the second motor, be connected by first connecting rod mechanism driving between second motor and the second book brace
It connects.
A kind of above-mentioned book bidding robot architecture, it is characterised in that：The first connecting rod mechanism includes by described
Two motor-driven first connecting rods, the sliding block mounted on the first connecting rod other end, the second connecting rod across the sliding block and with institute
The third connecting rod of second connecting rod connection is stated, one end of the second connecting rod is provided with limited block.
A kind of above-mentioned book bidding robot architecture, it is characterised in that：It is provided with guide rod on second book brace,
The guide rod is fixedly connected with one end of third connecting rod, is provided on first seat and the matched guiding of guide rod
Set.
A kind of above-mentioned book bidding robot architecture, it is characterised in that：Second lead screw mobile mechanism includes installation
The second lead screw on the pedestal and second seat being sleeved on second lead screw, second lead screw is by third motor
Driving.
A kind of above-mentioned book bidding robot architecture, it is characterised in that：The second connecting rod mechanism includes rotating disc, consolidates
Dingan County is mounted in the driving lever rotated in side surface, the first intermediate bar being connect with driving lever and the second intermediate bar and described first
First follower lever of intermediate bar connection and the second follower lever being connect with second intermediate bar, first point of book plate are mounted on
On first follower lever, second point of book plate is mounted on second follower lever, in first intermediate bar and second
Between bar it is hinged by the first articulated shaft, first follower lever and the second follower lever are hinged by the second articulated shaft, the rotation
Disk is driven by the 4th motor, and the rectangular channel slid for driving lever is offered on second seat.
A kind of above-mentioned book bidding robot architecture, it is characterised in that：The double-lever mechanism includes and the pedestal
The link block that is fixedly connected, one end are hinged on the first oscillating rod and the second oscillating rod on link block, first oscillating rod
It is rotatably installed on the horizontal silk seat with the second oscillating rod other end, the vertical lead screw is driven by the 5th motor, described
Horizontal lead screw is driven by the 6th motor, and first oscillating rod is driven by the 7th motor.
A kind of above-mentioned book bidding robot architecture, it is characterised in that：The pedestal include by lower plate, upper plate, two
Side plate splicing both ends open cuboid framework and the riser in described cuboid framework one end, described two side plate edges are set
The length direction for the lower plate and upper plate stretches out the cuboid framework, the riser along described two side plates height side
To the cuboid framework is stretched out, the fixed plate parallel with the riser is provided on the upper plate.
A kind of above-mentioned book bidding robot architecture, it is characterised in that：It is opened up on the medial surface of two side plates
There is sliding slot, the rail plate for being installed in the sliding slot is both provided on two sides of first seat.
A kind of above-mentioned book bidding robot architecture, it is characterised in that：The traveling wheel mechanism includes multiple is mounted on
Traveling wheel on bottom plate.
The utility model has the following advantages compared with prior art：
1, the torso portion that the utility model is utilized includes the vertical lead screw of holder and installation on the bracket, and
Erection support on vertical lead screw, when vertical lead screw rotate, bearing can be driven along the length direction rising of vertical lead screw or
It moves down, robot is made to reach the destination layer residing for target books.
2, the arm part that the utility model is utilized includes horizontal lead screw, horizontal silk seat and on horizontal silk seat
Double-lever mechanism, due to the pedestal of double-lever mechanism and robot section connect, can drive robot section realization lift or
The function of falling can drive horizontal silk seat to be moved horizontally along the length direction of horizontal lead screw when horizontal lead screw rotates, when
Robot stand firm a certain position when, in the case where that need not move integrally, robot is enable to reach target books institute
The target column at place.
3, the robot section that the utility model is utilized includes pedestal, the Jia Shu mechanisms on the pedestal and divides
Book mechanism, and the Jia Shu mechanisms are located at the lower section of the Fen Shu mechanisms, are located at the mesh on the shelf by the Fen Shu mechanisms
Two books at left and right sides of bidding documents nationality separate, and reserve target location for target books, then by double-lever mechanism and folder book machine
Structure pushes to target books in target location, can realize automatic taxonomic revision books, alleviate librarian's
Labor intensity improves work efficiency.
4, the utility model simple structure and reasonable design, it is multiple functional, it is easy to utilize.
In conclusion the utility model simple structure and reasonable design, can make the machine using torso portion and arm part
Device people reaches the position of the destination layer and target column residing for target books, and is located at the mesh on the shelf by the Fen Shu mechanisms
Two books at left and right sides of bidding documents nationality separate, and reserve target location for target books, then by double-lever mechanism and folder book machine
Structure pushes to target books in target location, can realize automatic taxonomic revision books, alleviate librarian's
Labor intensity improves work efficiency.
Below by drawings and examples, the utility model is further described in detail.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the structural schematic diagram of the utility model robot section.
Fig. 3 is the structural schematic diagram of the utility model pedestal.
Reference sign:
1-1- lower plates；1-2- upper plates；1-3- side plates；
1-4- risers；1-5- sliding slots；1-6- fixed plates；
First seat of 2-；2-1- rail plates；The first leading screws of 3-；
The first book braces of 4-1-；The second book braces of 4-2-；5- guide sleeves；
6- guide rods；7- first connecting rods；8- second connecting rods；
8-1- limited blocks；9- third connecting rods；10- sliding blocks；
The second lead screws of 11-；12-1- first divides book plate；12-2- second divides book plate；
Second seat of 13-；14- rotating discs；15- driving levers；
The first intermediate bars of 16-1-；The second intermediate bars of 16-1-；The first follower levers of 17-1-；
The second follower levers of 17-2-；The first articulated shafts of 18-；The second articulated shafts of 19-；
20- first motors；The second motors of 22-；22- third motors；
The 4th motors of 23-；24-1- bottom plates；24-2- top plates；
24-3- columns；The vertical lead screws of 25-；26- bearings；
27- horizontal lead screws；28- level silk seats；The first oscillating rods of 29-1-；
The second oscillating rods of 29-2-；29-3- link blocks；30- traveling wheels；
The 5th motors of 31-；32-the six motor；The 7th motors of 33-.
Specific implementation mode
As depicted in figs. 1 and 2, a kind of book bidding robot architecture includes torso portion, arm part and robot arm
Point, the torso portion includes holder and installs vertical lead screw 25 on the bracket and be mounted on the vertical lead screw 25
On bearing 26, the arm part includes the horizontal lead screw 27 being mounted on bearing 26 and is sleeved on the water of horizontal lead screw 27
Flat silk seat 28 and double-lever mechanism mounted on horizontal silk seat 28, the holder includes the bottom plate 24-1 and top plate of parallel laying
It is set below 24-2 and the column 24-3, the bottom plate 24-1 that are vertically installed between the bottom plate 24-1 and top plate 24-2
It is equipped with traveling wheel mechanism, the robot section includes the pedestal being connect with the double-lever mechanism, is mounted on the pedestal
Jia Shu mechanisms and Fen Shu mechanisms, Jia Shu mechanisms laying parallel with the Fen Shu mechanisms, the Jia Shu mechanisms include opposite
The first book brace 4-1 and the second book brace 4-2, drive the first book brace 4-1 and the second book brace 4-2 laid stretches
First lead screw mobile mechanism and the first connecting rod mechanism for driving the first book brace 4-1 and the second book brace 4-2 foldings, it is described
Fen Shu mechanisms include the opposite first point of book plate 12-1 laid and second point of book plate 12-2, drive first point of book plate 12-1 and second
What the second lead screw mobile mechanism for dividing book plate 12-2 flexible and first point of book plate 12-1 of drive and second point of book plate 12-2 were opened and closed
Second connecting rod mechanism.
In the present embodiment, torso portion that robot is utilized includes holder, vertical lead screw 25 and is mounted on vertical thread
Erection support 26 on bar 25, the holder include the bottom plate 24-1 and top plate 24-2 of parallel laying, and are arranged on bottom plate 24-1
There is traveling wheel mechanism, drives the holder to move by traveling wheel mechanism, in actual use, books to be handled are placed on bottom plate
On 24-1, it can realize and carry the purpose that humanoid robot carries books in the prior art.It is vertical by installing on the bracket
Lead screw 25, and the erection support 26 on vertical lead screw 25 can drive bearing 26 along vertical thread when vertical lead screw 25 rotates
The length direction of bar 25 rises or moves down, and robot is made to reach the destination layer residing for target books.
In the present embodiment, by installing horizontal lead screw 27 on bearing 26, and horizontal silk seat is set on horizontal lead screw 27
28, and due to being equipped with double-lever mechanism on horizontal silk seat 28, and the pedestal of double-lever mechanism and robot section connects, because
This can drive horizontal silk seat 28 to be moved horizontally along the length direction of horizontal lead screw 27 when horizontal lead screw 27 rotates, when this
Robot stand firm a certain position when, in the case where that need not move integrally, robot is enable to reach residing for target books
Target column.
In the present embodiment, the function of driving the robot section to lift and decline can be realized by double-lever mechanism,
Clever structure, using effect are good.
In the present embodiment, the robot section includes pedestal, the Jia Shu mechanisms on the pedestal and divides book machine
Structure, and the Jia Shu mechanisms are located at the lower section of the Fen Shu mechanisms, due to during book bidding, needing first to carry out folder book
Action, then the action of point book is carried out, therefore, in order to realize that the process first pressed from both sides book, divide book again, this manipulator are set on pedestal
The Jia Shu mechanisms and Fen Shu mechanisms for capableing of self contained function are set, and when Jia Shu mechanisms are located at below the Fen Shu mechanisms, press from both sides book machine
The folder book action of structure will not divide book to impact Fen Shu mechanisms.
In the present embodiment, the Jia Shu mechanisms include the first book brace 4-1 and the second book brace 4-2, and are arranged and are used for band
Move the first flexible lead screw mobile mechanisms of the first book brace 4-1 and the second book brace 4-2 and for driving first folder
The first connecting rod mechanism of book plate 4-1 and the second book brace 4-2 foldings, it is mutual by the first lead screw mobile mechanism and first connecting rod mechanism
Interoperation can drive the first book brace 4-1 and the second book brace 4-2 to complete the action of folder book, simple in structure, action spirit
It is living.
In actual use, first, the first connecting rod mechanism drives the second book brace 4-2 to far from the first book brace 4-1
Side movement, make the first book brace 4-1 and the second book brace 4-2 phase separations；Secondly, first lead screw mobile mechanism drives
The the first book brace 4-1 and the second book brace 4-2 of phase separation are stretched out out of described pedestal, make the medial surface of the first book brace 4-1
It is tightly attached on a side of the target books；Then, the first connecting rod mechanism drives the second book brace 4-2 to close to the
The side of one book brace 4-1 is moved, until the medial surface of the second book brace 4-2 is tightly attached to another side of the target books
On；Then, first lead screw mobile mechanism drives the first book brace 4-1 and the second book brace for being clamped with the target books
4-2 retracts.
In the present embodiment, the Fen Shu mechanisms include first point of book plate 12-1 and second point of book plate 12-2, and drive is arranged
Flexible first point of book plate 12-1 and second point of book plate 12-2 the second lead screw mobile mechanism and drive first point of book plate 12-1 and the
The second connecting rod mechanism of two points of book plate 12-2 foldings, is acted by the second lead screw mobile mechanism and the mutual cooperation of second connecting rod mechanism,
First point of book plate 12-1 and second point of book plate 12-2 can be driven to complete the action for dividing book.
In actual use, first, second connecting rod mechanism drives first point of book plate 12-1 and second point of book plate 12-2 phase to be closed；
Secondly, the second lead screw mobile mechanism drives first point of book plate 12-1 being mutually closed and second point of book plate 12-2 out of described pedestal
It stretches out, be mutually closed first point of book plate 12-1 and second point of book plate 12-2 is made to be inserted at left and right sides of the target books
In gap between two books；Then, second connecting rod mechanism drives first point of book plate 12-1 being mutually closed and second point of book plate
12-2 is detached, and the lateral surface of first point of book plate 12-1 and the lateral surface of second point of book plate 12-2 are squeezed respectively positioned at described
The surface of two books at left and right sides of target books reserves target location for the target books.
As shown in Fig. 2, in the present embodiment, first lead screw mobile mechanism includes that one end is mounted on the pedestal
One lead screw 3 and first seat 2 being sleeved on the first lead screw 3, and the first book brace 4-1 is fixedly mounted on first seat 2,
The second book brace 4-2 is slidably mounted on first seat 2, and first lead screw 3 is driven by first motor 20, and described second
Book brace 4-2 is driven by the second motor 21, is passed by first connecting rod mechanism between second motor, 21 and second book brace 4-2
Dynamic connection.
In the present embodiment, first lead screw mobile mechanism include the first lead screw 3 and first seat 2, the one of the first lead screw 3
End is mounted on the pedestal, and the first book brace 4-1 and the second book brace 4-2 are installed on first seat 2, therefore,
In actual use, the first lead screw 3 is driven to rotate by first motor 20, first seat 2 can drive the first book brace 4-1 and second
Book brace 4-2 moves linearly along the length direction of the first lead screw 3, and the first folder can be realized by the positive and negative rotation of first motor 20
The process that book plate 4-1 and the second book brace 4-2 stretchings-retraction-are stretched out again.
In the present embodiment, the first connecting rod of the first book brace 4-1 and the second book brace 4-2 foldings are driven by being arranged
Mechanism, in actual use, since the first book brace 4-1 is fixedly mounted on first seat 2, the second book brace 4-2 is
Under the drive of one link mechanism, can realize to the first book brace 4-1 closer or far from process, to realize target books
The purpose of clamping.
As shown in Fig. 2, in the present embodiment, the first connecting rod mechanism includes first driven by second motor 21
Connecting rod 7, the sliding block 10 mounted on 7 other end of first connecting rod, the second connecting rod 8 across the sliding block 10 and with it is described second connect
The third connecting rod 9 that bar 8 connects, one end of the second connecting rod 8 is provided with limited block 8-1.
In the present embodiment, in one end of second connecting rod 8, the purpose of setting limited block 8-1 is：Prevent second connecting rod 8 from cunning
It is slipped in block 10, and defines the range that sliding block 10 slides on second connecting rod 8.
In actual use, when the second motor 21 rotates forward, and first connecting rod 7 is driven to rotate, band of the sliding block 10 in first connecting rod 7
Move to the direction of limited block 8-1 under dynamic, to drive second connecting rod 8 to swing, second connecting rod 8 again drive third connecting rod 9 to remote
Direction movement from fixed first book brace 4-1 makes first to drive the second book brace 4-2 far from the first book brace 4-1
Book brace 4-1 and the second book brace 4-2 are opened.
When the second motor 21 inverts, and first connecting rod 7 is driven to rotate, sliding block 10 is under the drive of first connecting rod 7 to limited block
The negative direction of 8-1 moves, and to drive second connecting rod 8 to swing, second connecting rod 8 drives third connecting rod 9 to close to fixed the again
One directions book brace 4-1 move, to drive the second book brace 4-2 close to the first book brace 4-1, make the first book brace 4-1 and
Second book brace 4-2 is closed.
In the present embodiment, guide rod 6, the guide rod 6 and third connecting rod 9 are provided on the second book brace 4-2
One end is fixedly connected, and is provided on first seat 2 and 6 matched guide sleeve 5 of guide rod.
In the present embodiment, by the way that guide rod 6 is arranged on the second book brace 4-2, and it is arranged and leads on first seat 2
To 6 matched guide sleeve 5 of bar, in actual use, guide rod 6 can be under the drive of third connecting rod 9 in the inside of guide sleeve 5
Sliding, so as to limit the movement locus of the second book brace 4-2.
As shown in Fig. 2, in the present embodiment, second lead screw mobile mechanism includes second be mounted on the pedestal
Bar 11 and second seat 13 being sleeved on second lead screw 11, second lead screw 11 are driven by third motor 22.
The master that in the present embodiment, the second connecting rod mechanism includes rotating disc 14, is fixedly mounted on 14 end face of rotating disc
Lever 15, the first intermediate bar 16-1 being connect with driving lever 15 and the second intermediate bar 16-2, connect with the first intermediate bar 16-1
The the first follower lever 17-1 connect and the second follower lever 17-2 being connect with the second intermediate bar 16-2, first point of book plate
12-1 is mounted on the first follower lever 17-2, and second point of book plate 12-2 is mounted on the second follower lever 17-2,
The first intermediate bar 16-1 and the second intermediate bar 16-2 is hinged by the first articulated shaft 18, the first follower lever 17-1 and the
Two follower lever 17-2 are hinged by the second articulated shaft 19, and the rotating disc 14 is driven by the 4th motor 23, second seat 13
On offer the rectangular channel 13-1 slid for driving lever 15.
In actual use, as shown in Figure 1, when the 4th motor 23 is driven forward rotating disc 14 and rotates, driving lever 15 is turning
It is deflected to close to the side of riser 1-4 under the drive of Moving plate 14, under the drive of driving lever 15, the first intermediate bar 16-1 and the
The angle α formed between two intermediate bar 16-2 increases, under the drive of the first intermediate bar 16-1 and the second intermediate bar 16-2, first
The angle β formed between follower lever 17-1 and the second follower lever 17-2 is gradually reduced, to make first point of book plate 12-1 and second
Book plate 12-2 is divided mutually to move closer to, until first point of book plate 12-1 and second point of book plate 12-2 are closed.
When the 4th motor 23, which is driven reverse rotating disc 14, to be rotated, driving lever 15 is under the drive of rotating disc 14 to far from vertical
The side of plate 1-4 deflects, and in the case where the drive of driving lever 15 drives, is formed between the first intermediate bar 16-1 and the second intermediate bar 16-2
Angle α reduce, under the drive of the first intermediate bar 16-1 and the second intermediate bar 16-2, the first follower lever 17-1 and second from
The angle β formed between lever 17-2 gradually increases, to keep first point of book plate 12-1 and second point of book plate 12-2 mutually gradual
It is separate, until first point of book plate 12-1 and second point of book plate 12-2 separation.
As shown in Figure 1, in the present embodiment, the double-lever mechanism includes the link block 29- being fixedly connected with the pedestal
3, one end is hinged on the first oscillating rod 29-1 and the second oscillating rod 29-2, the first oscillating rod 29-1 on link block 29-3
It is rotatably installed on the horizontal silk seat 28 with the second oscillating rod 29-2 other ends, the vertical lead screw 25 is by the 5th motor 31
Driving, the horizontal lead screw 27 are driven by the 6th motor 32, and the first oscillating rod 29-1 is driven by the 7th motor 33.
As shown in Figures 2 and 3, in the present embodiment, the pedestal includes being spelled by lower plate 1-1, upper plate 1-2, two side plate 1-3
The cuboid framework of the both ends open connect and it is arranged on the edges riser 1-4, described two side plate 1-3 of described cuboid framework one end
The length direction for the lower plate 1-1 and upper plate 1-2 stretches out the cuboid framework, and the riser 1-4 is along described two sides
The short transverse of plate 1-3 stretches out the cuboid framework, is provided on the upper plate 1-2 and the riser 1-4 is parallel consolidates
Fixed board 1-6.
In the present embodiment, sliding slot 1-5 is offered on the medial surface of two side plate 1-3, the two of first seat 2
The rail plate 2-1 for being installed in the sliding slot 1-5 is both provided on a side.
In the present embodiment, by offering sliding slot 1-5 on the medial surface of two side plate 1-3, the two of first seat 2
It is respectively provided with rail plate 2-1 on a side, the movement of first seat 2 can not only be oriented to, and support can be played
The effect of first seat 2.
In the present embodiment, the traveling wheel mechanism includes four traveling wheels 34 being mounted on bottom plate 24-1, and four rows
Walk 34 rectangular layings of wheel.
In actual use, including following operating procedure：
Step 1: gripping target books：
The first connecting rod mechanism drives the second book brace 4-2 to be moved to the side far from the first book brace 4-1, makes first
Book brace 4-1 and the second book brace 4-2 phase separations；First lead screw mobile mechanism drives the first book brace 4-1 of phase separation
It is stretched out out of described pedestal with the second book brace 4-2, the medial surface of the first book brace 4-1 is made to be tightly attached to the one of the target books
On a side；The first connecting rod mechanism drives the second book brace 4-2 to be moved to close to the side of the first book brace 4-1, until
The medial surface of second book brace 4-2 is tightly attached on another side of the target books；First lead screw mobile mechanism band
Dynamic the first book brace 4-1 for being clamped with the target books and the second book brace 4-2 retract；
In step 1, first lead screw mobile mechanism drive be clamped with the target books the first book brace 4-1 and
The purpose that second book brace 4-2 retracts is：The separation in step 3 is prevented to be located at figure adjacent at left and right sides of the target books
When book, the first book brace 4-1 and the second book brace 4-2 that are clamped with the target books influence first point of book plate 12-1 and the
Two points of book plate 12-2 are stretched out out of described pedestal, cause first point of book plate 12-1 and second point of book plate 12-2 that can not be inserted into and be located at
In the gap between two books at left and right sides of the target books.
Step 2: finding the destination layer and target column that the target books are placed：
The traveling wheel mechanism drives the holder movement, the bearing to be risen or fallen along the vertical lead screw 25
The destination layer that the target books are placed is found, the horizontal silk seat 28 is moved left and right along the horizontal lead screw 27 described in searching
The target column that target books are placed.
Step 3: separation is located at books adjacent at left and right sides of the target books, target is reserved for the target books
Position：
Second connecting rod mechanism drives first point of book plate 12-1 and second point of book plate 12-2 phase to be closed, the second lead screw mobile mechanism
It drives first point of book plate 12-1 being mutually closed and second point of book plate 12-2 to be stretched out out of described pedestal, makes mutually be closed first point of book
Plate 12-1 and second point of book plate 12-2 is inserted into the gap between two books at left and right sides of the target books, the
Two link mechanisms drive first point of book plate 12-1 being mutually closed and second point of book plate 12-2 separation, first point of book plate 12-1's
The lateral surface of lateral surface and second point of book plate 12-2 squeeze the table of two books at left and right sides of the target books respectively
Face reserves target location for the target books.
Step 4: pushing in the target books to the target location：
The double-lever mechanism drives the robot section to lift, and makes to be clamped with the of the target books in step 1
One book brace 4-1 and the second book brace 4-2 close to the target location, the first lead screw mobile mechanism drive in retracted mode and
The the first book brace 4-1 and the second book brace 4-2 for being clamped with the target books are stretched out out of described pedestal, until by the mesh
It is first lead screw mobile mechanism among the target location that the target books reserve that bidding documents nationality, which is inserted into step 3,
First point of book plate 12-1 being separated in step 3 and second point of book plate 12-2 is driven to retract.
When carrying out book bidding using this book bidding robot, method is simple and convenient, can substitute library's work completely
The both hands for making personnel alleviate the labor intensity of librarian, have saved cost of labor, and work efficiency is high.
The above is only presently preferred embodiments of the present invention, is not imposed any restrictions to the present invention, every according to the present invention
Technical spirit changes any simple modification, change and equivalent structure made by above example, still falls within skill of the present invention
In the protection domain of art scheme.
Claims (10)
1. a kind of book bidding robot architecture, it is characterised in that：Including torso portion, arm part and robot section, institute
Torso portion is stated to include holder and vertical lead screw (25) on the bracket is installed and is mounted on the vertical lead screw (25)
Bearing (26), the arm part include be mounted on bearing (26) on horizontal lead screw (27) and be sleeved on horizontal lead screw (27)
Horizontal silk seat (28) and mounted on horizontal silk seat (28) double-lever mechanism, the holder includes the bottom plate (24- of parallel laying
1) and top plate (24-2) and the column (24-3) that is vertically installed between the bottom plate (24-1) and top plate (24-2), described
Traveling wheel mechanism is provided with below bottom plate (24-1), the robot section includes the base being connect with the double-lever mechanism
Seat, the Jia Shu mechanisms on the pedestal and Fen Shu mechanisms, Jia Shu mechanisms laying parallel with the Fen Shu mechanisms, institute
Shu Jiashu mechanisms include opposite the first book brace (4-1) laid and the second book brace (4-2), drive first book brace
The first flexible lead screw mobile mechanism of (4-1) and the second book brace (4-2) and drive first book brace (4-1) and the second folder
The first connecting rod mechanism of book plate (4-2) folding, the Fen Shu mechanisms include the opposite first point of book plate (12-1) and second laid
Point book plate (12-2), drive first point of book plate (12-1) and flexible the second lead screw mobile mechanism of second point of book plate (12-2) and
Drive the second connecting rod mechanism of first point of book plate (12-1) and the folding of second point of book plate (12-2).
2. a kind of book bidding robot architecture described in accordance with the claim 1, it is characterised in that：The first lead screw moving machine
Structure includes the first lead screw (3) that one end is mounted on the pedestal and first seat (2) being sleeved on the first lead screw (3), institute
It states the first book brace (4-1) to be fixedly mounted on first seat (2), second book brace (4-2) is slidably mounted on first
On seat (2), first lead screw (3) is driven by first motor (20), and second book brace (4-2) is driven by the second motor (21)
It is dynamic, it is connect by first connecting rod mechanism driving between second motor (21) and the second book brace (4-2).
3. a kind of book bidding robot architecture according to claim 2, it is characterised in that：First connecting rod mechanism packet
It includes the first connecting rod (7) driven by second motor (21), the sliding block (10) for being mounted on first connecting rod (7) other end, pass through
The second connecting rod (8) of the sliding block (10) and the third connecting rod (9) being connect with the second connecting rod (8), the second connecting rod (8)
One end be provided with limited block (8-1).
4. a kind of book bidding robot architecture described in accordance with the claim 3, it is characterised in that：Second book brace (the 4-
2) guide rod (6) is provided on, the guide rod (6) is fixedly connected with one end of third connecting rod (9), first seat (2)
On be provided with guide rod (6) matched guide sleeve (5).
5. a kind of book bidding robot architecture described in accordance with the claim 1, it is characterised in that：The second lead screw moving machine
Structure includes the second lead screw (11) being mounted on the pedestal and second seat (13) being sleeved on second lead screw (11),
Second lead screw (11) is driven by third motor (22).
6. a kind of book bidding robot architecture described in accordance with the claim 1, it is characterised in that：Second connecting rod mechanism packet
Include rotating disc (14), the driving lever (15) being fixedly mounted on rotating disc (14) end face, connect with driving lever (15) first in
Between bar (16-1) and the second intermediate bar (16-2), the first follower lever (17-1) for being connect with first intermediate bar (16-1) and with
The second follower lever (17-2) of second intermediate bar (16-2) connection, first point of book plate (12-1) are mounted on described first
On follower lever (17-2), second point of book plate (12-2) is mounted on second follower lever (17-2), among described first
Bar (16-1) and the second intermediate bar (16-2) are hinged by the first articulated shaft (18), first follower lever (17-1) and second from
Lever (17-2) is hinged by the second articulated shaft (19), and the rotating disc (14) is driven by the 4th motor (23), described second
The rectangular channel (13-1) slid for driving lever (15) is offered on seat (13).
7. a kind of book bidding robot architecture described in accordance with the claim 1, it is characterised in that：The double-lever mechanism includes
The link block (29-3) that is fixedly connected with the pedestal, one end are hinged on the first oscillating rod (29-1) on link block (29-3)
With the second oscillating rod (29-2), first oscillating rod (29-1) and the second oscillating rod (29-2) other end are rotatably installed in institute
It states on horizontal silk seat (28), the vertical lead screw (25) is driven by the 5th motor (31), and the horizontal lead screw (27) is by the 6th electricity
Machine (32) drives, and first oscillating rod (29-1) is driven by the 7th motor (33).
8. a kind of book bidding robot architecture described in accordance with the claim 1, it is characterised in that：The pedestal includes by lower plate
The cuboid framework for the both ends open that (1-1), upper plate (1-2), two side plates (1-3) are spliced and setting are in the cuboid framework
The riser (1-4) of one end, described two side plates (1-3) stretch out institute along the length direction of the lower plate (1-1) and upper plate (1-2)
Cuboid framework is stated, the riser (1-4) stretches out the cuboid framework along the short transverse of described two side plates (1-3),
It is provided with the fixed plate parallel with the riser (1-4) (1-6) on the upper plate (1-2).
9. a kind of book bidding robot architecture according to claim 8, it is characterised in that：Two side plates (1-3)
Medial surface on offer sliding slot (1-5), be both provided on two sides of first seat (2) described for being installed on
Rail plate (2-1) in sliding slot (1-5).
10. a kind of book bidding robot architecture described in accordance with the claim 1, it is characterised in that：The traveling wheel mechanism packet
Include multiple traveling wheels (34) on bottom plate (24-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721796882.2U CN207737922U (en) | 2017-12-20 | 2017-12-20 | A kind of book bidding robot architecture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721796882.2U CN207737922U (en) | 2017-12-20 | 2017-12-20 | A kind of book bidding robot architecture |
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| Publication Number | Publication Date |
|---|---|
| CN207737922U true CN207737922U (en) | 2018-08-17 |
Family
ID=63119011
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721796882.2U Expired - Fee Related CN207737922U (en) | 2017-12-20 | 2017-12-20 | A kind of book bidding robot architecture |
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| Country | Link |
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| CN (1) | CN207737922U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107934338A (en) * | 2017-12-20 | 2018-04-20 | 西安科技大学 | A kind of book bidding robot architecture and operating method |
| CN109822558A (en) * | 2019-03-12 | 2019-05-31 | 哈尔滨理工大学 | A kind of practical engineering machinery arm |
| CN110510307A (en) * | 2019-06-28 | 2019-11-29 | 江苏迅捷智能科技有限公司 | A kind of fetching device and archive management system |
| CN111136635A (en) * | 2019-12-27 | 2020-05-12 | 广东电网有限责任公司 | Archive management robot |
| CN111185933A (en) * | 2020-02-25 | 2020-05-22 | 洛阳理工学院 | Clamping manipulator for sandwich plate of power distribution cabinet |
| CN111634692A (en) * | 2020-06-16 | 2020-09-08 | 深圳市成果转化中心有限公司 | Automatic pile up neatly of file administration file box piles up device |
| CN111924390A (en) * | 2020-07-17 | 2020-11-13 | 徐巧芳 | Loading and unloading device for storage rack |
| CN112828902A (en) * | 2020-12-31 | 2021-05-25 | 南京晓庄学院 | Automatic book arranging device |
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2017
- 2017-12-20 CN CN201721796882.2U patent/CN207737922U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107934338A (en) * | 2017-12-20 | 2018-04-20 | 西安科技大学 | A kind of book bidding robot architecture and operating method |
| CN107934338B (en) * | 2017-12-20 | 2023-05-05 | 西安科技大学 | Book sorting robot structure and operation method |
| CN109822558A (en) * | 2019-03-12 | 2019-05-31 | 哈尔滨理工大学 | A kind of practical engineering machinery arm |
| CN110510307A (en) * | 2019-06-28 | 2019-11-29 | 江苏迅捷智能科技有限公司 | A kind of fetching device and archive management system |
| CN111136635A (en) * | 2019-12-27 | 2020-05-12 | 广东电网有限责任公司 | Archive management robot |
| CN111185933A (en) * | 2020-02-25 | 2020-05-22 | 洛阳理工学院 | Clamping manipulator for sandwich plate of power distribution cabinet |
| CN111185933B (en) * | 2020-02-25 | 2022-11-15 | 洛阳理工学院 | Clamping manipulator for sandwich plate of power distribution cabinet |
| CN111634692A (en) * | 2020-06-16 | 2020-09-08 | 深圳市成果转化中心有限公司 | Automatic pile up neatly of file administration file box piles up device |
| CN111924390A (en) * | 2020-07-17 | 2020-11-13 | 徐巧芳 | Loading and unloading device for storage rack |
| CN112828902A (en) * | 2020-12-31 | 2021-05-25 | 南京晓庄学院 | Automatic book arranging device |
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