CN212978344U - Robot for putting books on and off shelves - Google Patents
Robot for putting books on and off shelves Download PDFInfo
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- CN212978344U CN212978344U CN202021707821.6U CN202021707821U CN212978344U CN 212978344 U CN212978344 U CN 212978344U CN 202021707821 U CN202021707821 U CN 202021707821U CN 212978344 U CN212978344 U CN 212978344U
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- 239000012636 effector Substances 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims description 16
- 238000005192 partition Methods 0.000 claims description 11
- 239000004744 fabric Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 8
- 239000000463 material Substances 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 4
- 210000000245 forearm Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
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Abstract
本实用新型公开了一种图书上下架机器人，包括机械手，其包括用于左右、上下摆动以及360°旋转的机械臂和安装在所述机械臂末端、用于夹取书籍的末端执行器，所述末端执行器包括外壳、位于所述外壳内部的电机、位于所述外壳内部并与电机连接的丝杆、套设在所述丝杆上的第一滑块、连接在所述第一滑块两侧的分书器、安装在外壳内部的气缸、套设在所述气缸外壳上的第二滑块以及连接在所述第二滑块两侧的夹书器，所述分书器和夹书器通过四个连杆连接在一起，夹书器张开的角度由分书器控制；还包括用于使机器人上下运动的升降系统以及使机器人自由移动的驱动系统。本实用新型能自动取书、放书，节省了人力、物力，杜绝了乱架，提高了工作效率。
The utility model discloses a book upper and lower shelf robot, which comprises a manipulator, which comprises a manipulator for left-right, up-and-down swing and 360° rotation, and an end effector installed at the end of the manipulator and used for gripping books. The end effector includes a casing, a motor located inside the casing, a screw rod located inside the casing and connected to the motor, a first slider sleeved on the screw rod, and a first slider connected to the first slider. The book divider on both sides, the cylinder installed inside the shell, the second slider sleeved on the cylinder shell, and the book clip connected on both sides of the second slide block, the book divider and the clip The book holder is connected together by four links, and the opening angle of the book holder is controlled by the book divider; it also includes a lifting system for moving the robot up and down and a driving system for free movement of the robot. The utility model can automatically pick up and put books, saves manpower and material resources, eliminates disordered shelves, and improves work efficiency.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a books robot of putting on shelf or putting off shelf.
Background
The existing library robot has the advantages that the action is relatively simple, complex grabbing action cannot be carried out, the tail end executing mechanism cannot automatically carry out book shelving and shelving operations between books by one hand, the books are difficult to store and clamp, the existing bookshelf is high, and the height of the robot is insufficient, so that the robot cannot be stored. The connecting rod of the book clamping device is not tightly attached to the book, a certain inclination angle exists, the book can be clamped untight, and the thickness of the clamped book is not too thick.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a books are from top to bottom put up robot can get the books automatically, put the books, has saved manpower, material resources, has stopped indiscriminate frame, has improved work efficiency, can make the member of the hall each can, and the reader respectively gets the needs.
In order to solve the problems, the technical proposal adopted by the utility model is that the book shelf loading and unloading robot comprises a mechanical arm and an end effector, wherein the mechanical arm is used for swinging left and right, up and down and rotating 360 degrees, the end effector is arranged at the tail end of the mechanical arm and is used for clamping books,
the end effector comprises a shell, a motor, a screw rod, a first sliding block, book dividers, a cylinder, a second sliding block and book clamps, wherein the motor is positioned in the shell, the screw rod is positioned in the shell and is connected with the motor, the first sliding block is sleeved on the screw rod, the book dividers are connected to two sides of the first sliding block, the cylinder is arranged in the shell, the second sliding block is sleeved on the shell of the cylinder, the book clamps are connected to two sides of the second sliding block, the book dividers and the book clamps are connected together through four connecting rods, and the opening angle of the book clamps is controlled by the book dividers;
the robot further comprises a lifting system used for enabling the robot to move up and down and a driving system used for enabling the robot to move freely.
Optionally, the housing includes an upper housing and a lower housing connected to the upper housing through a bolt, the upper housing and the lower housing are divided into a large cavity and a small cavity by a partition plate longitudinally arranged inside the upper housing, the motor is located at one side of the large cavity close to the mechanical arm and is connected to the housing through a bolt provided thereon, one end of the screw rod is connected to the motor, the other end of the screw rod is connected to the partition plate, and the screw rod connected to one end of the partition plate has a bearing; when the motor rotates, the lead screw can rotate under the action of the bearing, so that the first sliding block sleeved on the lead screw is driven to move back and forth.
Further, the cylinder is located the loculus, and the cylinder both ends inlay respectively in baffle and shell, the piston rod of cylinder passes the shell and extends to the outside and be located in the middle of two book clamping devices, there is book clamping device both sides of second slider through bolted connection, divide through bolted connection between book clamping device, book clamping device and four connecting rods.
Optionally, the arm includes waist, big arm, forearm and base, the waist is installed on the base, the waist passes through the straight-teeth gear and is connected with big arm, big arm passes through the straight-teeth gear and is connected with the forearm, the forearm passes through bevel gear and is connected with end effector.
Optionally, two cloth pieces are arranged inside the book holder to increase the friction force between the book holder and the book to prevent the book from sliding off.
By last, the utility model discloses a books are put on shelf robot and are had following effect at least:
1. the utility model discloses a terminal operation ware motion mode is simple, and only the rotation of motor and the motion of cylinder piston rod do not have complicated transmission, and processing and simple installation, the shaping is small and exquisite in kind, can accomplish complicated motion in a large amount of books.
2. The utility model discloses an operating system can the interior space of controlling from top to bottom of make full use of library, and the line space passageway between the performance bookshelf to and the book carrying capacity in high-rise space, practiced thrift the library space.
3. The utility model discloses an every wheel of actuating system all has a servo motor, satisfies the nimble motion of wheel.
4. The utility model discloses a robot can get the book automatically, put the book, has saved manpower, material resources, has stopped in disorder frame, has improved work efficiency, can make the museum's staff each to the best, and the reader respectively gets the needs.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
FIG. 1 is a top view of a book shelving and shelving robot provided in accordance with an embodiment of the present application;
FIG. 2 is a front view of a book shelf loading and unloading robot provided in an embodiment of the present application;
FIG. 3 is a left side view of a book shelf loading and unloading robot provided in an embodiment of the present application;
FIG. 4 is a schematic structural view of the end effector of FIG. 1 of the present application;
FIG. 5 is a front view of FIG. 4 of the present application;
FIG. 6 is a schematic structural diagram of the drive system of FIG. 1 according to the present application;
fig. 7 is a left side view of fig. 6 of the present application.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Detailed Description
Other aspects, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which form a part of this specification, and which illustrate, by way of example, the principles of the invention. In the referenced drawings, the same or similar components in different drawings are denoted by the same reference numerals.
The utility model discloses books are put on and off shelves robot that preferred embodiment provided, as shown in fig. 1-7, including manipulator, operating system and actuating system, wherein, the manipulator is including the arm 4 that can control, luffing motion and 360 rotatory and install 4 end effectors 3 that are used for pressing from both sides the clamp books at the arm end. The mechanical arm is arranged on the platform 2, and an end effector 3 of the mechanical arm rotates through a motor to enable a first sliding block 36 on a screw rod 35 to move up and down, so that the book holder 3 is driven to open and clamp; the lower end of the lifting system is arranged on the machine body 1, the upper end of the lifting system is connected with the platform 2, and the manipulator integrally ascends and descends through the movement of four hydraulic cylinder piston rods; the driving system 5 is arranged at the lower end of the machine body 1, and a servo motor 55 drives a second bevel gear 56 to move so as to drive wheels to move.
As shown in fig. 3-5, the end effector 3 of the present invention comprises a housing 31, a motor located inside the housing 31, a screw rod 35 located inside the housing and connected to the motor, a sleeve, a first slider 36 on the screw rod 35, a connecting rod, a book divider 32 on both sides of the first slider 36, a cylinder installed inside the housing 31, a sleeve, a second slider 37 on the cylinder housing and a book holder 33 connected on both sides of the second slider 37, wherein the book divider 32 and the book holder 33 are connected together through four connecting rods 34, and the opening angle of the book holder 33 is controlled by the book divider 32. The motor rotates to move the first slide block 36 on the screw 35 up and down, so as to drive the book holder 33 to move up and down on the cylinder piston rod 38, so that the book holder 33 is opened and clamped.
As shown in fig. 3-5, the housing 31 of the present invention includes an upper housing 311 and a lower housing 312 connected to the upper housing 311 by bolts, the upper housing 311 and the lower upper housing 312 are separated into a large cavity and a small cavity by a partition 313 longitudinally disposed therein, a motor is disposed at one side of the large cavity close to the mechanical arm 4 and is connected to the housing by bolts through an ear plate disposed thereon, one end of a lead screw 35 is connected to the motor, the other end is connected to the partition 313, and the lead screw connected to one end of the partition 313 has a bearing; when the motor rotates, the lead screw 35 can rotate due to the action of the bearing, so as to drive the first slider 36 sleeved on the lead screw 35 to move back and forth. The cylinder is located in the small cavity, two ends of the cylinder are respectively embedded in the partition 313 and the shell 31, a piston rod 38 of the cylinder penetrates through the shell 31 to extend to the outside and is located between the two book clamping devices 33, the two sides of the second sliding block 37 are connected with the book clamping devices 33 through bolts, and the book dividing device 32, the book clamping devices 33 and the four connecting rods 34 are connected through bolts.
The book holder 33 of the present invention has two cloth pieces inside for increasing the friction between the book holder 33 and the book to prevent the book from slipping off. The utility model discloses still there is vision sensor at the 31 side-mounting of the shell of terminal operation ware 3, can discern the vision sensor of search code in the books. The principle of the vision sensor is that a CCD industrial camera captures images of a book spine, the obtained images are processed in a digital mode, and information such as book label feature pixel distribution, brightness and color of books is recorded for recognition.
The utility model discloses a when 3 concrete executions of terminal actuating mechanism, put the book action: the visual sensor scans the retrieval code on the spine of the book to find the accurate position for storing the book, the rotation of the motor drives the screw rod 35 to move, so that the book divider 32 is separated, the book on the bookshelf is divided, the book clamp 33 is driven to be separated, the piston rod 38 of the air cylinder pushes the book out, at the moment, the stored book is placed at the accurate position between two books, and the end effector 3 is retracted to finish the action of putting the book at one time. And (3) book fetching action: the visual sensor scans the retrieval code on the spine of the book to find the accurate position of the book to be taken out, the motor rotates, the book divider 32 divides the books at two sides of the book to be taken out, the end effector 3 is pushed forwards, the motor rotates reversely, the book divider 32 is tightened, the book clamp 33 is also tightened to clamp the books, the end effector 3 is retracted, and therefore the books are taken out, and one book taking action is completed. The cylinder does not need any action during the book fetching action.
The size of the end effector 3 depends on the size of the book, with 16K book size: 297X 210X 20mm as an example. The middle position of the manipulator holding the book is the most stable. Thus, the preferred end effector of the present invention has a base size of: 261.5 mm; width: 40 mm; high: 45 mm; the working range of the book clamping device is as follows: 0-31mm (0-51 degree), and meets the thickness of a common book.
As shown in fig. 2 and 3, the robot arm 4 of the present invention includes a waist portion 42, a large arm 44, a small arm 45 and a base 41, the waist portion 42 is mounted on the base 41, the waist portion 42 is connected to the large arm 44 through a spur gear 43, the large arm 44 is connected to the small arm 45 through a spur gear, and the small arm 45 is connected to the end effector 3 through a first bevel gear 46. The entire robot arm 4 is driven by the spur gear 43 and the first bevel gear 46 and the worm gear in the base 41. The worm and gear can rotate the waist 42, i.e. the whole mechanical arm 4 can be rotated, the straight gear 43 marked in the figure can make the mechanical arm swing up and down, a straight gear which is not marked is arranged between the big arm 44 and the small arm 45, the straight gear can make the small arm 45 of the mechanical arm 4 swing left and right, and the first bevel gear 46 in the mechanical arm 4 is connected with the end effector 3 of the robot, so that the end effector 3 can complete 360-degree rotation. Wherein, the servo motors with proper specifications are used for providing power for the straight gear 43, the first bevel gear 46 and the worm gear.
Because the bookshelf in the library all has certain height range, and the space in different libraries is also different, and the height is also different, and the general clean space height is between 3.1-3.5 meters, has central air conditioning be between 4.1-4.5 meters, considers the change of height, consequently, the utility model discloses a robot still is provided with operating system, and the robot just can be free clamp and get, deposit books like this.
The utility model discloses a lift system includes four pneumatic cylinders and with parts such as the supporting hydraulic pump of pneumatic cylinder, solenoid valve, pressure control valve, hydro-cylinder, all can adopt current common structure, no longer gives unnecessary details here. The base 41 is fixed on the platform 2 through bolts, the four hydraulic cylinders are located below four corners of the platform 2, piston rods of the four hydraulic cylinders are connected with the four corners of the platform 2 respectively, and the piston rods of the hydraulic cylinders stretch and contract, so that the mechanical arm 4 is lifted. The lower ends of the four hydraulic cylinders are fixedly arranged on the machine body 2 through bolts.
By fig. 3, fig. 6, fig. 7, the utility model discloses a driving system 5 includes support shaft 51, actuating mechanism and wheel 54, support shaft 51 upper end is connected with whole fuselage 1, support shaft 51 is last to have spring 52, four wheels 54 form stable structure, actuating mechanism includes drive casing 53, servo motor 55 and second bevel gear 56, support shaft 51 lower extreme links to each other with actuating mechanism's drive casing 53, servo motor 55 is located drive casing 53 and is connected with drive casing 53, servo motor 55's motor shaft is connected with the second bevel gear 56 that is located drive casing 53 inside, the axle is installed at the wheel 54 center, second bevel gear 56 and the epaxial gear engagement of installing, under servo motor 55's effect, drive wheel 54 rolls.
The utility model discloses four servo motor 55's that actuating system has different positive and negative combination of turning can make wheel 54 have different preceding, back, left and right movements. When the four servo motors 55 rotate forward simultaneously, the robot moves forward; when the four servo motors 55 are simultaneously reversed, the robot moves backward; when the rotation speed of the servo motor on one side is different from that of the servo motor on the other side, the robot can turn. The supporting shaft 51 is provided with the spring 52, so that the influence of external force on the robot can be buffered, the robot can be damped, the walking is more stable, and the overturning is prevented.
It should be noted that the manipulator, the lifting system and the driving system of the present invention form a complete mechanical structure by means of matching, bolting, etc.
The operation principle of the book shelf loading and unloading robot of the present invention will be described in detail with reference to fig. 1 to 7.
The robot firstly walks according to the black line on the ground, the bookshelf is provided with a two-dimensional identification code of the corresponding book type, the corresponding bookshelf is found out, the visual sensor scans the retrieval code on the spine, the accurate position for storing the books is found, the mechanical arm 4 swings, the tail end operator 3 fetches the books, the motor in the tail end operator 3 rotates to drive the lead screw 35 to move, the book divider 32 separates, the books in the bookshelf on the trolley are separated, the book clamp 33 is driven to separate at the moment, the tail end operator 3 forwards pushes the books until the positions capable of clamping the books are reached, the motor rotates reversely, the lead screw 35 reversely moves, the book clamp 33 clamps the books, the mechanical arm 4 moves to move the books to the placing position, the motor in the tail end operator 3 rotates to drive the lead screw 35 to move, the book divider 32 separates, the books on the bookshelf are separated, the piston rod 38 of the air cylinder pushes the books out, at this time, the stored book is placed at an accurate position between the two books, and the end effector 3 is retracted to complete one book placing operation. The book fetching action is opposite to the book placing action. The visual sensor scans the retrieval code on the spine of the book to find the accurate position of the book to be taken out, the motor rotates, the book divider 32 divides the books at two sides of the book to be taken out, the end effector 3 is pushed forwards, the motor rotates reversely, the book divider 32 is tightened, the book clamp 33 is also tightened to clamp the books, the end effector 3 is retracted, and therefore the books are taken out, and one book taking action is completed. The cylinder does not need any action during the book fetching action.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (5)
1. A book shelf loading and unloading robot is characterized by comprising
The mechanical arm comprises a mechanical arm for swinging left and right, up and down and rotating 360 degrees and an end effector which is arranged at the tail end of the mechanical arm and used for clamping books,
the end effector comprises a shell, a motor, a screw rod, a first sliding block, book dividers, a cylinder, a second sliding block and book clamps, wherein the motor is positioned in the shell, the screw rod is positioned in the shell and is connected with the motor, the first sliding block is sleeved on the screw rod, the book dividers are connected to two sides of the first sliding block, the cylinder is arranged in the shell, the second sliding block is sleeved on the shell of the cylinder, the book clamps are connected to two sides of the second sliding block, the book dividers and the book clamps are connected together through four connecting rods, and the opening angle of the book clamps is controlled by the book dividers;
the robot further comprises a lifting system used for enabling the robot to move up and down and a driving system used for enabling the robot to move freely.
2. The book shelf loading and unloading robot of claim 1, wherein the housing comprises an upper housing and a lower housing connected with the upper housing through a bolt, the upper housing and the lower upper housing are divided into a large cavity and a small cavity by a partition plate longitudinally arranged in the upper housing, the motor is positioned at one side of the large cavity close to the mechanical arm and is connected with the housing through a bolt through an ear plate arranged on the motor, one end of the screw rod is connected with the motor, the other end of the screw rod is connected with the partition plate, and the screw rod connected with one end of the partition plate is provided with a bearing; when the motor rotates, the lead screw can rotate under the action of the bearing, so that the first sliding block sleeved on the lead screw is driven to move back and forth.
3. The book shelf loading and unloading robot according to claim 2, wherein the cylinder is located in the small cavity, two ends of the cylinder are respectively embedded in the partition plate and the shell, a piston rod of the cylinder penetrates through the shell to extend to the outside and is located between the two book clamps, two sides of the second sliding block are connected with the book clamps through bolts, and the book dividers, the book clamps and the four connecting rods are connected through bolts.
4. The book shelf robot of claim 1, wherein the mechanical arm comprises a waist portion, a large arm, a small arm and a base, the waist portion is mounted on the base, the waist portion is connected with the large arm through a spur gear, the large arm is connected with the small arm through a spur gear, and the small arm is connected with the end effector through a bevel gear.
5. The book shelf loading and unloading robot as claimed in claim 1, wherein two pieces of cloth are installed inside the book holder to increase the friction between the book holder and the book to prevent the book from slipping off.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021707821.6U CN212978344U (en) | 2020-08-17 | 2020-08-17 | Robot for putting books on and off shelves |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021707821.6U CN212978344U (en) | 2020-08-17 | 2020-08-17 | Robot for putting books on and off shelves |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212978344U true CN212978344U (en) | 2021-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021707821.6U Expired - Fee Related CN212978344U (en) | 2020-08-17 | 2020-08-17 | Robot for putting books on and off shelves |
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| Country | Link |
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| CN (1) | CN212978344U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116853716A (en) * | 2023-06-30 | 2023-10-10 | 中国药科大学 | A transport device with a book return function |
-
2020
- 2020-08-17 CN CN202021707821.6U patent/CN212978344U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116853716A (en) * | 2023-06-30 | 2023-10-10 | 中国药科大学 | A transport device with a book return function |
| CN116853716B (en) * | 2023-06-30 | 2024-07-23 | 中国药科大学 | Conveyer with books return function |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210416 Termination date: 20210817 |