CN115196236B - Robot for automatic book storage and retrieval - Google Patents

Abstract

The present invention discloses a robot for automatic storage and retrieval of books, comprising a walking device and a lifting device, wherein a book storage device is arranged on the lifting device, a book picking device is arranged above the book storage device, the book picking device comprises a book picking device housing arranged on the top of the book storage device, the book picking device housing is connected with a mechanical gripper and a pushing device, the pushing device is arranged on the book picking device housing through a telescopic mechanism, the mechanical gripper transfers books between the bookcase and the book storage device through a grasping mechanism, and further comprises a control system connected with a power module, the control system is connected with an image acquisition unit and an image processing positioning unit. The present invention can control the toggle rod to travel different distances according to the compactness of the arrangement of books through the control system, and push away the books on both sides of the taken books, thereby providing great convenience for the mechanical gripper to grab books, and the bionic finger mechanism on the mechanical gripper can tilt the books at an angle, so that the mechanical gripper can grab books more easily.

Description

A robot for automatic storage and retrieval of books

Technical Field

The present invention relates to the technical field of book storage and retrieval devices, in particular to a robot used for automatic storage and retrieval of books.

Background Art

There are many categories of books in libraries, especially in libraries in colleges and universities. A large number of books are borrowed and returned every day. In order to manage books in time so that others can borrow books again, library staff must spend a lot of time and energy every day on monotonous and repetitive work such as classification, sorting, shelving and handling. The manual access to books is not only inefficient, but also has lags, and the accuracy of the storage location cannot be guaranteed. It is not convenient for borrowers to retrieve and read the collection, and it also increases the workload of librarians. The use of robot technology to realize automatic identification and retrieval of books can not only reduce the labor intensity of librarians and improve work efficiency, but also facilitate borrowers to borrow books.

For example, the Chinese utility model patent with the authorization announcement date of 2014.05.14 and the authorization announcement number of CN203592482U discloses a library book-taking robot, including a walking device, a controller arranged on the walking device, a lifting mechanism fixed above the walking device, a bookshelf connected to the lifting mechanism, a CCD camera fixed on the bookshelf, a counterweight fixed on the lifting mechanism and symmetrically placed with the bookshelf, a mechanical arm located above the lifting mechanism, and a book clamping board fixed at the end of the mechanical arm. That is, a conceptual robot is disclosed that can recognize QR codes, pick up books with a mechanical arm, and store books on the bookshelf, but the specific structure is not disclosed.

The Chinese invention patent with an application publication date of 2019.12.13 and application publication number CN 110561380 A discloses a working method of a book management robot, wherein the book management robot includes a body, a walking mechanism, a turntable mechanism, a lifting mechanism, a clamping mechanism and a paddle mechanism, a book box is provided on the front side of the upper surface of the body, the turntable mechanism is slidably connected to the rear side of the upper surface of the body, the lower end of the lifting mechanism is slidably connected to the turntable mechanism, the clamping mechanism and the paddle mechanism are both installed on the lifting mechanism, a book clamp adjustment mechanism is provided in the book box, an obstacle avoidance sensor is provided on the bottom front side of the body, a battery and a controller are provided on the body, and the controller is respectively connected to the walking mechanism, the turntable mechanism, the lifting mechanism, the clamping mechanism, the paddle mechanism, the book clamp adjustment mechanism and the obstacle avoidance sensor signals.

Although the technical solution of the above invention patent application discloses a relatively specific book management robot structure, when storing books, the bookcase and the book box need to rotate the turntable to drive the lifting mechanism, the clamping mechanism and the paddle mechanism to rotate as a whole, which is not only redundant and inefficient, but also may interfere with other surrounding structures or pedestrians during the book storage process, and has poor reliability and ease of use. Therefore, it is urgent to design an automatic book storage and retrieval robot with simple movements and reliable performance.

Summary of the invention

In view of the deficiencies in the above-mentioned background technology, the present invention proposes a robot for automatic storage and retrieval of books, which solves the technical problems of redundant actions and poor reliability of existing book storage robots.

The technical solution of this application is:

A robot for automatic storage and retrieval of books comprises a walking device, a lifting device is arranged on the walking device, a book storage device is arranged on the lifting device, a book picking device is arranged above the book storage device, the book picking device comprises a book picking device shell arranged on the top of the book storage device, the book picking device shell is connected to a mechanical gripper and a pushing device, the pushing device is arranged on the book picking device shell through a telescopic mechanism, the mechanical gripper transfers books between a bookcase and the book storage device through a grasping mechanism, the walking device, the lifting device, the pushing device, the telescopic mechanism, the mechanical gripper, and the grasping mechanism are all connected to a control system with a power module, and the control system is connected to an image acquisition unit and an image processing and positioning unit.

Furthermore, the gripping mechanism includes a first motor connected to the control system, the first motor drive is connected to a cam, the cam is hinged to a first swing link, the first swing link is hinged to a second swing link, the second swing link is provided with a slide groove, the slide groove is slidably connected to a third swing link, the end of the third swing link is connected to the mechanical gripper, the third swing link is slidably arranged in the length direction of the fourth swing link, the fourth swing link is hinged to the guide rail plate, the guide rail plate includes a transverse slide rail section and a vertical slide rail section, an arc-shaped transition slide rail section is provided between the transverse slide rail section and the vertical slide rail section, the fourth swing link is hinged at the center of the transition slide rail section and slidably cooperates with the transverse slide rail section, the transition slide rail section and the vertical slide rail section.

Furthermore, a reduction assembly is provided between the first motor and the cam, and the reduction assembly includes a reduction pinion transmission-connected to the first motor, the reduction pinion meshes with a reduction gear, and the reduction gear is fixedly connected to a rotating shaft driving the cam.

Furthermore, the mechanical gripper includes a gripper fixing frame connected to the gripping mechanism, the gripper fixing frame is connected to a first electric telescopic rod connected to the control system, the first electric telescopic rod is hinged with two gripper first connecting rods, the two gripper first connecting rods are symmetrically arranged about the first electric telescopic rod, the two gripper first connecting rods are respectively hinged with a gripper second connecting rod, one end of each gripper second connecting rod is hinged to the gripper fixing frame, and the other end is hinged with a clamping claw, the clamping ends of the two clamping claws correspond to each other, and a gripper third connecting rod is hinged between the clamping claw and the gripper fixing frame.

Furthermore, a bionic finger mechanism is provided on the gripper fixing frame, and the bionic finger mechanism includes a bionic fixing rod, a second motor connected to the control system is provided on one side of the bionic fixing rod, the output shaft of the second motor passes through the bionic fixing rod and is connected to a first bionic swing rod, the first bionic swing rod is connected to a second bionic swing rod, the second bionic swing rod is Z-shaped, one end of the second bionic swing rod is connected to the first bionic swing rod, and the other end is connected to a fixed shaft, a third bionic swing rod is provided on the fixed shaft, a first positioning gear is provided on the end of the fixed shaft facing away from the second bionic swing rod, and a second positioning gear meshing with the first positioning gear is provided on the bionic fixing rod.

Furthermore, the telescopic mechanism includes a third motor connected to the control system, the third motor is connected to a swing block, the swing block is rotatably connected to a traveling gear, an internal gear ring is meshed with the traveling gear, the traveling gear is connected to a fifth swing link, the fifth swing link is hinged to a first sliding rod, the first sliding rod is slidably matched with a first sliding rail arranged laterally, and the prying device is arranged at the end of the sliding rod.

Furthermore, a second slide rail is arranged above the first slide rail in parallel, a second slide rod is slidably arranged in the second slide rail, the second slide rod is connected to the first slide rod through a synchronous connecting rod, and a spreading device is also arranged at the end of the second slide rod.

Furthermore, the pushing device includes an outer box body, in which a fourth motor connected to the control system is arranged, the fourth motor is connected to a first ball screw and a second ball screw with opposite rotation directions, the first ball screw is provided with a first screw nut, the second ball screw is provided with a second screw nut, the first screw nut and the second screw nut are both connected to a pushing rod, and a long slot is opened on the outer box body for the pushing rod to extend.

Furthermore, the book storage device includes a book box, a toggle assembly is arranged in the book box, the toggle assembly includes a fifth motor and a sixth motor connected to the control system, the fifth motor is connected to the third ball screw, the third screw nut of the third ball screw is provided with a fourth electric telescopic rod connected to the control system, the sixth motor is connected to the fourth ball screw, the fourth screw nut of the fourth ball screw is provided with a second electric telescopic rod and a third electric telescopic rod at intervals, and the toggle assembly is provided in two groups and is respectively located on both sides of the book box.

Furthermore, a rotating mechanism is arranged between the lifting device and the book storage device, and the rotating mechanism includes a fixed box connected to the lifting device, a seventh motor connected to the control system is arranged in the fixed box, the seventh motor is horizontally arranged in the fixed box, a vertical shaft is arranged below the book storage device, the vertical shaft and the driving shaft of the seventh motor are connected through a bevel gear set, and a sliding-fitting annular rotating component is arranged between the top of the fixed box and the bottom of the book storage device.

Compared with the prior art, the beneficial effects of the present invention include:

The prying device designed in the present invention can control the prying rod to move different distances according to the compactness of the book arrangement, and pry the books on both sides of the book to be taken away, which greatly facilitates the mechanical gripper to grab the book. In addition, the bionic finger mechanism on the mechanical gripper can tilt the book at an angle, so that the mechanical gripper can grab the book more easily.

The book storage device of the present invention is arranged adjacent to the book retrieval device, and the mechanical gripper can work directly between the bookcase and the book storage device through the gripping mechanism without rotating the circumferential freedom of the mechanical gripper, and the mechanical gripper can be moved in the horizontal direction and the vertical direction through the gripping mechanism;

The control system of the present invention is connected with an image acquisition unit and an image processing and positioning unit. The walking device, the lifting device, the spreading device, the telescopic mechanism, the book picking device and the grasping mechanism are all connected with the control system. The control system controls the walking device to walk to the target bookcase position, the lifting device to lift the book picking device to the height of the target book, the telescopic mechanism to send the spreading device to the horizontal position of the target book, the spreading device to spread the books on both sides of the target book, the grasping mechanism to send the mechanical gripper to the target book position, the mechanical gripper grasps the target book and then sends the target book to the book storage device through the grasping mechanism, and the book storage device pushes the target book sent by the mechanical gripper to a temporary storage position.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

Fig. 1 is a front view of the present invention;

FIG2 is a side view of the telescopic mechanism and the grasping mechanism of the present invention;

FIG3 is an axonometric view of the telescopic mechanism and the gripping mechanism of the present invention;

FIG4 is a top view of the telescopic mechanism of the present invention;

FIG5 is an axonometric view of a partial structure of the telescopic mechanism of the present invention;

FIG6 is an axonometric view of the mechanical gripper of the present invention;

FIG7 is a second axonometric view of the mechanical gripper of the present invention;

FIG8 is an axonometric view of the expelling device of the present invention;

FIG9 is an axonometric view of a partial structure of a rotating mechanism in the present invention;

FIG10 is an axonometric view of the lifting device of the present invention;

FIG11 is an axonometric view of the book storage device of the present invention;

FIG12 is an axonometric view of the walking device of the present invention;

FIG13 is an axonometric view of the present invention;

FIG14 is an enlarged view of the infrared detector of the present invention;

Description of the numbers in the figure:

Fixed frame 1-1, telescopic mechanism 1-2, first sliding rod 1-3, synchronous link 1-4, second sliding rod 1-5, third swing link 1-6, second swing link 1-7, cam 1-8, first swing link 1-9, fourth swing link 1-10, guide plate 1-11, fixed plate 1-12, first motor 1-13, fourteenth coupling 1-14, fifteenth coupling 1-15, sixteenth connecting rod 1-16, reduction pinion 1-17, reduction gear 1-18, rotating shaft 1-19, external fixed frame 1-2-1, third motor 1-2-2, swing block 1-2-3, fifth swing link 1-2-4, walking gear 1-2-6, inner gear ring 1-2-7, gripper fixing frame 2-1, second manipulator connecting rod 2-2, rubber sleeve 2-3, clamping claw 2-4, first gripper connecting rod 2-5, third gripper connecting rod 2-6, second gripper connecting rod 2-7, gripper fixing clamp 2-8, first positioning gear 2-9, second positioning gear 2-10, second bionic swing rod 2-11, first bionic swing rod 2-12, first electric telescopic rod 2-13, manipulator support plate 2-14, bionic fixing rod 2-15, third bionic swing rod 2-16, fixing disc 2-17, second motor 2-18, outer box 3-1, second screw nut 3-2, second ball screw 3- 3, the first ball screw 3-4, the first screw nut 3-6, the fourth motor 3-7, the toggle rod 3-10, the connecting plate 3-11, the fixed box 4-1, the seventh motor 4-2, the third rotating coupling 4-3, the fourth rotating coupling 4-4, the rotating connecting rod 4-5, the sixth bevel gear 4-6, the seventh bevel gear 4-7, the rotating platform 4-8, the lifting fixed frame 5-1, the second connecting rod 5-2, the third connecting rod 5-3, the sliding guide rod 5-4, the fifth connecting rod 5-5, the sixth connecting rod 5-6, the lifting platform 5-7, the eighth connecting rod 5-8, the ninth connecting rod 5-9, the slide rail 5-10, the eleventh connecting rod 5-11, the twelfth connecting rod Connecting rod 5-12, electric push rod 5-13, book box 6-1, drawer 6-2, fifth motor 6-4, sixth motor 6-5, fourth ball screw 6-6, third screw nut 6-7, fourth electric telescopic rod 6-8, fourth screw nut 6-9, second electric telescopic rod 6-10, third electric telescopic rod 6-11, third ball screw 6-12, driving wheel 7-1, walking device frame 7-2, steering wheel 7-3, fixing groove 7-4, walking device 8-1, lifting device 8-2, book storage device 8-3, book retrieval device shell 8-4, mechanical gripper 8-5, opening device 8-6, infrared detector 8-7, binocular camera 8-8.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

A robot for automatic storage and retrieval of books, as shown in Fig. 1 and Fig. 13, comprises a walking device 8-1, on which a lifting device 8-2 is arranged, on which a book storage device 8-3 is arranged, and above which a book fetching device is arranged. Under the control of a control system, the walking device 8-1 can move and walk in all directions, and the walking device 8-1 drives the lifting device 8-2, the book storage device 8-3 and the book fetching device to shift positions, so that the robot can reciprocate horizontally between a bookcase and a book fetching position; the lifting device 8-2 can drive the book storage device 8-3 and the book fetching device to rise and fall, and then approach a target height; the book fetching device can directly take and place books on the bookcase into the book storage device 8-3, and can also take and place books in the book storage device 8-3 onto the bookcase.

Specifically, the book-taking device includes a book-taking device housing 8-4 disposed on the top of the book storage device 8-3, a mechanical gripper 8-5 and a pushing device 8-6 are disposed in the book-taking device housing 8-4, the pushing device 8-6 is disposed on the book-taking device housing 8-4 through a telescopic mechanism 1-2, and the mechanical gripper 8-5 transfers books between the bookcase and the book storage device 8-3 through a grabbing mechanism. The walking device 8-1, the lifting device 8-2, the pushing device 8-6, the telescopic mechanism, the mechanical gripper 8-5, and the grabbing mechanism are all connected to a control system with a power module, and the control system is connected to an image acquisition unit and an image processing and positioning unit.

The book storage device of the technical solution is arranged adjacent to the book retrieval device, and the mechanical gripper can work directly between the bookcase and the book storage device through the gripping mechanism, without rotating the circumferential freedom of the mechanical gripper, and the mechanical gripper can be moved in the horizontal and vertical directions through the gripping mechanism;

The control system controls the walking device 8-1 to walk to the target bookshelf position, the lifting device 8-2 to lift the book picking device to the target book height, the telescopic mechanism to send the spreading device 8-6 to the horizontal position of the target book, the spreading device 8-6 to spread the books on both sides of the target book, and the grasping mechanism to send the mechanical gripper 8-5 to the target book position. After the mechanical gripper 8-5 grasps the target book, it sends the target book to the book storage device 8-3 through the grasping mechanism. The book storage device 8-3 pushes the target book sent by the mechanical gripper 8-5 to a temporary storage position. Similarly, the mechanical gripper 8-5 can also be controlled to transfer the books in the book storage device 8-3 to the target position of the bookcase.

When the robot takes a book from the bookcase, since the telescopic mechanism is provided with a first distance sensor connected to the control system, when the telescopic mechanism gradually approaches the target book position, the first distance sensor provided on the telescopic mechanism monitors the distance to the target book in real time. When the telescopic mechanism reaches the target position, the first distance sensor feeds back the distance signal to the control system, and the control system controls the telescopic mechanism to stop moving forward, and at the same time controls the pushing device 8-6 to push the books on both sides of the target book apart; a first pressure sensor is provided between the force-bearing part of the pushing device 8-6 and the book. When the pushing device 8-6 pushes the book apart, the first pressure sensor transmits the pressure signal to the control system, and the control system controls the pushing device 8-6 to stop the action in time according to the feedback signal of the first pressure sensor, and at the same time controls the grasping mechanism to extend from the book storage device 8-3 to the target book position, and grasps the book. The picking mechanism is connected to a position switch. When the grabbing mechanism moves into place, the control system will receive a feedback signal from the position switch, and the control system controls the movement of the mechanical gripper 8-5 according to the feedback signal; a second pressure sensor is provided at the position where the mechanical gripper 8-5 clamps the target book. When the mechanical gripper 8-5 clamps the target book, the second pressure sensor transmits the pressure signal to the control system, and the control system controls the mechanical gripper 8-5 to stop the movement in time according to the feedback signal from the second pressure sensor, and controls the grabbing mechanism to reset, thereby driving the mechanical gripper 8-5 to move to the book storage device 8-3; when the grabbing mechanism moves into place, the control system will receive a feedback signal from the position switch, and the control system controls the mechanical gripper 8-5 to release the target book according to the feedback signal, and controls the resetting of the opening device 8-6 and the book storage device 8-3 to start the book storage action.

Similarly, when the robot stores books on the bookshelf, as the telescopic mechanism gradually approaches the position of the target book, the first distance sensor provided on the telescopic mechanism monitors the distance to the target book in real time. When the telescopic mechanism reaches the target position, the first distance sensor feeds back the distance signal to the control system. The control system controls the telescopic mechanism to stop moving forward, and at the same time controls the pushing device 8-6 to push away the books on both sides of the target book. A first pressure sensor is provided between the force-bearing part of the pushing device 8-6 and the book. When the pushing device 8-6 pushes away the book, the first pressure sensor transmits the pressure signal to the control system. The control system controls the pushing device 8-6 to stop the action in time according to the feedback signal of the first pressure sensor. At the same time, the control system controls the mechanical gripper 8-5 to clamp the target book in the book storage device 8-3 according to the feedback signal of the first pressure sensor. The mechanical gripper 8-5 clamps the target book in the book storage device 8-3. A second pressure sensor is provided at the position of the target book. When the mechanical gripper 8-5 clamps the target book, the second pressure sensor transmits a pressure signal to the control system. The control system controls the mechanical gripper 8-5 to stop the action in time according to the feedback signal of the second pressure sensor, and controls the grasping mechanism to extend from the book storage device 8-3 to the position of the target book; the grasping mechanism is connected to a position switch. When the grasping mechanism moves into place, the control system will receive the feedback signal of the position switch. The control system controls the mechanical gripper 8-5 to release the book and place it on the bookcase according to the feedback signal; the second pressure sensor transmits the pressure signal to the control system. The control system controls the grasping mechanism to reset according to the feedback signal of the second pressure sensor; when the grasping mechanism is reset, the control system will receive the feedback signal of the position switch. The control system controls the resetting of the opening device 8-6 according to the feedback signal.

On the basis of the above-mentioned embodiments, as a preferred embodiment, as shown in FIG. 2 and FIG. 3, the gripping mechanism includes a fixed plate 1-12 disposed in the book-taking device housing 8-4, and a first motor 1-13 connected to the control system is disposed on the fixed plate 1-12, and the first motor 1-13 is driven and connected to a cam 1-8, and the rotation of the first motor 1-13 drives the cam 1-8 to rotate, and the cam 1-8 swings. The cam 1-8 is hinged with a first swing link 1-9, and when the cam 1-8 rotates, it drives the first swing link 1-9 to swing; the first swing link 1-9 is hinged with a second swing link 1-7, and when the first swing link 1-9 swings, it drives the second swing link 1-7 to swing.

The second swing link 1-7 is provided with a slide groove, and the slide groove is slidably connected to the third swing link 1-6, and the end of the third swing link 1-6 is connected to the mechanical gripper 8-5. The third swing link 1-6 is slidably arranged in the length direction of the fourth swing link 1-10. When the second swing link 1-7 swings, it will drive the fourth swing link 1-10 to slide along the third swing link 1-6, that is, the third swing link 1-6 can be extended and retracted relative to the fourth swing link 1-10.

The fourth swing link 1-10 is hinged on the guide rail plate 1-11, and the guide rail plate 1-11 includes a horizontal slide rail section and a vertical slide rail section. An arc-shaped transition slide rail section is arranged between the horizontal slide rail section and the vertical slide rail section. The fourth swing link 1-10 is hinged at the center of the transition slide rail section and slides with the horizontal slide rail section, the transition slide rail section, and the vertical slide rail section. That is, when the second swing link 1-7 swings, it will not only drive the fourth swing link 1-10 to slide along the third swing link 1-6, but also drive the fourth swing link 1-10 to swing along the horizontal slide rail section, the transition slide rail section, and the vertical slide rail section, and the third swing link 1-6 will swing and retract accordingly, thereby realizing the horizontal retraction, vertical retraction, and conversion between horizontal and vertical of the third swing link 1-6, and then driving the mechanical gripper 8-5 to move between the bookcase and the book storage device 8-3.

On the basis of the above embodiment, as a preferred embodiment, a reduction assembly is provided between the first motor 1-13 and the cam 1-8, and the reduction assembly includes a reduction pinion 1-17 transmission-connected to the first motor 1-13, the reduction pinion 1-17 is meshed with a reduction gear 1-18, and the reduction gear 1-18 is fixedly connected to a rotating shaft 1-19 driving the cam 1-8. The first motor 1-13 is transmission-connected to the reduction pinion 1-17 through a fourteenth coupling 1-14, a fifteenth coupling 1-15, and a sixteenth connecting rod 1-16.

On the basis of the above-mentioned embodiments, as a preferred embodiment, as shown in FIG6 and FIG7, the mechanical gripper 8-5 includes a gripper fixing frame 2-1 connected to the gripping mechanism, the gripper fixing frame 2-1 is connected to a first electric telescopic rod 2-13 connected to the control system, the first electric telescopic rod 2-13 is hinged with two gripper first connecting rods 2-5, and the two gripper first connecting rods 2-5 are symmetrically arranged about the first electric telescopic rod 2-13. When the control system controls the first electric telescopic rod 2-13 to extend and retract, it will drive the gripper first connecting rod 2-5 to swing. The two gripper first connecting rods 2-5 are respectively hinged with a gripper second connecting rod 2-7, one end of each gripper second connecting rod 2-7 is hinged to the gripper fixing frame 2-1, and the other end is hinged with a clamping claw 2-4, and when the gripper first connecting rod 2-5 swings, it will drive the gripper second connecting rod 2-7 to swing. The clamping ends of the two clamping jaws 2-4 correspond to each other, and a third connecting rod 2-6 of the gripper is hinged between the clamping jaws 2-4 and the gripper fixing frame 2-1. When the second connecting rod 2-7 of the gripper swings, it drives the two clamping jaws 2-4 to approach or separate from each other, thereby achieving gripping and releasing.

Specifically, a rubber sleeve 2-3 is provided at the part where the clamping jaws 2-4 are close to each other to prevent damage to the books. The gripper fixing frame 2-1 includes a body, the first electric telescopic rod 2-13 is provided at the center of the body, four second manipulator connecting rods 2-2 are provided around the first electric telescopic rod 2-13 and are parallel to each other, the other end of the second manipulator connecting rod 2-2 is connected to a fixed disk 2-17, the piston rod of the first electric telescopic rod 2-13 passes through the fixed disk 2-17, and the second gripper connecting rod 2-7 and the third gripper connecting rod 2-6 are connected to the fixed disk 2-17 through the gripper fixing clamp 2-8.

On the basis of the above-mentioned embodiment, as a preferred embodiment, as shown in FIG6 and FIG7, the gripper fixing frame 2-1 is provided with a bionic finger mechanism, the bionic finger mechanism includes a bionic fixing rod 2-15, a second motor 2-18 connected to the control system is provided on one side of the bionic fixing rod 2-15, the output shaft of the second motor 2-18 passes through the bionic fixing rod 2-15 and is connected to the first bionic swing rod 2-12, and the first bionic swing rod 2-12 is connected to the second bionic swing rod 2-11. Under the control of the control system, the second motor 2-18 will drive the first bionic swing rod 2-12 to swing, and the swing of the first bionic swing rod 2-12 will drive the second bionic swing rod 2-11 to swing.

The second bionic swing arm 2-11 is in a Z shape, one end of the second bionic swing arm 2-11 is connected to the first bionic swing arm 2-12, and the other end is connected to a fixed shaft, on which a third bionic swing arm 2-16 is arranged. When the second bionic swing arm 2-11 swings, the third bionic swing arm 2-16 is driven to swing through the fixed shaft, and then moves closer to or unfolds relative to the bionic fixed rod 2-15. The end of the fixed shaft away from the second bionic swing arm 2-11 is provided with a first positioning gear 2-9, and the bionic fixed rod 2-15 is provided with a second positioning gear 2-10 meshing with the first positioning gear 2-9. Through the meshing action of the second positioning gear 2-10 meshing with the first positioning gear 2-9, the stability and reliability of the swing of the third bionic swing arm 2-16 relative to the bionic fixed rod 2-15 can be guaranteed.

The bionic fixed rod 2-15 and the third bionic swing rod 2-16 used in this embodiment are designed to imitate the action of a person when flipping a book. Before the clamp 2-4 grabs the book, the bionic fixed rod 2-15 and the third bionic swing rod 2-16 gently press the book to be flipped, tilting it about 45°, and then the clamp 2-4 grabs the book. This design not only conforms to the process of people taking books, but also greatly improves the efficiency of taking books.

On the basis of the above-mentioned embodiment, as a preferred embodiment, as shown in Fig. 2-Fig. 5, the telescopic mechanism 1-2 includes an external fixing frame 1-2-1 arranged in the book-taking device housing 8-4, the external fixing frame 1-2-1 is connected to a third motor 1-2-2 connected to the control system, the third motor 1-2-2 is connected to a swing block 1-2-3, the swing block 1-2-3 is rotatably connected to a traveling gear 1-2-6, and an inner gear ring 1-2-7 is meshed with the traveling gear 1-2-6. When the control system controls the third motor 1-2-2 to reciprocate, it drives the swing block 1-2-3 to swing, and then the swing block 1-2-3 drives the traveling gear 1-2-6 to rotate and travel, and the inner gear ring 1-2-7 supports and limits the traveling gear 1-2-6.

The traveling gear 1-2-6 is connected to the fifth swing link 1-2-4, the fifth swing link 1-2-4 is hinged to the first sliding rod 1-3, the first sliding rod 1-3 is slidably matched with the first slide rail arranged horizontally, and the end of the first slide rod 1-3 is provided with the pushing device 8-6. When the traveling gear 1-2-6 moves along the inner gear ring 1-2-7, it will drive the fifth swing link 1-2-4 to swing, and then drive the first slide rod 1-3 to extend and retract relative to the first slide rail.

Furthermore, a second slide rail is arranged above the first slide rail in parallel, a second slide rod 1-5 is slidably arranged in the second slide rail, the second slide rod 1-5 is connected to the first slide rod 1-3 through a synchronous connecting rod 1-4, and a spreading device 8-6 is also arranged at the end of the second slide rod 1-5. The first slide rod 1-3 and the second slide rod 1-5 move synchronously, synchronously driving the two spreading devices 8-6 to extend and retract, fully ensuring the reliability of spreading the books.

On the basis of the above-mentioned embodiment, as a preferred embodiment, as shown in Figure 5, the pushing device 8-6 includes an outer box body 3-1, and a fourth motor 3-7 connected to the control system is arranged in the outer box body 3-1, and the fourth motor 3-7 is connected to the first ball screw 3-4 and the second ball screw 3-3 with opposite rotation directions, the first ball screw 3-4 is provided with a first screw nut 3-6, and the second ball screw 3-3 is provided with a second screw nut 3-2, the first screw nut 3-6 and the second screw nut 3-2 are both connected to a pushing rod 3-10, and a long slot is opened on the outer box body 3-1 for the pushing rod 3-10 to extend out.

Specifically, the first ball screw 3-4 is coaxially connected with the second ball screw 3-3 through the connecting plate 3-11. When the control system controls the fourth motor 3-7 to rotate, it will drive the first screw nut 3-6 and the second screw nut 3-2 to approach or separate from each other, thereby realizing the sorting of books. At this time, if you want to continue to sort the books, you have to apply a greater force, but a larger force will damage the books being sorted. Therefore, after the sorting device sorts the densely packed books to a certain gap, a force is applied to the books through the bionic finger mechanism set on the mechanical gripper 8-5 to tilt the books, and then the mechanical gripper 8-5 is used to grab the books. After the grabbing is completed, the fourth motor 3-7 is driven in reverse, so that the first screw nut 3-6 and the second screw nut 3-2 move in opposite directions to restore the placement state of the books on the bookshelf.

On the basis of the above-mentioned embodiment, as a preferred embodiment, as shown in FIG11, the book storage device 8-3 includes a book box 6-1, and a toggle assembly is arranged in the book box 6-1. The toggle assembly includes a fifth motor 6-4 and a sixth motor 6-5 connected to the control system, the fifth motor 6-4 is connected to a third ball screw 6-12, and a fourth electric telescopic rod 6-8 connected to the control system is arranged on the third screw nut 6-7 of the third ball screw 6-12. The sixth motor 6-5 is connected to a fourth ball screw 6-6, and a second electric telescopic rod 6-10 and a third electric telescopic rod 6-11 connected to the control system are arranged on the fourth screw nut 6-9 of the fourth ball screw 6-6, and two groups of the toggle assembly are arranged and are respectively located on both sides of the book box 6-1.

When the book-taking device puts the book into the book box 6-1, the third lead screw nut 6-7 and the fourth lead screw nut 6-9 on both sides move to the same side. During the movement, the second electric telescopic rod 6-10 and the third electric telescopic rod 6-11 clamp the book to prevent it from falling. When the book is pushed to one side of the book box 6-1, the fourth electric telescopic rod 6-8 on one side presses the book, while the second electric telescopic rod 6-10 and the third electric telescopic rod 6-11 are separated from the book by retracting. Then the second electric telescopic rod 6-10 and the third electric telescopic rod 6-11 move to the original position again through the fourth lead screw nut 6-9 to clamp the next book. At the same time, the fourth electric telescopic rod 6-8 on the other side returns synchronously through another third lead screw nut 6-7. This is repeated, and the book storage device 8-3 can store and retrieve a large number of books. If the book in the book storage device 8-3 is grabbed, the movement is opposite, which also improves the efficiency of storing and retrieving books.

Furthermore, the outer peripheries of the fourth electric telescopic rod 6-8, the second electric telescopic rod 6-10, and the third electric telescopic rod 6-11 are all wrapped with rubber material to prevent the books from being damaged.

Furthermore, since the book storage device 8-3 is a device in the robot for temporarily storing books, a drawer 6-2 is provided between the two groups of shifting components, and books can be taken out and put in through the drawer 6-2, thereby automating the taking and placing.

On the basis of the above-mentioned embodiment, as a preferred embodiment, as shown in FIG9 , a rotating mechanism is provided between the lifting device 8-2 and the book storage device 8-3. The rotating mechanism includes a fixed box 4-1 connected to the lifting device 8-2, a seventh motor 4-2 connected to the control system is provided in the fixed box 4-1, the seventh motor 4-2 is horizontally arranged in the fixed box 4-1, a vertical shaft is provided below the book storage device 8-3, the vertical shaft is connected to the driving shaft of the seventh motor 4-2 through a bevel gear set, and the vertical shaft and the driving shaft are both provided with auxiliary supporting bearing supports. A sliding-fitting annular rotating assembly is provided between the top of the fixed box 4-1 and the bottom of the book storage device 8-3 to ensure force stability and prevent excessive force on the motor shaft.

The rotating mechanism is provided in this embodiment so that the robot can grab books from the bookshelves on both sides when in a relatively narrow place, thus saving time in storing and retrieving books and avoiding the risk of hitting pedestrians during the turning process.

The rotating platform is rotated by the sixth bevel gear 4-6 and the seventh bevel gear 4-7 meshing with each other, then the seventh motor 4-2 drives the sixth bevel gear 4-6, and finally the bevel gear 4-7 drives the rotating platform 4-4. The use of bevel gears can make the rotation more stable, and the noise generated when the bevel gears are driven is low, which is suitable for use in quiet public places such as libraries.

On the basis of the above-mentioned embodiment, as a preferred embodiment, as shown in Figure 10, the lifting device includes a lifting fixed frame 5-1, a second connecting rod 5-2, a third connecting rod 5-3, a sliding guide rod 5-4, a fifth connecting rod 5-5, a sixth connecting rod 5-6, a lifting platform 5-7, an eighth connecting rod 5-8, a ninth connecting rod 5-9, a slide rail 5-10, an eleventh connecting rod 5-11, and a twelfth connecting rod 5-12. The second connecting rod 5-2 and the twelfth connecting rod 5-12 are respectively fixed to the lifting fixed frame 5-1, the two ends of the fifth connecting rod 5-5 are respectively fixed to the second connecting rod 5-2 and the sixth connecting rod 5-6, the slide rail 5-10 is horizontally arranged, the two ends of the ninth connecting rod 5-9 are respectively fixed to the eighth connecting rod 5-8 and the eleventh connecting rod 5-11, the eighth connecting rod 5-8 and the sixth connecting rod 5-6 are fixed to the lifting platform 5-7, the lifting platform 5-7 is placed horizontally, the two ends of the sliding guide rod 5-4 are slidably connected to the slide rail 5-10, and the rotating platform is arranged on the upper end surface of the lifting platform 5-7.

Two second connecting rods 5-2 are arranged at intervals and are both hinged on the lifting fixed frame 5-1. The middle part of the second connecting rod 5-2 is hinged to the third connecting rod 5-3, and the upper end is hinged to the sixth connecting rod 5-6. The middle part of the sixth connecting rod 5-6 is hinged to the fifth connecting rod 5-5, and the upper end is hinged to the lifting platform 5-7. The fifth connecting rod 5-5 is hinged to the upper end of the third connecting rod 5-3. That is, the upper half of the second connecting rod 5-2, the lower half of the sixth connecting rod 5-6, the fifth connecting rod 5-5, and the third connecting rod 5-3 form a parallelogram four-bar linkage.

The twelfth connecting rod 5-12 is arranged at intervals and is hinged above the lifting fixed frame 5-1. The middle part of the twelfth connecting rod 5-12 is hinged to the eleventh connecting rod 5-11, and the upper end is hinged to the eighth connecting rod 5-8. The middle part of the eighth connecting rod 5-8 is hinged to the ninth connecting rod 5-9, and the upper end is connected to the lifting platform 5-7. The ninth connecting rod 5-9 is hinged to the upper end of the eleventh connecting rod 5-11. That is, the upper half of the twelfth connecting rod 5-12, the lower half of the eighth connecting rod 5-8, the ninth connecting rod 5-9, and the eleventh connecting rod 5-11 form a parallelogram four-bar linkage.

The upper ends of the second connecting rod 5-2, the third connecting rod 5-3, the twelfth connecting rod 5-12 and the eleventh connecting rod 5-11 are all located in the rectangular slide rail 5-10. The slide rail 5-10 is provided with an electric push rod 5-13 for pushing two hinge points to move horizontally. The two hinge points are respectively the hinge point between the second connecting rod 5-2 and the sixth connecting rod 5-6, and the hinge point between the twelfth connecting rod 5-12 and the eighth connecting rod 5-8.

In this embodiment, the electric push rod 5-13 is mainly used to make the sliding guide rod 5-4 reciprocate in the slide rail 5-10 to control the movement of each connecting rod, thereby controlling the lifting and lowering of the lifting platform 5-7, so as to facilitate the robot to grab books at different heights. When the robot moves to the bookshelf of the required book, the position of the required book is first locked by the camera on the head of the robot, and then the self-locking function of the sliding guide rod 5-4 is used to make the robot rise to the height of the book, and finally the books on both sides of the book are pushed away by the opening device, and then the book taking device takes out the book and puts it into the book box storage mechanism.

On the basis of the above-mentioned embodiment, as a preferred embodiment, as shown in FIG12 , the walking device 8-1 includes a driving wheel 7-1, a walking mechanism frame 7-2, a steering wheel 7-3, a fixed groove 7-4 and a stepper motor. The driving wheel 7-1 is arranged on both sides of the rear end of the lower end surface of the walking mechanism frame 7-2, the steering wheel 7-3 is arranged on both sides of the front end of the lower end surface of the walking mechanism frame 7-2, the stepper motor is fixedly connected to the inside of the walking mechanism frame 7-2, the motor shaft of the stepper motor is respectively connected to the two driving wheels 7-1 through a transmission chain, and the lifting device 8-2 is arranged on the upper end surface of the fixed groove 7-4. Other components and connection methods are the same as those of the first specific embodiment.

The walking device 8-1 adopts a four-wheel method, that is, two wheels in the front and two wheels in the back. The two wheels in the front are steering wheels 7-3, and the two wheels in the back are driving wheels 7-1. All four wheels are rubber wheels, because rubber wheels have the effect of reducing noise and vibration. The turning of the walking mechanism is through the speed difference of the two driving wheels 7-1 at the back, and then the robot is turned through the control system. The power source of the walking mechanism is the stepper motor drive, which ensures the smoothness of the movement and positioning accuracy of the walking mechanism. A gear transmission system is used between the stepper motor and the driving wheel 7-1 to improve the movement efficiency of the walking mechanism. The walking mechanism has the advantages of certain positioning accuracy, good stability, low noise, and low cost.

Based on the above implementation, as a preferred implementation, as shown in FIG. 13 and FIG. 14, the image acquisition unit includes a binocular camera 8-8 disposed on the top of the book-picking device housing 8-4, and the control system is positioned by the binocular camera. Infrared detectors 9-1 connected to the control system are disposed on both sides of the book-picking device housing 8-4 to prevent the robot from colliding with passers-by or bookshelves, and can also assist the camera in finding the required books.

The details not described in detail in the present invention are all conventional technical means known to those skilled in the art.

The above content shows and describes the basic principles, main features and beneficial effects of the present invention. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (4)

1. The utility model provides a robot for books are automatic to be deposited and withdrawn, includes running gear (8-1), is provided with elevating gear (8-2), its characterized in that on running gear (8-1): the book storage device is characterized in that a book storage device (8-3) is arranged on the lifting device (8-2), a book taking device is arranged above the book storage device (8-3), the book taking device comprises a book taking device shell (8-4) arranged at the top of the book storage device (8-3), the book taking device shell (8-4) is connected with a mechanical gripper (8-5) and a pulling-out device (8-6), the pulling-out device (8-6) is arranged on the book taking device shell (8-4) through a telescopic mechanism (1-2), the mechanical gripper (8-5) transfers books between a book cabinet and the book storage device (8-3) through a grabbing mechanism, and the walking device (8-1), the lifting device (8-2), the pulling-out device (8-6), the telescopic mechanism, the mechanical gripper (8-5) and the grabbing mechanism are connected with a control system with a power module, and the control system is connected with an image acquisition unit and an image processing positioning unit;

The grabbing mechanism comprises a first motor (1-13) connected with the control system, the first motor (1-13) is in driving connection with a cam (1-8), the cam (1-8) is hinged with a first swinging connecting rod (1-9), the first swinging connecting rod (1-9) is hinged with a second swinging connecting rod (1-7), a sliding groove is formed in the second swinging connecting rod (1-7), a third swinging connecting rod (1-6) is in sliding connection with the sliding groove, the end part of the third swinging connecting rod (1-6) is connected with the mechanical gripper (8-5), the third swinging connecting rod (1-6) is arranged in the length direction of a fourth swinging connecting rod (1-10) in a sliding manner, the fourth swinging connecting rod (1-10) is hinged on a guide rail plate (1-11), the guide rail plate (1-11) comprises a transverse sliding rail section and a vertical sliding rail section, an arc-shaped transition sliding rail section is arranged between the transverse sliding rail section and the vertical sliding rail section, and the fourth swinging connecting rod (1-10) is hinged at the center of the transition sliding rail section and is in sliding fit with the transverse sliding rail section, the transition sliding rail section and the vertical sliding rail section;

The mechanical gripper (8-5) comprises a gripper fixing frame (2-1) connected with a gripping mechanism, the gripper fixing frame (2-1) is connected with a first electric telescopic rod (2-13) connected with a control system, the first electric telescopic rod (2-13) is hinged with two gripper first connecting rods (2-5), the two gripper first connecting rods (2-5) are symmetrically arranged relative to the first electric telescopic rod (2-13), the two gripper first connecting rods (2-5) are respectively hinged with a gripper second connecting rod (2-7), one end of each gripper second connecting rod (2-7) is hinged with the gripper fixing frame (2-1), the other end of each gripper second connecting rod is hinged with a clamping jaw (2-4), the clamping ends of the two clamping jaws (2-4) are mutually corresponding, and a gripper third connecting rod (2-6) is hinged between the clamping jaw (2-4) and the gripper fixing frame (2-1);

The gripper fixing frame (2-1) is provided with a bionic finger mechanism, the bionic finger mechanism comprises a bionic fixing rod (2-15), one side of the bionic fixing rod (2-15) is provided with a second motor (2-18) connected with a control system, an output shaft of the second motor (2-18) penetrates through the bionic fixing rod (2-15) to be connected with a first bionic swinging rod (2-12), the first bionic swinging rod (2-12) is connected with a second bionic swinging rod (2-11), one end of the second bionic swinging rod (2-11) is connected with the first bionic swinging rod (2-12) in a Z shape, the other end of the second bionic swinging rod (2-11) is connected with a fixed shaft, a third bionic swinging rod (2-16) is arranged on the fixed shaft, one end of the fixed shaft, which is away from the second bionic swinging rod (2-11), is provided with a first positioning gear (2-9), and the bionic fixing rod (2-15) is provided with a second positioning gear (2-10) meshed with the first positioning gear (2-9);

The telescopic mechanism (1-2) comprises a third motor (1-2-2) connected with the control system, the third motor (1-2-2) is connected with a swinging block (1-2-3), the swinging block (1-2-3) is rotatably connected with a traveling gear (1-2-6), an inner gear ring (1-2-7) is meshed with the traveling gear (1-2-6), the traveling gear (1-2-6) is connected with a fifth swinging connecting rod (1-2-4), the fifth swinging connecting rod (1-2-4) is hinged with a first sliding rod (1-3), the first sliding rod (1-3) is in sliding fit with a first sliding rail which is transversely arranged, and the end part of the first sliding rod (1-3) is provided with the poking device (8-6);

A second sliding rail is arranged above the first sliding rail in parallel, a second sliding rod (1-5) is arranged in the second sliding rail in a sliding way, the second sliding rod (1-5) is connected with the first sliding rod (1-3) through a synchronous connecting rod (1-4), and a pulling-out device (8-6) is also arranged at the end part of the second sliding rod (1-5);

the pulling-out device (8-6) comprises an outer box body (3-1), a fourth motor (3-7) connected with the control system is arranged in the outer box body (3-1), the fourth motor (3-7) is connected with a first ball screw (3-4) and a second ball screw (3-3) which are opposite in rotation direction, a first screw nut (3-6) is arranged on the first ball screw (3-4), a second screw nut (3-2) is arranged on the second ball screw (3-3), both the first screw nut (3-6) and the second screw nut (3-2) are connected with a pulling rod (3-10), and a long seam for the pulling rod (3-10) to extend out is formed in the outer box body (3-1).

2. The robot for automatic book access according to claim 1, wherein: a speed reduction assembly is arranged between the first motor (1-13) and the cam (1-8), the speed reduction assembly comprises a speed reduction pinion (1-17) in transmission connection with the first motor (1-13), the speed reduction pinion (1-17) is meshed with a speed reduction gear wheel (1-18), and the speed reduction gear wheel (1-18) is fixedly connected with a rotating shaft (1-19) for driving the cam (1-8).

3. The robot for automatic book access according to claim 1, wherein: the book storage device (8-3) comprises a book case (6-1), a poking assembly is arranged in the book case (6-1), the poking assembly comprises a fifth motor (6-4) and a sixth motor (6-5) which are connected with a control system, the fifth motor (6-4) is connected with a third ball screw (6-12), a fourth electric telescopic rod (6-8) connected with the control system is arranged on a third screw nut (6-7) of the third ball screw (6-12), the sixth motor (6-5) is connected with the fourth ball screw (6-6), a second electric telescopic rod (6-10) and a third electric telescopic rod (6-11) are arranged on a fourth screw nut (6-9) of the fourth ball screw (6-6) at intervals, and the poking assembly is provided with two groups and is respectively located on two sides of the book case (6-1).

4. The robot for automatic book access according to claim 1, wherein: a rotating mechanism is arranged between the lifting device (8-2) and the book storing device (8-3), the rotating mechanism comprises a fixed box body (4-1) connected with the lifting device (8-2), a seventh motor (4-2) connected with a control system is arranged in the fixed box body (4-1), the seventh motor (4-2) is transversely arranged in the fixed box body (4-1), a vertical shaft is arranged below the book storing device (8-3), the vertical shaft is connected with a driving shaft of the seventh motor (4-2) through a bevel gear set, and a sliding fit annular rotating assembly is arranged between the top of the fixed box body (4-1) and the bottom of the book storing device (8-3).