CN115476334B - Automatic book taking and returning robot for library - Google Patents

Abstract

The invention discloses an automatic book taking and returning robot for a library, which comprises a book clamping module, a book placing module, an automatic charging module and a chassis, wherein the book clamping module is used for clamping books; the book clamping module is fixed at the front end of the top of the chassis, the automatic charging module is fixed at the other end of the chassis, the book placing module is arranged between the book clamping module and the automatic charging module, the book placing module is fixed at the top of the chassis, a wheel set is arranged at the bottom of the chassis and comprises a first wheel, a second wheel, a third wheel and a fourth wheel, a first ultrasonic sensor is arranged on one side of the chassis, a second ultrasonic sensor is arranged on the other side of the chassis, and a line inspection camera is arranged at the front end of the chassis.

Description

Automatic book taking and returning robot for library

Technical Field

The invention belongs to the field of robots, and particularly relates to an automatic book taking and returning robot for a library.

Background

The arrangement of borrowing and returning of various books in a library is a long-standing problem, so that in order to meet the demands of borrowing and returning book behaviors in the library, various unnecessary personnel contact is reduced to the greatest extent, efficient operation of work tasks in the library is promoted, the time and labor consumption of manpower management of books can be reduced, and an automatic book taking and returning robot is required to be designed.

The problems of the existing library robots at home and abroad at present mainly comprise the following points:

1. the whole library needs to be redesigned, constructed and developed, such as a high-cost bookshelf is transformed, the whole process is long in period and high in cost, and the existing library is not well utilized, so that huge waste is caused.

2. Most of the robot devices for clamping books in the market are provided with guide rails, and the guide rails are driven by a motor to rotate so that the mechanical arm reaches a preset position. This solution takes up more space and makes the whole robot cumbersome.

3. The function is simple, and the method is mainly applied to the service of providing consultation and checking books.

4. At present, a robot for clamping books basically clamps a whole case of books, and can clamp and take out specific books from closely arranged books.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide an automatic book taking and returning robot for a library, which includes a book clamping module, a book placing module, an automatic charging module and a chassis; the book clamping module is fixed at the front end of the top of the chassis, the automatic charging module is fixed at the other end of the chassis, the book placing module is arranged between the book clamping module and the automatic charging module, the book placing module is fixed at the top of the chassis, a wheel set is arranged at the bottom of the chassis and comprises a first wheel, a second wheel, a third wheel and a fourth wheel, a first ultrasonic sensor is arranged on one side of the chassis, a second ultrasonic sensor is arranged on the other side of the chassis, and a line inspection camera is arranged at the front end of the chassis.

Preferably, the book clamping module comprises a first mechanical arm rotary table, a first stepping motor is arranged at the bottom of the first mechanical arm rotary table, a first motor support is fixedly connected to the top of the first mechanical arm rotary table, a second stepping motor is fixedly connected to the first motor support, a first mechanical arm is connected to the power output end of the second stepping motor, a second mechanical arm is further rotationally connected to the first motor support, the first mechanical arm is connected with the second mechanical arm through a hard shaft, a third stepping motor is fixedly arranged on the first mechanical arm and the second mechanical arm, a chain is sleeved at the power output end of the third stepping motor, the chain is sleeved on the hard shaft, a third mechanical arm and a fourth mechanical arm are rotationally connected to the hard shaft, a first steering engine is fixedly connected to one end of the third mechanical arm and one end of the fourth mechanical arm, a second motor support is fixedly connected to the power output end of the first steering engine, a fourth stepping motor is fixedly connected to the second motor support, a third stepping motor is fixedly connected to the power output end of the fourth mechanical arm, a first wedge plate is connected to the second wedge plate, a first wedge plate is fixedly connected to the second wedge plate is arranged on the other side of the wedge plate, and the wedge plate is fixedly connected to the wedge plate.

Further, the second motor support is fixedly connected with a second steering engine, and the power output end of the second steering engine is rotationally connected with a simulation finger.

Further, the bottom of the second motor support is fixedly connected with a bottom plate, a first track groove and a second track groove which are symmetrically arranged are formed in the bottom plate, the first wedge-shaped plate is further connected onto the first track groove in a sliding mode, and the second wedge-shaped plate is further connected onto the second track groove in a sliding mode.

Preferably, the book placing module comprises a rotary table and a first motor, wherein the rotary table is rotatably connected to a power output end of the first motor, and the rotary table is of a spoke structure.

Preferably, the book clamping module is arranged as a clamping device, the clamping device comprises a second mechanical arm turntable, the second mechanical arm turntable is rotationally connected to the front end of the chassis, a second motor for driving is arranged at the bottom of the second mechanical arm turntable, a third motor for driving the mechanical arm is arranged at one end of the second mechanical arm turntable, the power output end of the third motor is connected with a seventh mechanical arm, the seventh mechanical arm is sequentially connected with a fifth mechanical arm and an eighth mechanical arm, a fourth motor for driving the mechanical arm is arranged at the other end of the second mechanical arm turntable, the power output end of the fourth motor is connected with an eleventh mechanical arm, the eleventh mechanical arm is connected with the tenth mechanical arm and the ninth mechanical arm in sequence, the ninth mechanical arm, the tenth mechanical arm and the ninth mechanical arm are all connected to one end of the electric claw fixing piece, the electric claw is connected to the other end of the electric claw fixing piece, a part of the fifth mechanical arm, the sixth mechanical arm, the seventh mechanical arm and the eighth mechanical arm always keeps a parallelogram structure, the eleventh mechanical arm, the twelfth mechanical arm, the first connecting plate and the second connecting plate are connected with each other to form a parallelogram, the ninth mechanical arm, the tenth mechanical arm, the electric claw fixing piece and the first connecting plate are connected with each other to form a parallelogram, and the eighth mechanical arm and the tenth mechanical arm always keep parallel.

Further, the lower end of the electronic claw fixing piece is provided with a code scanning module.

Preferably, the automatic charging module comprises a battery, a battery fixing block and a guide wheel, wherein the battery fixing block is fixedly connected to one end of the chassis, one end of the battery fixing block is connected with the battery, the battery is fixedly connected to the chassis, and the guide wheel is arranged at the bottom of the battery fixing block.

Compared with the prior art, the invention has the following advantages:

1. the adaptability is stronger, and the bookshelf does not need to be transformed at high cost.

2. Compared with a robot device with a guide rail, the book clamping device has the advantages that the space occupied by the mechanical arm is smaller, the movement is more flexible, books can be clamped in libraries with smaller bookshelf spacing, and larger space is not needed.

3. The automatic book taking and returning robot provided by the application realizes automation and intellectualization of book returning, releases library staff from repeated and boring book arrangement, carrying and placing work, and can save manpower and material resources under the large environment that the current aging phenomenon is more and more serious and the manpower cost is continuously increased, so that the phenomenon of misplacement of books caused by carelessness of the staff can be avoided.

4. The simulated finger device designed by the application is beneficial to separating the target books from the books closely arranged on the bookshelf, and is more convenient for the two wedge-shaped plates to clamp the target books through the prepositive action, and if the device is not used, the books are closely arranged and are difficult to clamp.

5. According to the application, the third stepping motor is arranged on the first mechanical arm, so that the moment born by the second stepping motor is reduced, the volume of the second stepping motor is reduced, and the light weight and compression cost of the whole machine are further realized.

6. The two track grooves are designed on the bottom plate, the track grooves can limit the first wedge-shaped plate and the second wedge-shaped plate to extend in parallel firstly and then clamp the books, the front ends of the first wedge-shaped plate and the second wedge-shaped plate are made into wedges so as to be more suitable for books which are closely arranged, and other books on two sides of a target book can be squeezed out through a structure with the front sides being narrow and the rear sides being wide when the books are inserted between the books, so that the target book can be taken away more conveniently.

Drawings

FIG. 1 is a robot for automatically picking up and returning books in a library, which is provided by the invention;

FIG. 2 is a schematic view of the book clamping module of FIG. 1;

FIG. 3 is a bottom view of the book block;

FIG. 4 is a schematic diagram of the book placement module of FIG. 1;

Fig. 5 is a schematic diagram of the automatic charging module in fig. 1.

FIG. 6 is a schematic view of the chassis of FIG. 1;

FIG. 7 is a schematic view of the base plate of FIG. 1;

FIG. 8 is a schematic view of a gripping apparatus in embodiment 2;

FIG. 9 is a bottom view of the gripping device;

FIG. 10 is a schematic diagram of the principle of operation of the book clamping module for picking up books;

In the figure: 1. a book clamping module; 101. a first wedge plate; 102. simulating a finger; 103. the second steering engine; 104. the first steering engine; 105. a third mechanical arm; 106. a fourth mechanical arm; 107. a hard shaft; 108. a chain; 109. a third stepper motor; 110. a first mechanical arm; 111. a second mechanical arm; 112. a second stepping motor; 113. a bottom plate; 1131. a first track groove; 1132. a second track groove; 114. a fourth stepping motor; 115. a push plate; 116. a second wedge plate; 117. a screw rod; 118. a first stepping motor; 119. a first mechanical arm turntable; 120. a first motor bracket; 121. a second motor bracket; 2. a book placing module; 21. a turntable; 22. a first motor; 3. an automatic charging module; 31. a battery; 32. a battery fixing block; 33. a charger fixing block; 34. a guide wheel; 4. a chassis; 41. a first wheel; 42. a first ultrasonic sensor; 43. a second wheel; 44. a third wheel; 45. a second ultrasonic sensor; 46. a fourth wheel; 47. line inspection camera; 8. a clamping device; 801. a second motor; 802. a fifth mechanical arm; 803. a sixth mechanical arm; 804. a seventh mechanical arm; 805. a third motor; 806. a second mechanical arm turntable; 807. an eighth mechanical arm; 808. a code scanning module; 809. an electric claw; 810. an electric claw fixing member; 811. a ninth mechanical arm; 812. a tenth mechanical arm; 813. an eleventh mechanical arm; 814. a fourth motor; 815. a first connection plate; 816. a twelfth mechanical arm; 817. and a second connecting plate.

Detailed Description

The following examples of the present invention will be described in detail with reference to fig. 1 to 10, and the following examples are given as detailed implementation and specific operation procedures based on the technical solution of the present invention, but the scope of protection of the present invention is not limited to the following examples.

Example 1:

As shown in fig. 1, the automatic book taking and returning robot for the library comprises a book clamping module 1, a book placing module 2, an automatic charging module 3 and a chassis 4; the book clamping module 1 is fixed at the front end of the top of the chassis 4, the automatic charging module 3 is fixed at the other end of the chassis 4, the book placing module 2 is arranged between the book clamping module 1 and the automatic charging module 3, the book placing module 2 is fixed at the top of the chassis 4, as shown in fig. 6, a wheel set is arranged at the bottom of the chassis 4 and comprises a first wheel 41, a second wheel 43, a third wheel 44 and a fourth wheel 46, a first ultrasonic sensor 42 is arranged on one side of the chassis 4, a second ultrasonic sensor 45 is arranged on the other side of the chassis 4, and a line inspection camera 47 is arranged at the front end of the chassis 4.

As shown in fig. 2-3, the book clamping module 1 comprises a first mechanical arm turntable 119, a first stepping motor 118 is arranged at the bottom of the first mechanical arm turntable 119, a first motor bracket 120 is fixedly connected to the top of the first mechanical arm turntable 119, a second stepping motor 112 is fixedly connected to the first motor bracket 120, a first mechanical arm 110 is connected to the power output end of the second stepping motor 112, a second mechanical arm 111 is further rotatably connected to the first motor bracket 120, the first mechanical arm 110 and the second mechanical arm 111 are connected through a hard shaft 107, a third stepping motor 109 is fixedly arranged on the first mechanical arm 110 and the second mechanical arm 111, a chain 108 is sleeved at the power output end of the third stepping motor 109, the chain 108 is sleeved on the hard shaft 107, a first steering engine 104 is fixedly connected to one end of the third mechanical arm 105 and one end of the fourth mechanical arm 106, a second steering engine 104 is further rotatably connected to the power output end of the first steering engine 104, a second wedge plate 121 is fixedly connected to the second wedge plate 115, a second wedge plate 115 is fixedly connected to the other side of the wedge plate 115, and a wedge plate 115 is fixedly connected to the wedge plate 115.

Further, a second steering engine 103 is fixedly connected to the second motor bracket 121, and a power output end of the second steering engine 103 is rotatably connected with a simulation finger 102.

As shown in fig. 7, a bottom plate 113 is fixedly connected to the bottom of the second motor bracket 121, a first track groove 1131 and a second track groove 1132 are symmetrically arranged on the bottom plate 113, the first wedge plate 101 is further slidably connected to the first track groove 1131, and the second wedge plate 116 is further slidably connected to the second track groove 1132.

As shown in fig. 4, the book placing module 2 comprises a turntable 21 and a first motor 22, wherein the turntable 21 is rotatably connected to a power output end of the first motor 22, and the turntable 21 has a spoke structure.

As shown in fig. 5, the automatic charging module 3 includes a battery 31, a battery fixing block 32, and a guide wheel 34, where the battery fixing block 32 is fixedly connected to one end of the chassis 4, one end of the battery fixing block 32 is connected with the battery 31, the battery 31 is fixedly connected to the chassis 4, and the guide wheel 34 is provided at the bottom of the battery fixing block 32.

Example 2:

As shown in fig. 1, the automatic book taking and returning robot for the library comprises a book clamping module 1, a book placing module 2, an automatic charging module 3 and a chassis 4; the book clamping module 1 is fixed at the front end of the top of the chassis 4, the automatic charging module 3 is fixed at the other end of the chassis 4, the book placing module 2 is arranged between the book clamping module 1 and the automatic charging module 3, the book placing module 2 is fixed at the top of the chassis 4, as shown in fig. 6, a wheel set is arranged at the bottom of the chassis 4 and comprises a first wheel 41, a second wheel 43, a third wheel 44 and a fourth wheel 46, a first ultrasonic sensor 42 is arranged on one side of the chassis 4, a second ultrasonic sensor 45 is arranged on the other side of the chassis 4, and a line inspection camera 47 is arranged at the front end of the chassis 4.

As shown in fig. 4, the book placing module 2 comprises a turntable 21 and a first motor 22, wherein the turntable 21 is rotatably connected to a power output end of the first motor 22, and the turntable 21 has a spoke structure.

As shown in fig. 8-9, the book clamping module is configured as a clamping device 8, the clamping device 8 includes a second mechanical arm turntable 806, the second mechanical arm turntable 806 is rotatably connected to the front end of the chassis 4, a second motor 801 for driving is disposed at the bottom of the second mechanical arm turntable 806, a third motor 805 for driving the mechanical arm is disposed at one end of the second mechanical arm turntable 806, a power output end of the third motor 805 is connected to a seventh mechanical arm 804, the seventh mechanical arm 804 is sequentially connected to a fifth mechanical arm 802 and an eighth mechanical arm 807, the other end of the second mechanical arm turntable 806 is provided with a fourth motor 814 for driving the mechanical arm, the power output end of the fourth motor 814 is connected to an eleventh mechanical arm 813, the tenth mechanical arm 812 and a ninth mechanical arm 811 are sequentially connected to each other, the eighth mechanical arm 807, the tenth mechanical arm 812 and the ninth mechanical arm 811 are all connected to one end of an electric claw fixing member 810, the electric claw is connected to the other end of the electric claw fixing member 810, the fifth mechanical arm 802, the sixth mechanical arm 816, the seventh mechanical arm 816 and the eighth mechanical arm 815 are all the eighth mechanical arm 815 and the eighth mechanical arm 815 are all the other end of the electric claw fixing member, the fourth mechanical arm is connected to the fourth mechanical arm 815, the fourth mechanical arm is connected to the fourth mechanical arm connecting member is parallel with the fourth connecting member, and the fourth mechanical arm connecting member is arranged, and the fourth mechanical arm connecting member is parallel to the fourth mechanical arm connecting member arranged, and the fourth mechanical arm connecting member connecting the fourth mechanical arm 812 and the fourth mechanical arm connecting member and the fourth mechanical arm mounting section and the fourth mechanical arm mounting device is arranged.

As shown in fig. 5, the automatic charging module 3 includes a battery 31, a battery fixing block 32, and a guide wheel 34, where the battery fixing block 32 is fixedly connected to one end of the chassis 4, one end of the battery fixing block 32 is connected with the battery 31, the battery 31 is fixedly connected to the chassis 4, and the guide wheel 34 is provided at the bottom of the battery fixing block 32.

Working principle:

After receiving a book taking signal of a WiFi module on a singlechip, the robot performs route planning according to the received data, then proceeds along a black track line on the ground through a opnemv trace searching module, moves to the front of a bookshelf needing to clamp books, recognizes a two-dimensional code of the bookshelf through a code scanning module arranged on a clamping device to determine whether to execute the book clamping action, clamps the books on the bookshelf on the robot after secondarily confirming the book information, otherwise ignores the books, and records the error of the storage position of the books; the steps are repeated until the number of books on the robot reaches the maximum value, the books are stopped to be fetched, the books are placed on a bookshelf where the users can directly fetch the books after moving to the place where the users fetch the books, then the steps are repeated until all the books are fetched and placed on a bookcase where the users can fetch the books, then the books are moved to a place where the books are charged for charging, and a signal for fetching the books next time is obtained.

For the book clamping module 1, as shown in fig. 2-3, the second stepping motor 112 drives the first mechanical arm 110 and the second mechanical arm 111 to rotate, the third stepping motor 109 and the chain 108 are installed on the first mechanical arm 110 and the second mechanical arm 111, and the stepping motor rotates to drive the chain and drive the hard shaft 107 for driving the third mechanical arm 105 and the fourth mechanical arm 106. The simulation finger 102 is arranged in front of the book clamping module, as shown in fig. 10, when a book is to be clamped, the second steering engine 103 drives the simulation finger 102 to complete the action of drawing the book, so that the book is not closely contacted with other books any more, and the book is easy to clamp. The first steering engine 104 is used to control the pitch of the front of the book clamping module. The bottom plate 113, the fourth stepping motor 114, the push plate 115 with the nut, the first wedge-shaped plate 101, the second wedge-shaped plate 116 and the screw rod 117 are arranged at the forefront end of the book clamping module, when books are to be clamped, after the simulated fingers 102 draw out books, the fourth stepping motor 114 rotates and drives the screw rod 117 to rotate, so that the push plate 115 with the nut is pushed to push the first wedge-shaped plate 101 and the second wedge-shaped plate 116 to move according to a preset track on the bottom plate 113, and the book clamping action is completed.

As shown in fig. 8-9, for the gripping device 8, the second motor 801 located below drives the second mechanical arm turntable 806 to rotate to a direction that makes the mechanical arms face the book, the third motor 805 and the fourth motor 814 drive the seventh mechanical arm 804 and the eleventh mechanical arm 813, respectively, the seventh mechanical arm 804 drives the fifth mechanical arm 802 and the eighth mechanical arm 807 in sequence, the eleventh mechanical arm 813 drives the tenth mechanical arm 812 and the ninth mechanical arm 811 in sequence, and finally, the second mechanical arm turntable 806 is driven by the second motor 801 to rotate to a direction that faces the book case on the robot trolley after the books are gripped by the electric claws 809, and the third motor 805 and the fourth motor 814 reversely repeat the above actions to place the book on the book case. For the fifth mechanical arm 802, the sixth mechanical arm 803, the seventh mechanical arm 804 and a part of the eighth mechanical arm 807 always keep the parallelogram structure, the holes connected with each other on the eleventh mechanical arm 813, the twelfth mechanical arm 816, the first connecting plate 815 and the second connecting plate 817 form four vertexes of the parallelogram, the holes connected with each other on the ninth mechanical arm 811, the tenth mechanical arm 812, the electric claw fixing member 810 and the first connecting plate 815 form four vertexes of the parallelogram, the eighth mechanical arm 807 and the tenth mechanical arm 812 always keep parallel, and this structure can ensure that the claw orientation of the electric claw 809 always keeps parallel with the ground, which is beneficial to clamping more tightly when clamping books.

As shown in fig. 4, the book placing module 2 mainly comprises a turntable 21 and a first motor 22, and the first motor drives the turntable 21 to rotate, so that a book placing place facing the book clamping module 1 is always empty, and books can be placed conveniently.

As shown in fig. 5, the automatic charging module 3 mainly comprises a battery 31, a battery fixing block 32, a charger fixing block 33 and a guide wheel 34, wherein the guide wheel can guide the robot to be aligned with the charger interface slowly after the robot approaches to the charger fixing block 33 through tracking, and magnetic strips are respectively arranged on the battery fixing block 32 and the charger fixing block 33, so that final alignment is facilitated.

As shown in fig. 6, the chassis 4 is provided with four wheels 41, 43, 44, 48, a camera 47 for line inspection, and two first ultrasonic sensors 42 and second ultrasonic sensors 45 for distance measurement, which are used for measuring the distance to the bookcase, so as to facilitate positioning.

The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention without requiring creative effort by one of ordinary skill in the art. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by a person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (3)

1. Automatic book robot that returns of getting in library, its characterized in that: comprises a book clamping module (1), a book placing module (2), an automatic charging module (3) and a chassis (4); the book clamping module (1) is fixed at the front end of the top of the chassis (4), the automatic charging module (3) is fixed at the other end of the chassis (4), the book placing module (2) is arranged between the book clamping module (1) and the automatic charging module (3), the book placing module (2) is fixed at the top of the chassis (4), a wheel set is arranged at the bottom of the chassis (4), the wheel set comprises a first wheel (41), a second wheel (43), a third wheel (44) and a fourth wheel (46), a first ultrasonic sensor (42) is arranged at one side of the chassis (4), a second ultrasonic sensor (45) is arranged at the other side of the chassis (4), and a line inspection camera (47) is arranged at the front end of the chassis (4);

The book clamping module (1) comprises a first mechanical arm rotary table (119), a first stepping motor (118) is arranged at the bottom of the first mechanical arm rotary table (119), a first motor bracket (120) is fixedly connected to the top of the first mechanical arm rotary table (119), a second stepping motor (112) is fixedly connected to the first motor bracket (120), a power output end of the second stepping motor (112) is connected with a first mechanical arm (110), a second mechanical arm (111) is further rotationally connected to the first motor bracket (120), a hard shaft (107) is connected between the first mechanical arm (110) and the second mechanical arm (111), a third stepping motor (109) is fixedly arranged on the first mechanical arm (110) and the second mechanical arm (111), a chain (108) is sleeved at a power output end of the third stepping motor (109), a third mechanical arm (105) and a fourth mechanical arm (106) are rotationally connected to the hard shaft (107), a steering engine (104) is fixedly connected to the first end of the third mechanical arm (110) and the second mechanical arm (111), the device is characterized in that a second steering engine (103) is fixedly connected to the second motor support (121), a simulated finger (102) is rotationally connected to the power output end of the second steering engine (103), a lead screw (117) is connected to the power output end of the fourth stepping motor (114), a push plate (115) is connected to the lead screw (117) in a sliding manner, a first wedge plate (101) is fixedly connected to one side of the push plate (115), a second wedge plate (116) is fixedly connected to the other side of the push plate (115), and the first wedge plate (101) and the second wedge plate (116) are symmetrically arranged;

the bottom of second motor support (121) rigid coupling has bottom plate (113), first track groove (1131) and second track groove (1132) that the symmetry set up are seted up on bottom plate (113), first wedge plate (101) still sliding connection is on first track groove (1131), second wedge plate (116) still sliding connection in on second track groove (1132), first track groove (1131) with second track groove (1132) each include a straight section and an arc section, and wherein, straight section parallel arrangement each other, and the arc section is drawn close gradually towards device center direction from the one end of each straight section respectively, first wedge plate (101) with second wedge plate (116) are outwards parallel extension along track groove straight section at first, follow track groove's arc section and draw close to the center afterwards to accomplish the action of holding.

2. The automatic book taking and returning robot for library as set forth in claim 1, wherein: the book placing module (2) comprises a rotary table (21) and a first motor (22), wherein the rotary table (21) is rotatably connected to the power output end of the first motor (22), and the rotary table (21) is of a spoke structure.

3. The automatic book taking and returning robot for library as set forth in claim 1, wherein: the automatic charging module (3) comprises a battery (31), a battery fixing block (32) and a guide wheel (34), wherein the battery fixing block (32) is fixedly connected to one end of the chassis (4), one end of the battery fixing block (32) is connected with the battery (31), the battery (31) is fixedly connected to the chassis (4), and the guide wheel (34) is arranged at the bottom of the battery fixing block (32).