CN111941442A - A books are got and are put management robot for library - Google Patents

Abstract

A book pick-and-place management robot for libraries. The equipment used in existing libraries for arranging books can only achieve the effect of clamping and processing, and it is difficult to realize the mechanized operation of single or multiple books throughout the whole process, and it is difficult to complete the accuracy of detail arranging. In the present invention, the moving base is arranged horizontally, the moving mechanism and the book storage frame are both arranged on the top surface of the moving base, the rotating mechanism is arranged on the moving mechanism, the rotating mechanism is provided with a push base, and the push base is respectively provided with a book guide assembly and clamping assembly, one end of the connecting rod is provided with a pick-up ball, the other end of the connecting rod is set on the push seat body, the book guide assembly picks up and transports the book to the clamping assembly to complete the book picking process, and the book guide assembly will clamp the assembly. The clamped book passes through the guide gap of the guide assembly to complete the book placing process. The present invention is used for book shifting.

Description

A book pick-and-place management robot for library

Technical field:

The invention relates to a robot, in particular to a book pick-and-place management robot used in a library.

Background technique:

At present, library operations, such as book loading and unloading, sorting, handling, and book placement inspection, require a lot of manpower and time. At the same time, with the rapid development of large libraries, there is a contradiction with the existing manual operation and management mode. Therefore, in order to replace manpower and improve efficiency, library intelligent management robots came into being. However, most of the current library intelligent management robots use a single gripping part, and the mechanical intelligence of other operating links for handling books is not high.

Invention content:

In order to solve the problems mentioned in the above background art, the purpose of the present invention is to provide a book pick-and-place management robot for a library.

A book pick-and-place management robot for a library, comprising a moving base, a moving mechanism, a slewing mechanism, a push base, a guide assembly, a book guide assembly, a clamping assembly and a book storage frame;

The moving base is arranged horizontally, the moving mechanism and the book storage frame are both arranged on the top surface of the moving base, the slewing mechanism is arranged on the moving mechanism, the slewing mechanism is provided with a push base, and the push base is respectively provided with a book guide assembly and clamping components;

The clamping assembly includes two groups of clamping sheets, the two groups of clamping sheets are hinged on the push seat body respectively, and a clamping gap is formed between the two groups of clamping sheets;

The guide assembly includes two brackets and two guide pieces, the two brackets are arranged side by side on the top of the push seat body, two guide pieces are arranged between the two brackets, and guide pieces for matching books are formed between the two guide pieces. gap;

The book guide assembly includes a pick-up ball and a connecting rod, one end of the connecting rod is fixedly connected with the pick-up ball, the other end of the connecting rod is set on the push seat, and the book guide assembly picks up and transports the book to the clamping assembly to complete the book picking process , the book guide assembly passes the book clamped by the clamp assembly through the guide gap of the guide assembly to complete the book release process.

As a preferred solution: the push seat body includes a fixed frame body, an upper movable rack, a lower movable rack, a block, a connecting bar, an upper gear and a lower gear. Set towards the clamping assembly, the upper movable rack is arranged in the fixed frame body, the upper movable rack is slidably matched with the fixed frame body, the upper movable rack is engaged with an upper gear, and the upper movable rack is driven by the upper gear in the fixed frame. The frame is extended or retracted, the lower moving rack is arranged below the fixed frame, the lower moving rack is slidably matched with the bottom of the fixed frame, and a lower gear is arranged under the fixed frame, and the lower gear is connected with the lower gear. The racks are meshed with each other, and the lower moving rack is driven by the lower gear to reciprocate along the length direction of the fixed frame. A block is arranged between the fixed frame and the clamping assembly, and one end of the lower moving rack passes through the block toward the The guide gap is provided, the upper end of the block is machined with a placement slot, and a connecting bar is arranged in the placement slot, one end of the connecting bar is connected with the upper moving rack, and the other end of the connecting bar is connected with the clamping component.

As a preferred solution: the clamping assembly is connected to the connecting bar through a connecting rod assembly. The connecting rod assembly includes two first rod bodies and two second rod bodies. One end is hinged on the top of the connecting bar through the first rotating shaft, and the other end of each first rod is hinged on the top surface of the rear end of its corresponding clamping piece; One end of the second rod body is hinged to the bottom of the connecting bar through the second rotating shaft, and the other end of each second rod body is hinged to the top surface of the rear end of the corresponding clamping piece.

As a preferred solution: the open end of the fixed frame body is matched with two side bars, the two side bars are arranged side by side at the open end of the fixed frame body, the side bars and the clamping pieces are arranged in a one-to-one correspondence, and the rear of each side bar is arranged in a one-to-one correspondence. The ends are fixedly connected to the fixed frame body, the front end of each side bar is processed with a first gap, the rear end of the clamping piece is processed with a second gap that matches the first gap, and each first gap and its corresponding second gap are processed. At least one third rod body is hinged between the two gaps.

As a preferred solution: the two brackets are matched with a support seat, the longitudinal section of the support seat is a triangle, the top of the fixed frame body is vertically juxtaposed with two vertical rods, and the top of each vertical rod is hinged with the bottom of the support seat, Two brackets are arranged side by side, each bracket includes a horizontal bar and a vertical pipe, one end of the horizontal bar is hinged with the support seat, the other end of the horizontal bar is fixedly connected with the vertically arranged vertical pipe, and two vertical pipes are hinged between the two vertical pipes. a guide plate.

As a preferred solution: a horizontal plate is horizontally arranged on each vertical pipe, and an elastic member is arranged between the horizontal plate and its adjacent guide piece.

As a preferred solution: the connecting rod is equipped with a first support rod, the first support rod is vertically arranged between the block and the connecting rod, the middle part of the connecting rod is hinged with the top end of the first support rod, and one end of the connecting rod is hinged with a Pick up the ball, the other end of the connecting rod is hinged with one end of the second support rod, the other end of the second support rod is hinged with one end of the third support rod through the third shaft, and the other end of the third support rod is hinged with a drive gear .

As a preferred solution: the moving mechanism is a bidirectional moving mechanism, the moving base is a rectangular base, the moving mechanism includes a horizontal horizontal moving platform and a vertical horizontal moving platform, the horizontal horizontal moving platform moves back and forth along the width direction of the moving base, and the vertical horizontal moving platform moves along the The length of the base moves back and forth;

The lateral horizontal moving table includes a first moving table, a first lead screw, a first sliding block and two first guide rails. The two first guide rails are arranged side by side on the moving base along the width direction of the moving base. The first moving table Set on two first guide rails, the first lead screw is set on the mobile base, the first lead screw is located between the two first guide rails, the first lead screw is provided with a first slider, the top of the first slider is The surface is fixedly connected with the bottom of the first mobile platform, and the first mobile platform reciprocates along the length direction of the two first guide rails under the driving of the first slider;

The longitudinal and horizontal moving table includes a second moving table, a second lead screw, a second sliding block and two second guide rails, the two second guide rails are arranged side by side on the first moving table along the length direction of the moving base, and the second The moving table is arranged on the two second guide rails, the second lead screw is arranged on the first moving platform, the second lead screw is located between the two second guide rails, the second lead screw is provided with a second sliding block, the second lead screw is arranged on the second guide rail. The top surface of the slider is fixedly connected with the bottom of the second moving table, and the second moving table moves toward or away from the book storage frame along the length direction of the two second guide rails under the driving of the second slider.

As a preferred solution: the slewing mechanism includes a casing, an outer shaft, a connecting column, a thrust ball bearing, a large steering gear, a small steering gear and an inner cylinder, and the large steering gear and the small steering gear are both arranged on the second mobile platform On the upper side, the large steering gear meshes with the small steering gear, the outer casing is arranged on the large steering gear, the outer shaft body is vertically arranged on the top of the outer casing, a connecting column is arranged in the outer casing, and a thrust ball is arranged between the connecting column and the inner wall of the top of the casing In the bearing, the connecting column is a hollow column, and an inner column is arranged in the connecting column.

Compared with the prior art, the beneficial effects of the present invention are:

1. The structure of the present invention is scientific and reasonable, and the picking, clamping, transporting and The storage action is integrated into one processing action, the processing process is coherent, the action is smooth and reasonable, no damage to the book, and the picking and placing operation is accurate.

2. The mobile base in the present invention is convenient to realize the effect of the overall flexible movement of the present invention, and provides favorable preconditions for the present invention to move according to a predetermined trajectory.

3. The combination of the moving mechanism and the slewing mechanism in the present invention enables the push base to achieve horizontal lateral movement, longitudinal movement and rotation, and enhances the operating range of the guide assembly, book guide assembly and clamping assembly, and is suitable for picking, transporting and storing. Books in different locations.

Fourth, in the present invention, the book guide assembly, the clamping assembly and the guide assembly cooperate with each other to realize the continuous actions of book picking, clamping and storage, avoiding the problem that the storage position cannot be stored due to the overturning of other books and covering the storage position.

5. The storage mode of the present invention is reasonable, different from the working mode of manually picking up and storing books, and can achieve an operation effect equivalent to manually picking up and storing books.

Description of drawings:

For ease of description, the present invention is described in detail by the following specific implementations and accompanying drawings.

Fig. 1 is the three-dimensional structure schematic diagram of the present invention, and the dotted line in the figure is the position of the book;

Fig. 2 is the front view structure schematic diagram of the present invention;

Fig. 3 is the top view structure schematic diagram of the present invention;

Fig. 4 is the side view structure schematic diagram of the present invention;

5 is a first three-dimensional structural schematic diagram of the connection relationship between the book guide assembly, the clamping assembly and the guide assembly;

6 is a second three-dimensional structural schematic diagram of the connection relationship between the book guide assembly, the clamping assembly and the guide assembly, and the dotted line in the figure is the position of the book;

Fig. 7 is a schematic view of enlarged structure at A place in Fig. 3;

8 is a schematic cross-sectional view of the three-dimensional structure of the slewing mechanism;

9 is a schematic diagram of a first three-dimensional structure of a moving mechanism;

FIG. 10 is a schematic three-dimensional structural diagram of the connection relationship between the second lead screw and the second slider.

In the figure, 1-moving base; 2-moving mechanism; 2-1-horizontal horizontal moving platform; 2-2-vertical horizontal moving platform; 2-1-1-first moving platform; 2-1-2-first Lead screw; 2-1-3-first slider; 2-1-4-first guide rail; 2-2-1-second mobile platform; 2-2-2-second lead screw; 2-2- 3-Second slider; 2-2-4-Second guide rail; 3-Rotary mechanism; 3-1-Housing; 3-2-External shaft body; 3-3-Connecting column; ;3-5-large steering gear;3-6-small steering gear;3-7-inner cylinder;3-8-shaft ring;4-pushing seat;4-1-fixed frame;4-2- Upper moving rack; 4-3-lower moving rack; 4-5-block; 4-6-connecting bar; 4-7-upper gear; 4-8-lower gear; 4-10-placement slot; 5 -Guide assembly; 5-1-bracket; 5-1-1-crossbar; 5-1-2-standpipe; 5-1-2-1-shaft sleeve; 5-1-2-2-inner shaft body ;5-2-Guide piece;6-Guide book assembly;6-1-Pick up ball;6-2-Link;7-Clamping assembly;7-1-Clamping piece;8-Book storage frame;9- Clamping clearance; 10-Guide clearance; 12-Link assembly; 12-1-First rod body; 12-2-Second rod body; 12-3-First shaft; 12-5-Third rod body; 13-Side bar; 14-first gap; 15-second gap; 16-support seat; 17-vertical rod; 18-cross plate; 19-elastic part; 20-first support rod; 21-second support rod; 22- The third shaft; 23-the third support rod; 24-drive gear; 29-books.

Detailed ways:

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described below through the specific embodiments shown in the accompanying drawings. It should be understood, however, that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concepts of the present invention.

Here, it should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only the structures and/or processing steps closely related to the solution according to the present invention are shown in the drawings, and the related structures and/or processing steps are omitted. Other details not relevant to the invention.

Embodiment 1: As shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7, Figure 8, Figure 9 and Figure 10, this specific embodiment adopts the following technical solutions: It includes a moving base 1, a moving mechanism 2, a slewing mechanism 3, a push base 4, a guide assembly 5, a book guide assembly 6, a clamping assembly 7 and a book storage frame 8;

The moving base 1 is arranged horizontally, the moving mechanism 2 and the book storage frame 8 are both arranged on the top surface of the moving base 1, the slewing mechanism 3 is arranged on the moving mechanism 2, and the slewing mechanism 3 is provided with a push seat body 4, and the push seat The body 4 is respectively provided with a book guide assembly 6 and a clamping assembly 7;

The clamping assembly 7 includes two groups of clamping sheets 7-1, the two groups of clamping sheets 7-1 are hinged on the push seat body 4 respectively, and a clamping gap 9 is formed between the two groups of clamping sheets 7-1;

The guide assembly 5 includes two brackets 5-1 and two guide pieces 5-2. The two brackets 5-1 are arranged side by side on the top of the push seat 4, and two guide plates are arranged between the two brackets 5-1. Sheet 5-2, a guide gap 10 for matching books is formed between the two guide sheets 5-2;

The book guide assembly 6 includes a pick-up ball 6-1 and a connecting rod 6-2, one end of the connecting rod 6-2 is provided with a picking-up ball 6-1, and the other end of the connecting rod 6-2 is set on the push seat body 4, The book guide assembly 6 picks up and transports the book 29 to the gripping assembly 7, and the gripping assembly 7 places the book 29 at the book end target position through the guide gap 10 of the guide assembly 5.

The working process of the book guide component 6 in the present invention is:

The driving gear 24 rotates, so that the third support rod 23 rotates with it, and the second support rod 21 drives the connecting rod 6-2 to move, so that the connecting rod 6-2 moves upwards and backwards. At this time, the first support rod 20 rotates backward for a certain amount. Angle, the end of the connecting rod 6-2 with the pick-up ball 6-1 moves downward and rearward, and after contacting the book 29, it drives the book 29 to be exported from the bookshelf, and the exporting action is completed.

Embodiment 2: This embodiment is a further limitation of Embodiment 1. The push seat body 4 includes a fixed frame body 4-1, an upper movable rack 4-2, a lower movable rack 4-3, and a block body 4-5. , the connecting bar 4-6, the upper gear 4-7 and the lower gear 4-8, the transverse section of the fixed frame body 4-1 is a zigzag shape, the open end of the fixed frame body 4-1 is set towards the clamping assembly 7, and the upper The rack 4-2 is arranged in the fixed frame body 4-1, the upper movable rack 4-2 is slidingly matched with the fixed frame body 4-1, and the upper movable rack 4-2 is engaged with an upper gear 4-7, and the upper Driven by the upper gear 4-7, the movable rack 4-2 extends or retracts in the fixed frame body 4-1, and the lower movable rack 4-3 is arranged below the fixed frame body 4-1, and the lower The movable rack 4-3 is slidingly matched with the bottom of the fixed frame body 4-1, a lower gear 4-8 is arranged below the fixed frame body 4-1, and the lower gear 4-8 meshes with the lower movable rack 4-3. The lower moving rack 4-3 reciprocates along the length direction of the fixed frame body 4-1 under the driving of the lower gear 4-8, and a block body 4-5 is arranged between the fixed frame body 4-1 and the clamping assembly 7, One end of the lower moving rack 4-3 is disposed toward the guide gap 10 through the block body 4-5. The upper end of the block body 4-5 is machined with a placement slot 4-10, and the placement slot 4-10 is provided with a connecting bar 4-6. , one end of the connecting bar 4-6 is connected with the upper moving rack 4-2, and the other end of the connecting bar 4-6 is connected with the clamping assembly 7.

Embodiment 3: This embodiment is a further limitation of Embodiment 1 or Embodiment 2. The clamping assembly 7 is connected to the connecting bars 4-6 through the connecting rod assembly 12, and the connecting rod assembly 12 includes two first rod bodies 12-1. , two second rod bodies 12-2, the first rod bodies 12-1 are arranged in a one-to-one correspondence with the clamping pieces 7-1, and one end of the two first rod bodies 12-1 is hinged to the connecting bar 4 through the first rotating shaft 12-3 -6 at the top, the other end of each first rod body 12-1 is hinged on the top surface of the rear end of its corresponding clamping piece 7-1; the second rod body 12-2 is in one-to-one correspondence with the clamping piece 7-1 One end of the two second rod bodies 12-2 is hinged to the bottom of the connecting bar 4-6 through the second rotating shaft, and the other end of each second rod body 12-2 is hinged to the rear end of its corresponding clamping piece 7-1. on top.

Embodiment 4: This embodiment is a further limitation of Embodiments 1, 2 or 3. The open end of the fixed frame body 4-1 is matched with two side bars 13, and the two side bars 13 are arranged side by side on the fixed frame body. At the open end of 4-1, the side bars 13 are arranged in one-to-one correspondence with the clamping pieces 7-1, the rear end of each side bar 13 is fixedly connected to the fixed frame body 4-1, and the front end of each side bar 13 is processed. There is a first gap 14, the rear end of the clamping sheet 7-1 is processed with a second gap 15 that matches the first gap 14, and at least one gap is hinged between each first gap 14 and its corresponding second gap 15. The third rod body 12-5.

Further, the preferred number of the third rod bodies 12-5 is four, that is, two third rod bodies 12-5 are hingedly connected between each of the first gap 14 and its corresponding second gap 15.

Embodiment 5: This embodiment is a further limitation of Embodiments 1, 2, 3 or 4. The two brackets 5-1 are provided with a supporting seat 16, the longitudinal section of the supporting seat 16 is a triangle, and the fixed frame 4- The top of 1 is vertically juxtaposed with two vertical rods 17, the top of each vertical rod 17 is hinged with the bottom of the support base 16, two brackets 5-1 are arranged in parallel, and each bracket 5-1 includes a cross bar 5- 1-1 and the vertical pipe 5-1-2, one end of the horizontal rod 5-1-1 is hinged with the support base 16, the vertical pipe 5-1-2 is arranged vertically, and the other end of the horizontal rod 5-1-1 is The vertical pipes 5-1-2 are fixedly connected, and two guide pieces 5-2 are hinged between the two vertical pipes 5-1-2.

Embodiment 6: This embodiment is a further limitation of Embodiment 1, 2, 3, 4 or 5. Each vertical pipe 5-1-2 is horizontally provided with a horizontal plate 18, and the horizontal plate 18 and its adjacent guide An elastic member 19 is arranged between the sheets 5-2.

As shown in FIG. 7 , in this embodiment, the vertical pipe 5-1-2 includes a shaft sleeve 5-1-2-1 and an inner shaft body 5-1-2-2, and the shaft sleeve 5-1-2-1 is a belt A sleeve body with a gap, the inner shaft body 5-1-2-2 is hinged in the shaft sleeve 5-1-2-1, and the transverse plate 18 is connected with the inner shaft body 5-1-2-2 through the gap.

Embodiment 7: This embodiment is a further limitation of Embodiment 6. The connecting rod 6-2 is provided with a first support rod 20, and the first support rod 20 is vertically arranged on the block 4-5 and the connecting rod 6- 2, the middle of the connecting rod 6-2 is hinged with the top end of the first support rod 20, one end of the connecting rod 6-2 is fixedly connected with the pick-up ball 6-1, and the other end of the connecting rod 6-2 is connected with the second support One end of the rod 21 is hinged, the other end of the second support rod 21 is hinged with one end of the third support rod 23 through the third shaft 22 , and the other end of the third support rod 23 is fixedly connected with the drive gear 24 .

Embodiment 8: This embodiment is a further limitation of Embodiment 7. The moving mechanism 2 is a bidirectional moving mechanism, the moving base 1 is a rectangular base, and the moving mechanism 2 includes a horizontal horizontal moving platform 2-1 and a vertical horizontal moving platform 2. -2, the horizontal horizontal moving table 2-1 reciprocates along the width direction of the moving base 1, and the vertical horizontal moving table 2-2 moves back and forth along the length direction of the moving base 1;

The lateral horizontal moving table 2-1 includes a first moving table 2-1-1, a first lead screw 2-1-2, a first sliding block 2-1-3 and two first guide rails 2-1-4 , the two first guide rails 2-1-4 are arranged side by side on the moving base 1 along the width direction of the moving base 1, the first moving stage 2-1-1 is arranged on the two first guide rails 2-1-4, A lead screw 2-1-2 is arranged on the mobile base 1, the first lead screw 2-1-2 is located between the two first guide rails 2-1-4, and the first lead screw 2-1-2 is provided with a The first sliding block 2-1-3, the top surface of the first sliding block 2-1-3 is fixedly connected with the bottom of the first moving table 2-1-1, and the first moving table 2-1-1 is in the first moving table 2-1-1. Driven by a slider 2-1-3, it reciprocates along the length direction of the two first guide rails 2-1-4;

The vertical and horizontal moving table 2-2 includes a second moving table 2-2-1, a second lead screw 2-2-2, a second sliding block 2-2-3 and two second guide rails 2-2-4 , the two second guide rails 2-2-4 are arranged side by side on the first moving table 2-1-1 along the length direction of the moving base 1, and the second moving table 2-2-1 is arranged on the two second guide rails 2- 2-4, the second lead screw 2-2-2 is arranged on the first moving table 2-1-1, the second lead screw 2-2-2 is located between the two second guide rails 2-2-4, The second lead screw 2-2-2 is provided with a second sliding block 2-2-3, and the top surface of the second sliding block 2-2-3 is fixedly connected with the bottom of the second moving table 2-2-1, so The second moving table 2-2-1 moves toward or away from the book storage frame 8 along the length direction of the two second guide rails 2-2-4 under the driving of the second sliding block 2-2-3.

In this embodiment, the horizontal horizontal moving table 2-1 and the vertical horizontal moving table 2-2 cooperate to realize flexible movement in multiple directions on the moving base 1, which is convenient to cooperate to push the base 4, the guide assembly 5, the guide assembly 6, the clip The holding assembly 7 realizes the process of flexible picking up and directional storage of the books 29 .

Embodiment 9: This embodiment is a further limitation of Embodiment 1, 2, 3, 4, 5, 6, 7 or 8. The slewing mechanism 3 includes a housing 3-1, an outer shaft 3-2, a connection Column 3-3, thrust ball bearing 3-4, large steering gear 3-5, small steering gear 3-6 and inner cylinder 3-7, the large steering gear 3-5 and the small steering gear 3-6 are all provided On the second mobile platform 2-2-1, the large steering gear 3-5 meshes with the small steering gear 3-6, the housing 3-1 is arranged on the large steering gear 3-5, and the outer shaft body 3-2 is vertical It is arranged on the top of the casing 3-1 and is connected with the casing 3-1 as a whole. The casing 3-1 is provided with a connecting column 3-3, and the connecting column 3-3 is connected with the upper surface of the second mobile platform 2-2-1. As a whole, a thrust ball bearing 3-4 is arranged between the connecting column 3-3 and the inner wall of the top of the casing 3-1, the connecting column 3-3 is a hollow cylinder, and an inner cylinder 3-7 is arranged in the connecting column 3-3 , the inner cylinder 3-7 is connected with the outer shaft 3-2 as a whole.

In this embodiment, the slewing mechanism 3 further includes a shaft washer 3-8; the shaft washer 3-8 is arranged between the top inner wall of the housing 3-1 and the thrust ball bearing 3-4.

The working process of the slewing mechanism 3 in this embodiment:

After the small steering gear 3-6 rotates, the large steering gear 3-5 rotates with the small steering gear 3-6 through the meshing relationship, thereby driving the casing 3-1, the inner cylinder 3-7 and the outer shaft 3-2 at the same time. Rotation, the inner cylinder 3-7 and the shaft ring 3-8 are in tight fit, and the shaft ring 3-8 rotates together with the inner cylinder 3-7. The top of the connecting column 3-3 has a seat hole, which tightly fits with the seat ring of the thrust ball bearing 3-4.

Embodiment 10: As shown in Figure 1, Figure 2, Figure 3, Figure 5 and Figure 6, in this embodiment, the picking up ball 6-1 is a spherical body, and the action of picking up the ball 6-1 is through the connecting rod 6-2 The book 29 is pressed down with the cooperation, simulating the outside action of the index finger of the human hand pressing the top of the book, realizing the change of the center of gravity of the book 29 through a single simple action, and making the displacement action of the book 29 generated by a single point of extrusion, thus completing the book 29 The pick-up action can realize the process of quickly leaving the original placement position. Other unmentioned structures and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh, eight or nine embodiments.

Embodiment 11: As shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5, Figure 6, Figure 7, Figure 8, Figure 9 and Figure 10, in this embodiment, the upper moving rack 4-2 Both the lower movable rack 4-3 are bar-shaped rod bodies, and a section of teeth is machined along the length direction thereof, and the section of teeth meshes with the corresponding gears. Other unmentioned structures and connection relationships are the same as in the first, second, third, fourth, fifth, sixth, seventh, eight, nine or ten embodiments.

Embodiment 12: In this embodiment, the slewing mechanism 3 includes a casing 3-1, an outer shaft body 3-2, a connecting column 3-3, a thrust ball bearing 3-4, a large steering gear 3-5, and a small steering gear 3 -6 and the inner cylinder 3-7, the large steering gear 3-5 and the small steering gear 3-6 mesh with each other, the large steering gear 3-5 is fixedly connected with the outer casing 3-1, and the connecting column 3-1 inside the outer casing 3-1 3. It is matched with the shaft washer 3-8 of the thrust ball bearing 3-4, and the shaft washer 3-8 of the thrust ball bearing 3-4 is matched with the bearing seat hole of the connecting column 3-3. The connecting column 3 - 3 is fixedly connected with the top surface of the moving mechanism 2 .

The invention is matched with a control system, the control system includes a scanning part for collecting signals and a controller for issuing commands, and the control program matched by the control system is an existing program.

When taking out a book in the present invention, after the moving base 1 stops moving, the scanning part recognizes the barcode of the book to be taken out and its position, and controls the moving mechanism 2 through the controller to move the clamping assembly 7 left and right, and make the two The clamping piece 7-1 is aligned with the book 29 to be clamped.

The working process of the book guide component 6 in the present invention is:

The driving gear 24 rotates, so that the third support rod 23 rotates with it, and the second support rod 21 drives the connecting rod 6-2 to move, so that the connecting rod 6-2 moves upwards and backwards. At this time, the first support rod 20 rotates backward for a certain amount. Angle, the end of the connecting rod 6-2 with the pick-up ball 6-1 moves downward and rearward, and after contacting the book 29, it drives the book 29 to be exported from the bookshelf, and the exporting action is completed.

In the present invention, the operation process of the clamping assembly 7 from not clamping the book 29 to clamping the book 29 is as follows:

The clamping assembly 7 makes a retracting action under the action of pushing the seat body 4, the upper gear 4-7 is driven to rotate by the motor, so that the upper movable rack 4-2 moves backward, and the upper movable rack 4-2 moves to pull the connection. The bar 4-6 moves backward, and the connecting bar 4-6 pulls the clamping gap 9 of the two clamping pieces 7-1 through the connecting rod assembly 12 to become smaller until the book 29 is clamped. At this time, the upper gear 4-7 is locked, The positioning of the clamping action of the two clamping pieces 7-1 is realized.

In the moving mechanism 2, the horizontal horizontal moving platform 2-1 and the vertical horizontal moving platform 2-2 respectively move and adjust themselves, and then drive the clamping assembly 7 to move substantially and approach the book storage frame 8.

The slewing mechanism 3 is driven to work, and the small steering gear 3-6 drives the large steering gear 3-5, so that the housing 3-1 fixedly connected with the large steering gear 3-5 makes the entire clamping assembly 7 rotate 90 degrees, facing the book storage frame 8.

The moving mechanism 2 is activated again to realize the fine-tuning movement process, so that the holding assembly 7 holds the book 29 toward the placement position in the book storage frame 8 .

When there is a fallen book in the book storage frame 8 to block the placement position of the book 29, the driving gear 24 in the book guide assembly 6 is activated, the driving gear 24 rotates, and the third support rod 23 is returned to its original position, so that the second support rod 21, The connecting rod 6-2, the first support rod 20 and the pick-up ball 6-1 return to their original positions.

The upper gear 4-7 in the clamping assembly 7 rotates in the reverse direction, so that the upper movable rack 4-2 moves forward. When the upper movable rack 4-2 moves, the connecting bar 4-6 is pulled to move forward, and the connecting bar 4-6 moves forward. The clamping gap 9 of the two clamping pieces 7-1 is pulled by the link assembly 12 to become larger until the book 29 is released.

The lower moving rack 4-3 moves under the rotation of the lower gear 4-8 and pushes the book 29 into the predetermined position in the book storage frame 8 through the two guide pieces 5-2. Move the rack 4-3 back.

After that, each component in the rotating mechanism 3 and the moving mechanism 2 returns to its original position, thereby completing the book taking action.

After picking up the book, it will be transported to the predetermined location for the process of placing the book:

When the mobile base 1 moves to the predetermined position, the small and medium steering gears 3-6 of the slewing mechanism 3 work, driving the large steering gear 3-5 to rotate, thereby driving the housing 3-1 to rotate, so that the entire clamping assembly 7 rotates 90 degrees, facing the collection agency.

The scanning part in the control system recognizes the bar code of the book to be placed on the bookshelf position, and controls the moving mechanism 2 through the controller, so that the clamping gap 9 between the two clamping pieces 7-1 is aligned with the book to be placed. position on the bookshelf.

The drive gear 24 in the book guide assembly 6 rotates, so that the third support rod 23 rotates accordingly, and the second support rod 21 drives the connecting rod 6-2 to move, so that the connecting rod 6-2 moves upward and rearward. At this time, the first support The rod 20 is rotated backward by a certain angle, and the end of the connecting rod 6-2 with the pick-up ball 6-1 moves downward and rearward, and after contacting the book 29, the book 29 is driven out from the bookshelf to complete the exporting action.

The clamping assembly 7 makes a retracting action under the action of pushing the seat body 4, the upper gear 4-7 is driven to rotate by the motor, so that the upper movable rack 4-2 moves backward, and the upper movable rack 4-2 moves to pull the connection. The bar 4-6 moves backward, and the connecting bar 4-6 pulls the clamping gap 9 of the two clamping pieces 7-1 through the link assembly 12 to become smaller until the book 29 is clamped.

The rotating mechanism 3 is driven to rotate the clamping assembly 7 by 90 degrees, so that the clamping gap 9 of the clamping assembly 7 faces the bookshelf.

The moving mechanism 2 is activated, so that the book 29 is aligned with the position to be placed.

The guide assembly 5 is turned from the vertical state to the horizontal state, so that the two guide pieces 5 - 2 are placed at the front end of the book 29 .

The moving mechanism 2 is activated again, and the two guide pieces 5-2 and the book 29 are pushed into the bookshelf.

The two guide pieces 5-2 are pressed by the bookshelf wall, so that one end of the bracket 5-1 moves rearward and upward along the slide rail on the support base 16. At the same time, under the pressure of the book 29, the guide piece 5-2 will press the elastic member 19, open to both sides, push the fallen book away, and provide enough space for the book 29 to be placed.

The lower moving rack 4-3 moves forward under the rotation of the lower gear 4-8, and pushes the book 29 into the storage mechanism. After the book is pushed in, the lower gear 4-8 is reversed, thereby returning the lower moving rack 4-3.

The moving mechanism 2 works to bring the two guide pieces 5-2 away from the bookshelf.

When the moving mechanism 2 moves a certain distance, the connecting rod 6-2 of the book guide assembly 6 moves forward and downward along the slide rail on the support base 16 under the action of gravity until the bottom of the slide rail. At this time, the driving gear 24 rotates, so that the book guide assembly 6 is turned from the horizontal state to the vertical state. At this point, the book release action is completed.

The present invention adds the functions of guiding and exporting the book 29 on the basis of the single clamping structure, that is, adding a slewing mechanism 3 , a pushing base 4 , a guiding component 5 , a book guiding component 6 and a clamping component 7 . The function of the guide assembly 5 is that when the position of the book 29 to be placed is blocked due to the lodging of the book next to it, the two guide pieces 5-2 in the guide assembly 5 can be used to cooperate with each other to push the lodging book away. The effect of showing vacancy to the place where the book 29 needs to be placed is realized by the poke action. The function of the book guide assembly 6 is that when the clamp assembly 7 clamps the book 29 from the bookshelf, the book guide assembly 6 can take out the clamped book 29 from the tightly fitted book series. Other unmentioned structures and connection relationships are the same as those in the specific embodiment one, two, three, four, five, six, seven, eight, nine, ten or eleven.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the description are only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have Various changes and modifications fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (9)

1. The utility model provides a books for library gets puts management robot which characterized in that: comprises a movable base (1), a movable mechanism (2), a rotary mechanism (3), a pushing base body (4), a guide component (5), a book guide component (6), a clamping component (7) and a book storage frame (8);

the book storage device is characterized in that the movable base (1) is horizontally arranged, the movable mechanism (2) and the book storage frame (8) are arranged on the top surface of the movable base (1), the rotary mechanism (3) is arranged on the movable mechanism (2), the rotary mechanism (3) is provided with a pushing base body (4), and the pushing base body (4) is respectively provided with a book guide assembly (6) and a clamping assembly (7);

the clamping assembly (7) comprises two groups of clamping sheets (7-1), the two groups of clamping sheets (7-1) are respectively hinged on the pushing seat body (4), and a clamping gap (9) is formed between the two groups of clamping sheets (7-1);

the book guiding device is characterized in that the guiding assembly (5) comprises two supports (5-1) and two guiding sheets (5-2), the two supports (5-1) are arranged at the top of the pushing seat body (4) in parallel, the two guiding sheets (5-2) are arranged between the two supports (5-1), and a guiding gap (10) matched with a book is formed between the two guiding sheets (5-2);

the book guiding assembly (6) comprises a picking ball (6-1) and a connecting rod (6-2), the picking ball (6-1) is arranged at one end of the connecting rod (6-2), the other end of the connecting rod (6-2) is arranged on the pushing seat body (4), the book guiding assembly (6) picks up and conveys a book (29) to the clamping assembly (7) to finish the book picking process, and the book guiding assembly (6) penetrates the book (29) clamped by the clamping assembly (7) through a guide gap (10) of the guide assembly (5) to finish the book placing process.

2. A book picking and placing management robot for a library according to claim 1, wherein: the pushing seat body (4) comprises a fixed frame body (4-1), an upper moving rack (4-2), a lower moving rack (4-3), a block body (4-5), a connecting strip (4-6), an upper gear (4-7) and a lower gear (4-8), the transverse section of the fixed frame body (4-1) is T-shaped, the open end of the fixed frame body (4-1) faces to the clamping component (7), the upper moving rack (4-2) is arranged in the fixed frame body (4-1), the upper moving rack (4-2) is in sliding fit with the fixed frame body (4-1), the upper gear (4-7) is engaged and matched on the upper moving rack (4-2), the upper moving rack (4-2) is driven by the upper gear (4-7) to perform extending or retracting action in the fixed frame body (4-1), a lower moving rack (4-3) is arranged below the fixed frame body (4-1), the lower moving rack (4-3) is in sliding fit with the bottom of the fixed frame body (4-1), a lower gear (4-8) is arranged below the fixed frame body (4-1), the lower gear (4-8) is meshed with the lower moving rack (4-3), the lower moving rack (4-3) is driven by the lower gear (4-8) to reciprocate along the length direction of the fixed frame body (4-1), a block body (4-5) is arranged between the fixed frame body (4-1) and the clamping assembly (7), one end of the lower moving rack (4-3) penetrates through the block body (4-5) and faces the guide gap (10), a placing groove (4-10) is processed at the upper end of the block body (4-5), a connecting strip (4-6) is arranged in the placing groove (4-10), one end of the connecting strip (4-6) is connected with the upper moving rack (4-2), and the other end of the connecting strip (4-6) is connected with the clamping component (7).

3. A book picking and placing management robot for a library according to claim 2, wherein: the clamping assembly (7) is connected with the connecting strip (4-6) through a connecting rod assembly (12), the connecting rod assembly (12) comprises two first rod bodies (12-1) and two second rod bodies (12-2), the first rod bodies (12-1) and the clamping pieces (7-1) are arranged in a one-to-one correspondence mode, one ends of the two first rod bodies (12-1) are hinged to the top of the connecting strip (4-6) through first rotating shafts (12-3), and the other end of each first rod body (12-1) is hinged to the top face of the rear end of the corresponding clamping piece (7-1); the second rod bodies (12-2) are arranged in one-to-one correspondence with the clamping pieces (7-1), one ends of the two second rod bodies (12-2) are hinged to the bottoms of the connecting strips (4-6) through second rotating shafts, and the other end of each second rod body (12-2) is hinged to the top surface of the rear end of the corresponding clamping piece (7-1).

4. A book picking and placing management robot for a library according to claim 3, wherein: the opening end of the fixed frame body (4-1) is provided with two side strips (13) in a matched mode, the two side strips (13) are arranged at the opening end of the fixed frame body (4-1) in parallel, the side strips (13) and the clamping pieces (7-1) are arranged in a one-to-one correspondence mode, the rear end of each side strip (13) is fixedly connected to the fixed frame body (4-1), a first crack (14) is machined at the front end of each side strip (13), a second crack (15) matched with the first crack (14) is machined at the rear end of each clamping piece (7-1), and at least one third rod body (12-5) is hinged between each first crack (14) and the corresponding second crack (15).

5. A book picking and placing management robot for a library according to claim 4, wherein: the supporting seat (16) is arranged on the two supports (5-1) in a matched mode, the longitudinal section of the supporting seat (16) is triangular, the top of the fixed frame body (4-1) is vertically provided with two vertical rods (17) in parallel, the top end of each vertical rod (17) is hinged to the bottom of the supporting seat (16), the two supports (5-1) are arranged in parallel, each support (5-1) comprises a cross rod (5-1-1) and a vertical pipe (5-1-2), one end of each cross rod (5-1-1) is hinged to the supporting seat (16), the other end of each cross rod (5-1-1) is fixedly connected with the vertical pipe (5-1-2) which is vertically arranged, and two guide pieces (5-2) are hinged between the two vertical pipes (5-1-2).

6. A book picking and placing management robot for a library according to claim 5, characterized in that: a transverse plate (18) is horizontally arranged on each vertical pipe (5-1-2), and an elastic piece (19) is arranged between the transverse plate (18) and the guide piece (5-2) close to the transverse plate (18).

7. A book picking and placing management robot for a library according to claim 2 or 5, characterized in that: the connecting rod (6-2) is provided with a first supporting rod (20) in a matched mode, the first supporting rod (20) is vertically arranged between the block body (4-5) and the connecting rod (6-2), the middle of the connecting rod (6-2) is hinged to the top end of the first supporting rod (20), one end of the connecting rod (6-2) is fixedly connected with a picking ball (6-1), the other end of the connecting rod (6-2) is hinged to one end of a second supporting rod (21), the other end of the second supporting rod (21) is hinged to one end of a third supporting rod (23) through a third rotating shaft (22), and the other end of the third supporting rod (23) is fixedly connected with a driving gear (24).

8. A book picking and placing management robot for a library according to claim 1, wherein: the moving mechanism (2) is a bidirectional moving mechanism, the moving base (1) is a rectangular base body, the moving mechanism (2) comprises a transverse horizontal moving platform (2-1) and a longitudinal horizontal moving platform (2-2), the transverse horizontal moving platform (2-1) reciprocates along the width direction of the moving base (1), and the longitudinal horizontal moving platform (2-2) reciprocates along the length direction of the moving base (1);

the transverse horizontal moving platform (2-1) comprises a first moving platform (2-1-1), a first lead screw (2-1-2), a first sliding block (2-1-3) and two first guide rails (2-1-4), the two first guide rails (2-1-4) are arranged on the moving base (1) in parallel along the width direction of the moving base (1), the first moving platform (2-1-1) is arranged on the two first guide rails (2-1-4), the first lead screw (2-1-2) is arranged on the moving base (1), the first lead screw (2-1-2) is arranged between the two first guide rails (2-1-4), the first sliding block (2-1-3) is arranged on the first lead screw (2-1-2), the top surface of the first sliding block (2-1-3) is fixedly connected with the bottom of the first moving platform (2-1-1), and the first moving platform (2-1-1) is driven by the first sliding block (2-1-3) to reciprocate along the length direction of the two first guide rails (2-1-4);

the longitudinal horizontal moving platform (2-2) comprises a second moving platform (2-2-1), a second lead screw (2-2-2), a second sliding block (2-2-3) and two second guide rails (2-2-4), the two second guide rails (2-2-4) are arranged on the first moving platform (2-1-1) in parallel along the length direction of the moving base (1), the second moving platform (2-2-1) is arranged on the two second guide rails (2-2-4), the second lead screw (2-2-2) is arranged on the first moving platform (2-1-1), the second lead screw (2-2-2) is arranged between the two second guide rails (2-2-4), the second sliding block (2-2-3) is arranged on the second lead screw (2-2-2), the top surface of the second sliding block (2-2-3) is fixedly connected with the bottom of the second moving platform (2-2-1), and the second moving platform (2-2-1) is driven by the second sliding block (2-2-3) to move close to or far away from the book storage frame (8) along the length direction of the two second guide rails (2-2-4).

9. A book picking and placing management robot for a library according to claim 8, wherein: the slewing mechanism (3) comprises a shell (3-1), an outer shaft body (3-2), a connecting column (3-3), a thrust ball bearing (3-4), a large steering gear (3-5), a small steering gear (3-6) and an inner cylinder body (3-7), wherein the large steering gear (3-5) and the small steering gear (3-6) are arranged on a second moving platform (2-2-1), the large steering gear (3-5) is meshed with the small steering gear (3-6), the shell (3-1) is arranged on the large steering gear (3-5), the outer shaft body (3-2) is vertically arranged at the top of the shell (3-1), the connecting column (3-3) is arranged in the shell (3-1), and the thrust ball bearing (3-4) is arranged between the connecting column (3-3) and the inner wall of the top of the shell (3-1) ) The connecting column (3-3) is a hollow column body, and an inner column body (3-7) is arranged in the connecting column (3-3).

Images