CN212218466U - Automatic book taking and returning manipulator device for intelligent bookshelf - Google Patents
Automatic book taking and returning manipulator device for intelligent bookshelf Download PDFInfo
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- CN212218466U CN212218466U CN202021114861.XU CN202021114861U CN212218466U CN 212218466 U CN212218466 U CN 212218466U CN 202021114861 U CN202021114861 U CN 202021114861U CN 212218466 U CN212218466 U CN 212218466U
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Abstract
The utility model discloses an automatic book taking and returning manipulator device for an intelligent bookshelf, which comprises a manipulator moving device, and comprises a supporting frame, wherein the upper end surface and the lower end surface of the outer side of the supporting frame are respectively and fixedly connected with a transverse guide rail, the transverse guide rail is connected with a transverse slider in a sliding manner, a vertical optical axis guide rail is fixedly connected between the transverse sliders, and the vertical optical axis guide rail is connected with a vertical slider in a sliding manner; the manipulator grabbing device comprises an upper frame and a lower frame, wherein a sliding rod of the upper frame is connected with a sliding rod of the lower frame in a sliding mode through a first metal sleeve and a second metal sleeve; the manipulator telescopic device comprises a first sliding rod and a second sliding rod, wherein the first sliding rod and the second sliding rod are connected through a third metal sleeve in a sliding mode, and the third metal sleeve is fixedly connected with the second sliding rod. The device has the advantages of low manufacturing cost, good reliability and stability and high automation level, and provides a reliable mechanical device for the intelligent bookshelf.
Description
Technical Field
The utility model belongs to the technical field of the bookshelf, a get still book manipulator device automatically for intelligent bookshelf is related to.
Background
A bookshelf is a special appliance for storing books, and is widely applied to libraries. The most commonly used traditional standard bookshelf is divided into two types, one type is low in height, the purpose is to bring convenience for readers to take and place books, but the height of the bookshelf is limited, the number of the books stored is limited, and high-level space resources in a library are wasted. The other type of bookshelf is high in height, space resources can be fully utilized, but the high stacking design is inconvenient for readers to take and place books. When a reader takes and puts books, the reader also needs to climb tools such as ladders, and the like, which brings inconvenience to the old, the weak, the sick, the disabled and the pregnant.
Simultaneously, along with the science and technology level progresses day by day and the reader reads experience requirement and increases, the intellectuality becomes the development trend in library, and the bookshelf is essential basic equipment in the library, therefore the intelligent bookshelf of development library needs more technical support, and wherein automatic book mechanical device that returns of getting is relevant key technology.
SUMMERY OF THE UTILITY MODEL
In order to achieve the above object, the utility model provides an automatic mechanical hand device of returning of getting for intelligent bookshelf, low in manufacturing cost, reliability, stability are good, and the automation level is high, provides reliable mechanical device for intelligent bookshelf.
The utility model adopts the technical scheme that the automatic book taking and returning manipulator device for the intelligent bookshelf comprises a manipulator moving device, a manipulator grabbing device and a manipulator telescoping device, wherein the manipulator moving device comprises a supporting frame, the upper end surface and the lower end surface of the outer side of the supporting frame are respectively fixedly connected with transverse guide rails, and the two transverse guide rails are respectively connected with a transverse sliding block in a sliding manner;
four corners of the outer side of the supporting frame are fixedly connected with one side of the roller bracket respectively, the other side of the roller bracket is rotationally connected with the transverse synchronous rollers, two horizontally adjacent transverse synchronous rollers are sleeved and connected through a transverse synchronous belt, two vertically adjacent transverse synchronous rollers are sleeved and connected through a vertical synchronous belt, and any one transverse synchronous roller is connected with an output shaft of a transverse stepping motor; one section of the transverse synchronous belt is fixedly connected with a transverse sliding block;
two vertical optical axis guide rails are fixedly connected between the two transverse sliding blocks, and the two vertical optical axis guide rails are connected with the vertical sliding blocks in a sliding manner; two vertical synchronous rollers are respectively and fixedly connected to the two transverse sliding blocks, the two vertical synchronous rollers are connected through a vertical synchronous belt in a sleeved mode, and any one vertical synchronous roller is connected with an output shaft of the vertical stepping motor; one section of the vertical synchronous belt on the two vertical synchronous rollers is fixedly connected with the vertical sliding block through a first fixing clamp.
Furthermore, the manipulator grabbing device comprises an upper frame and a lower frame, wherein the upper frame and the lower frame are respectively composed of a clamping rod and a sliding rod, and the clamping rod and the sliding rod are mutually perpendicular and integrally formed;
the sliding rod of the upper frame is connected with the sliding rod of the lower frame in a sliding mode through a first metal sleeve and a second metal sleeve; the first metal sleeve is fixedly connected with the sliding rod of the upper frame, and the second metal sleeve is fixedly connected with the sliding rod of the lower frame;
the sliding rod of the lower frame is fixedly connected with two first synchronous belt rollers, and any one first synchronous belt roller is connected with an output shaft of the speed reducing motor; the two first synchronous belt rollers are connected through a vertical rubber belt sleeve, and one section of the vertical rubber belt is fixedly connected with the first metal sleeve through a second fixing clamp.
Furthermore, the clamping rod of the upper frame and the clamping rod of the lower frame are provided with anti-skid rubber pads.
Further, a sliding rod of the lower frame is fixedly connected with a steel ruler.
Furthermore, a first fixed seat is fixedly connected to the clamping rod of the lower frame.
Furthermore, the manipulator telescoping device comprises a first sliding rod and a second sliding rod, the first sliding rod and the second sliding rod are connected in a sliding mode through a third metal sleeve, and the third metal sleeve is fixedly connected with the second sliding rod; two second synchronous belt rollers are fixedly connected to the first sliding rod, the two second synchronous belt rollers are connected through a synchronous belt, and any one second synchronous belt roller is connected with an output shaft of the synchronous motor; one section of the synchronous belt is fixedly connected with a third metal sleeve through a third fixing clamp.
Furthermore, a third fixed seat is fixedly connected to the first sliding rod, and the third fixed seat is fixed to the upper surface of the vertical sliding block.
Furthermore, a second fixed seat is fixedly connected to the second slide bar, and the second fixed seat is fixedly connected to the first fixed seat.
The utility model has the advantages that: the device has the advantages of simple mechanical principle, low manufacturing cost, good reliability and stability and high automation level, provides convenience for readers to fetch books, and lightens the work of librarians. The device provides a reliable mechanical device for the intelligent bookshelf, and further promotes the research and development and the popularization of the intelligent bookshelf.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a robot moving device according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a manipulator grabbing device according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a manipulator telescoping device according to an embodiment of the present invention.
In the figure, 1, a transverse synchronous roller, 2, a transverse guide rail, 3, a supporting frame, 4, a vertical optical axis guide rail, 5, a transverse sliding block, 6, a vertical stepping motor, 7, a transverse synchronous belt, 8, a transverse stepping motor, 9, a vertical synchronous roller, 10, a roller bracket, 11, a vertical synchronous belt, 12, a vertical sliding block, 13, a first fixing clip, 14, a steel rule, 15, an anti-skid rubber pad, 16, a first metal sleeve, 17, a first fixing seat, 18, a lower frame, 19, a second metal sleeve, 20, a first synchronous belt roller, 21, a second fixing clip, 22, a vertical rubber belt, 23, a speed reduction motor, 24, an upper frame, 25, a first sliding rod, 27, a third metal sleeve, 28, a second fixing seat, 29, a second sliding rod, 30, a second synchronous belt roller, 31, a third fixing clip, 32, a synchronous belt, 33, a third fixing seat and 34, a synchronous motor are arranged.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1, the utility model discloses automatic get still book manipulator device includes manipulator mobile device, manipulator grabbing device and manipulator telescoping device, manipulator mobile device includes braced frame 3, the upper and lower terminal surface difference fixed connection transverse guide 2 in the braced frame 3 outside, difference sliding connection transverse slide 5 on two transverse guide 2.
The four corners in the 3 outsides of braced frame respectively with gyro wheel support 10 one side fixed connection, the opposite side and the rotation of horizontal synchronizing roller 1 of gyro wheel support 10 are connected, establish through horizontal hold-in range 7 cover between two horizontal synchronizing rollers 1 that the level is adjacent and connect, establish through vertical hold-in range 11 cover between two vertical adjacent horizontal synchronizing rollers 1 and connect, arbitrary one horizontal synchronizing roller 1 and horizontal step motor 8's output shaft, the horizontal synchronizing roller 1 and the output shaft of horizontal step motor 8 of this embodiment lower right corner. One section of the transverse synchronous belt 7 is fixedly connected with the transverse sliding block 5.
Two vertical optical axis guide rails 4 are fixedly connected between the two transverse sliding blocks 5, and the two vertical optical axis guide rails 4 are connected with vertical sliding blocks 12 in a sliding mode. Two vertical synchronous rollers 9 are respectively and fixedly connected to the two transverse sliding blocks 5, the two vertical synchronous rollers 9 are connected through a vertical synchronous belt 11 in a sleeved mode, and any vertical synchronous roller 9 is connected with an output shaft of the vertical stepping motor 6. One section of the vertical synchronous belt 11 on the two vertical synchronous rollers 9 is fixedly connected with the vertical sliding block 12 through a first fixing clamp 13.
As shown in fig. 2, the manipulator gripping device includes an upper frame 24 and a lower frame 18, and the upper frame 24 and the lower frame 18 are both composed of a holding rod and a sliding rod, and the holding rod and the sliding rod are vertically and integrally formed.
The sliding rod of the upper frame 24 is slidably connected with the sliding rod of the lower frame 18 through the first metal sleeve 16 and the second metal sleeve 19. The first metal sleeve 16 is fixedly connected with the sliding rod of the upper frame 24 through a rivet, and the second metal sleeve 19 is fixedly connected with the sliding rod of the lower frame 18 through a rivet. And the clamping rods of the upper frame 24 and the clamping rods of the lower frame 18 are provided with anti-skid rubber pads 15.
Two first synchronous belt rollers 20 are fixedly connected to a sliding rod of the lower frame 18, any one of the first synchronous belt rollers 20 is connected with an output shaft of a speed reducing motor 23, and the first synchronous belt roller 20 far away from a holding rod direction of the lower frame 18 is connected with the output shaft of the speed reducing motor 23. The two first synchronous belt rollers 20 are connected with each other through a vertical rubber belt 22 in a sleeved mode, and one section of the vertical rubber belt 22 is fixedly connected with the first metal sleeve 16 through a second fixing clamp 21.
The sliding rod of the lower frame 18 is fixedly connected with the steel ruler 14.
The clamping rod of the lower frame 18 is fixedly connected with a first fixed seat 17.
As shown in fig. 3, the manipulator telescoping device comprises a first slide bar 25 and a second slide bar 29, the first slide bar 25 and the second slide bar 29 are slidably connected through a third metal sleeve 27, and the third metal sleeve 27 and the second slide bar 29 are fixedly connected through a rivet. Two second synchronous belt rollers 30 are fixedly connected to the first slide bar 25, the two second synchronous belt rollers 30 are connected through a synchronous belt 32, any one second synchronous belt roller 30 is connected with an output shaft of a synchronous motor 34, and the second synchronous belt roller 30 far away from one side of the second slide bar 29 on the first slide bar 25 is connected with the output shaft of the synchronous motor 34. One end of the synchronous belt 32 is fixedly connected with the third metal sleeve 27 through a third fixing clip 31.
And a third fixed seat 33 is fixedly connected to the first slide bar 25, and the third fixed seat 33 is fixed on the upper surface of the vertical slide block 12 through a bolt.
The second slide bar 29 is fixedly connected with a second fixed seat 28, and the second fixed seat 28 is fixedly connected with the first fixed seat 17.
The utility model discloses vertical step motor 6, horizontal step motor 8, gear motor 23, synchronous machine 34 are all through the connection of electric lines control switch, by the rotation of control switch control motor or stop.
The utility model discloses manipulator mobile device installs in the front of bookshelf, and on four angles that bookshelf was preceding was fixed in the pivot of four horizontal synchronous gyro wheels 1, manipulator mobile device can make manipulator grabbing device along bookshelf level, vertical direction motion. For example, when the transverse stepping motor 8 rotates clockwise, the transverse synchronous roller 1 at the lower right corner rotates clockwise, and the transverse synchronous roller 1 at the lower left corner and the transverse synchronous roller 1 at the upper right corner are driven to rotate clockwise by the transverse synchronous belt 7 at the lower side and the vertical synchronous belt 11 at the right side respectively, so as to drive the transverse synchronous belt 7 at the upper side to rotate clockwise; at the moment, the two transverse synchronous belts 7 are tied on one section of the transverse sliding block 5 to drag the transverse sliding block 5, the vertical optical axis guide rail 4 and the vertical sliding block 12 to move rightwards, so that the manipulator grabbing device is controlled to move rightwards.
The utility model discloses manipulator telescoping device can control manipulator grabbing device perpendicular to bookshelf back-and-forth movement. For example, when the synchronous motor 34 rotates clockwise, the upper section of the synchronous belt 32 drives to the right to pull the third metal sleeve 27 and the second sliding rod 29 to the right through the fixing clip 31, so as to control the mechanical arm grabbing device to retreat to draw out the book.
The utility model discloses manipulator grabbing device is used for snatching books spine upper and lower extreme position. For example, when the speed reducing motor 23 rotates counterclockwise, the downward movement of the vertical rubber belt 22 fixed by the second fixing clip 21 pulls the first metal sleeve 16 and the upper frame 24 to move downward to clamp the book. Wherein the steel ruler 14 is used for blocking one side page of the book from scattering, and the front end of the steel ruler 14 can be inserted into the gap between two adjacent books when the book is fetched, so that the manipulator can fetch the book more stably.
The utility model discloses automatic get still book mechanical device can be used for intelligent bookshelf, by the intelligent management system control motor rotation of intelligent bookshelf, accurate positioning, realizes the accurate target books of locking of manipulator mobile device, and the automation snatchs books.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. The automatic book taking and returning manipulator device for the intelligent bookshelf is characterized by comprising a manipulator moving device, a manipulator grabbing device and a manipulator telescopic device, wherein the manipulator moving device comprises a supporting frame (3), the upper end surface and the lower end surface of the outer side of the supporting frame (3) are respectively and fixedly connected with transverse guide rails (2), and transverse sliding blocks (5) are respectively connected onto the two transverse guide rails (2) in a sliding manner;
four corners of the outer side of the supporting frame (3) are fixedly connected with one side of a roller wheel support (10) respectively, the other side of the roller wheel support (10) is rotatably connected with transverse synchronous rollers (1), two horizontally adjacent transverse synchronous rollers (1) are connected in a sleeved mode through a transverse synchronous belt (7), two vertically adjacent transverse synchronous rollers (1) are connected in a sleeved mode through a vertical synchronous belt (11), and any one transverse synchronous roller (1) is connected with an output shaft of a transverse stepping motor (8); one section of the transverse synchronous belt (7) is fixedly connected with a transverse sliding block (5);
two vertical optical axis guide rails (4) are fixedly connected between the two transverse sliding blocks (5), and the two vertical optical axis guide rails (4) are connected with vertical sliding blocks (12) in a sliding manner; the two transverse sliding blocks (5) are respectively and fixedly connected with two vertical synchronous rollers (9), the two vertical synchronous rollers (9) are sleeved and connected through a vertical synchronous belt (11), and any vertical synchronous roller (9) is connected with an output shaft of the vertical stepping motor (6); one section of the vertical synchronous belt (11) on the two vertical synchronous rollers (9) is fixedly connected with the vertical sliding block (12) through a first fixing clamp (13).
2. The automatic book taking and returning manipulator device for the intelligent bookshelf according to claim 1, wherein the manipulator grabbing device comprises an upper frame (24) and a lower frame (18), the upper frame (24) and the lower frame (18) are both composed of a holding rod and a sliding rod, and the holding rod and the sliding rod are vertically and integrally formed;
the sliding rod of the upper frame (24) is connected with the sliding rod of the lower frame (18) in a sliding mode through a first metal sleeve (16) and a second metal sleeve (19); the first metal sleeve (16) is fixedly connected with a sliding rod of the upper frame (24), and the second metal sleeve (19) is fixedly connected with a sliding rod of the lower frame (18);
two first synchronous belt rollers (20) are fixedly connected to a sliding rod of the lower frame (18), and any one first synchronous belt roller (20) is connected with an output shaft of a speed reducing motor (23); the two first synchronous belt rollers (20) are connected with each other through a vertical rubber belt (22) in a sleeved mode, and one section of the vertical rubber belt (22) is fixedly connected with the first metal sleeve (16) through a second fixing clamp (21).
3. The automatic book taking and returning manipulator device for the intelligent bookshelf according to claim 2, wherein the holding rods of the upper frame (24) and the holding rods of the lower frame (18) are provided with anti-skid rubber pads (15).
4. The automatic book taking and returning manipulator device for the intelligent bookshelf according to claim 3, wherein the sliding rod of the lower frame (18) is fixedly connected with a steel ruler (14).
5. The automatic book taking and returning manipulator device for the intelligent bookshelf according to claim 4, wherein the holding rod of the lower frame (18) is fixedly connected with the first fixing seat (17).
6. The automatic book taking and returning manipulator device for the intelligent bookshelf according to any one of claims 1-5, wherein the manipulator telescoping device comprises a first slide bar (25) and a second slide bar (29), the first slide bar (25) and the second slide bar (29) are slidably connected through a third metal sleeve (27), and the third metal sleeve (27) is fixedly connected with the second slide bar (29); two second synchronous belt rollers (30) are fixedly connected to the first sliding rod (25), the two second synchronous belt rollers (30) are connected through a synchronous belt (32), and any one second synchronous belt roller (30) is connected with an output shaft of a synchronous motor (34); one section of the synchronous belt (32) is fixedly connected with the third metal sleeve (27) through a third fixing clamp (31).
7. The automatic book taking and returning manipulator device for the intelligent bookshelf according to claim 6, wherein a third fixing seat (33) is fixedly connected to the first sliding rod (25), and the third fixing seat (33) is fixed on the upper surface of the vertical sliding block (12).
8. The automatic book taking and returning manipulator device for the intelligent bookshelf according to claim 6, wherein the second slide bar (29) is fixedly connected with a second fixed seat (28), and the second fixed seat (28) is fixedly connected with the first fixed seat (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021114861.XU CN212218466U (en) | 2020-06-16 | 2020-06-16 | Automatic book taking and returning manipulator device for intelligent bookshelf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021114861.XU CN212218466U (en) | 2020-06-16 | 2020-06-16 | Automatic book taking and returning manipulator device for intelligent bookshelf |
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| Publication Number | Publication Date |
|---|---|
| CN212218466U true CN212218466U (en) | 2020-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202021114861.XU Expired - Fee Related CN212218466U (en) | 2020-06-16 | 2020-06-16 | Automatic book taking and returning manipulator device for intelligent bookshelf |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673713A (en) * | 2020-06-16 | 2020-09-18 | 南华大学 | Automatic book taking and returning manipulator device for intelligent bookshelf |
-
2020
- 2020-06-16 CN CN202021114861.XU patent/CN212218466U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673713A (en) * | 2020-06-16 | 2020-09-18 | 南华大学 | Automatic book taking and returning manipulator device for intelligent bookshelf |
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Granted publication date: 20201225 |