CN112008682A - Automatic change library management robot - Google Patents
Automatic change library management robot Download PDFInfo
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- CN112008682A CN112008682A CN202010883454.3A CN202010883454A CN112008682A CN 112008682 A CN112008682 A CN 112008682A CN 202010883454 A CN202010883454 A CN 202010883454A CN 112008682 A CN112008682 A CN 112008682A
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- clamping jaw
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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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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Abstract
The invention relates to the technical field of mechanical equipment, and provides an automatic library management robot, which comprises a mobile chassis; the moving assembly and the carrying bookshelf are fixed on the moving chassis; the mechanical arm is arranged on the moving assembly, and the clamping jaw is arranged at the front end of the mechanical arm; the book pressing component is arranged on the library bookshelf; the control system comprises a walking auxiliary unit, an environment recognition unit, an integrated display and a control cabinet, wherein the integrated display and the control cabinet can be operated by people, the walking auxiliary unit comprises an ultrasonic sensor assembly and a laser displacement sensor assembly, and the environment recognition unit comprises a laser radar and a binocular vision camera.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an automatic library management robot.
Background
In recent years, the robot industry in China has been greatly developed, many general robots are entering the society to provide services for people, but at present, the types of robots applied in a library system are still rare, the mainstream is still to manually manage the huge number of books in the library, and particularly, a large number of people are needed to perform book management work in a large library. Whether colleges and universities or libraries in various regions, certain upgrading requirements are required for the libraries at present. The labor of a lot of librarians is involved in manual inspection and management of books, the library book resource information and the robot are integrated by designing an automatic management robot with an identification system, the information is sorted automatically, the administrator can be helped to handle a lot of complex work, the structure of a library is simplified, and an intelligent library is constructed.
Disclosure of Invention
The invention aims to supplement the available environment of the existing robot and make up for the blank that the needed environment lacks a corresponding robot. The automatic arrangement of the integrated books of this robot, books information management system is as an organic whole, integrates whole library management system and robot, and the convenience has reduced the waste to the manpower resources to the management in library, very big improvement the intelligent and automatic construction in library.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic library management robot, comprising
Moving the chassis;
the moving assembly and the carrying bookshelf are fixed on the moving chassis;
the mechanical arm is arranged on the moving assembly, and the clamping jaw is arranged at the front end of the mechanical arm;
the book pressing component is arranged on the library bookshelf;
and the control system is arranged on the mobile chassis and comprises a walking auxiliary unit, an environment recognition unit, an integrated display and a control cabinet, wherein the integrated display and the control cabinet can be operated by people, the walking auxiliary unit comprises an ultrasonic sensor component and a laser displacement sensor component, the environment recognition unit comprises a laser radar and a binocular vision camera, and the control cabinet can be communicated with a management system of a library by combining with the integrated display.
Further, the movable chassis comprises a movable chassis support frame, a movable chassis first layer plate located below the movable chassis support frame and a movable chassis second layer plate located above the movable chassis support frame, front and rear sealing plates are arranged on the front side and the rear side of the movable chassis respectively, side sealing plates are arranged on the left side and the right side of the movable chassis respectively, the control cabinet is arranged in the movable chassis, four sets of omnidirectional wheel driving devices used for moving and two pairs of ultrasonic sensor assemblies used for judging object distances between the front side and the rear side are arranged below the movable chassis first layer plate, the two pairs of ultrasonic sensor assemblies are arranged on the front edge and the rear edge below the movable chassis first layer plate, and two sets of laser sensor assemblies are arranged on the left side and the right side below the first layer plate respectively and used for measuring.
Furthermore, the omnidirectional wheel driving device comprises a driving motor, a motor pressing block, a bearing seat, a flange bearing, a coupling and a Mecanum wheel.
Furthermore, the laser sensor assembly comprises a sensor base, a support plate, a mounting plate and a laser sensor, and the ultrasonic sensor assembly comprises an ultrasonic sensor and a fixed support.
Further, the moving assembly comprises a motor transmission assembly, the motor transmission assembly comprises a driving motor, a motor fixing block and a moving electric cylinder, a bottom plate is arranged on the bottom of the moving assembly, side motor transmission assembly back plates are arranged on two sides of the moving assembly, a mechanical arm transmission assembly supporting plate, a sliding rail, a sliding block and a drag chain are arranged on the two sides of the moving assembly, the mechanical arm and the clamping jaw above the moving assembly can move up and down, and the moving range of the mechanical arm is widened. The upper part is provided with a mechanical arm fixing bottom plate, a mechanical arm transmission assembly moving plate and a mechanical arm transmission assembly moving plate supporting plate. And an integrated display, a laser radar, a binocular camera, a laser radar protection plate and a camera fixing plate which correspond to the laser radar protection plate and the binocular camera are arranged on two sides of the mechanical arm moving assembly respectively to complete the integral identification construction of the library environment.
Further, the clamping jaw on the arm comprises two parts, and one part is connection and auxiliary part, includes the clamping jaw fixed plate, clamping jaw bottom plate and the camera fixed plate of being connected with the arm, binocular vision camera set up on the camera fixed plate, another part includes electronic clamping jaw itself, the first movable block of cooperation electronic clamping jaw presss from both sides tight piece and electronic clamping jaw plectrum subassembly, two sets of electronic clamping jaw plectrum subassemblies include the second movable block of cooperation electronic clamping jaw, realize plectrum back-and-forth movement function's first spring fixed block, second spring fixed block, spring fixed pillar, slide and plectrum.
Furthermore, four groups of carrying bookshelves are arranged above the movable chassis, the carrying bookshelves and the movable chassis are positioned through positioning round pins and positioning ridge pins, each carrying bookshelf comprises a carrying bookshelf bottom plate, a carrying bookshelf partition plate, a carrying bookshelf back plate and a carrying bookshelf stop block used for preventing books from falling in front, and handles are arranged on two sides of each carrying bookshelf.
Furthermore, the book pressing assembly comprises side supporting plates, a rear supporting plate, book pressing plates, springs, spring fixing columns and a bottom plate, a sliding block is arranged below the book pressing plates, a sliding groove is formed in the bottom plate and can be used for the sliding block to move, the two side supporting plates and the rear supporting plate are respectively and fixedly arranged on the top surface of the bottom plate, handles are arranged on the outer sides of the side supporting plates, the springs are arranged on one side supporting plate through the spring fixing columns, and the springs are fixedly connected with the book pressing plates.
Has the advantages that:
the invention has the advantages of high automation degree, modular design, compact structure, strong reliability, high integration level and convenient disassembly and maintenance, and the robot consists of a moving chassis, a mechanical arm moving assembly, a mechanical arm, a clamping jaw and related accessories.
2 the chassis of the invention is composed of Mecanum wheel omni wheels, can freely shift and change direction, is convenient to move in narrow areas in libraries, and reduces the whole size.
3 the joint module of the invention uses a torque motor, a planetary reducer and the like and has the advantages of stable transmission, high transmission efficiency, simple structure and the like. When the joint module is stopped, the mechanical arm can automatically stop moving and is self-locked, and the safety of work is guaranteed.
4, the invention adopts two cameras, one of which is specially used for identifying the book label and the book position, and finishing the specific work of book arrangement; and the other one is used for identifying the environment, and finishing the work of obstacle avoidance, human body posture and action, human face identification and the like together with various sensors to assist in finishing the construction of the environment.
5 the invention adopts the modular design, deconstructs the related functions of the robot, is convenient for design and is also convenient for the subsequent maintenance of the robot.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the main structure of the robot of FIG. 1;
FIG. 3 is a schematic view of the mobile chassis of the present invention;
FIG. 4 is a schematic view of the robotic arm moving assembly of the present invention;
FIG. 5 is a schematic view of a multi-degree of freedom articulated hand of the present invention;
FIG. 6 is a schematic view of a robot arm gripper configuration of the present invention;
FIG. 7 is a schematic view of a structure of a carrying bookshelf in accordance with the present invention;
FIG. 8 is a schematic view of the structure of the bookshelf book compression assembly of the invention;
in the figure:
1 moving a chassis, 11 moving a chassis support frame, 111 moving a first layer plate of the chassis, 112 side sealing plates, 113 rear sealing plates, 114 moving a second layer plate of the chassis, 116 front sealing plates, 117 control cabinets, 12 omnidirectional wheel driving devices, 121 driving motors, 122 motor pressing blocks, 123 bearing seats, 124 flange bearings, 125 couplers, 126 Mecanum wheels, 13 laser sensor assemblies, 131 sensor bases, 132 supporting plates, 133 mounting plates and 134 laser sensors, 14 ultrasonic sensor assemblies, 141 ultrasonic sensors and 142 fixed supports;
2 mechanical arm moving assembly, 21 motor transmission assembly, 121 driving motor, 122 motor fixing block, 123 moving electric cylinder, 22 bottom plate, 221 side motor transmission assembly back plate, 222 mechanical arm transmission assembly supporting plate, 223 integrated display, 224 drag chain, 225 slide rail, 226 slider, 23 mechanical arm fixing bottom plate, 231 mechanical arm transmission assembly moving plate, 232 mechanical arm transmission assembly moving plate supporting plate, 241 laser radar, 242 laser radar protection plate, 243 camera fixing plate and 244 binocular camera;
the robot comprises a 3-degree-of-freedom articulated hand, a 31 first joint module, a 32 second joint module, a 33 first connecting arm, a 34 third joint module, a 35 second connecting arm, a 36 fourth joint module, a 37 third connecting arm and a 38 fifth joint module;
4 clamping jaws, 41 electric clamping jaw shifting piece assemblies, 411 second moving blocks, 412 first spring fixing blocks, 415 second spring fixing blocks, 414 springs, 413 spring fixing supports, 416 slideways, 417 shifting pieces, 42 electric clamping jaws, 421 first moving blocks, 422 clamping blocks, 423 clamping jaw bottom plates, 424 clamping jaw fixing plates, 425 camera fixing plates and 426 cameras;
5, 51, 52, 53, 54, 53, 56 and 57 handles;
6 bookshelf book clamping components, 61 side supporting plates, 62 back supporting plates, 63 book pressing plates, 64 springs, 65 spring fixing columns, 66 bottom plates and 67 handles.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1 to 8, the embodiment discloses an automatic library management robot, a robot body comprises a moving chassis 1, a mechanical arm moving assembly 2 and a carrying bookshelf 4 which are fixed on the moving chassis, and a clamping jaw 5 which is fixed with a mechanical arm 4 and the front end of the mechanical arm on the moving assembly, wherein the clamping jaw is used for conveniently butting with the robot, the structure of the bookshelf in the library is changed to a certain degree, a movable unit for placing books is mainly added on the clamping jaw, and the books are pressed on an assembly 6. And the control system who sets up on moving the chassis, control system include walking auxiliary unit, environment recognition unit, can supply integration display and the switch board of people's operation, walking auxiliary unit include ultrasonic sensor subassembly and laser displacement sensor subassembly, the environment recognition unit include laser radar 241 and binocular vision camera 244.
Specifically, the mobile chassis 1 further includes a mobile chassis support 11, a lower mobile chassis first layer 111, an upper mobile chassis second layer 114, front and rear sealing plates 116 and 112, respectively, and side sealing plates 115, respectively, on the left and right, and a control cabinet 117 is disposed inside the mobile chassis support, and is linked with the integrated display and communicates with an external library management system to form a robot management unit. Four sets of omnidirectional wheel driving devices 12 for the robot to move are arranged below the first floor 111, and a Mecanum wheel structure is adopted to complete the whole movement of the robot conveniently, so that the robot can move back and forth between narrow bookshelves conveniently. The object distance in front and back is judged to each two pairs of ultrasonic sensor subassembly 14 in front and back, because face the bookshelf both sides to the distance required precision than higher, has two sets of laser sensor subassembly 13 survey respectively in first floor 111 below both sides to the distance of both sides bookshelf, can realize millimeter level survey, helps the robot more accurate first time location of some, makes things convenient for follow-up robot to get the operation of putting books.
Specifically, the robot arm moving assembly 2 includes a motor transmission assembly 21 including a driving motor 121, a motor fixing block 122, and a moving electric cylinder 123. The mechanical arm moving assembly 2 is provided with a bottom plate 22 at the lowest part, side motor transmission assembly back plates 221, a mechanical arm transmission assembly supporting plate 222, a sliding rail 225, a sliding block 226 and a drag chain 224 at two sides, so that the mechanical arm and the clamping jaw above can move up and down, and the moving range of the mechanical arm is widened. Two sets of motor transmission assemblies and two sets of slide rails are adopted for symmetrical design, a stressed mechanism is optimized, and the degree of bearable force is enhanced. The drag chain is additionally arranged on the moving assembly, so that cables and wires of the mechanical arm and the clamping jaw part on the upper portion can be conveniently led into a control system in the moving chassis on the lower portion, and the structure is more attractive in appearance. The upper part is provided with a mechanical arm fixing bottom plate 23, a mechanical arm transmission assembly moving plate 231 and a mechanical arm transmission assembly moving plate supporting plate 232, and weight reduction treatment is carried out on the mechanical arm fixing bottom plate, the mechanical arm transmission assembly moving plate and the mechanical arm transmission assembly moving plate supporting plate. An integrated display 223, a laser radar 241, a binocular camera 244, a corresponding laser radar protection plate 242 and a corresponding camera fixing plate 243 are respectively arranged on two sides of the mechanical arm moving assembly 2 to complete the overall identification and construction of the library environment.
Specifically, the end cover of the first joint module 31 of the robot arm is connected to the connecting hole of the second joint module 32, the end cover of the second joint module 32 is connected to one end of the first connecting arm 33, the other end of the first connecting arm 33 is connected to the connecting hole of the third joint module 34, the end cover of the third joint module 34 is connected to one end of the second connecting arm 35, the other end of the second connecting arm 35 is connected to the fourth joint module 36, the end cover of the fourth joint module 36 is connected to one end of the third connecting arm 37, and the other end of the third connecting arm 37 is connected to the fifth joint module 38. The gripper mechanism 4 at the front end can be made flexible in taking up and putting down, moving horizontally, so that the desired action in the movable space can be set or presented.
Specifically, the clamping jaw 4 on the mechanical arm is composed of two parts, one part is a connecting part and an auxiliary part, and comprises a clamping jaw fixing plate 424, a clamping jaw bottom plate 423, a camera fixing plate 425 and a camera 426 which are connected with the mechanical arm, so that books on the bookshelf and on the carrying bookshelf are identified, specific positions of the books needing to be processed are distinguished, and meanwhile, the clamping jaw 4 is connected with the front end electric clamping jaw. The auxiliary structure is designed to be detachable, and the maintenance in the later period is facilitated. The other part comprises the electric clamping jaw body 42, a first moving block 421 matched with the electric clamping jaw, a clamping block 422 and an electric clamping jaw shifting piece assembly 41. The moving block of the electric clamping jaw is additionally designed, and the clamping requirement of books is met. The two sets of electric clamping jaw plectrum assemblies 41 comprise a second moving block 411 matched with the electric clamping jaw, a first spring fixing block 412 for realizing the front-and-back movement function of the plectrum, a second spring fixing block 415, a spring 414, a spring fixing support 413, a slideway 416 and a plectrum 417. The spring and the slide way can ensure that when an object is in front of the shifting piece, the shifting piece can automatically contract under the advancing condition, and other functions are not limited. The plectrum is used for separating books, and a group of plectrum can conveniently insert the books on the bookshelf, and two groups of plectrums can conveniently take out the books. The electric clamping jaw is provided with two sets of sliding grooves, so that two sets of clamping functions can be realized simultaneously, one set of clamping function is used for clamping books, and the other set of clamping function is used for changing the positions of the books in the bookshelf. The clamping jaws 4 are dedicated to the simple and reliable function of automatically taking out and placing books in a library environment.
Specifically, in order to realize convenience and simplicity of carrying functions, four groups of carrying bookshelves 5 are arranged above the moving chassis of the robot, and twenty books can be carried at one time. The carrying bookshelf 5 and the movable chassis are positioned through the positioning round pins 53 and the positioning edge pins 54, so that the carrying bookshelf 5 is simple and convenient to use, the carrying bookshelf 5 can be taken down at any time, and the carrying bookshelf 5 is convenient to clean and the like. All the other parts comprise a carrying bookshelf bottom plate 51, a carrying bookshelf partition plate 52, a carrying bookshelf back plate 53 and a carrying bookshelf stop block 56 in front for preventing books from falling off, and the spacing and the size of the carrying bookshelf are reasonably designed to ensure that the books can be smoothly taken out. The library has flat ground, so that the structure is simplified as much as possible when the book function is designed and carried, and the requirements can be fully met. Handles 57 are provided at both sides to facilitate taking and carrying the bookshelf 5.
In particular to a simple book shelf management mechanism for assisting robots and library managers. The original bookshelf can still be used, and the difference is that books are placed on the bookshelf book clamping components 6, and then the bookshelf book clamping components 6 are placed on the bookshelf. The structure adopts a unified design, so that the management cost is convenient. Meanwhile, the structure is convenient to take out at one time, and management is convenient. The structure size is as large as the holes in the bookshelf, and the sliding cannot be caused. Handles 67 are provided on both sides, which allows the manager to easily pick and place the device. The book clamping assembly 6 comprises a side support plate 61 of the bookshelf pressing assembly, a rear support plate 62, a book pressing plate 63, a spring 64, a spring fixing column 65 and a bottom plate 66. Books on the clamping component are clamped by reasonable springs, so that clamping is guaranteed not to fall out, the books are convenient to take and place, a sliding block is arranged below a book pressing plate, and a sliding groove is formed in the floor and can be used for moving.
The working process and the working principle of the invention are as follows:
the robot is combined with the book management system, and the information is updated synchronously. When books need to be put in the original place of the bookshelf in the library, the books on the carrying bookshelf are firstly identified through the camera on the clamping jaw, the robot is moved to the corresponding position after information is recorded, and spatial information is led into the robot system through the sensor and the camera in the process. The mechanical arm moves, the clamping jaw is used for grabbing a corresponding book and then moves to a corresponding position, in the process, the poking piece on the clamping jaw is protruded forwards and possibly collides with a corresponding barrier, but the poking piece can be contracted through the spring to a position which can not influence the process of taking and placing the book. After a camera on the clamping jaw is used for determining a specific position, the book shelf is pulled open through the clamping jaw shifting sheet, the corresponding position is vacated, a book is inserted, and the book on the book shelf can be clamped again under the action of the spring and the slide block slide way. On the contrary, when the book is removed, two groups of shifting sheets are respectively inserted into two sides of the book to be taken out, and the gap at the manufacturing position can be used for the clamping jaw to take out the book.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (8)
1. An automatic library management robot is characterized by comprising
Moving the chassis;
the moving assembly and the carrying bookshelf are fixed on the moving chassis;
the mechanical arm is arranged on the moving assembly, and the clamping jaw is arranged at the front end of the mechanical arm;
the book pressing component is arranged on the library bookshelf;
and the control system is arranged on the mobile chassis and comprises a walking auxiliary unit, an environment recognition unit, an integrated display and a control cabinet, wherein the integrated display and the control cabinet can be operated by people, the walking auxiliary unit comprises an ultrasonic sensor component and a laser displacement sensor component, the environment recognition unit comprises a laser radar and a binocular vision camera, and the control cabinet can be communicated with a management system of a library by combining with the integrated display.
2. An automated library management robot according to claim 1, wherein: the movable chassis comprises a movable chassis support frame, a movable chassis first layer plate located below the movable chassis support frame and a movable chassis second layer plate located above the movable chassis support frame, front and rear sealing plates are arranged on the front side and the rear side of the movable chassis respectively, side sealing plates are arranged on the left and right sides of the movable chassis respectively, the control cabinet is arranged in the movable chassis, four sets of omnidirectional wheel driving devices used for moving and two pairs of ultrasonic sensor assemblies used for judging object distances between the front and the rear are arranged below the movable chassis first layer plate, the two pairs of ultrasonic sensor assemblies are arranged on the front and rear edges below the movable chassis first layer plate, and two sets of laser sensor assemblies are arranged on the left and right sides below the first layer plate respectively and used for measuring distances between the bookshelf on two.
3. An automated library management robot according to claim 2, wherein: the omnidirectional wheel driving device comprises a driving motor, a motor pressing block, a bearing seat, a flange bearing, a coupling and a Mecanum wheel.
4. An automated library management robot according to claim 3, wherein: the laser sensor assembly comprises a sensor base, a supporting plate, a mounting plate and a laser sensor, and the ultrasonic sensor assembly comprises an ultrasonic sensor and a fixed support.
5. An automated library management robot according to claim 4, wherein: the moving assembly comprises a motor transmission assembly, the motor transmission assembly comprises a driving motor, a motor fixing block and a moving electric cylinder, a bottom plate is arranged at the lowest part of the moving assembly, side motor transmission assembly back plates, a mechanical arm transmission assembly supporting plate, sliding rails, sliding blocks and drag chains are arranged at two sides of the moving assembly, two groups of sliding rails are symmetrically matched with the motor transmission assembly at opposite angles to move a mechanical arm and a clamping jaw above the robot up and down, the drag chains conveniently transmit electric wires of the clamping jaw and the mechanical arm to the lower part, the moving assembly widens the moving range of the mechanical arm, a mechanical arm fixing bottom plate is arranged above the moving assembly, a mechanical arm transmission assembly moving plate and a mechanical, and the two sides of the mechanical arm moving assembly are respectively provided with an integrated display, a laser radar, a binocular camera, a laser radar protection plate and a camera fixing plate which correspond to the laser radar, and the camera and the laser radar complete the integral identification construction of the library environment.
6. An automated library management robot according to claim 5, wherein: clamping jaw on the arm comprises two parts, and partly for connecting and the auxiliary part, include the clamping jaw fixed plate, clamping jaw bottom plate and the camera fixed plate of being connected with the arm, binocular vision camera set up on the camera fixed plate, another part includes electronic clamping jaw itself, the first movable block of electronic clamping jaw of cooperation presss from both sides tight piece and electronic clamping jaw plectrum subassembly, two sets of electronic clamping jaw plectrum subassemblies include the second movable block of electronic clamping jaw of cooperation, realize plectrum back-and-forth movement function's first spring fixed block, second spring fixed block, spring fixed stay, slide and plectrum.
7. An automated library management robot according to claim 6, wherein: four groups of carrying bookshelves are arranged above the movable chassis, the carrying bookshelves and the movable chassis are positioned through positioning round pins and positioning ridge pins, each carrying bookshelf comprises a carrying bookshelf bottom plate, a carrying bookshelf partition plate, a carrying bookshelf back plate and a carrying bookshelf stop block used for preventing books from falling in front, and handles are arranged on two sides of each carrying bookshelf.
8. An automated library management robot according to claim 7, wherein: the book pressing assembly comprises side supporting plates, a rear supporting plate, a book pressing plate, springs, spring fixing columns and a bottom plate, wherein a sliding block is arranged below the book pressing plate, a sliding groove is formed in the bottom plate and can be used for the sliding block to move, the two side supporting plates and the rear supporting plate are respectively fixedly arranged on the top surface of the bottom plate, handles are arranged on the outer sides of the side supporting plates, the springs are arranged on one side supporting plate through the spring fixing columns, and the springs are fixedly connected with the book pressing plate.
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Cited By (4)
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CN113084777A (en) * | 2021-04-29 | 2021-07-09 | 江西师范大学 | Automatic books robot of getting of library based on ROS |
CN114147680A (en) * | 2021-12-16 | 2022-03-08 | 三明学院 | Intelligent library robot and working method thereof |
CN115476334A (en) * | 2022-10-13 | 2022-12-16 | 广州大学 | Automatic book taking and returning robot for library |
CN115476334B (en) * | 2022-10-13 | 2024-11-15 | 广州大学 | Automatic book taking and returning robot for library |
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