CN119036488B - Library book homing and arranging robot - Google Patents
Library book homing and arranging robot Download PDFInfo
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- CN119036488B CN119036488B CN202411553340.7A CN202411553340A CN119036488B CN 119036488 B CN119036488 B CN 119036488B CN 202411553340 A CN202411553340 A CN 202411553340A CN 119036488 B CN119036488 B CN 119036488B
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- 230000007306 turnover Effects 0.000 claims description 25
- 239000000428 dust Substances 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 6
- 229910003460 diamond Inorganic materials 0.000 claims description 5
- 239000010432 diamond Substances 0.000 claims description 5
- 229910001339 C alloy Inorganic materials 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000000151 deposition Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000010030 laminating Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/10—Waste collection, transportation, transfer or storage, e.g. segregated refuse collecting, electric or hybrid propulsion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of finishing instruments, and particularly relates to a library book homing finishing robot which comprises a finishing robot shell, a SLAM laser scanner, a Z-axis moving frame, a fixed rod, a clamping arm body, a rotating assembly, a height auxiliary adjusting assembly and a notch pulling-out assembly, wherein the SLAM laser scanner is arranged at the top of the finishing robot shell, the Z-axis moving frame is slidingly connected to the middle part of the finishing robot shell, the rotating assembly is arranged at the outer side of the Z-axis moving frame, the fixed rod is arranged at the outer side of the top of the rotating assembly, the height auxiliary adjusting assembly is slidingly connected to the outer side of the rotating assembly, and the notch pulling-out assembly is arranged at the outer side of the height auxiliary adjusting assembly; the flaring plate that this device was add is the rhombus structure of upper and lower thin centre width, and when books were thick, accessible power cylinder promoted Z shape frame and flaring plate, and then outwards extrudeed the books of laminating in flaring plate one side to provide storage space and accomplish automatic arrangement operation that returns to the original position for thick books.
Description
Technical Field
The invention belongs to the technical field of finishing instruments, and particularly relates to a library book homing and finishing robot.
Background
The books are arranged and placed in a library by adopting a classification word list in a management mode of the books, wherein the book classification word list is formed by dividing books of all disciplines into a plurality of major categories according to the disciplines of the books by adopting a logic method according to the contents, forms, genres, purposes and the like of the books, and subdividing a plurality of minor categories under each major category and subdividing a plurality of sub-minor categories under each minor category.
Aiming at books which are closely arranged, the traditional robot faces certain challenges, particularly when the action of inserting books is executed, a gap is firstly required to be opened between two adjacent books, then the front opening of the book to be returned is inserted into the gap, and then the books are forcefully pushed inwards, because the manipulator position of traditional robot can only realize taking the operation, just needs the administrator to assist and constantly exert certain effort on books of both sides in order to guarantee that the books that return can push smoothly this moment, in the above-mentioned in-process, especially when returning to the higher order books, the operation can become unusual trouble for the administrator, inefficiency.
For this reason, a library book homing and sorting robot is designed to solve the above-mentioned problems.
Disclosure of Invention
To solve the problems set forth in the background art. The invention provides a library book homing and arranging robot which solves the problem that a gap is automatically opened when books are densely distributed due to automatic homing of high-level books.
The invention provides a library book homing and arranging robot which comprises a arranging robot shell, a SLAM laser scanner, a Z-axis moving frame, a fixed rod, a clamping arm body, a rotating assembly, a height auxiliary adjusting assembly and a notch pulling-out assembly, wherein the SLAM laser scanner is arranged at the top of the arranging robot shell, the Z-axis moving frame is slidably connected to the middle of the arranging robot shell, the rotating assembly is arranged at the outer side of the Z-axis moving frame, the fixed rod is arranged at the outer side of the top of the rotating assembly, the clamping arm body is arranged at the outer side of the fixed rod, the height auxiliary adjusting assembly is slidably connected to the outer side of the rotating assembly, and the notch pulling-out assembly is arranged at the outer side of the height auxiliary adjusting assembly;
The SLAM laser scanner is used for scanning and positioning the whole range of library field environment, the arrangement robot shell is used for connecting the Z-axis movable frame and keeping the Z-axis movable frame is in the middle displacement of the arrangement robot shell, the dead lever is used for connecting the clamping arm body, the clamping arm body is used for clamping books in the bookshelf, the rotating assembly is used for connecting the height auxiliary adjusting assembly, the height auxiliary adjusting assembly is used for extending the clamping arm body with the gap is pulled out the moving distance of the assembly, the gap is pulled out the assembly and is used for pulling out fast to the gap department of depositing compact books and cooperates the clamping arm body is inserted books into the gap inboard of books.
Preferably, the notch is dialled out the subassembly and is included Z shape frame, pneumatic cylinder, upset base, roll-over stand, tilting axis, locking gear, rack, L shape piece and flaring board, the Z shape frame is installed one side of high auxiliary adjustment subassembly, the piston end outside of pneumatic cylinder with rack fixed connection, rack sliding connection is in the top of upset base, the roll-over stand rotates to be connected the inboard of tilting axis, tilting axis fixed connection is in the top of upset base, locking gear cup joints the outside of tilting axis and with the internal tooth groove meshing of rack is connected, L shape piece is installed the outside of roll-over stand, the flaring board rotates to be connected the outside of L shape piece and be used for expanding adjacent books's clearance.
Preferably, the flaring plate is of a diamond structure with thin upper and lower parts and wide middle parts, and the flaring plate is made of high-carbon alloy steel materials.
Preferably, the height auxiliary adjusting assembly comprises a pushing cylinder, a push rod, a lifting platform and a sliding rail, wherein the pushing cylinder is arranged on one side of the rotating assembly, the push rod is arranged on the outer side of the output end of the pushing cylinder, the lifting platform is arranged on the outer side of the push rod, and the sliding rail is arranged on the surface of the lifting platform and is in sliding connection with the inner side of the Z-shaped frame.
Preferably, the rotating assembly comprises a dust cover, a driving motor, a connecting shaft, a rotating shaft and a supporting frame, wherein the dust cover is arranged on the outer side of the Z-axis moving frame, the driving motor is arranged in the dust cover and fixedly connected with one end of the connecting shaft through a coupler, the rotating shaft is rotationally connected on the inner side of the dust cover, the supporting frame is fixedly connected on the outer side of the rotating shaft, and the supporting frame is fixedly connected with the surface of the fixing rod.
Preferably, the opposite sides of the connecting shaft and the rotating shaft are also provided with mutually meshed transmission gears.
Preferably, one side of the finishing robot shell is further provided with a power motor, a threaded rod and a linear shaft, wherein the power motor is installed at the top of the threaded rod, and the linear shafts are symmetrically distributed on two sides of the threaded rod and are in sliding connection with the inner wall of the Z-axis moving frame.
Preferably, a power cylinder is further installed on one side of the lifting platform, and the output end of the power cylinder is fixedly connected with the surface of the Z-shaped frame.
Preferably, an ultrasonic sensor and a stepping motor are further mounted on the inner side of the L-shaped block, the ultrasonic sensor is parallel to the flaring plate and used for sensing the distance between books, and the stepping motor is mounted on one side of the flaring plate.
Compared with the prior art, the invention has the beneficial effects that:
1. According to the invention, the flaring plate additionally arranged in the device is of a diamond structure with a thin upper part and a thin lower part and a wide middle part, and is matched with the ultrasonic sensor to smoothly insert the flaring plate between two books which are densely arranged to induce the books.
2. In the invention, because the gaps of books which are densely arranged are smaller, when the flaring plates are inserted into the gaps, the flaring plates are rotated by 90 degrees through the stepping motor, so that magazines with thinner thickness can be conveniently placed into the bookshelf, and when the books are thicker, the Z-shaped frame and the flaring plates can be pushed through the power cylinder, so that the books attached to one side of the flaring plates are extruded outwards, thereby providing a storage space for the thick books and completing automatic homing finishing operation.
3. According to the invention, the lifting table of the device can stably move above the supporting frame and is matched with the rotating supporting frame, so that the lifting table can still have a telescopic space when the supporting frame reaches the highest position and the lowest position, the flaring plate can longitudinally insert books with insufficient height, and the application range is enlarged.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a cut-away view of a finishing robot housing of the present invention;
FIG. 3 is a diagram showing the effect of rotation of the support frame according to the present invention;
FIG. 4 is a schematic view of the structure of the Z-axis moving frame in the present invention;
FIG. 5 is a schematic view of a notch pulling assembly according to the present invention;
FIG. 6 is a schematic view of the flare plate of the present invention;
Fig. 7 is a schematic structural view of a rotary assembly according to the present invention.
In the figure:
1. The robot comprises a robot shell, a2, a SLAM laser scanner, a 3, a Z-axis moving frame, a 4, a fixed rod, a 5, a clamping arm body, a 6, a rotating assembly, a 7, a height auxiliary adjusting assembly, an 8, a notch pulling-out assembly, a 9, a Z-shaped frame, a 10, a hydraulic cylinder, a 11, a turnover base, a12, a turnover frame, a 13, a turnover shaft, a 14, a locking gear, a15, a rack, a 16, an L-shaped block, a 17, a flaring plate, a 18, a pushing cylinder, a 19, a push rod, a 20, a lifting table, a 21, a slide rail, a 22, a dust cover, a 23, a driving motor, a 24, a connecting shaft, a 25, a rotating shaft, a 26, a support frame, a 27, a transmission gear, a 28, a power motor, a 29, a threaded rod, a 30, a linear shaft, a 31, a power cylinder, a 32, an ultrasonic sensor, a 33, a stepping motor, a 34, a thread groove and a 35 and a slide groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The library book homing and arranging robot comprises an arranging robot shell 1, a SLAM laser scanner 2, a Z-axis moving frame 3, a fixed rod 4, a clamping arm body 5, a rotating component 6, a height auxiliary adjusting component 7 and a notch opening component 8, wherein the SLAM laser scanner 2 is arranged at the top of the arranging robot shell 1, the Z-axis moving frame 3 is slidably connected to the middle of the arranging robot shell 1, the rotating component 6 is arranged at the outer side of the Z-axis moving frame 3, the fixed rod 4 is arranged at the outer side of the top of the rotating component 6, the clamping arm body 5 is arranged at the outer side of the fixed rod 4, the height auxiliary adjusting component 7 is slidably connected to the outer side of the rotating component 6, and the notch opening component 8 is arranged at the outer side of the height auxiliary adjusting component 7;
The SLAM laser scanner 2 is used for the full range scanning and the location of library site environment, and arrangement robot housing 1 is used for connecting Z axle and removes 3 and keep Z axle and remove 3 at arrangement robot housing 1's middle part displacement, and dead lever 4 is used for connecting clamping arm body 5, and clamping arm body 5 is used for the books in the centre gripping bookshelf, and rotating assembly 6 is used for connecting high auxiliary adjustment subassembly 7, and high auxiliary adjustment subassembly 7 is used for extending clamping arm body 5 and breach and dials the removal distance of subassembly 8, and breach dials the subassembly 8 and is used for dialling fast and cooperates clamping arm body 5 to insert books to the clearance inboard of books to the clearance department of depositing inseparable books.
The flaring plate 17 added by the device is of a diamond structure with a thin upper part and a thin lower part and a wide middle part, the flaring plate 17 is smoothly inserted between two books which are densely arranged in a matching way by the ultrasonic sensor 32 to inductive books, because the gap between the books which are densely arranged is smaller, when the flaring plate 17 is inserted into the gap, the flaring plate 17 is rotated by 90 degrees through the stepping motor 33, so that a magazine with a thinner thickness is conveniently placed into a bookshelf, and when the books are thicker, the Z-shaped frame 9 and the flaring plate 17 can be pushed through the power cylinder 31, and the books attached to one side of the flaring plate 17 are outwards extruded, so that a storage space is provided for the thick books, and automatic homing and finishing operation is completed.
The notch pulling-out assembly 8 comprises a Z-shaped frame 9, a hydraulic cylinder 10, a turnover base 11, a turnover frame 12, a turnover shaft 13, a locking gear 14, a rack 15, an L-shaped block 16 and a flaring plate 17, wherein the Z-shaped frame 9 is arranged on one side of the height auxiliary adjusting assembly 7, the outer side of a piston end of the hydraulic cylinder 10 is fixedly connected with the rack 15, the rack 15 is slidably connected to the top of the turnover base 11, the turnover frame 12 is rotatably connected to the inner side of the turnover shaft 13, the turnover shaft 13 is fixedly connected to the top of the turnover base 11, the locking gear 14 is sleeved on the outer side of the turnover shaft 13 and is meshed with an inner tooth groove of the rack 15, the L-shaped block 16 is arranged on the outer side of the turnover frame 12, and the flaring plate 17 is rotatably connected to the outer side of the L-shaped block 16 and used for expanding a gap of an adjacent book.
The flaring plate 17 is of a diamond structure with thin upper and lower parts and wide middle parts, and the flaring plate 17 is made of high-carbon alloy steel materials.
The height auxiliary adjusting assembly 7 comprises a pushing cylinder 18, a push rod 19, a lifting table 20 and a sliding rail 21, wherein the pushing cylinder 18 is arranged on one side of the rotating assembly 6, the push rod 19 is arranged on the outer side of the output end of the pushing cylinder 18, the lifting table 20 is arranged on the outer side of the push rod 19, and the sliding rail 21 is arranged on the surface of the lifting table 20 and is in sliding connection with the inner side of the Z-shaped frame 9.
The lower hydraulic cylinder 10 is started, the hydraulic cylinder 10 directly pushes the rack 15, under the cooperation of the locking gear 14 and the rack 15, the turnover shaft 13 sleeved in the middle can drive the turnover frame 12 and the lower flaring plate 17 to be longitudinally inserted into a gap of a book, then the stepping motor 33 on the inner side of the L-shaped block 16 is rotated to drive the flaring plate 17 to rotate, the flaring plate 17 rotates the narrow surface of the flaring plate by 90 degrees and abuts against the gap between the books, and the reversely-started clamping arm body 5 places the clamped thin magazine on the inner side of the gap.
The rotating assembly 6 comprises a dust cover 22, a driving motor 23, a connecting shaft 24, a rotating shaft 25 and a supporting frame 26, wherein the dust cover 22 is arranged on the outer side of the Z-axis moving frame 3, the driving motor 23 is arranged inside the dust cover 22 and fixedly connected with one end of the connecting shaft 24 through a coupler, the rotating shaft 25 is rotationally connected on the inner side of the dust cover 22, the supporting frame 26 is fixedly connected on the outer side of the rotating shaft 25, and the supporting frame 26 is fixedly connected with the surface of the fixed rod 4.
The opposite sides of the connecting shaft 24 and the rotating shaft 25 are also fitted with mutually meshing transmission gears 27.
One side of the finishing robot shell 1 is also provided with a power motor 28, a threaded rod 29 and a linear shaft 30, wherein the power motor 28 is arranged at the top of the threaded rod 29, and the linear shaft 30 is symmetrically distributed on two sides of the threaded rod 29 and is in sliding connection with the inner wall of the Z-axis moving frame 3.
A power cylinder 31 is also arranged on one side of the lifting platform 20, and the output end of the power cylinder 31 is fixedly connected with the surface of the Z-shaped frame 9.
An ultrasonic sensor 32 and a stepping motor 33 are also installed on the inner side of the L-shaped block 16, the ultrasonic sensor 32 being parallel to the flare plate 17 and for sensing the distance between books, and the stepping motor 33 being installed on one side of the flare plate 17.
The device is characterized in that when the device is used, 360-degree full range is carried out through the SLAM laser scanner 2, the precise linear and angular resolution ratio and the high scanning speed are achieved, the finishing robot shell 1 precisely reaches the position of a bookshelf to be summarized, then according to the height of a book, the pushing cylinder 18 can be automatically started, the output end of the pushing cylinder pushes the push rod 19, the push rod 19 stably moves the lifting table 20 along the outer side of the supporting frame 26, the ultrasonic sensor 32 calculates the distance of the book by measuring the round trip time of ultrasonic pulses based on the reflection characteristic of ultrasonic waves on the interface of two mediums, the precise distance between books and the sensors is calculated by measuring the distance between each book and the sensor and combining the relative position relation between the sensors, in the process, the power cylinder 31 is started to enable the Z-shaped frame 9 to slide back and forth along the tooth groove of the positioning slide rail 21 and the slide groove 35, the position of the flaring plate 17 is controlled, the flaring plate 10 is accurately opposite to the position of the book, then the hydraulic cylinder 10 is started to directly push the flaring 15, the middle part of the book 14 and 15 is matched with the flaring plate 13 under the locking gear, the middle part of the rolling plate 13 is driven to rotate the flaring plate 17, the rolling plate 16 is driven by the rolling plate 16 to rotate, and the middle part of the book 17 is clamped at the inner side of the gap of the book 17, and the gap plate is clamped by the gap between the two books, and the gap plate 17 is clamped by the gap between the two books, and the gap plates are rotated, and the gap between the two books, and the gap plates are clamped by the gap plates, and the gap is clamped by the gap between the gap plates and the gap between the books and the books. When books are thicker, the power cylinder 31 can be started to push the Z-shaped frame 9,Z to drive the flaring plate 17 to extrude the books attached to one side of the flaring plate 17 outwards, the books are pulled out by simulating pulling-out actions of hands, and a proper amount of space is provided for the books to be restored, in the resetting process, the power motor 28 above can be started to drive the threaded rod 29, under the transmission of the screw thread surface of the threaded rod 29 and the screw thread groove 34 of the Z-axis moving frame 3, the Z-axis moving frame 3 can stably slide on the surface of the linear shaft 30 through the built-in through hole, the fixed rod 4 and the clamping arm body 5 are further moved to a low position and a high position, meanwhile, the driving motor 23 inside the dustproof cover 22 can be started to drive the connecting shaft 24 to rotate, the connecting shaft 24 drives the rotating shaft 25 above to rotate in a speed under the cooperation of the transmission gear 27, and the supporting frame 26 drives the notch pulling-out assembly 8 and the flaring plate 17 located on the notch pulling-out assembly 8 to rotate, the plate 17 is located at the high position or the low position of the supporting frame 26, the book 17 is pushed by the built-in through the screw thread surface of the screw thread groove 34, and the clamping arm body 20 is driven by the lifting arm body 20 to smoothly move the flaring plate 17 to be inserted into the position, and the books can be conveniently lifted and moved to be placed at the position, and the book is convenient to be conveniently lifted and lifted.
It should be noted that the above-mentioned embodiments are merely preferred embodiments of the present invention, and the present invention is not limited thereto, but may be modified or substituted for some of the technical features thereof by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The library book homing robot is characterized by comprising a finishing robot shell (1), a SLAM laser scanner (2), a Z-axis moving frame (3), a fixed rod (4), a clamping arm body (5), a rotating assembly (6), a height auxiliary adjusting assembly (7) and a notch poking assembly (8), wherein the SLAM laser scanner (2) is arranged at the top of the finishing robot shell (1), the Z-axis moving frame (3) is slidably connected to the middle part of the finishing robot shell (1), the rotating assembly (6) is arranged at the outer side of the Z-axis moving frame (3), the fixed rod (4) is arranged at the outer side of the top of the rotating assembly (6), the clamping arm body (5) is arranged at the outer side of the fixed rod (4), the height auxiliary adjusting assembly (7) is slidably connected to the outer side of the rotating assembly (6), and the notch poking assembly (8) is arranged at the outer side of the height auxiliary adjusting assembly (7);
The notch pulling-out assembly (8) comprises a Z-shaped frame (9), a hydraulic cylinder (10), a turnover base (11), a turnover frame (12), a turnover shaft (13), a locking gear (14), a rack (15), an L-shaped block (16) and a flaring plate (17), wherein the Z-shaped frame (9) is installed on one side of the height auxiliary adjusting assembly (7), the outer side of a piston end of the hydraulic cylinder (10) is fixedly connected with the rack (15), the rack (15) is slidingly connected to the top of the turnover base (11), the turnover frame (12) is rotationally connected to the inner side of the turnover shaft (13), the turnover shaft (13) is fixedly connected to the top of the turnover base (11), the locking gear (14) is sleeved on the outer side of the turnover shaft (13) and is meshed and connected with an inner tooth groove of the rack (15), the L-shaped block (16) is installed on the outer side of the turnover frame (12), and the flaring plate (17) is rotationally connected to the outer side of the L-shaped block (16) and is used for expanding an adjacent gap.
The flaring plate (17) is of a diamond structure with thin upper and lower parts and wide middle parts, and the flaring plate (17) is made of high-carbon alloy steel materials;
The SLAM laser scanner (2) is used for scanning and positioning the whole range of library field environment, arrangement robot housing (1) are used for connecting Z axle movable frame (3) and keep Z axle movable frame (3) are in arrangement robot housing (1)'s middle part displacement, dead lever (4) are used for connecting centre gripping arm body (5), centre gripping arm body (5) are used for holding books in the bookshelf, rotating assembly (6) are used for connecting high auxiliary adjustment subassembly (7), high auxiliary adjustment subassembly (7) are used for extending centre gripping arm body (5) with the travel distance that breach was dialled subassembly (8), breach is dialled subassembly (8) are used for dialling fast and cooperate centre gripping arm body (5) are pegged into books in the clearance inboard of books to depositing closely books.
2. The library book homing robot of claim 1, wherein the height auxiliary adjusting assembly (7) comprises a pushing cylinder (18), a push rod (19), a lifting table (20) and a sliding rail (21), the pushing cylinder (18) is installed on one side of the rotating assembly (6), the push rod (19) is installed on the outer side of the output end of the pushing cylinder (18), the lifting table (20) is installed on the outer side of the push rod (19), and the sliding rail (21) is installed on the surface of the lifting table (20) and is in sliding connection with the inner side of the Z-shaped frame (9).
3. The library book homing robot of claim 1, wherein the rotating assembly (6) comprises a dust cover (22), a driving motor (23), a connecting shaft (24), a rotating shaft (25) and a supporting frame (26), the dust cover (22) is installed on the outer side of the Z-axis moving frame (3), the driving motor (23) is installed inside the dust cover (22) and fixedly connected with one end of the connecting shaft (24) through a coupler, the rotating shaft (25) is rotatably connected on the inner side of the dust cover (22), the supporting frame (26) is fixedly connected on the outer side of the rotating shaft (25), and the supporting frame (26) is fixedly connected with the surface of the fixed rod (4).
4. The library book homing robot of claim 3, wherein the opposite sides of the connecting shaft (24) and the rotating shaft (25) are further provided with a transmission gear (27) engaged with each other.
5. The library book homing and sorting robot according to claim 1, wherein one side of the sorting robot shell (1) is further provided with a power motor (28), a threaded rod (29) and a linear shaft (30), the power motor (28) is installed at the top of the threaded rod (29), and the linear shaft (30) is symmetrically distributed on two sides of the threaded rod (29) and is in sliding connection with the inner wall of the Z-axis moving frame (3).
6. The library book homing and sorting robot according to claim 2, wherein a power cylinder (31) is further installed on one side of the lifting table (20), and the output end of the power cylinder (31) is fixedly connected with the surface of the Z-shaped frame (9).
7. The library book homing robot as set forth in claim 1, wherein an ultrasonic sensor (32) and a stepping motor (33) are further installed at the inner side of the L-shaped block (16), the ultrasonic sensor (32) is parallel to the flaring plate (17) and is used for sensing the distance between books, and the stepping motor (33) is installed at one side of the flaring plate (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411553340.7A CN119036488B (en) | 2024-11-01 | 2024-11-01 | Library book homing and arranging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411553340.7A CN119036488B (en) | 2024-11-01 | 2024-11-01 | Library book homing and arranging robot |
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| Publication Number | Publication Date |
|---|---|
| CN119036488A CN119036488A (en) | 2024-11-29 |
| CN119036488B true CN119036488B (en) | 2025-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202411553340.7A Active CN119036488B (en) | 2024-11-01 | 2024-11-01 | Library book homing and arranging robot |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903699A (en) * | 2017-03-24 | 2017-06-30 | 昆明理工大学 | A kind of intelligent book conditioning machines people |
| CN107457763A (en) * | 2017-07-31 | 2017-12-12 | 青岛万祥如光机械技术研究有限公司 | It is a kind of can adjust automatically books position robot |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3395061B2 (en) * | 2000-02-21 | 2003-04-07 | 学校法人金沢工業大学 | Library library automatic teller system, library library robot and hand mechanism of library library robot |
| CN109955255A (en) * | 2017-12-14 | 2019-07-02 | 王社教 | A kind of intelligence books collator |
| CN217013199U (en) * | 2021-12-02 | 2022-07-22 | 浙江金融职业学院 | Books support frame is used in library |
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2024
- 2024-11-01 CN CN202411553340.7A patent/CN119036488B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903699A (en) * | 2017-03-24 | 2017-06-30 | 昆明理工大学 | A kind of intelligent book conditioning machines people |
| CN107457763A (en) * | 2017-07-31 | 2017-12-12 | 青岛万祥如光机械技术研究有限公司 | It is a kind of can adjust automatically books position robot |
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|---|---|
| CN119036488A (en) | 2024-11-29 |
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