CN115674145B - Library book access robot - Google Patents
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- CN115674145B CN115674145B CN202310005054.6A CN202310005054A CN115674145B CN 115674145 B CN115674145 B CN 115674145B CN 202310005054 A CN202310005054 A CN 202310005054A CN 115674145 B CN115674145 B CN 115674145B
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Abstract
The invention belongs to the technical field of robots, and particularly discloses a robot for storing and taking books in a library, which comprises a transportation module, a storage module and a book storing and taking module, wherein the transportation module is used for walking in the library and further comprises: the book placing module is arranged on the transportation module and used for placing books; the first mechanical arm module is arranged on the transportation module and can be used for orderly placing scattered books on the book placing module; the second mechanical arm module is arranged on the transportation module, books of the book placing module can be placed on the book cabinet, and the books on the book cabinet can be carried to the book placing module. The invention can automatically and orderly place scattered books at the appointed position of the robot, and solves the problem that in the prior art, books to be placed back to the bookshelf need to be manually placed at the appointed position of the robot in advance, and the labor cost is still high.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot for storing and taking books in a library.
Background
The development of the robot industry has important significance for creating new advantages in China, promoting the transformation and upgrade of services and improving the living standard of people. As a typical public service field, libraries have undergone multiple changes from traditional libraries to smart libraries, and popularization of robotics and application is also beneficial to transformation of libraries. Most of the current library machines are mainly based on consulting and inquiring services, but are less researched in book sorting and book taking from shelves and shelves, and the aspects are generally heavy and single work.
The Chinese patent application publication No. CN110103239A discloses a library book access robot, which comprises a bookshelf mechanism, a clamping mechanism and a walking mechanism, wherein the bookshelf mechanism comprises a framework, a bookshelf monomer, a chassis driving unit and a book clamp, the bookshelf monomer comprises a chassis, an upper rail and a lower rail, the chassis, the upper rail and the lower rail are of annular structures and are provided with notches, the notches are communicated with a central opening of the annular structures and can be passed by the clamping mechanism, the upper rail is arranged below the chassis, the upper rail is in guide fit with the lower rail, and the chassis is driven by the chassis driving unit; the clamping mechanism comprises a 7-shaped shifting rod, a shifting rod upper end driving unit and a shifting rod lower end driving unit, the shifting rod is arranged between the pair of clamping arms, and the shifting rod is driven to rotate asynchronously through the shifting rod upper end driving unit and the shifting rod lower end driving unit, so that the book shifting operation is realized.
However, the above technical solutions have the following problems: books to be put back to the bookshelf need to be manually put to the designated position of the robot in advance, and the labor cost is still high.
Disclosure of Invention
The invention provides a robot for storing and taking books in a library, which can automatically and tidily place scattered books at a specified position of the robot and aims to solve the problem that in the prior art, books to be put back to a bookshelf need to be manually placed at the specified position of the robot in advance, and the labor cost is still high.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a library access book robot, comprising a transport module for walking within a library, further comprising:
the book placing module is arranged on the transportation module and used for placing books;
the first mechanical arm module is arranged on the transportation module and can be used for orderly placing scattered books on the book placing module;
the second mechanical arm module is arranged on the transportation module, books of the book placing module can be placed on the book cabinet, and the books on the book cabinet can be carried to the book placing module.
By adopting the technical scheme, the scattered books can be orderly placed at the designated position of the robot, and the problem that in the prior art, the books to be placed back to the bookshelf need to be manually placed at the designated position of the robot in advance, and the labor cost is still high is solved.
Further, the first robot module includes:
the first mechanical arm is arranged on the transportation module;
the inclination angle component is arranged at the tail end of the first mechanical arm;
the translation assembly is fixed below the inclination assembly;
the first grabbing component is connected below the translation component; the first grabbing component is used for grabbing the book and can rotate the book; the first grabbing component can move in a translation plane through the translation component; the translation assembly and the first grabbing assembly can be inclined through the inclination assembly;
and the inclination sensor is arranged below the translation component of the first mechanical arm module.
A gravity sensor.
By adopting the technical scheme, the gravity center of books can be accurately found, the scattered books are placed in the book placing module in the set direction and position, and the second mechanical arm module is convenient for place the books on the book cabinet accurately.
Further, the first robot arm includes:
a vertical arm, the lower end of which is arranged on the transportation module and can rotate relative to the transportation module, and the upper end of which is connected with
A first horizontal telescopic arm; the first horizontal telescopic arm is provided with
The vertical lifting arm can vertically lift relative to the first horizontal telescopic arm; the lower end of the vertical lifting arm is connected with the inclination angle component.
Further, the tilting angle assembly includes two hinge shafts perpendicular to each other so as to be capable of swinging along two planes perpendicular to each other.
Further, the translation assembly comprises two sliding structures which are perpendicular to each other, so that the translation assembly can move along a plane in which the sliding directions of the two sliding structures are located.
Furthermore, the translation assembly comprises two sliding structures which are perpendicular to each other, so that the translation assembly can move along a plane in which the sliding directions of the two sliding structures are located; the two sliding directions of the translation component are respectively superposed with the two swing planes of the inclination component.
By adopting the technical scheme, when the inclination angle component inclines along a certain plane, the sliding structure corresponding to the translation component can be correspondingly adjusted, the response speed is higher, and the response control logic is simpler.
Further, the first grasping assembly includes:
the first rotating component is connected below the translation component;
a telescopic member disposed below the first rotating member; the telescopic component can be vertically telescopic;
the sucker is arranged at the lower end of the telescopic component;
a second rotating member mounted on the telescopic member; the second rotating part can rotate around the telescopic part in a horizontal plane;
a sliding support member provided on the second rotating member; the sliding support member is always extended and retracted in the direction of the rotation center with respect to the second rotating member.
Furthermore, the book placing module comprises a plurality of bookshelves, a plurality of placing brackets are arranged on the bookshelves, and a book is placed on each placing bracket; the middle part of placing the bracket is provided with the groove of stepping down for first arm module can stretch into and place books therein.
Further, the second robot arm module includes:
the rotating platform is arranged on the transportation module;
the lifting device is arranged at the position of the rotating platform deviated from the rotating axis;
the second horizontal telescopic arm runs on the lifting device in a lifting mode; the second horizontal telescopic arm faces the rotation axis of the rotating platform;
a rotation mechanism;
the tail end of the second horizontal telescopic arm is connected with a second grabbing component through a rotating mechanism.
Further, the transport module comprises a first moving mechanism and a second moving mechanism, and a first mechanical arm module and a second mechanical arm module are respectively installed on the first moving mechanism and the second moving mechanism, so that the first mechanical arm module and the second mechanical arm module can move on the upper transport module.
By adopting the technical scheme, when the second mechanical arm module grabs books from the bookshelf, the distance between the lifting device and the bookshelf is increased, so that more spaces are provided for the second horizontal telescopic arm, and the second horizontal telescopic arm can be used for a longer stroke when being extended, so that books can be conveniently put on the bookshelf.
Drawings
FIG. 1 is a perspective view of a library book accessing robot according to an embodiment of the present invention;
FIG. 2 is a further perspective view of a library book accessing robot according to an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of a first robot module according to an embodiment of the present invention;
fig. 4 is a side view of a library book accessing robot according to an embodiment of the present invention.
In the figure: 100-transportation module, 110-first moving mechanism, 120-second moving mechanism, 200-bookshelf, 300-first mechanical arm module, 310-first mechanical arm, 311-vertical arm, 312-first horizontal telescopic arm, 313-vertical lifting arm, 320-inclination component, 330-translation component, 340-first grabbing component, 341-first rotating component, 342-telescopic component, 343-suction cup, 344-second rotating component, 345-sliding bearing component, 400-second mechanical arm module, 410-rotating platform, 420-lifting device, 430-second horizontal telescopic arm, 440-rotating mechanism and 450-second grabbing component.
Detailed Description
In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention.
In the description of the present embodiments, it should also be noted that the terms "disposed," "connected," and "connected" are to be construed broadly unless otherwise explicitly stated or limited.
To make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Referring to fig. 1 and 2, the present embodiment discloses a robot for accessing books in a library, which includes a transportation module 100, a first robot arm module 300, a second robot arm module 400, and a book placing module. The transport module 100 is used to walk through a library; the first mechanical arm module 300, the second mechanical arm module 400 and the book placing module are arranged on the transportation module 100, the book placing module is used for placing books, the first mechanical arm module 300 can place scattered books in the book placing module in order, and the second mechanical arm module 400 can place the books in the book placing module on the book cabinet and can carry the books on the book cabinet to the book placing module. When the book placing module is used, a box body containing scattered books is placed beside the robot, or the robot automatically walks to the box body, the first mechanical arm module 300 places the books in order on the book placing module, then the robot walks in a book cabinet area, the second mechanical arm module 400 places the books on the book cabinet placing module on the book cabinet, and the books on the book cabinet can be carried to the book placing module according to needs.
Referring to fig. 2 and 3, the first robot module 300 includes a first robot 310, and the first robot 310 is disposed on the transport module 100. The end of the first robot arm 310 is provided with a tilt assembly 320, a translation assembly 330 is fixed below the tilt assembly 320, a first grabbing assembly 340 is connected below the translation assembly 330, and the first grabbing assembly 340 is used for grabbing books. By means of the translation assembly 330, the first grasping assembly 340 can move in one translation plane; the translational assembly 330 and the first grasping assembly 340 are capable of being angularly tilted by the tilt assembly 320. A tilt sensor is further installed below the translation assembly 330 of the first robot module 300 to detect the tilt direction and magnitude. When the center of gravity of the book is located on the same vertical line as the end of the first mechanical arm 310, the tilt assembly 320 is not tilted, and the translation surface of the translation assembly 330 is in a horizontal state; when the center of gravity of the book deviates from the vertical line of the end of the first mechanical arm 310, the tilt assembly 320 tilts, and at this time, the translation assembly 330 controls the first grabbing assembly 340 to move in the translation plane, so that the center of gravity of the book approaches the vertical line of the end of the first mechanical arm 310 until the tilt assembly 320 is in the horizontal state again, and at this time, the center of gravity of the book approaches the vertical line of the end of the first mechanical arm 310. Further, a gravity sensor is further installed on the first mechanical arm module 300, which can detect the weight of the book, and then the accurate position of the gravity center of the book can be calculated according to the translation amount of the translation assembly 330 and the weight of the book. The first grasping assembly 340 can rotate the book so that the book can be placed in the book placement module in a set orientation. The scattered books are placed in the book placing module in a set direction and position by the first robot arm module 300.
The tilting angle assembly 320 includes two hinge shafts perpendicular to each other so as to be capable of swinging along two planes perpendicular to each other.
The translation assembly 330 includes two sliding structures that are perpendicular to each other and thus are capable of moving along a plane in which the two sliding directions lie. Further, two sliding directions of the translation assembly 330 coincide with two swing planes of the tilt assembly 320, respectively, so that when the tilt assembly 320 tilts along a certain plane, the sliding structure corresponding to the translation assembly 330 can be correspondingly adjusted, the response speed is higher, and the response control logic is simpler.
The first grasping assembly 340 includes a first rotating member 341, and the first rotating member 341 is connected below the translating assembly 330. A telescopic member 342 is provided below the first rotating member 341, the telescopic member 342 is vertically telescopic, and a suction cup 343 is provided at a lower end of the telescopic member 342. The second rotating member 344 is attached to the telescopic member 342, and the second rotating member 344 is rotatable in a horizontal plane around the telescopic member 342. The second rotating member 344 is provided with a slide receiving member 345, and the slide receiving member 345 is always extended and retracted in the rotational center direction with respect to the second rotating member 344. When a scattered book is grabbed, firstly, the general position of the book is detected through the visual detection module, and the visual detection module which only needs to detect the general position is the existing mature technology and is not repeated. When the approximate position of the book is detected, the sliding support component 345 retracts, the telescopic component 342 extends, the first mechanical arm 310 controls the suction cup 343 to move downwards and suck the upper surface of the book, then the telescopic component 342 retracts, the suction cup 343 and the sucked book cover are lifted upwards, the spine part can be lifted upwards along with the book cover, the spine direction is heavier, the tilt angle component 320 tilts towards the spine direction, and therefore the position of the spine is determined. The second rotating member 344 rotates the slide holder member 345 to the position where the spine is located, and then the slide holder member 345 is extended to hold the lower surface of the book, and the suction plate 343 is moved downward to hold the spine between the suction plate 343 and the slide holder member 345.
Referring to fig. 1, the book placing module includes a plurality of bookshelves 200, and a plurality of placing brackets are provided on the bookshelves 200, and a book is placed on each placing bracket. The middle of the placing bracket is provided with a abdicating groove, so that the first mechanical arm module 300 can extend into the placing bracket to place books.
Referring to fig. 1 and 4, the second robot arm module 400 includes a lifting device 420 provided on the transport module 100 and rotatable with respect to the transport module 100. The second horizontal telescopic arm 430 is lifted and descended by the lifting device 420, the end of the second horizontal telescopic arm 430 is connected with a second grabbing component 450 through a rotating mechanism 440, the second grabbing component 450 extends into the gap between the placing brackets to grab the book, then the rotating mechanism 440 rotates to enable the book to be changed from a horizontal state to a vertical state, and then the second mechanical arm module 400 places the book on the book cabinet. Because the direction and the gravity center position of books in the book placing module are accurate, the second mechanical arm module 400 can accurately place the books on the bookcase only according to a set program, and the books are prevented from colliding with the bookcase due to deviation of clamping positions. Further, when the second mechanical arm module 400 grabs the book from the book placement module, the visual inspection module detects the characters on the spine and determines the front and back of the book, so that the rotating mechanism 440 can rotate the book to the correct direction. Further, a rotary table 410 is provided between the lifting device 420 and the transport module 100, the lifting device 420 is mounted at a position offset from the rotation axis of the rotary table 410, and the second horizontal telescopic arm 430 faces the rotation axis. By adopting the technical scheme, when the second mechanical arm module 400 grabs books from the bookcase, the distance between the lifting device 420 and the bookcase 200 is increased, so that more space is provided for the second horizontal telescopic arm 430, and the second horizontal telescopic arm 430 can have a longer stroke when being extended, so that the books can be conveniently put on the bookcase.
Referring to FIGS. 1 and 2, the transport module 100 includes a first movement mechanism 110 and a second movement mechanism 120, on which a first robot module 300 and a second robot module 400 are mounted, respectively, such that the first robot module 300 and the second robot module 400 can move on the transport module 100 to facilitate the transportation of books.
The present invention has been described in detail with reference to the preferred embodiments thereof, and it should be understood that the present invention is not limited thereto, but includes any modifications, equivalents, and improvements within the spirit and scope of the present invention.
Claims (6)
1. A library book accessing robot, comprising a transport module (100) for walking within a library, characterized by further comprising:
the book placing module is arranged on the transportation module (100) and is used for placing books;
the first mechanical arm module (300) is arranged on the transportation module (100) and can place scattered books in the book placement module in order;
the second mechanical arm module (400) is arranged on the transportation module (100), can place the books in the book placement module on the book cabinet, and can transport the books in the book cabinet to the book placement module;
the first robot arm module (300) comprises:
a first robot arm (310) disposed on the transport module (100);
a tilt assembly (320) disposed at an end of the first robot arm (310); the tilt angle assembly (320) comprises two hinge axes perpendicular to each other so as to be able to swing along two planes perpendicular to each other; the tilt assembly (320) does not tilt when the center of gravity of the book is on the same vertical line as the end of the first mechanical arm (310); the tilt assembly (320) tilts when the center of gravity of the book is offset relative to a vertical line along which the end of the first robotic arm (310) is located;
a translation assembly (330) secured below the tilt assembly (320); the translation assembly (330) comprises two mutually perpendicular sliding structures, so as to be capable of moving along a plane with two sliding directions;
a first grasping assembly (340) connected below the translation assembly (330); the first grabbing component (340) is used for grabbing the book and can rotate the book; -by means of the translation assembly (330), the first gripper assembly (340) is movable in a translation plane; -by means of said tilting assembly (320), said translation assembly (330) and said first gripping assembly (340) are able to tilt;
a tilt sensor mounted at a position below the translation assembly (330) of the first robotic arm module (300);
a gravity sensor;
the first grasping assembly (340) includes:
a first rotating member (341) connected below the translating assembly (330);
a telescopic member (342) provided below the first rotating member (341); the telescopic component (342) can be vertically telescopic;
a suction cup (343) provided at the lower end of the telescopic member (342);
a second rotating member (344) attached to the telescopic member (342); the second rotating member (344) is rotatable in a horizontal plane about the telescopic member (342);
a sliding support member (345) provided on the second rotating member (344); the sliding support member (345) is always extended and retracted in the direction of the rotation center with respect to the second rotating member (344).
2. The library access book robot of claim 1, wherein the first robotic arm (310) comprises:
a vertical arm (311) having a lower end provided on the transport module (100) and capable of rotating relative to the transport module (100), and an upper end connected with
A first horizontal telescoping arm (312); the first horizontal telescopic arm (312) is provided with
A vertical lift arm (313), the vertical lift arm (313) being vertically liftable with respect to the first horizontally telescoping arm (312); the lower end of the vertical lifting arm (313) is connected with the tilt angle assembly (320).
3. The library access book robot of claim 1, wherein the translation assembly (330) comprises two mutually perpendicular sliding structures, so as to be movable along a plane in which the sliding directions of the two sliding structures lie; the two sliding directions of the translation assembly (330) are respectively coincident with the two swinging planes of the inclination assembly (320).
4. The robot for accessing books in a library according to claim 1, wherein the book placement module comprises a plurality of book shelves (200), the book shelves (200) are provided with a plurality of placement brackets, and each placement bracket is placed with a book; the middle part of the placing bracket is provided with a receding groove, so that the first mechanical arm module (300) can extend into the receding groove to place books.
5. The library access book robot of claim 4, wherein the second robotic arm module (400) comprises:
a rotating table (410) disposed on the transport module (100);
a lifting device (420) which is installed at the position of the rotating platform (410) deviated from the rotating axis;
the second horizontal telescopic arm (430) runs on the lifting device (420) in a lifting mode; the second horizontally telescoping arm (430) is directed towards the rotational axis of the rotary table (410);
a rotation mechanism (440);
a second grasping assembly (450), the distal end of the second horizontal telescopic arm (430) being connected to the second grasping assembly (450) through the rotating mechanism (440).
6. The library access book robot of any one of claims 1-5, wherein the transport module (100) comprises a first movement mechanism (110) and a second movement mechanism (120), the first robot module (300) and the second robot module (400) being mounted, respectively, such that the first robot module (300) and the second robot module (400) are movable on the transport module (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310005054.6A CN115674145B (en) | 2023-01-04 | 2023-01-04 | Library book access robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310005054.6A CN115674145B (en) | 2023-01-04 | 2023-01-04 | Library book access robot |
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| Publication Number | Publication Date |
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| CN115674145A CN115674145A (en) | 2023-02-03 |
| CN115674145B true CN115674145B (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310005054.6A Active CN115674145B (en) | 2023-01-04 | 2023-01-04 | Library book access robot |
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Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202318324U (en) * | 2011-11-08 | 2012-07-11 | 上海理工大学 | Device for searching spines by means of gravity |
| US11348066B2 (en) * | 2013-07-25 | 2022-05-31 | IAM Robotics, LLC | System and method for piece picking or put-away with a mobile manipulation robot |
| CN105082154A (en) * | 2015-09-17 | 2015-11-25 | 中国石油大学(华东) | Book management robot |
| US11613010B2 (en) * | 2019-01-03 | 2023-03-28 | Lucomm Technologies, Inc. | Flux sensing system |
| WO2021114190A1 (en) * | 2019-12-12 | 2021-06-17 | 深圳市微蓝智能科技有限公司 | Mechanical device for obtaining sheet-plate-shaped article |
| CN112025668B (en) * | 2020-03-27 | 2021-09-03 | 同济大学 | Library book taking and returning robot system |
| CN111618867B (en) * | 2020-04-30 | 2022-04-08 | 合肥工业大学 | Intelligent book management robot and borrowing method thereof |
| FR3110152B1 (en) * | 2020-05-18 | 2022-05-27 | Recmi Ind | PALLETIZATION DEVICE AND METHOD |
| CN111941442A (en) * | 2020-09-10 | 2020-11-17 | 桂林电子科技大学 | A books are got and are put management robot for library |
| CN112318470A (en) * | 2020-09-14 | 2021-02-05 | 武汉理工大学 | Automatic book storing and taking unmanned vehicle integrated with mechanical arm |
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