CN208560529U - Three-pawl type library automatic book taking device - Google Patents
Three-pawl type library automatic book taking device Download PDFInfo
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- CN208560529U CN208560529U CN201820705938.7U CN201820705938U CN208560529U CN 208560529 U CN208560529 U CN 208560529U CN 201820705938 U CN201820705938 U CN 201820705938U CN 208560529 U CN208560529 U CN 208560529U
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Abstract
The utility model discloses a kind of three-pawl type library automatic book taking devices, including AGV trolley, objective table, retrieval machine, removable rotation Z axis slide rail, removable X-axis slide rail, three-jaw Qu Shu mechanism and controller, objective table and retrieval machine are arranged at the trolley base top side of AGV trolley, the top other side of trolley base is arranged in removable rotation Z axis slide rail, removable X-axis slide rail is horizontally set on removable rotation Z axis slide rail lower part side, and three-jaw Qu Shu mechanism is mounted on removable X-axis slide rail outer end；The signal output end of retrieval machine is connect with controller input terminal, controller output end is connect by the first driver with the trolley drive motor of AGV trolley, and controller is arranged at the top of trolley base and the movement of control removable rotation Z axis slide rail, removable X-axis slide rail and three-jaw Qu Shu mechanism.The utility model realizes library's automatic identification books and takes book function, alleviates the labor intensity of librarian, improves work efficiency.
Description
Technical field
The utility model relates to one kind to take book apparatus, more particularly, to a kind of three-pawl type library automatic book taking device.
Background technique
Existing library Qu Shu robot, since end effector is only useful for two pawl actuators of clamping books,
When taking book on the books bookshelf of marshalling, it is easy that the books strip of paper used for sealing of surrounding is caused to scratch, is punctured.And it is fixed on books in stock
CCD camera on frame needs to meet quickly identification and even no-delay, the accurate acquisition books of accurate locating function, low delay are sat
Mark and take this three basic demands of book accuracy size；And controller, CCD camera, the books in stock frame being connect with elevating mechanism
Etc. requiring to redesign, fail to cause the waste of existing resource using the prior art, thus bring a series of problem and
It is inconvenient.
Utility model content
The purpose of the utility model is to overcome above-mentioned deficiencies in the prior art, and it is automatic to provide a kind of three-pawl type library
Book apparatus is taken, library's automatic identification books are realized and takes book function, the labor intensity of librarian is alleviated, mentions
High working efficiency.
In order to achieve the above purposes, the technical solution adopted by the utility model is:, and a kind of three-pawl type library automatic book taking fills
It sets, it is characterised in that: including AGV trolley, objective table, retrieval machine, removable rotation Z axis slide rail, removable X-axis slide rail, three-jaw
Qu Shu mechanism and controller, the objective table and retrieval machine are arranged at the trolley base top side of AGV trolley, described removable
Turn moves the top other side that Z axis slide rail is vertically arranged in the trolley base, and the removable X-axis slide rail is horizontally set on institute
The lower part side of removable rotation Z axis slide rail is stated, three-jaw Qu Shu mechanism is mounted on the outer end of removable X-axis slide rail；It is described
The signal output end of retrieval machine and the input terminal of controller connect and the coordinate setting information of searched books are transferred to control
The output end of device, the controller is connect with the trolley drive motor of AGV trolley by the first driver and controls trolley driving
Where motor runs to searched books at bookshelf position, the top of the trolley base is arranged in the controller and control can
Rotate the movement of Z axis slide rail, removable X-axis slide rail and three-jaw Qu Shu mechanism.
Above-mentioned three-pawl type library automatic book taking device, it is characterised in that: the removable rotation Z axis slide rail includes Z
Axis guided way, movement sleeve, the sleeve moving drive mechanism for driving movement sleeve to move up and down along the Z axis guided way
With for driving the rotating drive mechanism of the Z axis guided way rotation, the movement sleeve is set on the Z axis guided way,
The lower end of the Z axis guided way is protruded into the trolley base and is rotatablely connected with trolley base；The Z axis guided way includes can
Z axis track and the first threaded rod are rotated, rotatably Z axis track and first threaded rod are arranged in parallel and are fixed as one, institute
Stating sleeve moving drive mechanism includes the mobile driving motor of sleeve and first gear, and the first gear is fixedly mounted on sleeve shifting
On the output shaft of dynamic driving motor, the first gear is meshed with the first threaded rod, the mobile driving motor installation of the sleeve
On the outer wall of movement sleeve, the mobile driving motor of the sleeve is connected by the second driver with the output end of controller.
Above-mentioned three-pawl type library automatic book taking device, it is characterised in that: the rotating drive mechanism includes that rotation is driven
Dynamic motor, driving gear and driven gear, the driving gear are fixedly mounted on the output shaft of rotational drive motor, it is described from
Moving gear is fixedly mounted on the lower end of rotatable Z axis track, and the driving gear is meshed with driven gear, the rotate driving
Motor, driving gear and driven gear are respectively positioned in the trolley base, the rotational drive motor by third driver with
The output end of controller connects.
Above-mentioned three-pawl type library automatic book taking device, it is characterised in that: the two sides that can be rotated Z axis track are perpendicular
It is directly provided with the first guide rail, first guide rail is matched with the first guide groove being arranged on the inside of movement sleeve.
Above-mentioned three-pawl type library automatic book taking device, it is characterised in that: the second driver setting is covered in movement
On the side wall of cylinder, the top of the trolley base is arranged in the third driver.
Above-mentioned three-pawl type library automatic book taking device, it is characterised in that: the removable X-axis slide rail includes that X-axis is led
To rail, U-shaped guide groove body, fixed plate and for driving X-axis guided way to move along the X-axis guided way that U-shaped guide groove body moves horizontally
Driving mechanism, the U-shaped guide groove body are set on the X-axis guided way, are covered on the outside of the closed end of the U-shaped guide groove body with movement
The side wall of cylinder is fixedly connected, and one end of the fixed plate is fixedly connected with the side wall of movement sleeve, and the fixed plate is led positioned at U-shaped
The lower section of groove body；The X-axis guided way includes X-axis guide rail and the second threaded rod, the X-axis guide rail and the second screw thread
Bar is arranged in parallel and is fixed as one, and the X-axis guided way moving drive mechanism includes X-axis driving motor and second gear, institute
It states second gear to be fixedly mounted on the output shaft of X-axis driving motor, the second gear is meshed with the second threaded rod, described
X-axis driving motor is mounted on the top of fixed plate, and the X-axis driving motor passes through the output end phase of fourth drive and controller
It connects.
Above-mentioned three-pawl type library automatic book taking device, it is characterised in that: three-jaw Qu Shu mechanism includes that V-arrangement is fixed
Frame, connecting box, connection strap, take book plectrum, take bookend and for drive it is described take what bookend opened and closed to take bookend opening and closing driving mechanism,
The connecting box is fixed on the top of V-arrangement fixed frame, is fixedly connected at the top of the lower end of the connection strap and connecting box, described to take
Book plectrum is fixed on the upper end of connection strap, it is described take bookend include two be oppositely arranged take book splint, it is described to take book splint packet
Include and take bookend piece and connecting rod, one end of the connecting rod with take the middle part of bookend piece hinged, the connecting pin of bookend piece is taken described in two
It is hinged with the open end two sides of V-arrangement fixed frame respectively, take the tip inside of bookend piece to be provided with pressure sensing described in one of them
Device, the pressure sensor connect with controller；It is described take bookend opening and closing driving mechanism include take bookend driving motor, screw rod and
Slide plate, one end of the screw rod are fixedly connected with the output shaft of bookend driving motor is taken, the other end of the screw rod and slide plate
Threaded one end connection, the other end of the slide plate pass through the sliding slot being arranged on connecting box and can move along the sliding slot, institute
The other end for stating connecting rod is hinged with the top of slide plate, described that bookend driving motor is taken to be mounted in connecting box, described to take bookend
Driving motor is connected by the 5th driver with the output end of controller, the closed end and X-axis guide rail of the V-arrangement fixed frame
Connecting pin be fixedly connected.
Above-mentioned three-pawl type library automatic book taking device, it is characterised in that: the two sides of the X-axis guide rail are horizontal
It is provided with the second guide rail, second guide rail is matched with the second guide groove that side in U-shaped guide groove body is arranged in.
Above-mentioned three-pawl type library automatic book taking device, it is characterised in that: the fourth drive is arranged in fixed plate
Top, the top of connecting box is arranged in the 5th driver.
Above-mentioned three-pawl type library automatic book taking device, it is characterised in that: the controller is that Siemens 1300 can compile
Range controller.
Compared with the prior art, the utility model has the following advantages:
1, the utility model realizes library's automatic identification books and takes book function, alleviates the labor of librarian
Fatigue resistance improves work efficiency, and realizes without manual intervention, realizes automatic book-lending function in library.
2, it is not damaged to books when taking book that the utility model can guarantee, accurate positioning, books are not fallen off, and avoid books in stock
Frame leads to a possibility that rollover.
3, the utility model is not required to excessively design the dresses such as controller, CCD camera, the books in stock frame connecting with elevating mechanism
It sets, is combined with existing matured product, avoid design, manufacture, the experiment etc. of each device profession parameter as the prior art
And adaptation period of the people to the product after the advent of product.
4, for the utility model user after retrieval machine input target books, retrieval chance positions rapidly the books coordinate bit
It sets, bookshelf position where going to the books by controller driving AGV trolley, avoiding the prior art is user's figure needed for input
After book instruction, Qu Shu robot, library consults books position using CCD camera system and is scanned search positioning, there is delay
The problem of property, accuracy, stability and accuracy deficiency.
5, the utility model three-jaw Qu Shu mechanism utilizes bionics principle, imitates and dials book movement when manpower takes book, newly plus one
A similar manpower takes book plectrum, takes book plectrum first to make and dials book movement, books is made to tilt to certain angle；Then bookend is taken to do
Clamping movement improves the accuracy for taking book and takes book efficiency, avoids two pawl actuators folder book piece to the books strip of paper used for sealing of surrounding
It causes to scratch, puncture；It takes the tip inside of bookend piece to be provided with pressure sensor at wherein one simultaneously, guarantees the big of clamping force
It is small to take power when book roughly the same with manpower.
6, the features such as the utility model has structure simple, easy to use, at low cost, high reliablity, easy to operate.
Below by drawings and examples, the utility model is further described in detail.
Detailed description of the invention
Fig. 1 is the perspective view of the utility model.
Fig. 2 is the top view of the utility model.
Fig. 3 is the main view of the utility model.
Fig. 4 is the utility model AGV trolley, rotational drive motor, driving gear, driven gear and X-axis guide rail
Positional diagram.
Fig. 5 is the structural schematic diagram of the utility model three-jaw Qu Shu mechanism.
Fig. 6 is the schematic block circuit diagram of the utility model.
Description of symbols:
1-AGV trolley；2-objective tables；3-retrieval machines；
4-V-arrangement fixed frames；5-can be rotated Z axis track；The first threaded rod of 5-1-；
The first guide rail of 5-2-；6-movement sleeves；7-X-axis guide rails；
The second threaded rod of 7-1-；The second guide rail of 7-2-；8-take book plectrum；
9-take bookend piece；9-1-connecting rod；10-connection straps；
11-connecting boxs；12-sleeves move driving motor；12-1-first gear；
13-the second driver；14-X-axis driving motors；14-1-second gear；
15-fourth drives；16-slide plates；17-controllers；
18-take bookend driving motor；18-1-screw rod；19-the five driver；
20-rotational drive motors；21-third drivers；22-the first driver；
23-trolley drive motors；24-fixed plates；25-U-shaped guide groove bodies；
26-driving gears；27-driven gears；28-pressure sensors.
Specific embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 6, the utility model includes AGV trolley 1, objective table 2, retrieval machine 3, moves
Rotation Z axis slide rail, removable X-axis slide rail, three-jaw Qu Shu mechanism and controller 17, the objective table 2 and retrieval machine 3 are arranged at
The trolley base top side of AGV trolley 1, the removable rotation Z axis slide rail are vertically arranged in the top of the trolley base
The other side, the removable X-axis slide rail are horizontally set on the lower part side of the removable rotation Z axis slide rail, and the three-jaw takes
Book mechanism is mounted on the outer end of removable X-axis slide rail；The signal output end of the retrieval machine 3 is connect with the input terminal of controller 17
And the coordinate setting information of searched books is transferred to controller 17, the output end of the controller 17 passes through the first driver
22 connect with the trolley drive motor 23 of AGV trolley 1 and control trolley drive motor 23 and run to bookshelf where searched books
At position, the top of the trolley base and the removable rotation Z axis slide rail of control, removable X-axis is arranged in the controller 17
The movement of sliding rail and three-jaw Qu Shu mechanism.
For user on retrieval machine 3 after input instruction, retrieval machine 3 can position rapidly the books position.It is controlled by controller 17
Where AGV trolley 1 goes to searched books at bookshelf position, then three-pawl type library automatic book taking device can drive three-jaw to take
Book mechanism moves to anchor point along X-axis, Z axis respectively, and three-jaw Qu Shu mechanism takes the book plectrum 8 to transfer to target books at this time, makes
Its base angle and bookshelf are angled.The clamping for finally taking bookend to complete to target books operates, and takes out books, then by moving
Rotation Z axis slide rail turns to three-jaw Qu Shu mechanism near objective table 2, adjusts three-jaw Qu Shu mechanism to the Z axis side of pallet
To proper height, books are placed in pallet, complete entirely to take book task.
As shown in Figure 1, Figure 2 and Figure 3, the removable rotation Z axis slide rail includes Z axis guided way, movement sleeve 6, is used for
Drive moves the sleeve moving drive mechanism that sleeve 6 is moved up and down along the Z axis guided way and for driving the Z axis to be oriented to
The rotating drive mechanism of rail rotation, the movement sleeve 6 are set on the Z axis guided way, and the lower end of the Z axis guided way is stretched
Enter in the trolley base and is rotatablely connected with trolley base；The Z axis guided way includes that can be rotated Z axis track 5 and the first spiral shell
Rasp bar 5-1, described to can be rotated Z axis track 5 and the first threaded rod 5-1 is arranged in parallel and is fixed as one, the sleeve is mobile to be driven
Motivation structure includes the mobile driving motor 12 of sleeve and first gear 12-1, and it is mobile that the first gear 12-1 is fixedly mounted on sleeve
On the output shaft of driving motor 12, the first gear 12-1 is meshed with the first threaded rod 5-1, the mobile driving electricity of the sleeve
Machine 12 is mounted on the outer wall of movement sleeve 6, and the mobile driving motor 12 of the sleeve passes through the second driver 13 and controller 17
Output end connect.
Z axis guided way is rotatablely connected (connection of similar crane boom and car body) with trolley base, and Z axis guided way is worn
It crosses movement sleeve 6 and can be moved in the effective length of Z axis guided way.
As shown in Figure 1 and Figure 4, the rotating drive mechanism includes rotational drive motor 20, driving gear 26 and driven tooth
Wheel 27, the driving gear 26 is fixedly mounted on the output shaft of rotational drive motor 20, and the driven gear 27 is fixedly mounted
In the lower end of rotatable Z axis track 5, the driving gear 26 is meshed with driven gear 27, the rotational drive motor 20, master
Moving gear 26 and driven gear 27 are respectively positioned in the trolley base, the rotational drive motor 20 by third driver 21 with
The output end of controller 17 connects.
As shown in Figure 1, the two sides that can be rotated Z axis track 5 are vertically arranged with the first guide rail 5-2, described first is led
Rail 5-2 is matched with the first guide groove that 6 inside of movement sleeve is arranged in.
As depicted in figs. 1 and 2, second driver 13 is arranged on the side wall of movement sleeve 6, the third driver
21 are arranged in the top of the trolley base.
As shown in Figure 1, Figure 2 and Figure 3, the removable X-axis slide rail includes X-axis guided way, U-shaped guide groove body 25, fixed plate
24 and the X-axis guided way moving drive mechanism for driving X-axis guided way to move horizontally along U-shaped guide groove body 25, the U-shaped lead
Groove body 25 is set on the X-axis guided way, and the side wall on the outside of the closed end of the U-shaped guide groove body 25 with movement sleeve 6 is fixed
One end of connection, the fixed plate 24 is fixedly connected with the side wall of movement sleeve 6, and the fixed plate 24 is located at U-shaped guide groove body 25
Lower section；The X-axis guided way includes X-axis guide rail 7 and the second threaded rod 7-1, the X-axis guide rail 7 and the second spiral shell
Rasp bar 7-1 is arranged in parallel and is fixed as one, and the X-axis guided way moving drive mechanism includes X-axis driving motor 14 and second
Gear 14-1, the second gear 14-1 are fixedly mounted on the output shaft of X-axis driving motor 14, the second gear 14-1 with
Second threaded rod 7-1 is meshed, and the X-axis driving motor 14 is mounted on the top of fixed plate 24, and the X-axis driving motor 14 is logical
Fourth drive 15 is crossed to connect with the output end of controller 17.
X-axis guided way passes through U-shaped guide groove body 25, and U-shaped guide groove body 25 can move in the effective length of X-axis guided way.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 5, three-jaw Qu Shu mechanism includes V-arrangement fixed frame 4, connecting box 11, connection strap
10, book plectrum 8 is taken, bookend is taken and described takes what bookend opened and closed to take bookend opening and closing driving mechanism, the connecting box 11 for driving
It is fixed on the top of V-arrangement fixed frame 4, the lower end of the connection strap 10 is fixedly connected with the top of connecting box 11, described that book is taken to dial
Piece 8 is fixed on the upper end of connection strap 10, it is described take bookend include two be oppositely arranged take book splint, it is described to take the book splint to include
Take bookend piece 9 and connecting rod 9-1, one end of the connecting rod 9-1 with take the middle part of bookend piece 9 hinged, bookend piece 9 is taken described in two
Connecting pin is hinged with the open end two sides of V-arrangement fixed frame 4 respectively, and the tip inside of bookend piece 9 is taken to be provided with described in one of them
Pressure sensor 28, the pressure sensor 28 connect with controller 17；It is described to take bookend opening and closing driving mechanism including taking bookend
Driving motor 18, screw rod 18-1 and slide plate 16, one end of the screw rod 18-1 are fixed with the output shaft of bookend driving motor 18 is taken
Connection, the other end of the screw rod 18-1 are connect with the threaded one end of slide plate 16, and the other end of the slide plate 16 passes through connecting box
It the sliding slot that is arranged on 11 and can be moved along the sliding slot, the other end of the connecting rod 9-1 is hinged with the top of slide plate 16,
It is described that bookend driving motor 18 is taken to be mounted in connecting box 11, it is described that bookend driving motor 18 is taken to pass through the 5th driver 19 and control
The output end of device 17 processed connects, and the closed end of the V-arrangement fixed frame 4 is fixedly connected with the connecting pin of X-axis guide rail 7.
As shown in Figure 1, the two sides of the X-axis guide rail 7 are horizontally disposed the second guide rail 7-2, second guide rail
7-2 is matched with the second guide groove that 25 inside of U-shaped guide groove body is arranged in.
As shown in Figure 1, Figure 2 and Figure 3, the top of fixed plate 24, the 5th driving is arranged in the fourth drive 15
The top of connecting box 11 is arranged in device 19.
In the present embodiment, the controller 17 is 1300 programmable controller of Siemens.
The working principle of the utility model are as follows: after user inputs the books to be searched on retrieval machine 3, by retrieval machine 3
The coordinate setting information of the searched books of positioning rapidly, and the books coordinate setting information found is transferred to controller
17, the first driver 22 is controlled by controller 17, the first driver 22 drives trolley drive motor 23 to start, and drives AGV trolley 1
Where going to the books at bookshelf position.
After AGV trolley 1 reaches bookshelf position where the books, the second driver 13 is controlled by controller 17, second drives
The dynamic mobile driving motor 12 of 13 drive sleeve of device starts, and the mobile driving of the driving motor 12 movement sleeve 6 of sleeve is along Z axis guided way
At row or decline (mobile 12 positive and negative rotation of driving motor of sleeve determines) to target books height and position, to guarantee accurately to clamp
Book, movement sleeve 6 reach at 15mm~20mm more slightly higher than target books.
Then, controller 17 controls fourth drive 15, and fourth drive 15 drives X-axis driving motor 14 to start, and X-axis is driven
Dynamic motor 14 drives second gear 14-1 rotation, and driving X-axis guided way to move forward or back along U-shaped guide groove body 25, (X-axis drives electricity
14 positive and negative rotation of machine determines) at target books depth location, taking book plectrum 8 to reach right above target books at this time, take bookend in X
Apart from books about 20mm~30mm in axis direction.
Controller 17 issues decline instruction, the mobile driving motor 12 of 13 drive sleeve of the second driver to the second driver 13
It rotates backward, the mobile driving of the driving motor 12 movement sleeve 6 of sleeve reduces 15mm~20mm along Z axis guided way, and book is taken to dial at this time
Piece 8 is contacted with target books.
Controller 17 is issued to fourth drive 15 retreats instruction, and fourth drive 15 drives second gear 14-1 reversely to turn
It is dynamic, it drives X-axis guided way along 25 counter motion 50mm~60mm of U-shaped guide groove body, takes book plectrum 8 to transfer to target books, make
The base angle of target books and bookshelf are angled.
At this point, controller 17 controls the 5th driver 19, the driving of the 5th driver 19 takes bookend driving motor 18 to start, takes
Bookend driving motor 18 drive link 9-1, connecting rod 9-1 drive takes bookend piece 9 to rotate, and takes bookend completion closure dynamic for what is opened
Make, clossing pressure size is detected by pressure sensor 28 in closing course, and the information that will test feeds back to controller 17, leads to
The clamping force that setting known pinch power is come during real-time monitoring folder book is crossed to avoid to ensure that folder book process will not continue to clamp
Cause the damage to books；Clamping books depth is about 30mm~100mm.The setting friction silicon on the inside of the end for taking bookend piece 9
Glue not only increases stiction when taking book, and ensure that the stability of folder book.
After taking bookend to take out books, controller 17 controls third driver 21, and third driver 21 drives rotate driving electricity
Machine 20 starts, and driving gear 26 is driven to rotate, and driving gear 26 drives driven gear 27 to rotate, and drives Z axis guided way according to suitable
Hour hands are rotated by 90 °, and three-jaw Qu Shu mechanism turns near objective table 2.Adjust separately take bookend to objective table 2 Z-direction extremely
Proper height and X-direction take the expansion action that bookend is opposite, books are placed in pallet, complete entire to appropriate length
Take book task.
The above is only the preferred embodiment of the utility model, not imposes any restrictions to the utility model, all
According to the utility model technical spirit any simple modification, change and equivalent structure transformation to the above embodiments, still
Belong in the protection scope of technical solutions of the utility model.
Claims (10)
1. a kind of three-pawl type library automatic book taking device, it is characterised in that: including AGV trolley (1), objective table (2), retrieval machine
(3), move rotation Z axis slide rail, removable X-axis slide rail, three-jaw Qu Shu mechanism and controller (17), the objective table (2) and
Retrieval machine (3) is arranged at the trolley base top side of AGV trolley (1), and the removable rotation Z axis slide rail is vertically arranged in
The top other side of the trolley base, the removable X-axis slide rail are horizontally set under the removable rotation Z axis slide rail
Portion side, three-jaw Qu Shu mechanism are mounted on the outer end of removable X-axis slide rail；The signal output end of the retrieval machine (3) with
The input terminal of controller (17) connects and the coordinate setting information of searched books is transferred to controller (17), the controller
(17) output end is connect with the trolley drive motor (23) of AGV trolley (1) by the first driver (22) and controls trolley drive
Where dynamic motor (23) run to searched books at bookshelf position, the top of the trolley base is arranged in the controller (17)
The movement of portion and control removable rotation Z axis slide rail, removable X-axis slide rail and three-jaw Qu Shu mechanism.
2. three-pawl type library automatic book taking device described in accordance with the claim 1, it is characterised in that: the removable rotation Z
Axis sliding rail includes Z axis guided way, movement sleeve (6), for driving movement sleeve (6) to move up and down along the Z axis guided way
Sleeve moving drive mechanism and rotating drive mechanism for driving Z axis guided way rotation, the movement sleeve (6) cover
It is located on the Z axis guided way, the lower end of the Z axis guided way, which is protruded into the trolley base and rotated with trolley base, to be connected
It connects；The Z axis guided way includes that can be rotated Z axis track (5) and the first threaded rod (5-1), rotatable Z axis track (5) and
First threaded rod (5-1) is arranged in parallel and is fixed as one, and the sleeve moving drive mechanism includes the mobile driving motor of sleeve
(12) and first gear (12-1), the first gear (12-1) are fixedly mounted on the output shaft of sleeve mobile driving motor (12)
On, the first gear (12-1) is meshed with the first threaded rod (5-1), and the sleeve mobile driving motor (12) is mounted on fortune
On the outer wall of moving sleeve (6), the sleeve mobile driving motor (12) is defeated by the second driver (13) and controller (17)
Outlet connects.
3. three-pawl type library automatic book taking device according to claim 2, it is characterised in that: the rotating drive mechanism
Including rotational drive motor (20), driving gear (26) and driven gear (27), the driving gear (26), which is fixedly mounted on, to be turned
On the output shaft of dynamic driving motor (20), the driven gear (27) is fixedly mounted on the lower end of rotatable Z axis track (5), institute
It states driving gear (26) to be meshed with driven gear (27), the rotational drive motor (20), driving gear (26) and driven tooth
Wheel (27) is respectively positioned in the trolley base, and the rotational drive motor (20) passes through third driver (21) and controller (17)
Output end connect.
4. three-pawl type library automatic book taking device according to claim 2, it is characterised in that: described to can be rotated Z axis rail
The two sides in road (5) are vertically arranged with the first guide rail (5-2), and first guide rail (5-2) and setting are on the inside of movement sleeve (6)
The first guide groove match.
5. three-pawl type library automatic book taking device described in accordance with the claim 3, it is characterised in that: second driver
(13) it is arranged on the side wall of movement sleeve (6), the top of the trolley base is arranged in the third driver (21).
6. three-pawl type library automatic book taking device according to claim 2, it is characterised in that: the removable X-axis is sliding
Rail includes X-axis guided way, U-shaped guide groove body (25), fixed plate (24) and for driving X-axis guided way along U-shaped guide groove body (25)
The X-axis guided way moving drive mechanism moved horizontally, the U-shaped guide groove body (25) are set on the X-axis guided way, the U
It is fixedly connected on the outside of the closed end of shape guide groove body (25) with the side wall of movement sleeve (6), one end of the fixed plate (24) and fortune
The side wall of moving sleeve (6) is fixedly connected, and the fixed plate (24) is located at the lower section of U-shaped guide groove body (25)；The X-axis guided way packet
X-axis guide rail (7) and the second threaded rod (7-1) are included, the X-axis guide rail (7) and the second threaded rod (7-1) are arranged in parallel
And be fixed as one, the X-axis guided way moving drive mechanism includes X-axis driving motor (14) and second gear (14-1), institute
It states second gear (14-1) to be fixedly mounted on the output shaft of X-axis driving motor (14), the second gear (14-1) and second
Threaded rod (7-1) is meshed, and the X-axis driving motor (14) is mounted on the top of fixed plate (24), the X-axis driving motor
(14) connected by fourth drive (15) with the output end of controller (17).
7. three-pawl type library automatic book taking device according to claim 6, it is characterised in that: three-jaw Qu Shu mechanism
Including V-arrangement fixed frame (4), connecting box (11), connection strap (10), book plectrum (8) is taken, takes bookend and described take bookend for driving
Folding takes bookend opening and closing driving mechanism, and the connecting box (11) is fixed on the top of V-arrangement fixed frame (4), the connection strap
(10) it is fixedly connected at the top of lower end and connecting box (11), the upper end for taking book plectrum (8) to be fixed on connection strap (10), institute
State take bookend include two be oppositely arranged take book splint, it is described that take book splint include taking bookend piece (9) and connecting rod (9-1), institute
State one end of connecting rod (9-1) and take the middle part of bookend piece (9) hinged, taken described in two the connecting pin of bookend piece (9) respectively with V-arrangement
The open end two sides of fixed frame (4) are hinged, and the tip inside of bookend piece (9) is taken to be provided with pressure sensor described in one of them
(28), the pressure sensor (28) connects with controller (17)；It is described to take bookend opening and closing driving mechanism including taking bookend to drive
Motor (18), screw rod (18-1) and slide plate (16), one end of the screw rod (18-1) and the output for taking bookend driving motor (18)
Axis is fixedly connected, and the other end of the screw rod (18-1) is connect with the threaded one end of slide plate (16), the slide plate (16) it is another
Hold the sliding slot that is arranged on connecting box (11) and can be moved along the sliding slot, the other end of the connecting rod (9-1) with
The top of slide plate (16) is hinged, described that bookend driving motor (18) is taken to be mounted in connecting box (11), described to take bookend driving electricity
Machine (18) is connected by the 5th driver (19) with the output end of controller (17), the closed end and X of the V-arrangement fixed frame (4)
The connecting pin of axis guide rail (7) is fixedly connected.
8. three-pawl type library automatic book taking device according to claim 6, it is characterised in that: the X-axis guide rail
(7) two sides are horizontally disposed to be had the second guide rail (7-2), and second guide rail (7-2) and setting are on the inside of U-shaped guide groove body (25)
The second guide groove match.
9. three-pawl type library automatic book taking device according to claim 7, it is characterised in that: the fourth drive
(15) setting is at the top of fixed plate (24), top of the 5th driver (19) setting in connecting box (11).
10. three-pawl type library automatic book taking device described in accordance with the claim 1, it is characterised in that: the controller (17)
For 1300 programmable controller of Siemens.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820705938.7U CN208560529U (en) | 2018-05-11 | 2018-05-11 | Three-pawl type library automatic book taking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820705938.7U CN208560529U (en) | 2018-05-11 | 2018-05-11 | Three-pawl type library automatic book taking device |
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| CN201820705938.7U Active CN208560529U (en) | 2018-05-11 | 2018-05-11 | Three-pawl type library automatic book taking device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482935A (en) * | 2018-05-11 | 2018-09-04 | 西安航空学院 | Three-pawl type library automatic book taking device |
| 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 |
| CN112025668A (en) * | 2020-03-27 | 2020-12-04 | 同济大学 | Library book taking and returning robot system |
| CN112233328A (en) * | 2020-10-10 | 2021-01-15 | 南华大学 | Intelligent library book taking and returning method |
| CN115504141A (en) * | 2022-11-15 | 2022-12-23 | 栖霞市档案馆 | Self-sorting and sequencing type file storing, taking and conveying device |
-
2018
- 2018-05-11 CN CN201820705938.7U patent/CN208560529U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482935A (en) * | 2018-05-11 | 2018-09-04 | 西安航空学院 | Three-pawl type library automatic book taking device |
| 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 |
| CN112025668A (en) * | 2020-03-27 | 2020-12-04 | 同济大学 | Library book taking and returning robot system |
| CN112025668B (en) * | 2020-03-27 | 2021-09-03 | 同济大学 | Library book taking and returning robot system |
| CN112233328A (en) * | 2020-10-10 | 2021-01-15 | 南华大学 | Intelligent library book taking and returning method |
| CN112233328B (en) * | 2020-10-10 | 2021-12-03 | 南华大学 | Intelligent library book taking and returning method |
| CN115504141A (en) * | 2022-11-15 | 2022-12-23 | 栖霞市档案馆 | Self-sorting and sequencing type file storing, taking and conveying device |
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