CN208614770U - A kind of taking care of books robot - Google Patents
A kind of taking care of books robot Download PDFInfo
- Publication number
- CN208614770U CN208614770U CN201821007407.7U CN201821007407U CN208614770U CN 208614770 U CN208614770 U CN 208614770U CN 201821007407 U CN201821007407 U CN 201821007407U CN 208614770 U CN208614770 U CN 208614770U
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- China
- Prior art keywords
- manipulator
- raspberry pie
- rotating mechanism
- wireless transport
- transport module
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Abstract
The utility model discloses a kind of taking care of books robots, including control system, AGV trolley, rotating mechanism, manipulator, camera module, RFID reader and rack, the rotating mechanism and rack are arranged on AGV trolley, and the manipulator is arranged on rotating mechanism；The control system includes raspberry pie controller and wireless transport module, the wireless transport module can be connect with external cloud server, the raspberry pie controller is connect with the wireless transport module, and the raspberry pie controller can receive the instruction of the cloud server by wireless transport module；The raspberry pie controller is electrically connected with the AGV trolley, rotating mechanism, manipulator, camera module and RFID reader respectively.The all parts of robot are controlled by cloud server and raspberry pie controller, to realize the automatic operation for taking book also book, greatly improve the efficiency of book bidding, form a library management system that is more effective and more standardizing.
Description
Technical field
The utility model relates to robots, and in particular to a kind of taking care of books robot, being applicable in scene is library's intelligence
Automatically borrowing-returning books.
Background technique
With being continuously increased for Modern Library book capacity, taking care of books will be an increasingly laborious task.Tradition
Artificial taking care of books will not only waste a large amount of time, manpower and financial resources, many mistakes can also inevitably occur, cause
Unnecessary trouble.Although having there is many libraries to assist the identification and management of books using patch bar codes technique now,
This only improves efficiency slightly, does not tackle the problem at its root, while bar codes technique does not have read-write capability, can only
Closely alignment is read, not smart enoughization, and execution efficiency is low.
Utility model content
The utility model provides a kind of taking care of books robot, and it is whole which can replace books in libraries
The work of reason personnel, intelligence complete borrowing for books and the operation such as take and give back, and greatly improve the efficiency of book bidding, form one
Library management system that is a more effective and more standardizing.
The solution that the utility model solves its technical problem is: a kind of taking care of books robot, including control system,
AGV trolley, rotating mechanism, manipulator, camera module, RFID reader and rack, the rotating mechanism and placement are set up
It sets on AGV trolley, the manipulator is arranged on rotating mechanism；The control system includes raspberry pie controller and wireless
Transmission module, the wireless transport module can connects with external cloud server, the raspberry pie controller and it is described wirelessly
Transmission module connection, the raspberry pie controller can receive the instruction of the cloud server by wireless transport module；It is described
Raspberry pie controller is electrically connected with the AGV trolley, rotating mechanism, manipulator, camera module and RFID reader respectively.
Further, the rotating mechanism include crane, can 360 degree rotation chassis, the chassis is mounted on AGV trolley
On, the crane includes guide rail bracket, hoistable platform, and the guide rail bracket is mounted on chassis, and the hoistable platform is led with described
Rail gantry is slidably connected, and the manipulator is mounted on the hoistable platform, and the chassis is equipped with for driving the guide rail bracket
The first straight line mobile device of back-and-forth motion, the hoistable platform are equipped with the manipulator moves left and right second straight for driving
Line mobile device.
Further, the camera module and RFID reader are mounted on the hoistable platform, camera module and
The information induction of RFID reader is facing towards the front of hoistable platform.
Further, the 3 Model B of model Raspberry Pi of the raspberry pie controller.
Further, the model SIM800A of the wireless transport module.
The beneficial effects of the utility model are: the invention is by cloud server and raspberry pie controller to robot
All parts controlled, take the automatic operation of book also book to realize, greatly improve the efficiency of book bidding, formed
One library management system that is more effective and more standardizing.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described.Obviously, described attached drawing is a part of the embodiment of the utility model, rather than complete
Portion's embodiment, those skilled in the art without creative efforts, can also be obtained according to these attached drawings it
His design scheme and attached drawing.
Fig. 1 is robot schematic perspective view；
Fig. 2 is the connection relationship diagram between robot all parts；
Fig. 3 is the structural schematic diagram of first straight line mobile device；
Fig. 4 is the structural schematic diagram of second straight line mobile device.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the utility model, specific structure and generation
It clearly and completely describes, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is a part of the embodiment of the utility model, rather than whole embodiments, it is based on the embodiments of the present invention, the skill of this field
Art personnel other embodiments obtained without creative efforts belong to the model of the utility model protection
It encloses.In addition, all connection/connection relationships being previously mentioned in text, not singly refer to that component directly connects, and referring to can be according to specific reality
Situation is applied, by adding or reducing couple auxiliary, Lai Zucheng more preferably coupling structure.Each technology in the invention is special
Sign, can be with combination of interactions under the premise of not conflicting conflict.
Embodiment 1, referring to Figures 1 and 2, a kind of taking care of books robot, including control system, AGV trolley 1, rotating machine
Structure, manipulator, camera module 3, RFID reader 4 and rack 10, the rotating mechanism and rack 10 are arranged in AGV
On trolley 1, the manipulator is arranged on rotating mechanism；The control system includes: raspberry pie controller and wireless biography
Defeated module, the wireless transport module can be connect with external cloud server, the raspberry pie controller and the wireless biography
Defeated module connection, the raspberry pie controller can receive the instruction of the cloud server by wireless transport module；The tree
The certain kind of berries sends controller to be electrically connected respectively with the AGV trolley 1, rotating mechanism, manipulator, camera module 3 and RFID reader 4.
AGV trolley 1 is a kind of existing trolley with automatic guiding function, can be along the automatic row of scheduled route
Sail, driving path can flexibly change according to actual place, AGV controller can pass through open interface and raspberry pie and control
Device communication, raspberry pie controller can control AGV trolley 1 by open interface to be advanced, fall back, stops, the raspberry pie of the present embodiment
Controller is connect by CAN interface with the AGV controller.
The manipulator includes mechanical arm 5 and gripper 6, and gripper 6 is for grabbing target books, the control of the manipulator
Device processed uses Arduino UNO controller, the steering engine driving device of the Arduino UNO controller and control manipulator behavior
Connection, Arduino UNO controller are connect by serial ports with raspberry pie controller communication.
The rotating mechanism include crane, can 360 degree rotation chassis 2, the chassis 2 is mounted on AGV trolley 1,
The crane includes guide rail bracket 8, hoistable platform 12, and the guide rail bracket 8 is mounted on chassis 2, the hoistable platform 12 and institute
It states guide rail bracket 8 to be slidably connected, the manipulator is mounted on the hoistable platform 12, and the chassis 2 is equipped with for driving
The first straight line mobile device 7 of the back-and-forth motion of guide rail bracket 8 is stated, the hoistable platform 12 is equipped with for driving the manipulator left
The second straight line mobile device 9 moved right.
With reference to Fig. 3, the first straight line mobile device 7 includes the first sliding block 13 and first straight line motor 14, the chassis 2
It is equipped with the first sliding groove 13a matched with first sliding block 13, first sliding block 13 passes through connecting rod and guide rail bracket 8
Bottom is fixedly connected, and the drive rod of first straight line motor 14 is connect with first sliding block 13, the first straight line motor 14
Control terminal is connect with raspberry pie controller, the first straight line motor 14 can the first sliding block 13 of controlled driving be moved forward and backward, that is, drive
Dynamic guide rail bracket 8 is moved forward and backward, as see arrows 17 in fig 3.
With reference to Fig. 4, the second straight line mobile device 9 includes the second sliding block 5a and second straight line motor 16, the lifting
Platform 12 is equipped with the second sliding slot 15 that matches with the second sliding block 5a, and the bottom of the second sliding block 5a and manipulator is solid
Fixed connection, the drive rod of second straight line motor 16 are connect with the second sliding block 5a, the control terminal of the second straight line motor 16
Connect with raspberry pie controller, the second straight line motor 16 can the second sliding block 5a of controlled driving move left and right, i.e. driving is mechanical
Hand moves left and right, as shown in Fig. 4 arrow.
As optimization, the camera module 3 and RFID reader 4 are mounted on the hoistable platform 12, camera mould
Block 3 and the information induction of RFID reader 4 are facing towards the front of hoistable platform 12, wherein the information induction face of camera module 3
For the face where camera light inlet, the information induction face of RFID reader 4 is the face where 4 antenna of RFID reader.
Taking care of books robot by using raspberry pie controller as master controller, by connecting with wireless transport module
It connects, receives the instruction of external cloud server to complete borrowing for books and go back function, wherein the raspberry pie control that the present embodiment uses
Model Raspberry the Pi 3 Model B, the model SIM800A of wireless transport module of device processed.
It is instructed when taking care of books robot receives, for taking book to instruct, raspberry pie controller assigns driving instruction, makes machine
Device is advanced toward target bookshelf direction, cooperation AGV obstacle function synchronous operation.In face of arrival target bookshelf, raspberry pie controller
Position adjustment instruction is assigned to first straight line mobile device 7, second straight line mobile device 9, is rotated by chassis 2, rotation is driven
Mechanism rotation, manipulator are located in the front of target books.
Then, raspberry pie controller is assigned identification again and is instructed, 4 synthetic operation of camara module 3 and RFID reader,
The target books in 4 pairs of fronts of RFID reader further confirm that camara module 3 obtains the image information of current book, and
Image information is transmitted to raspberry pie controller, raspberry pie controller is handled image itself, and the target that processing is obtained
Books position coordinate data is sent to Arduino UNO controller by serial ports, and Arduino UNO controller is to according to institute
Rheme sets the position of Coordinate Adjusting manipulator, it is ensured that 5 center of mechanical arm is located at target books thickness center, then raspberry pie
Controller is assigned to steering engine driving device takes book to instruct, and steering engine driving device driving mechanical arm 5 and gripper 6 start to stretch
And then target books are placed on putting for taking care of books robot so that target books be taken out from target bookshelf by switching action
It sets on frame 10, so far completes one and extract the instruction of book process.Also book process is also still such.
The invention controls all parts of robot by cloud server and raspberry pie controller, thus
It realizes the automatic operation for taking book also book, greatlys improve the efficiency of book bidding, form a figure that is more effective and more standardizing
Book shop management system.
The better embodiment of the utility model is illustrated above, but the invention be not limited to it is described
Embodiment, those skilled in the art can also make various equivalent changes without departing from the spirit of the present invention
Type or replacement, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.
Claims (5)
1. a kind of taking care of books robot, including control system, AGV trolley, rotating mechanism, manipulator, camera module, RFID
Reader and rack, it is characterised in that: the rotating mechanism and rack are arranged on AGV trolley, and the manipulator is set
It sets on rotating mechanism；The control system includes raspberry pie controller and wireless transport module, and the wireless transport module can
It is connect with external cloud server, the raspberry pie controller is connect with the wireless transport module, the raspberry pie control
Device can receive the instruction of the cloud server by wireless transport module；The raspberry pie controller is small with the AGV respectively
Vehicle, rotating mechanism, manipulator, camera module and RFID reader electrical connection.
2. a kind of taking care of books robot according to claim 1, it is characterised in that: the rotating mechanism includes lifting
Frame, can 360 degree rotation chassis, the chassis is mounted on AGV trolley, and the crane includes guide rail bracket, hoistable platform, institute
It states guide rail bracket to be mounted on chassis, the hoistable platform is slidably connected with the guide rail bracket, and the manipulator is mounted on the liter
It drops on platform, the chassis is equipped with the first straight line mobile device for driving the guide rail bracket to be moved forward and backward, the lifting
Platform is equipped with the second straight line mobile device for driving the manipulator to move left and right.
3. a kind of taking care of books robot according to claim 2, which is characterized in that the camera module and RFID are read
It reads device to be mounted on the hoistable platform, the information induction of camera module and RFID reader is facing towards before hoistable platform
Side.
4. a kind of taking care of books robot according to claim 1, which is characterized in that the model of the raspberry pie controller
For Raspberry Pi 3Model B.
5. a kind of taking care of books robot according to claim 1, which is characterized in that the model of the wireless transport module
For SIM800A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821007407.7U CN208614770U (en) | 2018-06-27 | 2018-06-27 | A kind of taking care of books robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821007407.7U CN208614770U (en) | 2018-06-27 | 2018-06-27 | A kind of taking care of books robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208614770U true CN208614770U (en) | 2019-03-19 |
Family
ID=65703413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821007407.7U Expired - Fee Related CN208614770U (en) | 2018-06-27 | 2018-06-27 | A kind of taking care of books robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208614770U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527311A (en) * | 2018-06-27 | 2018-09-14 | 佛山科学技术学院 | A kind of taking care of books robot |
| CN109927051A (en) * | 2019-04-25 | 2019-06-25 | 鲁亮 | A kind of intelligent robot of fight class training |
| CN110315550A (en) * | 2019-06-14 | 2019-10-11 | 浙江科技学院 | A kind of four-jaw type automatic book taking device for library |
| JP2022079788A (en) * | 2020-05-22 | 2022-05-27 | 呉剛 | Robot for collecting and recovering book information |
-
2018
- 2018-06-27 CN CN201821007407.7U patent/CN208614770U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527311A (en) * | 2018-06-27 | 2018-09-14 | 佛山科学技术学院 | A kind of taking care of books robot |
| CN109927051A (en) * | 2019-04-25 | 2019-06-25 | 鲁亮 | A kind of intelligent robot of fight class training |
| CN109927051B (en) * | 2019-04-25 | 2024-06-04 | 鲁亮 | Intelligent robot for fight training |
| CN110315550A (en) * | 2019-06-14 | 2019-10-11 | 浙江科技学院 | A kind of four-jaw type automatic book taking device for library |
| JP2022079788A (en) * | 2020-05-22 | 2022-05-27 | 呉剛 | Robot for collecting and recovering book information |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190319 Termination date: 20210627 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |