CN111762487B - Automatic book storing and taking device and method for library - Google Patents

Abstract

The invention discloses an automatic book storing and taking device for a library, which comprises a bookshelf and a mechanical gripper, wherein the mechanical gripper is arranged on a book distribution vehicle; multiple layers of shelves are arranged in the bookshelf from top to bottom at equal intervals, a plurality of parallel partition plates are arranged on each layer of shelf along the horizontal direction, and books are stored between the adjacent partition plates; the book management module is used for detecting, recording and displaying the missing condition of books on the bookshelf in real time; the book information module is used for storing the serial number information of the books; the mechanical gripper is used for clamping books to finish the access action of the books. The invention solves the problems of inaccurate book position, different postures, difficult automatic access and the like of the conventional library, realizes the uniqueness, the adjustability and the datamation of the book at the bookshelf position, and accurately feeds back the position, the thickness and the publishing information of the book for a manipulator to ensure the automatic access of the book.

Description

Automatic book storing and taking device and method for library

Technical Field

The invention belongs to the technical field of intelligent libraries, and particularly relates to an automatic book storing and taking device and method for a library.

Background

In recent years, an intelligent library becomes a hot spot, and various unmanned book distribution trolleys come out, but the conventional library has the problems of inaccurate book position, different postures, difficulty in automatic access and the like, cannot be well applied to the existing bookshelf, and is lack of an efficient and low-cost bookshelf device adaptive to a manipulator of the unmanned book distribution trolley.

The mechanical arm of the existing book delivery trolley is a two-finger executing mechanism, when a book is taken and returned, the middle section of the book can be only clamped, horn-shaped openings are easy to appear at the upper end and the lower end of some old books, the mechanical arm is not beneficial to coupling with a bookshelf, and the book is easy to damage. Moreover, because books are regular objects, the existing book positioning technology is a complex machine vision technology, and the cost of the book distribution trolley is high. In addition, people often find books for a long time not on the book shelf when borrowing books, and a device capable of displaying whether the books are on the book shelf in real time is lacked.

In view of the above problems of the conventional bookshelves, the related art has also proposed many improvements. For example, Chinese patent application No. 201911308914.3, published as 2019, 12 and 18, the name of the invention is: the application realizes mechanical hand book taking and returning by adopting modular book boxes and a magnetic book box dragging mechanism on a shelf. The bookshelf needs to prepare a large number of book boxes suitable for the size of books when the books are updated, the updating mode is complicated, the cost of the bookshelf is high, the bookshelf is not in accordance with the existing book management mode, and the practicability is not strong.

Disclosure of Invention

The invention aims to provide an automatic book storing and taking device and method for a library, and solves the problems of inaccurate book position, different postures, difficult automatic storing and taking, high cost and the like of a conventional library.

In order to achieve the purpose, the invention adopts the technical scheme that:

an automatic book storing and taking device for a library comprises a bookshelf and a mechanical gripper, wherein the mechanical gripper is arranged on a book distribution vehicle; multiple layers of shelves are arranged in the bookshelf from top to bottom at equal intervals, a plurality of parallel partition plates are arranged on each layer of shelf along the horizontal direction, and books are stored between the adjacent partition plates; the book management module is used for detecting, recording and displaying the missing condition of books on the bookshelf in real time; the book information module is used for storing the serial number information of the books; the mechanical gripper is used for clamping books to finish the access action of the books.

Specifically, the shelf includes a shelf panel and 2 parallel slider rails disposed on the shelf panel, the slider rails being perpendicular to the partition.

Further, the partition comprises a partition panel and 2 partition sliders arranged at the bottom of the partition panel; the position, shape and size of the partition plate sliding block are matched with those of the sliding block guide rail; the partition plate slides on the shelf along the extension direction of the slide block guide rail through the matching of the partition plate slide block and the slide block guide rail.

The partition plate sliding block is also provided with 2 first mounting holes for fixing the partition plate sliding block in the sliding block guide rail through screws.

The cross section of the partition plate sliding block is trapezoidal, namely the partition plate sliding block is embedded in the sliding block guide rail in a sliding mode, so that the partition plates are adjusted on the shelf in a stepless mode, and the interval between every two adjacent partition plates can be adjusted according to the thickness of books.

The book shelf is characterized in that the partition board is a U-shaped board, and the opening of the U-shaped board faces outwards, so that on one hand, a mechanical gripper can conveniently grab books on the book shelf, and the mechanical gripper is prevented from colliding and scratching the partition board; on the other hand, the upper and lower ends of the book are prevented from having a trumpet-shaped opening.

Specifically, the book information module comprises an information module panel and an information module wing plate, wherein the information module wing plate is positioned at the top of the information module panel; the information module panel is provided with a two-dimensional code groove and a plurality of laser transmitters; the front end of the wing plate of the information module is provided with a convex strip.

Further, the outer edge of the shelf panel is provided with a guide rail groove, and the shape and the size of the guide rail groove are matched with those of the convex strip and used for installing the book information module. The information module pterygoid lamina passes through the cooperation of sand grip, guide rail groove to be installed at the shelf outer fringe, the top surface of information module pterygoid lamina is not higher than the top surface of shelf panel, avoids books to receive the influence at the in-process of access.

The top surface of the information module wing plate is also provided with 2 second mounting holes for fixing the information module wing plate on the guide rail groove through screws.

Specifically, the book management module comprises a display panel, a plurality of infrared emitters and infrared receivers; the display panel is arranged on the side face of the bookshelf; the infrared transmitter and the infrared receiver are respectively arranged on 2 opposite surfaces of the adjacent partition plates.

When books are stored between the two adjacent partition plates, the infrared rays emitted by the infrared emitter are blocked by the books, and the infrared receiver cannot receive infrared signals, so that the books are stored between the two adjacent partition plates; on the contrary, when the infrared receiver receives the infrared signal transmitted by the infrared transmitter, it indicates that no books are stored between the two adjacent partitions. The display panel can display the missing condition of the books on the bookshelf.

Specifically, the mechanical gripper comprises a palm actuating mechanism and a finger actuating mechanism, wherein the finger actuating mechanism is slidably mounted on the palm actuating mechanism;

the palm executing mechanism comprises a palm base, and the front side of the palm base is provided with a finger installing frame, a laser receiver and a code scanner; a transverse guide rod is arranged between two opposite side walls of the finger installation frame, 2 groups of telescopic mechanisms are arranged in the middle of the finger installation frame, and the telescopic directions of the 2 groups of telescopic mechanisms are opposite;

the finger actuating mechanism comprises 2 groups of mechanical fingers, guide holes are formed in the mechanical fingers, the mechanical fingers are movably mounted on the guide rods through the guide holes, and the output ends of the 2 groups of telescopic mechanisms are respectively connected with the side walls of the 2 groups of mechanical fingers; the 2 groups of telescopic mechanisms synchronously stretch and drive the 2 groups of mechanical fingers to move oppositely or back to back along the guide rod.

The telescopic mechanism comprises a micro telescopic motor and a telescopic rod, and two ends of the telescopic rod are respectively connected with the output end of the micro telescopic motor and the side wall of the mechanical finger. The opening or closing action of the mechanical fingers can be realized by synchronously driving the two micro telescopic motors to rotate forwards or reversely.

The mechanical fingers are E-shaped three-finger mechanical fingers, and the mechanical fingers with the structure can ensure that the book can be effectively clamped, and can not cause the condition that the upper end and the lower end of the book are in a horn shape.

The front of palm base still is equipped with the LED lamp for carry out not light to bar code scanner, even in the environment that light is not good, bar code scanner also can effective identification information module panel on the two-dimensional code.

The anti-skidding cushion block and the film pressure sensor are arranged on one surface, which is contacted with the book, of the mechanical finger, and the film pressure sensor is used for detecting the pressure between the mechanical finger and the book, so that whether the book is clamped by the mechanical finger or not is judged; the anti-slip cushion block is used for increasing the friction force between the mechanical fingers and books and preventing the books from sliding off the mechanical fingers.

Furthermore, the number of the laser receivers and the installation positions of the laser receivers on the palm base correspond to the number of the laser transmitters and the installation positions of the laser transmitters on the information module panel respectively. The laser transmitters emit laser with different frequencies, the laser receivers can detect the frequency of the laser after receiving laser irradiation, after each laser receiver receives laser signals with respective corresponding frequency, the fact that the front face of the mechanical hand grip (namely the front face of the mechanical palm) is parallel to the front face of the information module panel is shown, at the moment, the mechanical hand grip is just positioned in the middle of the partition boards on the two sides of the book corresponding to the information module panel, the position correction of the mechanical hand grip is achieved, and the mechanical hand grip is convenient to store and take the book.

Corresponding to the access device, the invention also provides an automatic book access method for the library, which comprises a book storing method and a book fetching method, wherein the book storing method comprises the following steps:

the book storage method comprises the steps of scanning bar codes on books to be stored through a book distribution vehicle to obtain book number information, book position information, corresponding partition plate distance information and orientation information of a mechanical gripper; planning a moving path of the book distribution vehicle according to the book position information, and conveying the books to be stored to the front of the corresponding bookshelf by the book distribution vehicle according to the planned path; clamping the book to be stored through the mechanical hand grips, and adjusting the height and the orientation of the mechanical hand grips; scanning the two-dimensional codes on the book information modules on the bookshelf one by one through a code scanner on the mechanical gripper, and comparing the book numbers in the two-dimensional codes until the two-dimensional codes containing the number information of the books to be stored are scanned; the orientation of the mechanical hand grips is opposite to the front face of the bookshelf by adjusting the spatial posture of the mechanical hand grips, and the mechanical hand grips are positioned between two partition plates of a bookshelf layer where books to be stored are positioned; then controlling the mechanical gripper to extend between the two partition plates, and then loosening and withdrawing the mechanical gripper to finish the book storing process;

the book fetching method comprises the steps that a book delivery vehicle receives a book fetching instruction sent by a background, and book number information, book position information, corresponding partition plate distance information and orientation information of a mechanical gripper are obtained according to the book fetching instruction; planning a moving path of the book delivery vehicle according to the book position information, and moving the book delivery vehicle to the front of a corresponding bookshelf according to the planned path; adjusting the height and the orientation of the mechanical gripper; scanning the two-dimensional codes on the book information modules on the bookshelf one by one through a code scanner on the mechanical gripper, and comparing the book numbers in the two-dimensional codes until the two-dimensional codes containing the number information of the books to be taken are scanned; the orientation of the mechanical hand grip is opposite to the front side of the bookshelf by adjusting the spatial posture of the mechanical hand grip, and the mechanical hand grip is positioned between two partition plates of a bookshelf layer where the books to be taken are positioned; and controlling the mechanical gripper to extend between the two partition plates, clamping the books, withdrawing the mechanical gripper, putting the clamped books into the book delivery vehicle, and finally conveying the books to a specified position through the book delivery vehicle, namely completing the book taking process.

Compared with the prior art, the invention has the beneficial effects that: (1) according to the bookshelf, the transverse positions of the partition plates can be adjusted in a stepless manner on the shelf by detachably and slidably connecting the partition plates with the shelf, so that the distance between the two partition plates can be adjusted according to the thickness of books, and the bookshelf can be adapted to books with different thicknesses; the bookshelf not only can meet the storage requirements of books with different thicknesses, but also can improve the utilization rate of the space of the bookshelf; (2) according to the invention, the plurality of laser transmitters are arranged on the information module panel, the plurality of laser receivers are arranged on the front surface of the palm base, and the pose correction of the mechanical gripper is realized through the frequency comparison of the laser receivers and the laser transmitters; (3) according to the invention, the partition plate is provided with the U-shaped plate, and the mechanical fingers are set to be E-shaped three-finger mechanical fingers, so that the mechanical gripper is convenient to grab books on the bookshelf on one hand, and the mechanical gripper is prevented from colliding and scratching with the partition plate; on the other hand, the upper and lower ends of the book are prevented from having a trumpet-shaped opening. (4) According to the invention, the infrared emitter and the infrared receiver are respectively arranged on the two opposite surfaces of the adjacent partition plates, and whether books are stored between the two partition plates is judged by detecting whether the infrared receiver receives an infrared signal, so that the books on the bookshelf can be conveniently managed.

Drawings

FIG. 1 is a schematic diagram illustrating an overall structure of an automatic book storing and taking device for a library according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the installation structure of the partition and the book information module on the shelf according to the embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a separator according to an embodiment of the present invention;

FIG. 4 is a schematic left side view of a spacer in an embodiment of the invention;

FIG. 5 is a schematic right-side view of a spacer in an embodiment of the invention;

FIG. 6 is a schematic view of the structure of a shelf in an embodiment of the present invention;

FIG. 7 is a side view of a shelf in an embodiment of the invention;

FIG. 8 is a detailed block diagram of the installation of the shelf on the shelf in an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a book information module in an embodiment of the present invention;

FIG. 10 is a schematic diagram of a mechanical gripper according to an embodiment of the present invention;

FIG. 11 is a front view of a mechanical grip in an embodiment of the present invention;

FIG. 12 is a schematic structural diagram of a finger actuator according to an embodiment of the present invention;

FIG. 13 is a schematic view of an embodiment of a display panel;

FIG. 14 is a flowchart illustrating a book saving method according to an embodiment of the present invention;

FIG. 15 is a flow chart of a book retrieving method in the embodiment of the present invention;

in the figure: 1. a partition plate; 1-1, a partition panel; 1-2, a partition plate sliding block; 1-3, a first mounting hole; 2. a shelf; 2-1, a shelf panel; 2-2, a slide block guide rail; 2-3, a guide rail groove; 3. a book information module; 3-1, an information module panel; 3-2, information module wing plate; 3-3, a second mounting hole; 3-4, two-dimensional code grooves; 3-5, a laser emitter; 3-6, convex strips; 4. a mechanical gripper; 4-1, a palm actuator; 4-1-1, a palm base; 4-1-2, finger mounting frame; 4-1-3, a code scanner; 4-1-4, LED lamp; 4-1-5, a laser receiver; 4-1-6, a micro telescopic motor; 4-1-7, a telescopic rod; 4-1-8, a guide rod; 4-2, a finger actuator; 4-2-1, mechanical fingers; 4-2-2, a membrane pressure sensor; 4-2-3, anti-skid cushion blocks; 4-2-4, a guide hole; 5. a book management module; 5-1, infrared emitters; 5-2, an infrared receiver; 5-3, and a display panel.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the present embodiment provides an automatic book storing and taking device for a library, comprising a bookshelf and a mechanical gripper 4, wherein the mechanical gripper 4 is mounted on a book distribution vehicle; multiple layers of shelves 2 are arranged in the bookshelf from top to bottom at equal intervals, a plurality of parallel partition plates 1 are arranged on each layer of shelf 2 along the horizontal direction, and books are stored between the adjacent partition plates 1; the bookshelf is also provided with a book management module 5 and a book information module 3, and the book management module 5 is used for detecting, recording and displaying the missing condition of books on the bookshelf in real time; the book information module 3 is used for storing the serial number information of the books; the mechanical gripper 4 is used for clamping books to finish the access action of the books.

Specifically, as shown in fig. 2 to 8, the shelf 2 includes a shelf panel 2-1 and 2 parallel slider guides 2-2 provided on the shelf panel 2-1, the slider guides 2-2 being perpendicular to the partition 1.

Further, the partition board 1 comprises a partition board panel 1-1 and 2 partition board sliding blocks 1-2 arranged at the bottom of the partition board panel 1-1; the position, shape and size of the partition plate sliding block 1-2 are matched with the position, shape and size of the sliding block guide rail 2-2; the partition board 1 slides above the shelf board 2 along the extending direction of the slide block guide rail 2-2 through the matching of the partition board slide block 1-2 and the slide block guide rail 2-2.

The partition board sliding block 1-2 is further provided with 2 first mounting holes 1-3 for fixing the partition board sliding block 1-2 in the sliding block guide rail 2-2 through screws.

The partition board sliding blocks 1-2 are trapezoidal in cross section, namely the partition board sliding blocks 1-2 are embedded in the sliding block guide rails 2-2 in a sliding mode, so that stepless adjustment of the partition boards 1 above the shelf boards 2 is achieved, and the space between every two adjacent partition boards 1 can be adjusted according to the thickness of books.

Particularly, the partition board 1 is a U-shaped board, and the opening of the U-shaped board faces outwards, so that the mechanical hand grips 4 can conveniently grip books on the bookshelf, and the mechanical hand grips 4 are prevented from colliding and scratching the partition board 1; on the other hand, the upper and lower ends of the book are prevented from having a trumpet-shaped opening.

Preferably, the partition plate panel 1-1 and the partition plate sliding block 1-2 are both made of ABS plastic, and have the advantages of good forming processability, high strength, light weight, high surface hardness, smoothness, easiness in cleaning treatment, stable size and the like.

Preferably, the shelf panel 2-1 is made of a PET plastic sheet material, because of its advantages of good molding processability, high hardness, high friction coefficient, stable size, etc.

Specifically, as shown in FIG. 9, the book information module 3 comprises an information module panel 3-1 and an information module wing 3-2, the information module wing 3-2 is located on top of the information module panel 3-1; the information module panel 3-1 is provided with a two-dimensional code groove 3-4 and 3 laser transmitters 3-5; the front end of the information module wing plate 3-2 is provided with a convex strip 3-6.

Further, the outer edge of the shelf panel 2-1 is provided with a guide rail groove 2-3, and the shape and the size of the guide rail groove 2-3 are matched with those of the convex strips 3-6 for installing the book information module 3. The information module wing plates 3-2 are arranged on the outer edge of the shelf 2 through the matching of the convex strips 3-6 and the guide rail grooves 2-3, and the top surfaces of the information module wing plates 3-2 are not higher than the top surface of the shelf panel 2-1, so that the books are prevented from being influenced in the storing and taking process.

In this embodiment, the information module panel 3-1 is in the shape of an inverted triangle, and the 3 laser emitters 3-5 are respectively arranged at 3 corners of the information module panel 3-1; the two-dimension code groove 3-4 is arranged in the center of the information module panel 3-1 and used for installing a two-dimension code; the information module wing plate 3-2 is perpendicular to the information module panel 3-1, and one side of the information module wing plate 3-2 is connected with the top side of the information module panel 3-1.

The top surface of the information module wing plate 3-2 is also provided with 2 second mounting holes 3-3 for fixing the information module wing plate 3-2 on the guide rail groove 2-3 through screws.

Preferably, the information module panel 3-1, the information module wing plate 3-2 and the second mounting hole 3-3 are all made of ABS plastic through an integral processing and forming process by an injection molding process.

Specifically, as shown in FIGS. 4, 5 and 13, the book management module 5 comprises a display panel 5-3, and a plurality of infrared emitters 5-1 and infrared receivers 5-2; the display panel 5-3 is arranged on the side face of the bookshelf; the infrared emitter 5-1 and the infrared receiver 5-2 are respectively arranged on 2 opposite surfaces of the adjacent partition boards 1.

When a book is stored between two adjacent partition boards 1, the infrared ray emitted by the infrared emitter 5-1 is blocked by the book, and the infrared receiver 5-2 cannot receive an infrared signal, so that the book is stored between the two adjacent partition boards 1; on the contrary, when the infrared receiver 5-2 receives the infrared signal from the infrared emitter 5-1, it indicates that there is no book between the two adjacent partitions 1. The display panel 5-3 can display the missing condition of the book on the bookshelf.

Specifically, as shown in fig. 10 to 12, the mechanical gripper 4 includes a palm actuator 4-1 and a finger actuator 4-2, and the finger actuator 4-2 is slidably mounted on the palm actuator 4-1; the mechanical gripper 4 of the present embodiment is a six-finger mechanical gripper.

The palm actuator 4-1 comprises a palm base 4-1-1, and the front side of the palm base 4-1-1 is provided with a finger installation frame 4-1-2, a laser receiver 4-1-5 and a code scanner 4-1-3; a transverse guide rod 4-1-8 is arranged between two opposite side walls of the finger installation frame 4-1-2, 2 groups of telescopic mechanisms are arranged in the middle of the finger installation frame 4-1-2, and the telescopic directions of the 2 groups of telescopic mechanisms are opposite;

the finger executing mechanism 4-2 comprises 2 groups of mechanical fingers 4-2-1, guide holes 4-2-4 are formed in the mechanical fingers 4-2-1, the mechanical fingers 4-2-1 are movably mounted on guide rods 4-1-8 through the guide holes 4-2-4, and the output ends of the 2 groups of telescopic mechanisms are respectively connected with the side walls of the 2 groups of mechanical fingers 4-2-1; the 2 groups of telescopic mechanisms synchronously stretch and drive the 2 groups of mechanical fingers 4-2-1 to move oppositely or back to back along the guide rods 4-1-8.

The telescopic mechanism comprises a micro telescopic motor 4-1-6 and a telescopic rod 4-1-7, wherein two ends of the telescopic rod 4-1-7 are respectively connected with the output end of the micro telescopic motor 4-1-6 and the side wall of the mechanical finger 4-2-1. The opening or closing action of the mechanical finger 4-2-1 can be realized by synchronously driving the two micro telescopic motors 4-1-6 to rotate forwards or reversely.

The mechanical finger 4-2-1 is an E-shaped three-finger mechanical finger, and the mechanical finger 4-2-1 with the structure can effectively clamp books without causing trumpet-shaped situations at the upper end and the lower end of the books.

The front face of the palm base 4-1-1 is also provided with an LED lamp 4-1-4 for shading the code scanner 4-1-3, and the code scanner 4-1-3 can also effectively identify the two-dimensional code on the information module panel 3-1 even in an environment with poor light.

Preferably, one side of the mechanical finger 4-2-1, which is contacted with the book, is provided with an anti-skid cushion block 4-2-3 and a film pressure sensor 4-2-2, and the anti-skid cushion block 4-2-3 is arranged on the surface of the film pressure sensor 4-2-2; the film pressure sensor 4-2-2 is used for detecting the pressure between the mechanical finger 4-2-1 and the book so as to judge whether the book is clamped by the mechanical finger 4-2-1; the anti-slip cushion block 4-2-3 is used for increasing the friction force between the mechanical finger 4-2-1 and the book and preventing the book from slipping off the mechanical finger 4-2-1.

Preferably, the anti-slip cushion blocks 4-2-3 are made of nylon materials, and have the characteristics of soft materials and large friction force, so that a certain protection effect on books can be achieved.

Furthermore, 3 laser receivers 4-1-5 are provided, and the number of the laser receivers 4-1-5 and the installation positions of the laser receivers 4-1-5 on the palm base 4-1-1 correspond to the number of the laser transmitters 3-5 and the installation positions of the laser transmitters 3-5 on the information module panel 3-1, respectively. The 3 laser receivers 4-1-5 are arranged at the lower part of the palm base 4-1-1 and distributed in an inverted triangle.

Preferably, the laser frequencies emitted by the 3 laser emitters 3-5 are different and fixed, the laser receivers 4-1-5 can detect the frequency of the laser after receiving the laser irradiation, when all the 3 laser receivers 4-1-5 receive the laser signals with the respective corresponding frequencies, it is indicated that the front surface of the mechanical gripper 4 (i.e., the front surface of the mechanical palm) is parallel to the front surface of the information module panel 3-1, and at this time, the mechanical gripper 4 is just positioned in the middle of the partition boards 1 on both sides of the book corresponding to the information module panel 3-1, so that the position correction of the mechanical gripper 4 is realized, and the book can be conveniently stored and taken by the mechanical gripper 4.

The method for manufacturing and installing the bookshelf comprises the following steps:

inserting the partition boards 1 which are 1 more than the number of books to be stored into the slider guide rails 2-2 from the edges of the shelves 2 through the partition board sliders 1-2, and installing the shelves 2 between the two side walls of the bookshelf; sequentially adjusting the distance between the partition boards 1 according to the thickness of the books, fixing the partition board sliding blocks 1-2 and the sliding block guide rails 2-2 by using screws after positioning, and installing the partition boards 1 on the shelf boards 2; then arranging book information modules 3 with the same number as books on the guide rail grooves 2-3 between the adjacent partition plates 1, adjusting the installation positions of the book information modules 3 to ensure that each book information module 3 is positioned at the middle point between the two corresponding partition plates 1, and fixing the book information modules 3 in the guide rail grooves 2-3 at the outer edges of the shelves 2 through screws after positioning; an infrared emitter 5-1 and an infrared receiver 5-2 are respectively arranged on the opposite surfaces of the adjacent partition boards 1, a display panel 5-3 is arranged on the side wall of the bookshelf, and all the infrared emitters 5-1 and the infrared receivers 5-2 are electrically connected with the display panel 5-3; finally, measuring the space between all adjacent partition boards 1, and inputting book numbers, the space between the corresponding partition boards 1 (namely the thickness of the corresponding book) and the infrared receiver 5-2 at the background; and pasting the two-dimensional code containing the book number and the spacing information of the partition boards 1 into the two-dimensional code grooves 3-4 in the corresponding book information module 3.

The access method of the automatic book access device of the embodiment comprises the following steps:

a book storage method, as shown in fig. 14, scanning a barcode on a book to be stored by a book delivery vehicle to obtain book number information, book position information, information of a distance between corresponding partition plates 1, and preset orientation information (i.e., orientation information of mechanical grippers 4) of a corresponding bookshelf; planning a moving path of the book distribution vehicle according to the book position information, and conveying the books to be stored to the front of the corresponding bookshelf by the book distribution vehicle according to the planned path; clamping the book to be stored through the mechanical hand grip 4, and adjusting the height and the orientation of the mechanical hand grip 4 (detecting the orientation of the mechanical hand grip 4, when the difference angle between the orientation of the mechanical hand grip 4 and the preset orientation of the bookshelf is less than 5 degrees, entering the next step, otherwise, adjusting the mechanical hand grip 4 to rotate 5 degrees around the vertical direction z axis, and then detecting whether the orientation of the mechanical hand grip 4 is within the preset range); scanning the two-dimensional codes on the book information module 3 on the bookshelf one by one through a code scanner 4-1-3 on the mechanical gripper 4, comparing whether the book numbers in the two-dimensional codes are consistent with the book numbers to be stored, and if so, entering the next step; otherwise, controlling the book distribution vehicle to move transversely for a certain distance, and continuously scanning the next two-dimensional code; then, the mechanical gripper 4 is controlled to move according to a preset track plane until at least 1 laser receiver 4-1-5 receives laser with corresponding frequency; then, the mechanical gripper 4 is controlled to translate and rotate according to a preset track until 3 laser receivers 4-1-5 receive the laser with corresponding frequency; then controlling the mechanical hand grip 4 to extend into the space between the two partition plates 1 by a preset depth, opening the mechanical finger 4-2-1 for a certain distance until the pressure is not detected by the film pressure sensor 4-2-2, and then longitudinally drawing out the mechanical hand grip 4 to finish the book storing process;

a book fetching method, as shown in fig. 15, the book delivery vehicle receives a book fetching instruction sent by the background, and obtains book number information, book position information, information of the distance between corresponding partition plates 1, and preset orientation information of corresponding bookshelves (i.e. orientation information of mechanical grippers 4) according to the book fetching instruction; planning a moving path of the book delivery vehicle according to the book position information, and moving the book delivery vehicle to the front of a corresponding bookshelf according to the planned path; adjusting the height and the orientation of the mechanical hand grip 4 (detecting the orientation of the mechanical hand grip 4, entering the next step when the difference angle between the orientation of the mechanical hand grip 4 and the preset orientation of the bookshelf is less than 5 degrees, or adjusting the mechanical hand grip 4 to rotate 5 degrees around the vertical direction z axis, and then detecting whether the orientation of the mechanical hand grip 4 is within the preset range); scanning the two-dimensional codes on the book information module 3 on the bookshelf one by one through a code scanner 4-1-3 on the mechanical gripper 4, comparing whether the book numbers in the two-dimensional codes are consistent with the book numbers to be fetched, and if so, entering the next step; otherwise, controlling the book distribution vehicle to move transversely for a certain distance, and continuously scanning the next two-dimensional code; then, the mechanical gripper 4 is controlled to move according to a preset track plane until at least 1 laser receiver 4-1-5 receives laser with corresponding frequency; then, the mechanical gripper 4 is controlled to translate and rotate according to a preset track until 3 laser receivers 4-1-5 receive the laser with corresponding frequency; then controlling the mechanical fingers 4-2-1 to open for a certain distance (the distance is larger than the distance between the partition plates 1), controlling the mechanical fingers 4-2-1 to longitudinally extend into the space between the partition plates 1 to a preset depth, and controlling the mechanical fingers 4-2-1 to close for a certain distance until the pressure is detected by the film pressure sensor 4-2-2; and controlling the mechanical gripper 4 to be longitudinally withdrawn, putting the books into the book delivery vehicle, and conveying the books to a specified position through the book delivery vehicle, namely finishing the book taking process.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. An automatic book storing and taking device for a library comprises a bookshelf and a mechanical gripper, wherein the mechanical gripper is arranged on a book distribution vehicle; the bookshelf is characterized in that a plurality of layers of shelves are arranged in the bookshelf at equal intervals from top to bottom, a plurality of parallel partition plates are arranged on each layer of shelf along the horizontal direction, and books are stored between the adjacent partition plates; the book management module is used for detecting, recording and displaying the missing condition of books on the bookshelf in real time; the book information module is used for storing the serial number information of the books; the mechanical gripper is used for clamping books to finish the access action of the books;

the book information module comprises an information module panel and an information module wing plate, and the information module wing plate is positioned at the top of the information module panel; the information module panel is provided with a two-dimensional code groove and a plurality of laser transmitters; the front end of the wing plate of the information module is provided with a convex strip;

the mechanical gripper comprises a palm executing mechanism and a finger executing mechanism, and the finger executing mechanism is slidably mounted on the palm executing mechanism;

the palm executing mechanism comprises a palm base, and the front side of the palm base is provided with a finger installing frame, a laser receiver and a code scanner; a transverse guide rod is arranged between two opposite side walls of the finger installation frame, 2 groups of telescopic mechanisms are arranged in the middle of the finger installation frame, and the telescopic directions of the 2 groups of telescopic mechanisms are opposite;

the finger actuating mechanism comprises 2 groups of mechanical fingers, guide holes are formed in the mechanical fingers, the mechanical fingers are movably mounted on the guide rods through the guide holes, and the output ends of the 2 groups of telescopic mechanisms are respectively connected with the side walls of the 2 groups of mechanical fingers; the 2 groups of telescopic mechanisms synchronously stretch and drive the 2 groups of mechanical fingers to move oppositely or back to back along the guide rod.

2. The automated book accessing device for libraries of claim 1, wherein the shelf comprises a shelf panel and 2 parallel slide rails provided on the shelf panel, the slide rails being perpendicular to the partition.

3. The automatic book accessing device for the library according to claim 2, wherein the partition comprises a partition panel and 2 partition sliders arranged at the bottom of the partition panel; the position, shape and size of the partition board sliding block are matched with those of the sliding block guide rail.

4. The automatic book accessing device for libraries of claim 1, wherein the partition is a U-shaped plate with the opening facing outward.

5. The automatic book accessing device for libraries of claim 2, wherein the outer edge of shelf panel is provided with a rail groove with a shape and size matching the shape and size of the rib for mounting the book information module.

6. The automatic book accessing device for library of claim 1, wherein the book management module comprises a display panel and a plurality of infrared emitters, infrared receivers; the display panel is arranged on the side face of the bookshelf; the infrared transmitter and the infrared receiver are respectively arranged on 2 opposite surfaces of the adjacent partition plates.

7. The automatic book accessing device for the library according to claim 1, wherein the number of the laser receivers and the installation positions of the laser receivers on the palm base correspond to the number of the laser transmitters and the installation positions of the laser transmitters on the information module panel, respectively.

8. An automatic book storing and taking method for a library is characterized by comprising a book storing method and a book taking method:

the book storage method comprises the steps of scanning bar codes on books to be stored through a book distribution vehicle to obtain book number information, book position information, corresponding partition plate distance information and orientation information of a mechanical gripper; planning a moving path of the book distribution vehicle according to the book position information, and conveying the books to be stored to the front of the corresponding bookshelf by the book distribution vehicle according to the planned path; clamping the book to be stored through the mechanical hand grips, and adjusting the height and the orientation of the mechanical hand grips; scanning the two-dimensional codes on the book information modules on the bookshelf one by one through a code scanner on the mechanical gripper, and comparing the book numbers in the two-dimensional codes until the two-dimensional codes containing the number information of the books to be stored are scanned; the orientation of the mechanical hand grips is opposite to the front face of the bookshelf by adjusting the spatial posture of the mechanical hand grips, and the mechanical hand grips are positioned between two partition plates of a bookshelf layer where books to be stored are positioned; then controlling the mechanical gripper to extend between the two partition plates, and then loosening and withdrawing the mechanical gripper to finish the book storing process;

the book fetching method comprises the steps that a book delivery vehicle receives a book fetching instruction sent by a background, and book number information, book position information, corresponding partition plate distance information and orientation information of a mechanical gripper are obtained according to the book fetching instruction; planning a moving path of the book delivery vehicle according to the book position information, and moving the book delivery vehicle to the front of a corresponding bookshelf according to the planned path; adjusting the height and the orientation of the mechanical gripper; scanning the two-dimensional codes on the book information modules on the bookshelf one by one through a code scanner on the mechanical gripper, and comparing the book numbers in the two-dimensional codes until the two-dimensional codes containing the number information of the books to be taken are scanned; the orientation of the mechanical hand grip is opposite to the front side of the bookshelf by adjusting the spatial posture of the mechanical hand grip, and the mechanical hand grip is positioned between two partition plates of a bookshelf layer where the books to be taken are positioned; and controlling the mechanical gripper to extend between the two partition plates, clamping the books, withdrawing the mechanical gripper, putting the clamped books into the book delivery vehicle, and finally conveying the books to a specified position through the book delivery vehicle, namely completing the book taking process.

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