CN114147680A - Intelligent library robot and working method thereof - Google Patents
Intelligent library robot and working method thereof Download PDFInfo
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- CN114147680A CN114147680A CN202111542024.6A CN202111542024A CN114147680A CN 114147680 A CN114147680 A CN 114147680A CN 202111542024 A CN202111542024 A CN 202111542024A CN 114147680 A CN114147680 A CN 114147680A
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- 238000000034 method Methods 0.000 title abstract description 10
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 230000006978 adaptation Effects 0.000 claims description 4
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 238000011017 operating method Methods 0.000 claims 1
- 230000003044 adaptive effect Effects 0.000 abstract description 10
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 9
- 210000000078 claw Anatomy 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention provides an intelligent library robot, which relates to the technical field of robots and comprises a shell, a mechanical arm, a rotating part, a walking component, a display screen, a visual sensor, an anti-collision navigation component and a controller, wherein the mechanical arm is arranged on one side above the shell and comprises a connecting rod component and a paw, the paw is connected to the front end of the connecting rod component in an adaptive manner, the rotating part is connected to the rear end of the connecting rod component in an adaptive manner, at least part of the rotating part is accommodated in the shell, the walking component is arranged at the bottom of the shell, the display screen is arranged at the rear end of the shell, the visual sensor and the paw are connected and arranged below the visual sensor and the paw, and the anti-collision navigation component is arranged below the display screen; the controller controls the mechanical arm, the rotating part and the walking assembly to move and is matched with the visual sensor and the anti-collision navigation assembly to finish book arrangement and placement, and the problems that the existing library staff are high in working strength, high in energy consumption and high in labor cost are solved. The application discloses a working method of another intelligent library robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an intelligent library robot and a working method thereof.
Background
Along with the rapid development of economic strength of modern society, people attach more and more importance to the improvement of personal quality and cultural level, libraries in colleges and universities are used as leaders for cultural information construction, under the past manpower working mode, library staff spend a large amount of time and energy every day to place irregular books for classification and arrangement, then the books are placed at the original positions, but the concentration of people is limited, the books cannot be kept at the same level all the time, the books are easy to place and make mistakes, and the work repeatability is high and tedious. With the increasing of books, library's labour is in short supply, and the per capita work load is too big, and managers is serious not enough. Each worker needs to be responsible for classifying, sorting and placing the book books on the whole floor, the working strength is high, the energy consumption is high, and the labor cost is increased.
Disclosure of Invention
The invention discloses an intelligent library robot, and aims to solve the problems that the existing library robot is high in working strength and labor cost and high in labor intensity of workers.
The invention adopts the following scheme:
the utility model provides an intelligence library robot, includes casing, arm, rotates piece, walking subassembly, display screen, vision sensor, anticollision navigation subassembly and controller, the arm sets up top one side of casing, the arm includes link assembly and hand claw, hand claw adaptation is connected link assembly's front end, it is in to rotate piece adaptation connection link assembly's rear end, just it is in to rotate at least partial holding in the casing, walking subassembly sets up the bottom of casing, the display screen sets up the rear end of casing, vision sensor with the hand claw links to each other and sets up below it, anticollision navigation subassembly sets up the below of display screen, controller control the arm rotate the piece with walking subassembly's motion.
As a further improvement, the other side of the upper part of the shell is provided with a containing groove.
As a further improvement, the paw comprises two iron sheets which are arranged in parallel at a certain interval.
As a further improvement, the connecting rod assembly comprises a first connecting rod, a second connecting rod and a motor, the front end of the first connecting rod is in adaptive connection with the motor, the front end of the motor is in adaptive connection with the paw, the rear end of the first connecting rod is in adaptive connection with the second connecting rod, and the rear end of the second connecting rod is in adaptive connection with the rotating part.
As a further improvement, the rotation piece includes the support frame and the holding is in first shaft coupling, second shaft coupling and the revolving stage in the casing, the support frame is located casing top and one end with the casing contact, the other end with the contact of second connecting rod, revolving stage one end with casing top contact, the other end with first shaft coupling contact, first shaft coupling configuration is in the revolving stage with between the second shaft coupling.
As a further improvement, the walking assembly comprises four driving wheels, universal wheels and a control driver, the four universal wheels are arranged at the front end and the rear end of the bottom of the shell, and the two driving wheels are arranged in the middle of the bottom of the shell and are in adaptive connection with the control driver.
As a further improvement, the anticollision navigation subassembly includes crashproof sensor and salm navigator, the salm navigator is located storage tank below and near the casing rear end, crashproof sensor sets up casing rear end bottom.
As a further improvement, the salm navigator comprises at least two battery boxes, wherein the battery boxes are located below the accommodating groove, one of the battery boxes is located at the front end of the driving wheel, and the other battery box is located at the front end of the salm navigator.
As a further improvement, the system comprises a main control board, the main control board is installed in the battery box, the battery box is located at the front end of the salm navigator, and the main control board is electrically connected with the mechanical arm, the rotating part, the walking assembly, the display screen, the visual sensor and the anti-collision navigation assembly.
A working method based on the intelligent library robot as described in any one of the above items, comprising:
starting the robot through the display screen;
book identification is carried out through the vision sensor, and when a book is identified, the mechanical arm is controlled to move and book grabbing is completed;
the color and the size of the picked books are identified through the visual sensor, and the code information of the books is displayed in the display screen;
and triggering the salm navigator, establishing a book placing area corresponding to the path trend by using the salm navigation scanning, and reaching the book placing area, thereby realizing the placing of books.
By adopting the technical scheme, the invention can obtain the following technical effects:
the utility model provides an intelligence library robot, start the robot through the display screen, books can be discerned to vision sensor, this robot of controller control motion is accomplished and is snatched the action, then the colour and the size of books are discerned to vision sensor on the hand claw, show the coding information of books in the display screen, later trigger salm navigator, utilize salm navigation scanning to establish the books that the route trend corresponds and place the district, reach books and place the district, thereby it is big to improve current library staff working strength, energy consumes much, the problem that human cost rises. The advantages of the present application are apparent compared to the prior art.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic view of the general structure of a first embodiment of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;
FIG. 3 is a schematic view of the turntable according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Examples
The first embodiment of the invention provides an intelligent library robot, which comprises a shell 13, a mechanical arm, a rotating part, a walking component, a display screen 8, a visual sensor 9, an anti-collision navigation component and a controller capable of controlling the motion state of the robot; the mechanical arm is arranged on one side above the shell 13, a containing groove 13-1 can be formed in the other side above the shell 13, the containing groove 13-1 is used for containing books or other articles, and the utilization rate of the robot can be improved.
Further, the mechanical arm comprises a connecting rod assembly and a paw 1, the paw 1 is connected to the front end of the connecting rod assembly in an adaptive mode, the paw 1 is two iron sheets which are arranged in parallel at a certain interval, and the book grabbing mechanism is simple in structure while the book grabbing mechanism is guaranteed.
In this embodiment, the connecting rod assembly comprises a first connecting rod 2-1, a second connecting rod 2-2 and a motor 2, the motor 2 is installed at the front end of the first connecting rod 2-1 through a motor frame 3 in a matching manner, the front end of the motor 2 is connected with the claw 1 in a matching manner, the claw 1 is always in a horizontal state through the motor 2 and the motor frame 3, and the books are kept from falling off and clamping the books; the rear end of the first connecting rod 2-1 is movably connected with a second connecting rod 2-2, the second connecting rod 2-2 is connected with a steering engine in a matching mode, and the steering engine works to drive the second connecting rod 2-2 and the first connecting rod 2-1 to rotate, so that the grabbing and placing positions of the gripper 1 are adjusted.
In the embodiment, the rotating part is fixedly connected to the rear end of the second connecting rod 2-2, the rotating part comprises a supporting frame 14, and a first coupler 2-3, a second coupler 2-4 and a rotating platform 4 which are accommodated in the shell 13, the supporting frame 14 is positioned on one side above the shell 13, one end of the supporting frame is in contact with the shell 13, and the other end of the supporting frame is fixedly connected with the second connecting rod 2-2 and is used for supporting the whole mechanical arm; one end of the rotating platform 4 is in contact with the top of the shell 13, the other end of the rotating platform is in adaptive connection with the first coupler 2-3, the first coupler 2-3 is arranged between the rotating platform 4 and the second coupler 2-4, the second coupler 2-4 is adaptive to a steering engine, and the rotating platform 4, the first coupler 2-3 and the second coupler 2-4 rotate through the steering engine to drive the whole mechanical arm to steer.
Furthermore, a Japanese east motor brushless speed regulation conjoined motor BLH5100K-30 is preferably selected in the aspect of robot driving to form multi-link driving, the capabilities of self-starting, accelerating, braking, reversing, stopping and the like are realized, various operation requirements can be met, the working efficiency is higher, no smoke dust and smell exist, the environment is not polluted, the noise is smaller, and the integral operation is more stable and quicker due to the multi-link driving structure.
In the embodiment, the walking assembly is arranged at the bottom of the shell 13, the walking assembly comprises a driving wheel 10-1, universal wheels 11 and a control driver 10, and the number of the universal wheels 11 is preferably four, and the four universal wheels are arranged at the front end and the rear end of the bottom of the shell 13 side by side, so that the whole robot can steer conveniently; the number of the driving wheels 10-1 is preferably two, the two driving wheels are arranged in the middle of the bottom of the shell 13 side by side and are in fit connection with the control driver 10, and the control driver 10 and the driving wheels 10-1 can realize the straight movement and the steering movement of the robot through differential speed.
In this embodiment, the display screen 8 is disposed at the rear end of the housing 13, and the vision sensor 9 is connected to and disposed below the gripper 1, so that the vision sensor 9 can recognize the book information when the gripper 1 grips the book, and transmit the information to the display screen 8 and display the book code, thereby facilitating the next movement of the robot.
Furthermore, the anti-collision navigation assembly is positioned below the display screen 8 and comprises an anti-collision sensor 12 and a salm navigator 7, the salm navigator 7 is positioned below the accommodating groove 13-1 and is close to the rear end of the shell 13, and therefore the robot can plan a route flexibly in the book carrying process; the anti-collision sensor 12 is arranged at the bottom of the rear end of the shell 13, so that the robot is prevented from being damaged due to the fact that the robot is collided by an object in the carrying process; the anti-collision sensor 12 is preferably a SICK obstacle sensor, which has strong anti-interference capability, long signal transmission distance and low requirement on transmission cables, and is one of the better sensors in the current stress and strain measurement.
In the embodiment, the device comprises at least two battery boxes 5, wherein the battery boxes 5 are located below the accommodating groove 13-1, one battery box 5 is located at the front end of the driving wheel 10-1, the other battery box 5 is located at the front end of the salm navigator 7, and batteries are placed in the battery boxes 5 to provide sufficient power for the movement of the battery boxes; the battery is preferably a 75Ah Hooke battery, so that the requirement that the mobile machine can work continuously, stably, safely and reliably is met, the efficiency is high, and the cost is low.
Further, still include main control board 6, main control board 6 installs in battery box 5, and this battery box 5 is for being located battery box 5 of salm navigator 7 front end, and arm, rotation piece, walking component, display screen 8, visual sensor 9, anticollision navigation subassembly are all connected to main control board 6 electricity to the whole process of book transportation, arrangement and putting of control robot.
A second embodiment of the present invention provides a working method of an intelligent library robot, including any one of the above intelligent library robots, specifically using the following processes: a user operates a display screen 8 to start a robot to move from a book returning station to bookshelf points to be sorted by straight line movement, books are identified through a visual sensor 9, a controller controls a trolley to stop, a rotary table 4 turns a paw 1 to a book grabbing direction, a steering engine is matched with a first coupling 2-3 and a second coupling 2-4 to adjust the position of a mechanical arm, the paw 1 is placed at a position capable of grabbing the books, then the paw 1 is kept horizontal through a motor 2 and a motor frame 3, after the position suitable for grabbing object blocks is grabbed, the visual sensor 9 on the paw 1 identifies the color and size of the books, the coded information of the books is displayed in the display screen 8, then a salm navigator 7 is triggered, a book placing area corresponding to the path direction is established by using salm navigation scanning, the books reach the book placing area, and the visual sensor 9 triggers an identification environment, and stopping the robot to move, starting to place the books, then returning to the classified bookshelf point by using the navigation system, and repeating the circulation until the books are completely placed on the shelf and placed, and returning to the charging point for charging by the robot.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention.
Claims (10)
1. The utility model provides an intelligence library robot, its characterized in that, includes casing, arm, rotates piece, walking subassembly, display screen, visual sensor, anticollision navigation subassembly and controller, the arm sets up top one side of casing, the arm includes link assembly and paw, the paw adaptation is connected the front end of link assembly, it connects to rotate the piece adaptation the rear end of link assembly, just it is in to rotate at least partial holding in the casing, walking subassembly sets up the bottom of casing, the display screen sets up the rear end of casing, visual sensor with the paw links to each other and sets up below it, anticollision navigation subassembly sets up the below of display screen, the controller control the arm rotate with walking subassembly's motion.
2. The intelligent library robot of claim 1, wherein a receiving slot is formed on the other side of the upper portion of the housing.
3. The intelligent library robot of claim 1, wherein the gripper comprises two parallel spaced iron pieces.
4. The intelligent library robot of claim 1, wherein the linkage assembly comprises a first linkage, a second linkage, and a motor, wherein the front end of the first linkage is adapted to connect to the motor, the front end of the motor is adapted to connect to the gripper, the rear end of the first linkage is adapted to connect to the second linkage, and the rear end of the second linkage is adapted to connect to the rotating member.
5. The intelligent library robot of claim 4, wherein the rotating member comprises a support frame and a first coupling, a second coupling, and a rotating stage housed within the housing, the support frame being located above the housing and having one end in contact with the housing and the other end in contact with the second link, the rotating stage having one end in contact with the housing top and the other end in contact with the first coupling, the first coupling configured to be between the rotating stage and the second coupling.
6. The intelligent library robot of claim 2, wherein the walking assembly comprises four driving wheels, four universal wheels and a control driver, the four universal wheels are arranged at the front end and the rear end of the bottom of the housing, and the two driving wheels are arranged in the middle of the bottom of the housing and are in fit connection with the control driver.
7. The intelligent library robot of claim 6, wherein the collision avoidance navigation component comprises a collision avoidance sensor and a salm navigator, the salm navigator is located below the storage tank and near the rear end of the housing, and the collision avoidance sensor is disposed at the bottom of the rear end of the housing.
8. The intelligent library robot of claim 7, comprising at least two battery boxes, each battery box being located below the storage tank, one battery box being located at a front end of the drive wheel, and the other battery box being located at a front end of the salm navigator.
9. The intelligent library robot of claim 8, comprising a main control board, wherein the main control board is installed in the battery box, the battery box is a battery box located at the front end of the salm navigator, and the main control board is electrically connected with the mechanical arm, the rotating part, the walking assembly, the display screen, the visual sensor and the anti-collision navigation assembly.
10. An operating method based on the intelligent library robot as claimed in any one of claims 1 to 9, comprising:
starting the robot through the display screen;
book identification is carried out through the vision sensor, and when a book is identified, the mechanical arm is controlled to move and book grabbing is completed;
the color and the size of the picked books are identified through the visual sensor, and the code information of the books is displayed in the display screen;
and triggering the salm navigator, establishing a book placing area corresponding to the path trend by using the salm navigation scanning, and reaching the book placing area, thereby realizing the placing of books.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111542024.6A CN114147680A (en) | 2021-12-16 | 2021-12-16 | Intelligent library robot and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111542024.6A CN114147680A (en) | 2021-12-16 | 2021-12-16 | Intelligent library robot and working method thereof |
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| CN114147680A true CN114147680A (en) | 2022-03-08 |
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| CN202111542024.6A Pending CN114147680A (en) | 2021-12-16 | 2021-12-16 | Intelligent library robot and working method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117260679A (en) * | 2023-09-07 | 2023-12-22 | 廊坊市珍圭谷科技有限公司 | Intelligent robot's arm and intelligent robot |
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| CN117260679A (en) * | 2023-09-07 | 2023-12-22 | 廊坊市珍圭谷科技有限公司 | Intelligent robot's arm and intelligent robot |
| CN117260679B (en) * | 2023-09-07 | 2024-04-26 | 廊坊市珍圭谷科技股份有限公司 | Intelligent robot's arm and intelligent robot |
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