CN211306347U - Automatic clamping force adjusting and book separating device of book returning manipulator - Google Patents
Automatic clamping force adjusting and book separating device of book returning manipulator Download PDFInfo
- Publication number
- CN211306347U CN211306347U CN201921615398.4U CN201921615398U CN211306347U CN 211306347 U CN211306347 U CN 211306347U CN 201921615398 U CN201921615398 U CN 201921615398U CN 211306347 U CN211306347 U CN 211306347U
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- book
- mechanical arm
- clamping force
- motor
- lead screw
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Abstract
The utility model provides a book returning mechanical arm clamping force automatic regulating and book disengaging device, which comprises a fixed seat, a motor, a lead screw and an mechanical arm, wherein the motor is fixed inside the fixed seat through a bolt, the motor is connected with the lead screw in a transmission way, the other end of the lead screw is connected with a slide block in a transmission way, one end of the slide block is provided with a fixed block, and the fixed block is elastically connected with the slide block through a spring; the mechanical arm is hinged with the fixed block through a rotating shaft; one end of the mechanical arm is also provided with a book clamping plate. The device overall structure design science is light and handy, and anti-vibration performance is strong, and the shock attenuation is effectual, and the centre gripping is more stable.
Description
Technical Field
The utility model relates to an automatic book robot technical field that returns in library, concretely relates to still book manipulator clamp force automatically regulated and books break away from device.
Background
And in the working process of the book returning robot, the manipulator is a final executing element for executing all actions, the volume of the manipulator cannot be too large, and the structure is too complex. In the working process of the manipulator, the size, the shape and the structure of books and the vibration of the books can lead to unstable book clamping to make the books fall off or hurt the books due to overlarge clamping force, and in addition, the manipulator puts the books back to the bookshelf due to the fact that the clamping force weakens to lead to unbalanced stress of the books, so that the books cannot be put back to the bookshelf or the storage positions of the books cannot obtain unexpected effects.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to solve above-mentioned problem, provide a still book manipulator clamp force automatically regulated and books break away from device, the device overall structure design science is light and handy, and anti-vibration performance is strong, and the shock attenuation is effectual, and the centre gripping is more stable.
The utility model discloses a realize through following technical scheme:
the automatic clamping force adjusting and separating device for the book returning manipulator comprises a fixed seat, a motor, a lead screw and the mechanical arm, wherein the motor is fixed inside the fixed seat through a bolt, the motor is in transmission connection with the lead screw, the other end of the lead screw is in transmission connection with a sliding block, one end of the sliding block is provided with a fixed block, and the fixed block is elastically connected with the sliding block through a spring; the mechanical arm is hinged with the fixed block through a rotating shaft; one end of the mechanical arm is also provided with a book clamping plate.
Preferably, a plurality of rollers are arranged on the book clamping plate, and the rollers are fixedly connected with the book clamping plate through pin shafts.
Preferably, the roller protrudes from the surface of the book holding plate.
Preferably, the rolling direction of the roller is consistent with the direction of the book detachment.
Preferably, the book clamping plate is welded and fixed with the mechanical arm.
The utility model discloses the beneficial effect who has does:
(1) the clamping range of the manipulator is enlarged, and the force for clamping the object can be controlled in a larger range;
(2) the spring has good damping effect, can overcome the problem of unstable clamping caused by the vibration of the books under the action of inertia, and improves the anti-vibration performance of the manipulator;
(3) the rolling direction of the roller is consistent with the direction of the separation of the book, so that the longitudinal friction force between the contact surface and the book is improved, and the transverse pushing-out resistance of the book is weakened;
(4) the device well plays the energy storage function of the spring, ensures that the equipment has great clamping force under the condition of not damaging books, and is more stable in clamping.
Drawings
Fig. 1 is a top view of the device of the present invention.
FIG. 2 is a front view of the device of the present invention
Fig. 3 is a perspective view of the device of the present invention.
In the figure: the book clamping device comprises a fixed seat 1, a motor 2, a lead screw 3, a sliding block 4, a spring 5, a fixed block 6, a mechanical arm 7, a rotating shaft 8, a book clamping plate 9, a roller 10 and a pin shaft 11.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
Specifically, the book clamping plate 9 is welded and fixed with the mechanical arm 7; the book clamping plate 9 is provided with a plurality of idler wheels 10, and the idler wheels 10 are fixedly connected with the book clamping plate 9 through pin shafts 11; the roller 10 protrudes out of the surface of the book clamping plate 9.
The rolling direction of the roller 10 is the same as the direction of the separation of the book, so that the longitudinal friction force between the contact surface and the book is improved, and the transverse pushing resistance of the book is weakened.
During operation, the motor 2 is driven to rotate through the screw rod 3, the sliding block 4 is pulled by the rotary potential energy generated by the screw rod 3, the sliding block 4 is matched with the spring 5 to generate pulling force to drive the fixing block 6, and the fixing block 6 and the mechanical arm 7 are clamped through the matching of the rotating shaft. The rolling direction of the roller 10 on the book clamping plate 9 is consistent with the direction of book separation, so that the book can not slip downwards and can be easily restored no matter the book is clamped or restored.
The device provided by the utility model increases the clamping range of the manipulator, and the force for clamping the object can be controlled in a larger range; the spring has good damping effect, can overcome the problem of unstable clamping caused by the vibration of the books under the action of inertia, and improves the anti-vibration performance of the manipulator; the rolling direction of the roller is consistent with the direction of the separation of the book, so that the longitudinal friction force between the contact surface and the book is improved, and the transverse pushing-out resistance of the book is weakened; the device well plays the energy storage function of the spring, ensures that the equipment has great clamping force under the condition of not damaging books, and is more stable in clamping.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent replacements made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (5)
1. The book returning mechanical arm clamping force automatic adjusting and book separating device comprises a fixed seat, a motor, a lead screw and a mechanical arm, and is characterized in that the motor is fixed inside the fixed seat through a bolt, the motor is in transmission connection with the lead screw, the other end of the lead screw is in transmission connection with a sliding block, one end of the sliding block is provided with a fixed block, and the fixed block is elastically connected with the sliding block through a spring; the mechanical arm is hinged with the fixed block through a rotating shaft; one end of the mechanical arm is also provided with a book clamping plate.
2. The automatic book returning manipulator clamping force adjusting and book disengaging device according to claim 1, wherein a plurality of rollers are arranged on the book clamping plate, and the rollers are fixedly connected with the book clamping plate through pin shafts.
3. The automatic book clamping force adjusting and book disengaging device of claim 2, wherein the rollers protrude from the surface of the book clamping plate.
4. The book-returning mechanical arm clamping force automatic adjusting and book-disengaging device according to claim 3, characterized in that the rolling direction of the rollers is consistent with the book-disengaging direction.
5. The automatic book clamping force adjusting and book separating device of claim 1, wherein the book clamping plate is welded to the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921615398.4U CN211306347U (en) | 2019-09-26 | 2019-09-26 | Automatic clamping force adjusting and book separating device of book returning manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921615398.4U CN211306347U (en) | 2019-09-26 | 2019-09-26 | Automatic clamping force adjusting and book separating device of book returning manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211306347U true CN211306347U (en) | 2020-08-21 |
Family
ID=72076215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921615398.4U Active CN211306347U (en) | 2019-09-26 | 2019-09-26 | Automatic clamping force adjusting and book separating device of book returning manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211306347U (en) |
-
2019
- 2019-09-26 CN CN201921615398.4U patent/CN211306347U/en active Active
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