CN110202540A - A kind of taking care of books intelligent robot - Google Patents
A kind of taking care of books intelligent robot Download PDFInfo
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- CN110202540A CN110202540A CN201910635246.9A CN201910635246A CN110202540A CN 110202540 A CN110202540 A CN 110202540A CN 201910635246 A CN201910635246 A CN 201910635246A CN 110202540 A CN110202540 A CN 110202540A
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- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 230000009467 reduction Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims 1
- 230000000630 rising effect Effects 0.000 claims 1
- 238000005096 rolling process Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of taking care of books intelligent robot, including execution module, control module, tracking module, obstacle avoidance module, drive module, the execution module includes picking unit and lifting unit, the picking unit grabs books by control module realization, the lifting unit holding for books to be placed by control module；The tracking module controls drive module by control module and realizes tracking operation；The obstacle avoidance module controls drive module by control module and carries out avoidance operation；The drive module setting is in the bottom of station, for driving the movement of whole operation platform.The present apparatus drives the lifting of books to be placed by the lifting unit of execution module, while in the design of mechanical paw, using multiple identical bluff pieces, increase the contact area with aid object of cleft hand, the stability of clamping is improved, while tracking module, obstacle avoidance module act synergistically, realizes stable operation.
Description
Technical field
The invention belongs to taking care of books equipment technical fields, and in particular to a kind of taking care of books intelligent robot.
Background technique
With the continuous development of present science and technology, books have become classmates and widen the vision, understand the world, society with
It borrows, is our good teacher and helpful friend, it, which realizes to stay indoor for us, just knows the good story of affairs in this world.It book reservation simultaneously and self-service looks into
The work such as inquiry can have been realized at present by Network Information part.
But the library stream of people is numerous, books administrative staff needs the books for giving back classmates further to divide door other
Class, the upper undercarriage for carrying out books is put, and solves the problems, such as this only according to manpower, be it is bothersome and time-consuming, especially in recent years,
With the high speed development of large-scale library, in the case where tradition obtains operating mode, books administrative staff needs to consume a large amount of time
Books are managed with energy, undercarriage on these, the work of carrying is all dull and repetitive work, is increasing books pipe
While managing personnel labor intensity, the efficiency of management of books is not also high.
Summary of the invention
In view of the deficiencies of the prior art, it the purpose of the present invention is to provide a kind of taking care of books intelligent robot, solves
The management work for carrying books in the prior art is inefficient, and the problem of large labor intensity.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of taking care of books intelligent robot, including execution module, control module, tracking module, obstacle avoidance module, driving mould
Block and energy module,
The execution module includes picking unit and lifting unit, and the picking unit is realized by control module to books
It is grabbed, the lifting unit holding for books to be placed by control module, and execution module is placed in station
Upper surface；
The tracking module is placed in the bottom of station, is successively arranged in parallel with three groups of infrared tubes, the infrared tube
On be provided with infrared ray sending tube and infrared receiver tube, infrared ray is first emitted by every group of infrared tube infrared ray sending tube,
And the varying strength infrared ray reflected by infrared receiver, and control module is fed back to, it is real that control module controls drive module
Existing tracking operation；
The obstacle avoidance module is set to the front end of station, realizes the distance monitoring of station, and monitoring distance is believed
Breath feeds back to control module, and the operation of drive module is controlled by control module；
The drive module setting is in the bottom of station, for driving the movement of whole operation platform；
The energy module is for supplying execution module, control module, tracking module, obstacle avoidance module, the use of drive module
Electricity demanding.
Further, the station is made of two chassis, and is bolted and fixed between chassis, and makes two
Preset clearance between chassis.
Further, the picking unit includes power handgrip, connecting rod and steering engine, and the steering engine is placed in upper layer
It on chassis, is hinged between multiple connecting rods, both ends are connected on the steering engine of bottom and the power handgrip at top.
Further, the two fingers gripper type structure that the power handgrip is made of multiple gripper parts.
Further, the steering engine is by steering wheel, train of reduction gears, position feedback potentiometer, direct current generator, control circuit group
At the control circuit receives the control signal from control module, and controls direct current generator operating, and direct current generator drives steering engine
The train of reduction gears rotation being inside mutually twisted, and drive on steering wheel；The output shaft phase of the position feedback potentiometer and steering engine
Even, and the voltage signal received is sent in control circuit, control circuit controls direct current generator according to the signal of feedback
Working condition.
Further, the lifting unit includes hoistable platform, shaft coupling, driving motor, and the hoistable platform is placed in
On the chassis of layer, driving motor realizes the descending operation of hoistable platform by driving shaft coupling.
Further, LED light and buzzer are provided on the chassis, the LED light and buzzer and control module connect
It is logical, when obstacle avoidance module detects that barrier realizes the report of LED light lighted with buzzer that is, by control module transmission instruction
It is alert.
The taking care of books intelligent robot, the motion mode of the drive module are as follows:
S1: intelligent robot is placed on the ground for being coated with guide line, and is started switch；
S2: whether the signal for judging three infrared tubes in tracking module is overall height level, if it is, control executes mould
Block running, carries out the arrangement of books, otherwise, carries out the judgement of obstacle avoidance module；
S3: obstacle avoidance module judged according to the distance D monitored with regard to ultrasonic sensor, when distance D is less than 5cm, then LED
The alarm of lamp lighted with buzzer, and drive module fall back；When distance D is more than or equal to 10cm then LED light and buzzing
Device stops working, and drive module halts；As 5cm≤distance D < 10cm, then the infrared right of tracking module is continued through
Pipe determines；
S4: when high level occurs in the right infrared tube of tracking module, then drive module place is controlled by control module
Right-hand roller relative to the left side idler wheel slow down movement, reach movement of turning right；When the middle infrared tube of tracking module occurs
When high level, then the left side idler wheel where controlling drive module by control module does deceleration movement relative to the idler wheel on the right,
Reach movement of turning left；When high level occurs in the middle infrared tube of tracking module, then continue to move ahead, it is otherwise out of service.
Beneficial effects of the present invention:
1, the present apparatus drives the lifting of books to be placed, while the design of mechanical paw by the lifting unit of execution module
On, using multiple identical bluff pieces, increases the contact area with aid object of cleft hand, improve the stability of clamping.
2, the present apparatus by tracking module, obstacle avoidance module cooperative motion, it can be achieved that whole operation, intelligent robot close
Physics and chemistry operation, improves handling efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, those of ordinary skill in the art are come
It says, without creative efforts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the structure schematic diagram of the embodiment of the present invention；
Fig. 3 is the bottom surface structure schematic diagram of the embodiment of the present invention；
Fig. 4 is the picking unit structural schematic diagram of the embodiment of the present invention；
Fig. 5 is the steering engine structural schematic diagram of the embodiment of the present invention；
Fig. 6 is the drive module operating structure block diagram of the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1-3, the embodiment of the present invention provides a kind of taking care of books intelligent robot, including execution module, control
Module, tracking module, obstacle avoidance module, drive module and energy module and station 1.
Wherein station 1 is made of two chassis 11, and is bolted and fixed between chassis 11, and makes two chassis
Preset clearance between 11, for placing control module and energy module.
Drive module is arranged on the chassis 11 of lower layer by four independent idler wheels 6, for driving the drive of station 1
Dynamic, generally using model 37GB90-500T DC speed-reducing as driving source, with deceleration, and torsion is big,
The advantages such as movement velocity is relatively low, control is flexible, price is low.
Execution module includes picking unit 2 and lifting unit 3, as shown in figure 4, picking unit 2 is by power handgrip 21, connection
Rod piece 22 and steering engine 23 form, and steering engine 23 is bolted on the chassis 11 on upper layer, pass through steering engine 23 and control module
It is connected, with program output pwm signal, is used for its corner of continuous control, there is steering engine 23 small in size, big, the external machinery of torque to set
The features such as meter is simple, stability is high.
As shown in figure 5, steering engine 23 is by steering wheel 231, train of reduction gears 232, position feedback potentiometer 233, direct current generator
234, control circuit 235 forms, and control circuit 235 receives the control signal from control module, and controls the fortune of direct current generator 234
Turn, direct current generator 234 drives the train of reduction gears 232 being mutually twisted in steering engine 23 to rotate, and is turned by train of reduction gears 232
It is driven on steering wheel 231 after dynamic, what the output shaft and position feedback potentiometer of steering engine 23 were connected to, while steering wheel 23 rotates,
Position feedback potentiometer 233 is driven, position feedback potentiometer 233 will export a voltage signal to control circuit board 235, and go forward side by side
Row feedback, then control circuit 235 determines direction and the speed of the rotation of direct current generator 234 according to position, to reach mesh
Mark stops.
The control signal period of steering engine 23 is pulsewidth modulation (PWM) signal of 20MS, and wherein pulse width is from 0.5-
2.5MS, corresponding steering wheel position are 0-180 degree, are changed linearly.That is, providing certain pulsewidth, its output
Axis will be kept on certain corresponding angle, and no matter how extraneous torque changes, the pulse until providing it with an other width
Signal, it can just change in output angle to new corresponding position, there is a reference circuit inside steering engine, generate the period and be
20MS, the reference signal of width 1.5MS have one than going out compared with device, external signal are compared with reference signal, judges direction
And size, to produce the turn signal of motor.It can be seen that steering engine 23 is a kind of position servo driver, slewing area is not
It can exceed that 180 degree, the driver for needing constantly to change and can keep suitable for those.
It is hinged to form mechanical arm between multiple connecting rods 22, it is general that there are 2~3 freedom degrees, mechanical arm
One end is connect with steering engine 23, and steering engine 23 can realize that arm angle adjusts, and the other end is connect with power handgrip 21, and power is grabbed
Hand 21 grabs books by control module realization.Power handgrip 21 uses multiple grippers zero of two fingers gripper type structure
Part composition can increase mechanical paw and accommodate the contact area of object, increase clamping stability.The motion mode of gripper is double
Fulcrum is rotary, the gripper part movement on wherein one side is driven when steering engine 23 moves, then engage by gear and drive another side
The grasping movement of gripper part movement realization gripper.
The holding for books to be placed by control module of lifting unit 3, and execution module is placed in the chassis 11 on upper layer
On, including hoistable platform 31, shaft coupling 32, driving motor 33, hoistable platform 31 be placed on the chassis 11 on upper layer, driving motor 33
The descending operation of hoistable platform 31 is realized by driving shaft coupling 32, the side of hoistable platform 31 is using selection two-stage scissor-type knot
Structure, in use, the rotation of driving motor 33 drives the movement of shaft coupling 32 to reach to realize moving up and down for lifting platform 31
Required height, while picking unit passes through the motion profile of programming Control machinery arm, to realize crawl books and be put into finger
Process is set in positioning.After having grabbed books, lifting unit drops to minimum altitude, i.e., complete whole operation.
Tracking module is set on the chassis 11 of lower layer, including three groups of infrared tubes 41, respectively left infrared tube, in it is red
Outside to pipe and right infrared tube, wherein infrared ray sending tube and infrared receiver tube are provided on every group of infrared tube 41, one
As be provided with guide line on the ground, so that other regions on region and ground where guide line is contrasted (reflection infrared ray
Intensity it is different), infrared tube 41 emits infrared ray, and resulting voltage signal is transferred to control module, control module from
And it controls drive module and realizes that whole equipment operates on guide line.Infrared receiving tube 42 is according to receiving different reflected intensitys
Infrared ray, and export to control module, by the motion profile of control module control drive module.
Obstacle avoidance module is set to the front end on upper layer chassis 11, the general ultrasonic sensor for selecting model HC-SR04
51, the distance range of detection is 3CM to 3.5m, and the working principle of ultrasonic sensor is as follows:
(1) ranging is triggered using I/O, at least high level signal of 10us；
(2) obstacle avoidance module sends the square wave of 8 40khz automatically, has detected whether signal return automatically；
(3) there is signal return, a high level is exported by I/O, high level duration is exactly ultrasonic wave from being emitted to
The time of return, measuring distance=(the high level time * velocity of sound (340M/S))/2.
As shown in fig. 6, the carrying out practically method of drive module:
S1: intelligent robot is placed on the ground for being coated with guide line, and is started switch；
S2: whether the signal for judging three infrared tubes in tracking module is overall height level, if it is, control executes mould
Block running, carries out the arrangement of books, otherwise, carries out the judgement of obstacle avoidance module；
S3: obstacle avoidance module judged according to the distance D monitored with regard to ultrasonic sensor, when distance D is less than 5cm, then LED
The alarm of lamp lighted with buzzer；When distance D is more than or equal to 10cm, then LED light and buzzer stop working；When 5≤distance D <
10, then the infrared tube for continuing through tracking module determines；
S4: when high level occurs in the right infrared tube 41 of tracking module, then drive module institute is controlled by control module
Right-hand roller 6 relative to the left side idler wheel 6 slow down movement, reach movement of turning right；When the middle infrared tube of tracking module
41 when there is high level, then the left side idler wheel 6 where controlling drive module by control module is done relative to the idler wheel on the right to be subtracted
Speed is mobile, reaches movement of turning left；When high level occurs in the middle infrared tube 41 of tracking module, then continues to move ahead, otherwise stop
Only run.
Energy module is divided into two parts, one of part for supply the lifting unit of execution module, control module,
Tracking module, the power demand of obstacle avoidance module.Meanwhile the present apparatus has also used 4 voltage reduction modules, for providing corresponding voltage,
One piece is reduced to 5V, is used to power to control circuits such as single-chip microcontroller and modules；One piece is also reduced to 5V, is used to drive to motor etc.
Circuit power supply；We in such a way that control circuit is separated with driving circuit, prevent because driving circuit it is unstable due to cause to control
The damage of circuit processed effectively protects single-chip microcontroller and each functional module；Third block voltage reduction module output voltage is also 5V, is used
Come to the control circuit power supply of steering engine；Last block voltage reduction module output voltage is 6V, is used to power to steering engine, individually power
Enough power can be exported.
In conclusion intelligent robot provided by the invention drives books to be placed by the lifting unit of execution module
It goes up and down, in the design of mechanical paw, using multiple identical bluff pieces, increases the contact area with aid object of cleft hand, improve folder
The stability held, while tracking module, obstacle avoidance module act synergistically, and realize stable operation.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one implementation of the invention
In example or example.In the present specification, schematic expression of the above terms may not refer to the same embodiment or example.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples to close
Suitable mode combines.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.
Claims (8)
1. a kind of taking care of books intelligent robot, including execution module, control module, tracking module, obstacle avoidance module, drive module
And energy module, which is characterized in that
The execution module includes picking unit (2) and lifting unit (3), and the picking unit (2) is realized by control module
Books are grabbed, the lifting unit (3) holding for books to be placed by control module, and execution module is placed in
The upper surface of station (1)；
The tracking module is placed in the bottom of station (1), is successively arranged in parallel with three groups of infrared tubes (41), described infrared right
It is provided with infrared ray sending tube and infrared receiver tube on pipe (41), is first sent out by every group of infrared tube (41) infrared ray sending tube
Infrared ray, and the varying strength infrared ray reflected by infrared receiver are penetrated, and feeds back to control module, control module control is driven
Dynamic model block realizes tracking operation；
The obstacle avoidance module is set to the front end of station (1), realizes the distance monitoring of station (1), and by monitoring distance
Information feeds back to control module, and the operation of drive module is controlled by control module；
The drive module setting is in the bottom of station (1), for driving the movement of whole operation platform (1)；
The electricity consumption that the energy module is used to supply execution module, control module, tracking module, obstacle avoidance module, drive module needs
It asks.
2. taking care of books intelligent robot according to claim 1, which is characterized in that the station (1) is by two bottoms
Disk (11) composition, and be bolted and fixed between chassis (11), and make preset clearance between two chassis (11).
3. taking care of books intelligent robot according to claim 1, which is characterized in that the picking unit (2) includes dynamic
Power handgrip (21), connecting rod (22) and steering engine (23), the steering engine (23) are placed on the chassis (11) on upper layer, multiple connections
Rod piece is hinged between (22), and both ends are connected on the steering engine (23) of bottom and the power handgrip (21) at top.
4. taking care of books intelligent robot according to claim 3, which is characterized in that the power handgrip (21) is by more
The two fingers gripper type structure of a gripper part composition.
5. taking care of books intelligent robot according to claim 3, which is characterized in that the steering engine (23) is by steering wheel
(231), train of reduction gears (232), position feedback potentiometer (233), direct current generator (234), control circuit (235) composition, institute
It states control circuit (235) and receives the control signal from control module, and control direct current generator (234) operating, direct current generator
(234) train of reduction gears (232) rotation being mutually twisted in steering engine (23) is driven, and is driven on steering wheel (231)；The position
Feedback potentiometer (233) is connected with the output shaft of steering engine (23), and the voltage signal received is sent to control circuit (235)
On, control circuit (235) controls the working condition of direct current generator (234) according to the signal of feedback.
6. taking care of books intelligent robot according to claim 1, which is characterized in that the lifting unit (3) includes rising
Platform (31), shaft coupling (32), driving motor (33) drop, and the hoistable platform (31) is placed on the chassis (11) on upper layer, drives
Motor (33) realizes the descending operation of hoistable platform (31) by driving shaft coupling (32).
7. taking care of books intelligent robot according to claim 1, which is characterized in that be provided on the chassis (11)
LED light and buzzer, the LED light and buzzer are connected to control module, when obstacle avoidance module detects barrier, that is, pass through control
Molding block sends instruction, realizes the alarm of LED light lighted with buzzer.
8. taking care of books intelligent robot according to claim 1-6, which is characterized in that the drive module
Motion mode are as follows:
S1: intelligent robot is placed on the ground for being coated with guide line, and is started switch；
S2: whether the signal for judging three infrared tubes (41) in tracking module is overall height level, if it is, control executes mould
Block running, carries out the arrangement of books, otherwise, carries out the judgement of obstacle avoidance module；
S3: obstacle avoidance module judged according to the distance D monitored with regard to ultrasonic sensor, when distance D is less than 5cm, then LED light
Light the alarm with buzzer, and drive module fall back；When distance D is more than or equal to 10cm, then LED light and buzzer stop
It only works, and drive module halts；As 5cm≤distance D < 10cm, then the infrared tube for continuing through tracking module is sentenced
It is fixed；
S4: when high level occurs in the right infrared tube (41) of tracking module, then drive module place is controlled by control module
Right-hand roller (6) relative to the left side idler wheel (6) slow down movement, reach movement of turning right；When infrared right in tracking module
When there is high level in pipe (41), then the rolling by the left side idler wheel (6) where control module control drive module relative to the right
Wheel does deceleration movement, reaches movement of turning left；When high level occurs in the middle infrared tube (41) of tracking module, then before continuing
Row, it is otherwise out of service.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910635246.9A CN110202540A (en) | 2019-07-15 | 2019-07-15 | A kind of taking care of books intelligent robot |
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| CN201910635246.9A CN110202540A (en) | 2019-07-15 | 2019-07-15 | A kind of taking care of books intelligent robot |
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| CN110539294A (en) * | 2019-09-19 | 2019-12-06 | 华侨大学 | Transfer robot manipulator device and transfer robot |
| CN111300437A (en) * | 2019-12-06 | 2020-06-19 | 西南石油大学 | Library's books intelligence is collected and is stored collection and transportation robot |
| CN111959582A (en) * | 2020-08-24 | 2020-11-20 | 常州工学院 | Book temporary storage and transfer device for book management and working method thereof |
| CN113334403A (en) * | 2021-06-02 | 2021-09-03 | 浙江师范大学 | A helping hand robot for library gets puts books |
| CN113334403B (en) * | 2021-06-02 | 2023-11-07 | 浙江师范大学 | Books helping hand robot |
| US20230043631A1 (en) * | 2021-08-04 | 2023-02-09 | Greentech Robotics Limited | Agricultural Weed Removal System |
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