CN212859493U - A books are got and are put management robot for library - Google Patents
A books are got and are put management robot for library Download PDFInfo
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- CN212859493U CN212859493U CN202021964732.XU CN202021964732U CN212859493U CN 212859493 U CN212859493 U CN 212859493U CN 202021964732 U CN202021964732 U CN 202021964732U CN 212859493 U CN212859493 U CN 212859493U
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Abstract
A book taking and placing management robot for a library. The existing equipment for arranging books in a library can only realize the clamping treatment effect, single or multiple whole-course mechanical operation is difficult to realize, and the accuracy of detail arrangement is difficult to complete. The utility model discloses well mobile base level sets up, moving mechanism and book storage frame all set up on the top surface of mobile base, rotation mechanism sets up on moving mechanism, the last promotion pedestal that is provided with of rotation mechanism, it leads book subassembly and centre gripping subassembly to be provided with on the promotion pedestal respectively, the one end of connecting rod is provided with picks up the ball, the other end setting of connecting rod is on promoting the pedestal, it picks up books and transports to the centre gripping subassembly and accomplishes the book process of getting to lead the book subassembly, it passes the guide clearance completion of guide subassembly with the books of centre gripping subassembly centre gripping to lead the book subassembly and puts the book process. The utility model is used for books shift.
Description
The technical field is as follows:
the utility model relates to a robot, concretely relates to books for library get put management robot.
Background art:
at present, a great deal of manpower and time are consumed for library operation, such as book shelving, sorting, carrying, book positioning inspection and the like, and meanwhile, contradiction is formed between the high-speed development of a large library and the existing manual operation and management mode. Therefore, the intelligent library management robot is produced by replacing manpower and improving efficiency. However, most of the existing library intelligent management robots are single clamping parts, the mechanical intelligence degree of other operation links for processing books is low, the whole-process intelligent processing effect is difficult to realize, and the accuracy of detail arrangement is difficult to complete.
The invention content is as follows:
in order to solve the problems mentioned in the background art, the utility model aims to provide a books that is used for library gets puts management robot.
A book taking and placing management robot for a library comprises a moving base, a moving mechanism, a rotating mechanism, a pushing base, a guiding assembly, a book guiding assembly, a clamping assembly and a book storage frame;
the movable base is horizontally arranged, the movable mechanism and the book storage frame are both arranged on the top surface of the movable base, the swing mechanism is arranged on the movable mechanism, the swing mechanism is provided with a pushing base body, and the pushing base body is respectively provided with a book guide assembly and a clamping assembly;
the clamping assembly comprises two groups of clamping pieces, the two groups of clamping pieces are respectively hinged on the pushing seat body, and a clamping gap is formed between the two groups of clamping pieces;
the guide assembly comprises two brackets and two guide sheets, the two brackets are arranged at the top of the push seat body in parallel, the two guide sheets are arranged between the two brackets, and a guide gap matched with a book is formed between the two guide sheets;
the book guiding assembly comprises a picking ball and a connecting rod, one end of the connecting rod is fixedly connected with the picking ball, the other end of the connecting rod is arranged on the pushing seat body, the book guiding assembly picks up books and conveys the books to the clamping assembly to complete a book picking process, and the book guiding assembly enables the books clamped by the clamping assembly to pass through a guiding gap of the guiding assembly to complete a book placing process.
As a preferable scheme: the pushing seat body comprises a fixed frame body, an upper moving rack, a lower moving rack, a block body, a connecting strip, an upper gear and a lower gear, the transverse section of the fixed frame body is Contraband-shaped, the open end of the fixed frame body faces to the clamping component, the upper moving rack is arranged in the fixed frame body, the upper moving rack is in sliding fit with the fixed frame body, the upper moving rack is engaged and matched with the upper gear, the upper moving rack stretches out or retracts in the fixed frame body under the driving of the upper gear, the lower moving rack is arranged below the fixed frame body, the lower moving rack is in sliding fit with the bottom of the fixed frame body, the lower gear is arranged below the fixed frame body and is engaged with the lower moving rack, the lower moving rack reciprocates along the length direction of the fixed frame body under the driving of the lower gear, the block body is arranged between the fixed frame body and the clamping component, one end of the lower moving rack passes through the block body and faces to a guide gap, a placing groove is, be provided with the connecting strip in the standing groove, the one end of connecting strip is connected with last movable rack, and the other end of connecting strip is connected with the centre gripping subassembly.
As a preferable scheme: the clamping assembly is connected with the connecting strip through a connecting rod assembly, the connecting rod assembly comprises two first rod bodies and two second rod bodies, the first rod bodies and the clamping pieces are arranged in a one-to-one correspondence mode, one ends of the two first rod bodies are hinged to the top of the connecting strip through first rotating shafts, and the other end of each first rod body is hinged to the top surface of the rear end of the corresponding clamping piece; the second body of rod with the holding piece one-to-one setting, the one end of two second body of rods articulates the bottom at the connecting strip through the second pivot, the other end of every second body of rod articulates on its holding piece rear end top surface that corresponds.
As a preferable scheme: the open end cooperation of deciding the framework is provided with two side strips, and two side strips set up side by side at the open end department of deciding the framework, and the side strip sets up with the holding piece one-to-one, and the rear end fixed connection of every side strip is on deciding the framework, and the front end processing of every side strip has first crack, and the rear end processing of holding piece has the second crack with first crack matched with, and it has at least one third body of rod to articulate between every first crack and its second crack that corresponds.
As a preferable scheme: two support cooperations are provided with the supporting seat, and the longitudinal section of supporting seat is triangle-shaped, decides the vertical two montants that are provided with side by side in top of framework, and the top of every montant is articulated mutually with the bottom of supporting seat, and two supports set up side by side, and every support includes horizontal pole and standpipe, and the one end and the supporting seat of horizontal pole are articulated mutually, and the other end of horizontal pole and the standpipe fixed connection of vertical setting have two guide pieces to articulate between two standpipes.
As a preferable scheme: a transverse plate is horizontally arranged on each vertical pipe, and an elastic piece is arranged between the transverse plate and the guide piece close to the transverse plate.
As a preferable scheme: the connecting rod cooperation is provided with first bracing piece, and the vertical setting of first bracing piece is between block and connecting rod, and the middle part of connecting rod is articulated mutually with the top of first bracing piece, and the one end of connecting rod articulates there is the ball of picking up, and the other end of connecting rod is articulated mutually with the one end of second bracing piece, and the other end of second bracing piece is articulated mutually through the one end of third pivot with the third bracing piece, and the other end of third bracing piece articulates there is drive gear.
As a preferable scheme: the moving mechanism is a bidirectional moving mechanism, the moving base is a rectangular base body, the moving mechanism comprises a transverse horizontal moving table and a longitudinal horizontal moving table, the transverse horizontal moving table moves in a reciprocating mode along the width direction of the moving base, and the longitudinal horizontal moving table moves in a reciprocating mode along the length direction of the moving base;
the transverse horizontal moving platform comprises a first moving platform, a first lead screw, a first sliding block and two first guide rails, wherein the two first guide rails are arranged on the moving base in parallel along the width direction of the moving base;
the longitudinal horizontal moving platform comprises a second moving platform, a second lead screw, a second sliding block and two second guide rails, the two second guide rails are arranged on the first moving platform in parallel along the length direction of the moving base, the second moving platform is arranged on the two second guide rails, the second lead screw is arranged on the first moving platform and is positioned between the two second guide rails, the second lead screw is provided with the second sliding block, the top surface of the second sliding block is fixedly connected with the bottom of the second moving platform, and the second moving platform is driven by the second sliding block to move close to or far away from the book storage frame along the length direction of the two second guide rails.
As a preferable scheme: the slewing mechanism comprises an outer shell, an outer shaft body, a connecting column, a thrust ball bearing, a large steering gear, a small steering gear and an inner cylinder body, wherein the large steering gear and the small steering gear are arranged on the second mobile station and are meshed with each other, the outer shell is arranged on the large steering gear, the outer shaft body is vertically arranged at the top of the outer shell, the connecting column is arranged in the outer shell, the thrust ball bearing is arranged between the connecting column and the inner wall of the top of the outer shell, the connecting column is a hollow cylinder body, and the inner cylinder body is arranged in the connecting column.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses structure scientific and reasonable through removing base, moving mechanism, rotation mechanism, promotion pedestal, guide subassembly, lead between book subassembly, centre gripping subassembly and the book deposit frame mutually support realize picking up books, centre gripping, transporting and deposit the integrated integrative processing action of action, and the processing procedure links up, and the action is reasonable smoothly, to the books not damaged, gets to put the operation accuracy.
Two, the utility model provides a remove the base and be convenient for realize the utility model discloses whole nimble effect of removing, do the utility model discloses remove according to predetermined orbit and provide favourable prerequisite.
Three, the utility model discloses well moving mechanism and rotation mechanism cooperate and make to promote the pedestal and can realize horizontal direction lateral shifting, longitudinal movement and rotation effect, and the operation range of reinforcing guide assembly, book guide assembly and centre gripping subassembly is applicable to the books that pick up, transport and deposit different positions.
Fourth, the utility model discloses well book subassembly, centre gripping subassembly and the guide subassembly of leading mutually support and can realize books and pick up, the centre gripping and the continuous action of depositing, avoid the storage position to empty because of other books and cover the problem emergence of the unable books of depositing of storage position.
Fifth, the utility model discloses it is reasonable to deposit the mode, is different from the manual work mode of picking up and depositing books, can realize being equal to the manual operation effect of picking up and depositing books.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and accompanying drawings.
Fig. 1 is a schematic perspective view of the present invention, in which dotted lines indicate positions of books;
fig. 2 is a schematic view of the structure of the present invention;
fig. 3 is a schematic top view of the present invention;
fig. 4 is a schematic side view of the present invention;
FIG. 5 is a schematic view of a first perspective view of the connection between the book guide assembly, the clamp assembly and the guide assembly;
FIG. 6 is a schematic diagram of a second perspective view of the connection among the book guide assembly, the clamping assembly and the guiding assembly, wherein the dashed lines indicate the position of the book;
FIG. 7 is an enlarged view of the structure at A in FIG. 3;
FIG. 8 is a schematic sectional view of a three-dimensional structure of the swing mechanism;
FIG. 9 is a first perspective view of the moving mechanism;
fig. 10 is a schematic perspective view of a connection relationship between the second lead screw and the second slider.
In the figure, 1-the mobile base; 2-a moving mechanism; 2-1-a lateral horizontal mobile station; 2-2-a vertical horizontal mobile station; 2-1-1-a first mobile station; 2-1-2-a first lead screw; 2-1-3-a first slider; 2-1-4-a first guide rail; 2-2-1-a second mobile station; 2-2-2-second lead screw; 2-2-3-second slider; 2-2-4-a second guide rail; 3-a slewing mechanism; 3-1-shell; 3-2-outer shaft body; 3-3-connecting column; 3-4-thrust ball bearing; 3-5-large steering gear; 3-6-small steering gear; 3-7-inner cylinder; 3-8-axle ring; 4-pushing the seat body; 4-1-fixing the frame body; 4-2-moving up the rack; 4-3-lower moving rack; 4-5-block; 4-6-connecting strips; 4-7-upper gear; 4-8-lower gear; 4-10-placing grooves; 5-a guide assembly; 5-1-scaffold; 5-1-1-cross bar; 5-1-2-standpipe; 5-1-2-1-shaft sleeve; 5-1-2-2-inner shaft body; 5-2-a guide piece; 6-a book guide component; 6-1-picking up balls; 6-2-connecting rod; 7-a clamping assembly; 7-1-a clamping piece; 8-book storage frame; 9-clamping the gap; 10-a guide gap; 12-a connecting-rod assembly; 12-1-a first stick body; 12-2-a second stick body; 12-3-a first shaft; 12-5-a third rod; 13-side bar; 14-a first nip; 15-a second nip; 16-a support seat; 17-a vertical bar; 18-a transverse plate; 19-an elastic member; 20-a first support bar; 21-a second support bar; 22-a third shaft; 23-a third support bar; 24-a drive gear; 29-book.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described below with reference to specific embodiments shown in the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and/or process steps that are closely related to the solution according to the invention are shown in the drawings, while other details that are not relevant to the invention are omitted.
The first embodiment is as follows: as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, and fig. 10, the present embodiment adopts the following technical solutions: the book guide device comprises a mobile base 1, a mobile mechanism 2, a swing mechanism 3, a push base 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 both 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 guide assembly 5 comprises two brackets 5-1 and two guide sheets 5-2, the two brackets 5-1 are arranged at the top of the push seat body 4 in parallel, the two guide sheets 5-2 are arranged between the two brackets 5-1, and a guide gap 10 matched with a book is formed between the two guide sheets 5-2;
the book guiding assembly 6 comprises a picking ball 6-1 and a connecting rod 6-2, one end of the connecting rod 6-2 is provided with the picking ball 6-1, 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, and the clamping assembly 7 places the book 29 at a book terminal target position through a guide gap 10 of the guiding assembly 5.
The utility model discloses the working process of well book guide subassembly 6 does:
the driving gear 24 rotates to enable the third supporting rod 23 to rotate along with the rotation, the connecting rod 6-2 is driven to move through the second supporting rod 21, the connecting rod 6-2 moves upwards and backwards, the first supporting rod 20 rotates backwards for a certain angle at the moment, one end of the connecting rod 6-2 with the picking ball 6-1 moves downwards and backwards, and the book 29 is driven to be led out of the bookshelf after being contacted with the book 29, so that the leading-out action is completed.
The second embodiment is as follows: the embodiment is a further limitation of the first embodiment, the pushing seat 4 comprises a fixed frame 4-1, an upper moving rack 4-2, a lower moving rack 4-3, a block 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 4-1 is Contraband-shaped, the open end of the fixed frame 4-1 is arranged towards the clamping component 7, the upper moving rack 4-2 is arranged in the fixed frame 4-1, the upper moving rack 4-2 is in sliding fit with the fixed frame 4-1, the upper moving rack 4-2 is engaged with the upper gear 4-7, the upper moving rack 4-2 makes extension or retraction movement in the fixed frame 4-1 under the driving of the upper gear 4-7, the lower moving rack 4-3 is arranged below the fixed frame 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 reciprocates along the length direction of the fixed frame body 4-1 under the driving of the lower gear 4-8, a block body 4-5 is arranged between the fixed frame body 4-1 and the clamping component 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.
The third concrete implementation mode: the present embodiment is a further limitation of the first or second embodiment, the clamping assembly 7 is connected to the connecting strip 4-6 through a connecting rod assembly 12, the connecting rod assembly 12 includes two first rod bodies 12-1 and two second rod bodies 12-2, the first rod bodies 12-1 are arranged in one-to-one correspondence with the clamping pieces 7-1, one end of each of the two first rod bodies 12-1 is hinged to the top of the connecting strip 4-6 through a first rotating shaft 12-3, and the other end of each of the first rod bodies 12-1 is hinged to the top surface 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.
The fourth concrete implementation mode: the present embodiment is a further limitation of the first, second, or third embodiment, two side bars 13 are disposed at the opening end of the fixed frame 4-1 in a matching manner, the two side bars 13 are disposed at the opening end of the fixed frame 4-1 in parallel, the side bars 13 are disposed 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 4-1, a first crack 14 is processed at the front end of each side bar 13, a second crack 15 matched with the first crack 14 is processed at the rear end of the clamping piece 7-1, and at least one third rod 12-5 is hinged between each first crack 14 and the corresponding second crack 15.
Furthermore, the preferred number of the third rod bodies 12-5 is four, that is, two third rod bodies 12-5 are hinged between each first slit 14 and the corresponding second slit 15.
The fifth concrete implementation mode: the embodiment is further limited by the first, second, third or fourth embodiment, the two supports 5-1 are cooperatively provided with a supporting seat 16, 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 with 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 the cross rod 5-1-1 is hinged with the supporting seat 16, the vertical pipe 5-1-2 is vertically arranged, the other end of the cross rod 5-1-1 is fixedly connected with the vertical pipe 5-1-2, and two guide pieces 5-2 are hinged between the two vertical pipes 5-1-2.
The sixth specific implementation mode: the present embodiment is further limited to the first, second, third, fourth or fifth embodiment, wherein a horizontal plate 18 is horizontally disposed on each vertical tube 5-1-2, and an elastic member 19 is disposed between the horizontal plate 18 and the adjacent guide piece 5-2.
As shown in FIG. 7, in the present embodiment, the vertical tube 5-1-2 includes a shaft sleeve 5-1-2-1 and an inner shaft body 5-1-2-2, the shaft sleeve 5-1-2-1 is a sleeve body with a notch, the inner shaft body 5-1-2-2 is hinged in the shaft sleeve 5-1-2-1, and the transverse plate 18 passes through the notch and is connected with the inner shaft body 5-1-2-2.
The seventh embodiment: the sixth embodiment is further limited by that, the connecting rod 6-2 is provided with a first supporting rod 20 in a matching way, the first supporting rod 20 is vertically arranged between the block 4-5 and the connecting rod 6-2, the middle part of the connecting rod 6-2 is hinged with the top end of the first supporting rod 20, one end of the connecting rod 6-2 is fixedly connected with the picking ball 6-1, the other end of the connecting rod 6-2 is hinged with one end of a second supporting rod 21, the other end of the second supporting rod 21 is hinged with 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 the driving gear 24.
The specific implementation mode is eight: the seventh embodiment is further limited in that the moving mechanism 2 is a bidirectional moving mechanism, the moving base 1 is a rectangular base, the moving mechanism 2 includes a transverse horizontal moving table 2-1 and a longitudinal horizontal moving table 2-2, the transverse horizontal moving table 2-1 reciprocates along the width direction of the moving base 1, and the longitudinal horizontal moving table 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 slide block 2-1-3 and two first guide rails 2-1-4, wherein 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 positioned between the two first guide rails 2-1-4, the first slide block 2-1-3 is arranged on the first lead screw 2-1-2, the top surface of the first slide block 2-1-3 is fixedly connected with the bottom of the first moving platform 2-1-1, the first mobile station 2-1-1 is driven by the first slide 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 2-2-2-2, and 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 Then, the second moving platform 2-2-1 is driven by the second sliding block 2-2-3 to move close to or away from the book storage frame 8 along the length direction of the two second guide rails 2-2-4.
In the embodiment, the transverse horizontal moving platform 2-1 and the longitudinal horizontal moving platform 2-2 are matched to realize flexible movement along multiple directions on the moving base 1, so that the processes of flexible picking up and directional containing of books 29 by matching the pushing base body 4, the guide assembly 5, the book guide assembly 6 and the clamping assembly 7 are facilitated.
The specific implementation method nine: the embodiment is further limited by the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment, the swing mechanism 3 comprises an outer 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 3-7, the large steering gear 3-5 and the small steering gear 3-6 are both arranged on the second mobile platform 2-2-1, the large steering gear 3-5 is meshed with the small steering gear 3-6, the outer shell 3-1 is arranged on the large steering gear 3-5, the outer shaft body 3-2 is vertically arranged on the top of the outer shell 3-1 and is connected with the outer shell 3-1 into a whole, the connecting column 3-3 is arranged in the outer shell 3-1, the connecting column 3-3 is connected with the upper surface of the second mobile station 2-2-1 into 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 outer shell 3-1, the connecting column 3-3 is a hollow cylinder, an inner cylinder 3-7 is arranged in the connecting column 3-3, and the inner cylinder 3-7 is connected with the outer cylinder 3-2 into a whole.
In the embodiment, the swing mechanism 3 further comprises a shaft ring 3-8; the collar 3-8 is disposed between the top inner wall of the housing 3-1 and the thrust ball bearing 3-4.
The working process of the swing mechanism 3 in the present embodiment:
after the small steering gear 3-6 rotates, the large steering gear 3-5 rotates along with the small steering gear 3-6 through the meshing relationship, so that the outer shell 3-1, the inner cylinder 3-7 and the outer shaft 3-2 are driven to rotate simultaneously, the inner cylinder 3-7 is in tight fit with the shaft ring 3-8, and the shaft ring 3-8 rotates along with the inner cylinder 3-7. The top end of the connecting column 3-3 is provided with a seat hole which is tightly matched with the seat ring of the thrust ball bearing 3-4, and the connecting column 3-3 and the seat ring of the thrust ball bearing 3-4 are fixedly arranged at the top of the moving mechanism 2.
The detailed implementation mode is ten: as shown in fig. 1, 2, 3, 5 and 6, in the present embodiment, the picking ball 6-1 is a sphere, and the action of the picking ball 6-1 is to press down the book 29 through the cooperation of the connecting rod 6-2, so as to simulate the action of pressing the outer side of the top of the book with the index finger of a human hand, so as to change the center of gravity of the book 29 through a single simple action, and perform a shift action of the book 29 caused by single-point pressing, thereby completing the picking action of the book 29 and realizing the process of quickly separating from the original placement position. Other structures and connections not mentioned are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiments.
The concrete implementation mode eleven: as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10, in this embodiment, the upper moving rack 4-2 and the lower moving rack 4-3 are both bar-shaped rod bodies, and a section of teeth is processed along the length direction thereof, and the section of teeth is meshed with the corresponding gear. Other structures and connections not mentioned are the same as those of embodiments one, two, three, four, five, six, seven, eight, nine or ten.
The specific implementation mode twelve: in the embodiment, the slewing mechanism 3 comprises an outer shell 3-1, an outer shaft 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 3-7, wherein the large steering gear 3-5 and the small steering gear 3-6 are mutually meshed, the large steering gear 3-5 is fixedly connected with the outer shell 3-1, the connecting column 3-3 in the outer shell 3-1 is matched with a shaft ring 3-8 of the thrust ball bearing 3-4, and the shaft ring 3-8 of the thrust ball bearing 3-4 is matched with a 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 utility model discloses the cooperation is provided with control system, and control system is including the scanning part of gathering signal and the controller of giving command, and control system complex control program is current procedure.
The utility model discloses when getting the book, after removing base 1 stop motion, the scanning part makes the centre gripping subassembly 7 remove about through discerning the bar code and the position of the required books of taking out through controller control moving mechanism 2 to make two supporting pieces 7-1 aim at the required books 29 of pressing from both sides and getting.
The utility model discloses the working process of well book guide subassembly 6 does:
the driving gear 24 rotates to enable the third supporting rod 23 to rotate along with the rotation, the connecting rod 6-2 is driven to move through the second supporting rod 21, the connecting rod 6-2 moves upwards and backwards, the first supporting rod 20 rotates backwards for a certain angle at the moment, one end of the connecting rod 6-2 with the picking ball 6-1 moves downwards and backwards, and the book 29 is driven to be led out of the bookshelf after being contacted with the book 29, so that the leading-out action is completed.
The utility model discloses well centre gripping subassembly 7 is from not centre gripping books 29 to centre gripping books 29's operation process:
the clamping assembly 7 retracts under the action of pushing the seat body 4, the upper gear 4-7 is driven to rotate through the motor, the upper moving rack 4-2 moves backwards, the connecting strip 4-6 is pulled to move backwards when the upper moving rack 4-2 moves, the connecting strip 4-6 pulls the clamping gap 9 of the two clamping pieces 7-1 to be reduced through the connecting rod assembly 12 until the book 29 is clamped, the upper gear 4-7 is locked at the moment, and the clamping action of the two clamping pieces 7-1 is positioned.
The transverse horizontal moving platform 2-1 and the longitudinal horizontal moving platform 2-2 in the moving mechanism 2 respectively drive the clamping component 7 to move greatly and approach the book storage frame 8 after moving and adjusting.
The rotary mechanism 3 is driven to work, the small steering gear 3-6 drives the large steering gear 3-5, so that the shell 3-1 fixedly connected with the large steering gear 3-5 enables the whole clamping assembly 7 to rotate 90 degrees and face the book storage frame 8.
The moving mechanism 2 is started again to realize the fine-tuning moving process, and the clamping assembly 7 clamps the book 29 to the placing position in the book storage frame 8.
When a fallen book exists in the book storage frame 8 and covers the placement position of the book 29, the driving gear 24 in the book guide assembly 6 is started, the driving gear 24 rotates, the third supporting rod 23 returns, and the second supporting rod 21, the connecting rod 6-2, the first supporting rod 20 and the picking ball 6-1 return.
The upper gear 4-7 in the clamping assembly 7 rotates reversely, so that the upper moving rack 4-2 moves forwards, the connecting strip 4-6 is pulled to move forwards when the upper moving rack 4-2 moves, and the connecting strip 4-6 pulls the clamping gap 9 of the two clamping pieces 7-1 to be enlarged through the connecting rod assembly 12 until the book 29 is released.
The lower moving rack 4-3 moves under the rotation of the lower gear 4-8, after the book 29 is pushed to a preset position in the book storage frame 8 through the two guide sheets 5-2, the lower gear 4-8 rotates reversely, and the lower moving rack 4-3 returns.
Thereafter, each member of the swing mechanism 3 and the moving mechanism 2 returns to the original position, thereby completing the book picking operation.
Conveying the book to a preset position after the book is taken for placing the book:
after the movable base 1 moves to a preset position, the small steering gear 3-6 in the swing mechanism 3 works to drive the large steering gear 3-5 to rotate, so that the shell 3-1 is driven to rotate, and the whole clamping assembly 7 rotates 90 degrees and faces the accommodating mechanism.
The scanning part in the control system identifies the bar code of the book to be placed on the position of the bookshelf and controls the moving mechanism 2 through the controller, so that the clamping gap 9 between the two clamping sheets 7-1 is aligned with the position of the book to be placed on the bookshelf.
The driving gear 24 in the book guiding component 6 rotates to enable the third supporting rod 23 to rotate along with the rotation, the connecting rod 6-2 is driven to move through the second supporting rod 21, the connecting rod 6-2 moves upwards and backwards, at the moment, the first supporting rod 20 rotates backwards for a certain angle, one end of the connecting rod 6-2 with the picking ball 6-1 moves downwards and backwards, and the book 29 is driven to be led out from the bookshelf after contacting the book 29, so that the leading-out action is completed.
The clamping assembly 7 retracts under the action of pushing the seat body 4, the upper gear 4-7 is driven to rotate through the motor, the upper moving rack 4-2 moves backwards, the connecting strip 4-6 is pulled to move backwards when the upper moving rack 4-2 moves, and the connecting strip 4-6 pulls the clamping gap 9 of the two clamping pieces 7-1 to be smaller through the connecting rod assembly 12 until the book 29 is clamped.
The swing 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 to align the book 29 with the position to be put in.
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 then activated to push the two guide pieces 5-2 and the book 29 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 backwards and upwards along the slide rail on the support base 16. Meanwhile, under the compression of the book 29, the guide piece 5-2 presses the elastic piece 19 to open towards both sides, pushing away the fallen book, and providing enough space for placing the book 29 to be placed.
The lower moving rack 4-3 is driven by the rotation of the lower gear 4-8 to move forward, and the book 29 is pushed into the storage mechanism. After the book is pushed in, the lower gear 4-8 rotates reversely, so that the lower moving rack 4-3 returns.
The moving mechanism 2 works to bring the two guide pieces 5-2 away from the bookshelf.
After 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 supporting seat 16 under the action of gravity until the bottom of the slide rail. At this time, the drive gear 24 rotates to turn the book guide assembly 6 from the horizontal state to the vertical state. At this point, the book placing action is completed.
The utility model discloses increased the guide and the derivation function to books 29 on the basis of structure is got to single clamp, increased rotation mechanism 3 promptly, promoted pedestal 4, guide assembly 5, lead book subassembly 6 and centre gripping subassembly 7. The guide assembly 5 is used for realizing the effect of leaving the position of the book 29 to be placed vacant by the action of poking the laid book through the mutual cooperation of the two guide sheets 5-2 in the guide assembly 5 when the position of the book 29 to be placed is blocked due to the falling of the book beside the book. The book guide assembly 6 is used for taking out the clamped book 29 from the tightly attached book cluster when the clamping assembly 7 clamps the book 29 from the bookshelf. Other structures and connections not mentioned are the same as those of embodiments one, two, three, four, five, six, seven, eight, nine, ten or eleven.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021964732.XU CN212859493U (en) | 2020-09-10 | 2020-09-10 | A books are got and are put management robot for library |
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| CN202021964732.XU CN212859493U (en) | 2020-09-10 | 2020-09-10 | A books are got and are put management robot for library |
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| CN212859493U true CN212859493U (en) | 2021-04-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941442A (en) * | 2020-09-10 | 2020-11-17 | 桂林电子科技大学 | A books are got and are put management robot for library |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941442A (en) * | 2020-09-10 | 2020-11-17 | 桂林电子科技大学 | A books are got and are put management robot for library |
| CN111941442B (en) * | 2020-09-10 | 2024-09-17 | 桂林电子科技大学 | Book taking and placing management robot for library |
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