CN208826661U - A kind of integrated mechanical palms of pick-and-place books - Google Patents
A kind of integrated mechanical palms of pick-and-place books Download PDFInfo
- Publication number
- CN208826661U CN208826661U CN201821233542.3U CN201821233542U CN208826661U CN 208826661 U CN208826661 U CN 208826661U CN 201821233542 U CN201821233542 U CN 201821233542U CN 208826661 U CN208826661 U CN 208826661U
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- CN
- China
- Prior art keywords
- books
- pick
- flapper
- fixed baffle
- butterfly hinge
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Abstract
The utility model discloses a kind of integrated mechanical palms of pick-and-place books, including pedestal, fixed baffle, flapper, the first regulating mechanism, the second regulating mechanism, bookend and books identification module, the program does the transformation of output body for the pick-and-place fixture of books, pedestal is moved to the position for being about aligned books, after books identification module accurately identifies books edge, first regulating mechanism mixes up the gap between fixed baffle and flapper, and the second regulating mechanism opens butterfly hinge；Gap that mechanical palms can be inserted between books simultaneously struts certain space naturally, can pick and place books with settling at one go.The technical solution simplifies traditional manipulator, and not only performance is relatively reliable, but also the efficiency for picking and placing books is also higher.This utility model is used for automation equipment field.
Description
Technical field
The utility model relates to automation equipment fields, more particularly to a kind of integrated mechanical palms of pick-and-place books.
Background technique
Currently, it is fast-developing with the large-scale library in society in the school, there is the lending of up to ten thousand books daily and gives back,
This is undoubtedly a huge burden, not only heavy workload, but also low efficiency for librarian.Manpower management is to books
Arrangement have hysteresis quality, greatly reduce library operation efficiency.Intelligent robot, library can substitute manpower
Books are managed, but in existing manipulator, flexibility is bigger, versatility is wider, but structure is also more complicated, is easy
Now design unreasonable, crawl article low efficiency or unstable disadvantage.The shortcomings that comprehensive prior art, we design a special
The integrated mechanical palms of pick-and-place books.
Utility model content
The purpose of this utility model is to provide a kind of integrated mechanical palms of pick-and-place books that specificity is strong.
Technical solution adopted in the utility model is:
A kind of integrated mechanical palms of pick-and-place books including pedestal, are fixedly mounted fixed baffle on the base, pass through
Flapper, the first regulating mechanism, the second regulating mechanism, bookend and the books identification module of sliding rail installation on the base, it is fixed
Baffle and flapper are parallel to each other；First regulating mechanism includes first motor and the first screw rod for being driven by first motor, and the
One wire rod thread is connected and fixed baffle or flapper, can lean on each other to fixed baffle and flapper after the rotation of the first screw rod
Hold together or isolated power；Bookend includes two panels butterfly hinge, and two panels butterfly hinge is separately mounted to front end and the activity of fixed baffle
The front end of baffle；Second regulating mechanism include the second motor, by the second motor-driven second screw rod and with the second wire rod thread
The screw rod platform of connection is equipped with transmission mechanism, shifting of the transmission mechanism screw rod platform between screw rod platform and two panels butterfly hinge
Turn becomes the swing of two panels butterfly hinge；Books identification module is mounted on fixed baffle, for identification the position of books and
Type.
As an improvement of the above scheme, fixed baffle and flapper are equipped with the sliding slot of strip along its length, and two
The sliding block that can be slided on the chute is equipped on sliding slot, first motor is fixedly mounted on one of sliding block, the first screw rod with
Another sliding block is threadedly coupled, and one of sliding block is connect as screw rod platform with the second wire rod thread.
As an improvement of the above scheme, the front end of fixed baffle, which is bent to flapper, draws close, and the front end of flapper is curved
It is folded to fixed baffle to draw close, above-mentioned two bending is all made of sloped transition.
As an improvement of the above scheme, two sliding blocks are equipped with rubber pad in the side being opposite to each other.
As an improvement of the above scheme, the front end and bending of fixed baffle and flapper are equipped with convenient for sliding block movement
Notch.
As an improvement of the above scheme, transmission mechanism includes the push rod of connection wire rod platform, the slide bar and hinge for connecting push rod
Two connecting rods in slide bar end are connect, one end of two connecting rods is respectively articulated with two panels butterfly hinge, and push rod and two connecting rods are in
The bottom end of butterfly hinge.
As an improvement of the above scheme, the maximum opening angle of two panels butterfly hinge is 180 °, and two panels butterfly hinge opens
Parallel with fixed baffle and flapper when maximum, the thickness of two panels butterfly hinge is less than 3mm.
As an improvement of the above scheme, push rod is equipped with damping ring, and slide bar passes through the damping ring, adopts between push rod and slide bar
It is moved with damping transmission.
As an improvement of the above scheme, books identification module includes camera and code reader, the photograph of camera and code reader
Direction is penetrated towards butterfly hinge.
As an improvement of the above scheme, pedestal is equipped with big terrace with edge, and the tail end of flapper, which is equipped with, is inserted in the big of big terrace with edge
Groove, the two side walls of big terrace with edge are equipped with minor groove, and the two side walls of big groove are equipped with the small terrace with edge for being inserted in minor groove.
The utility model has the beneficial effects that the program does the transformation of output body for the pick-and-place fixture of books, pedestal is moved to
It is aligned the position of books, after books identification module accurately identifies books edge, the first regulating mechanism mixes up fixed baffle and activity
Gap between baffle, the second regulating mechanism open butterfly hinge；The gap between books and natural can be inserted in mechanical palms
Ground struts certain space, can pick and place books with settling at one go.The technical solution simplifies traditional manipulator, and not only performance is more
Reliably, and the efficiency of pick-and-place books is also higher.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawing:
Fig. 1 is the perspective view of mechanical palms；
Fig. 2 is the perspective view of the mechanical palms after removing fixed baffle；
Fig. 3 is the perspective view for only retaining the mechanical palms after pedestal, fixed baffle and flapper；
Fig. 4 is the top view of mechanical palms.
Specific embodiment
Referring to Fig.1~Fig. 4, the utility model are a kind of integrated mechanical palms of pick-and-place books, including pedestal 1, fixation
The fixed baffle 21 that is mounted on pedestal 1, flapper 22, the first regulating mechanism, being mounted on by sliding rail 5 on pedestal 1
Two regulating mechanisms, bookend and books identification module.Wherein fixed baffle 21 and flapper 22 are sheet body, and the two is mutually flat
Row.In production, fixed baffle 21 and flapper 22 are made into symmetrically reality.Pedestal 1 is installed in other robots.Book
Folder includes two panels butterfly hinge 3, before two panels butterfly hinge 3 is separately mounted to front end and the flapper 22 of fixed baffle 21
End.
As preferred embodiment, the front end of fixed baffle 21 bends to flapper 22 and draws close, flapper 22
Front end bends to fixed baffle 21 and draws close, and above-mentioned two bending is all made of sloped transition.Referring to Fig. 4, it is clearly visible fixation at this time
The right openings width of baffle 21 and flapper 22 is less than left side opening width.When mechanical palms are advanced, the design on slope
For strutting adjacent books.Since the right openings width of fixed baffle 21 and flapper 22 is less than left side opening width,
As preferred embodiment, referring to Fig. 3, the front end and bending of fixed baffle 21 and flapper 22 are equipped with convenient for sliding block 41
Mobile notch 43, the activity space as sliding block 41.
First regulating mechanism includes first motor 61 and the first screw rod 62 for being driven by first motor 61,62 spiral shell of the first screw rod
Line is connected and fixed baffle 21 or flapper 22, can apply to fixed baffle 21 or flapper 22 after the rotation of the first screw rod 62
Close to or far from the power of first motor 61.For example first motor 61 is mounted on pedestal 1, the first screw rod 62 connects flapper
22；Or first motor 61 is mounted on flapper 22, the first screw rod 62 is connected and fixed baffle 21；Also there is the peace of first motor 61
Mounted in fixed baffle 21, the first screw rod 62 connects flapper 22.In the present embodiment, 22 edge of fixed baffle 21 and flapper
Length direction is equipped with the sliding slot 42 of strip, and the sliding block 41 that can be slided on sliding slot 42, the first electricity are equipped on two sliding slots 42
Machine 61 is fixedly mounted on one of sliding block 41, and the first screw rod 62 is threadedly coupled with another sliding block 41, one of sliding block
41 are threadedly coupled as screw rod platform with the second screw rod 72.Further, first motor 61 is mounted on this one side of fixed baffle 21.
As preferred embodiment, two sliding blocks 41 are equipped with rubber pad in the side being opposite to each other, and rubber pad is for pasting
Close books.
Second regulating mechanism include the second motor 71, the second screw rod 72 driven by the second motor 71 and with the second screw rod 72
The screw rod platform of threaded connection is equipped with transmission mechanism between screw rod platform and two panels butterfly hinge 3, transmission mechanism is screw rod platform
Movement be changed into the swing of two panels butterfly hinge 3.Referring in particular to Fig. 2, transmission mechanism include connection wire rod platform push rod 81,
It connects the slide bar 83 of push rod 81 and is hinged on two connecting rods 84 of 83 end of slide bar, one end overlapping of two connecting rods 84, two companies
The other end of bar 84 is respectively articulated with two panels butterfly hinge 3.Push rod 81 and two connecting rods 84 are in the bottom end of butterfly hinge 3, in this way
The approach axis of books can be blocked to avoid push rod 81 and connecting rod 84.Second motor 71 can individually control the swing of butterfly hinge 3,
It is preferred that linking with sliding block 41, i.e., link being made of one with first motor 61, and push rod 81 is connected to sliding block 41 at this time.
As preferred embodiment, the maximum opening angle of two panels butterfly hinge 3 is 180 °, therefore, to assure that two panels butterfly
Hinge 3 opens parallel with fixed baffle 21 and flapper 22 when maximum.In order to limit the maximum opening angle of butterfly hinge 3,
The cynapse of setting limit, the butterfly hinge 3 of standard can directly be bought on the market generally at the shaft of butterfly hinge 3, this
In repeat no more.Since butterfly hinge 3 needs to be inserted into the gap of adjacent books, so thickness cannot be too thick, usual two panels butterfly
The thickness of hinge 3 is less than 3mm.
As preferred embodiment, have on push rod 81 there are two damping ring 82, slide bar 83 passes through the damping ring 82, push rod
It is moved between 81 and slide bar 83 using damping transmission.Clamping books do not need great chucking power, compared to rigidity the kind of drive,
The program to be driven more flexible.Damping ring 82 have elasticity, diameter can proper transformation, set between damping ring 82 and slide bar 83
It is set to interference fit, provides and tightens power.
Books identification module is mounted on fixed baffle 21, for identification the position of books and type, books identification module
Including camera 92 and code reader 91, the direction of illumination of camera 92 and code reader 91 is towards butterfly hinge 3.Naturally, scheme
Book identification module is as signal input part, with computer communication.As for the adjusting of position compensation amount, by the first electricity of computer control
Machine 61 and the rotation of the second motor 71, and control are used for the robot of fixed pedestal 1.
As preferred embodiment, pedestal 1 is equipped with big terrace with edge 51, and the tail end of flapper 22, which is equipped with, is inserted in big terrace with edge
51 big groove 52, the two side walls of big terrace with edge 51 are equipped with minor groove, and the two side walls of big groove 52, which are equipped with, is inserted in minor groove
Small terrace with edge.Compared to the connection type of simple dovetail groove etc, such sliding rail 5 is engaged form and connects more stable, active catch
Plate 22 is not easy to loosen or misplace.
In order to protect the components of 61 this side of the second screw rod 72 and first motor, as preferred embodiment, in fixation
Baffle 21 is equipped with clamshell, but the front end of the clamshell needs to leave position, so as to the work of books identification module.
The program does the transformation of output body for the pick-and-place fixture of books, and pedestal 1 is moved to the position for being about aligned books, figure
After book identification module accurately identifies books edge, between the first regulating mechanism mixes up between fixed baffle 21 and flapper 22
Gap, the second regulating mechanism open butterfly hinge 3；Gap that mechanical palms can be inserted between books simultaneously struts certain sky naturally
Between, books can be picked and placed with settling at one go.The technical solution simplifies traditional manipulator, and not only performance is relatively reliable, Er Qiequ
The efficiency for putting books is also higher.
Illustrate the operational process of mechanical palms below:
Mechanical palms initial position, two butterfly hinges 3 are closed state, and sliding block 41 is in close to this side of pedestal 1,
It is at this time clamped condition.When taking book, pedestal 1 is mobile, and code reader 91 identifies the bar code on spine, reads the basic of books to be taken
Information, camera 92 identify the thickness of books, before this robot adjustment of support base 1, and then mechanical palms are opened enough
Distance, the second motor 71 advance with movable slider 41, i.e., push rod 81 also advances.Damping ring 82 is then that band moving slide-bar 83 advances, slide bar
83 strut two panels butterfly hinge 3 in turn；When two panels butterfly hinge 3 is parallel, since butterfly hinge 3 can not be opened up further
It opens, slide bar 83 can not advance at this time, but sliding block 41 still is able to that the damping of damping ring 82 is overcome to proceed to forefront, prepares folder
It holds for the books taken.The advance of 1 advance suitable distance of pedestal, i.e. fixed baffle 21 and flapper 22 and the side for being inserted into books,
Slope struts other adjacent books.Enter clamping range to books, i.e., when books are located between two sliding blocks 41, the first electricity
Machine 61 drives fixed baffle 21 and flapper 22 to draw close, naturally two 41 clamping books of sliding block.Following second motor 71
Reversion, sliding block 41 hold books and move backward simultaneously, and fixed baffle 21 and flapper 22 are remain stationary at this time, though pushing away
Bar 81 hauls the retrogressing of slide bar 83 when retreating, two panels butterfly hinge 3 has the trend drawn close, and two panels butterfly hinge 3 can be certain
Clamping books are shunk in degree, and books is avoided to scatter.It is retracted in place to sliding block 41, entire mechanical palms retract, and take book movement knot
Beam.
When putting books, mechanical palms are put into return location by robot, while robot driving pedestal 1 moves up and down
It is dynamic, it allows code reader 91 to identify the label of periphery books, determines the accurate location for putting books in advance.Fixed baffle 21 and flapper 22
The gap of adjacent books, advance suitable distance are inserted into and are strutted to extension, and the second motor 71 advances with movable slider 41, books Forward,
Butterfly hinge 3 opens naturally simultaneously.After sliding block 41 proceeds to front suitable position, first motor 61 unclamps flapper 22,
Entire mechanical palms retract, and book movement is put in completion.
Certainly, the design creation is not limited to above embodiment, and the combination of the various embodiments described above different characteristic can also
To reach good effect.Those skilled in the art can also make without departing from the spirit of the present invention
It is all included in the scope defined by the claims of the present application with deformation or replacement, these equivalent variation or replacement.
Claims (10)
1. a kind of integrated mechanical palms of pick-and-place books, it is characterised in that: including pedestal (1), be fixedly mounted on pedestal (1)
Fixed baffle (21), be mounted on by sliding rail (5) flapper (22) on pedestal (1), the first regulating mechanism, second adjust
Mechanism, bookend and books identification module, the fixed baffle (21) and flapper (22) are parallel to each other；
First regulating mechanism include first motor (61) and by first motor (61) drive the first screw rod (62), described first
Bar (62) is threadedly coupled fixed baffle (21) or flapper (22), can give fixed baffle (21) after the first screw rod (62) rotation
The power bringing together or isolated with flapper (22)；
Bookend includes two panels butterfly hinge (3), and two panels butterfly hinge (3) is separately mounted to front end and the activity of fixed baffle (21)
The front end of baffle (22)；
Second regulating mechanism include the second motor (71), by the second motor (71) drive the second screw rod (72) and with the second screw rod
(72) the screw rod platform being threadedly coupled is equipped with transmission mechanism, transmission mechanism between the screw rod platform and two panels butterfly hinge (3)
The movement of screw rod platform is changed into the swing of two panels butterfly hinge (3)；
Books identification module is mounted on fixed baffle (21), for identification the position of books and type.
2. the integrated mechanical palms of pick-and-place books according to claim 1, it is characterised in that: the fixed baffle (21)
It is equipped with the sliding slot (42) of strip along its length with flapper (22), being equipped on two sliding slots (42) can be in sliding slot
(42) sliding block (41) slided on, the first motor (61) are fixedly mounted on one of sliding block (41), and described first
Bar (62) is threadedly coupled with another sliding block (41), and one of sliding block (41) is used as screw rod platform and the second screw rod (72) screw thread
Connection.
3. the integrated mechanical palms of pick-and-place books according to claim 2, it is characterised in that: before fixed baffle (21)
End bending is drawn close to flapper (22), and the front end of flapper (22) bends to fixed baffle (21) and draws close, above-mentioned two curved
Folding is all made of sloped transition.
4. the integrated mechanical palms of pick-and-place books according to claim 3, it is characterised in that: two sliding blocks (41)
Rubber pad is equipped in the side being opposite to each other.
5. the integrated mechanical palms of pick-and-place books according to claim 3, it is characterised in that: fixed baffle (21) and work
The front end of dynamic baffle (22) and bending are equipped with the notch (43) mobile convenient for sliding block (41).
6. the integrated mechanical palms of pick-and-place books according to any one of claims 1 to 5, it is characterised in that: described
Transmission mechanism includes the push rod (81) of connection wire rod platform, connects the slide bar (83) of push rod (81) and be hinged on slide bar (83) end
Two connecting rods (84), one end of two connecting rods (84) is respectively articulated with two panels butterfly hinge (3), push rod (81) and two connecting rods
(84) it is in the bottom end of butterfly hinge (3).
7. the integrated mechanical palms of pick-and-place books according to claim 6, it is characterised in that: the two panels butterfly hinge
(3) maximum opening angle is 180 °, when two panels butterfly hinge (3) opens maximum with fixed baffle (21) and flapper (22)
In parallel, the thickness of two panels butterfly hinge (3) is less than 3mm.
8. the integrated mechanical palms of pick-and-place books according to claim 6, it is characterised in that: set on the push rod (81)
Have damping ring (82), slide bar (83) passes through the damping ring (82), is moved between push rod (81) and slide bar (83) using damping transmission.
9. the integrated mechanical palms of pick-and-place books according to claim 1, it is characterised in that: the books identification module
Including camera (92) and code reader (91), the direction of illumination of camera (92) and code reader (91) is towards butterfly hinge (3).
10. the integrated mechanical palms of pick-and-place books according to claim 1, it is characterised in that: set on the pedestal (1)
Have big terrace with edge (51), the tail end of the flapper (22) is equipped with the big groove (52) for being inserted in big terrace with edge (51), the big terrace with edge
(51) two side walls are equipped with minor groove, and the two side walls of big groove (52) are equipped with the small terrace with edge for being inserted in minor groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821233542.3U CN208826661U (en) | 2018-08-01 | 2018-08-01 | A kind of integrated mechanical palms of pick-and-place books |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821233542.3U CN208826661U (en) | 2018-08-01 | 2018-08-01 | A kind of integrated mechanical palms of pick-and-place books |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208826661U true CN208826661U (en) | 2019-05-07 |
Family
ID=66308063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821233542.3U Expired - Fee Related CN208826661U (en) | 2018-08-01 | 2018-08-01 | A kind of integrated mechanical palms of pick-and-place books |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208826661U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818603A (en) * | 2018-08-01 | 2018-11-16 | 吉林大学珠海学院 | A kind of integrated mechanical palms of pick-and-place books |
-
2018
- 2018-08-01 CN CN201821233542.3U patent/CN208826661U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818603A (en) * | 2018-08-01 | 2018-11-16 | 吉林大学珠海学院 | A kind of integrated mechanical palms of pick-and-place books |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190507 Termination date: 20210801 |