Book shelving and unshelving robot

Abstract

The invention relates to a book shelving and unshelving robot comprising a manipulator and a controller. The manipulator comprises a large arm, a small arm, a wrist motor, a palm air cylinder and a finger, wherein the large arm is a double-acting stockless air cylinder; the small arm is mounted on a slide block of the double-acting stockless air cylinder; position sensors are mounted at both ends of the small arm which comprises a small arm motor and a small arm air cylinder; the small arm air cylinder is driven by the small arm motor to horizontally swing left and right; the wrist motor is mounted on the telescopic arm of the small arm air cylinder; the palm air cylinder is driven by the wrist motor to vertically swing left and right; and the finger is mounted on the telescopic arm of the palm air cylinder and comprises a forked book sorter, a forked book clamp connected between the two forks of the book sorter, a book sorter motor and a book clamp motor. In the invention, the combination of an internal relay of a PLC (Programmable Logic Controller) is combined with a capacitance grating sensor to finish the measurement of the book thickness, so that the internal resources of the PLC are utilized to the maximum extent, the system reliability is improved and the system cost is decreased. The book robot used for managing books can free workmen from simple, complicated and repeated work and improve the management level of a library.

Description

technical field [0001] The invention relates to a book loading and unloading robot. Background technique [0002] Book loading and unloading is one of the main, repetitive, and key tasks in the library work. A large number of manual operations do not match the modern high-speed development of technology, especially in the reference room that needs to be kept secret. With the development of robotics, book robots will likely replace this job. The quality of the control of the library robot's loading and unloading directly affects the quality of the borrowed books. At present, there are few studies on this aspect. Contents of the invention [0003] The purpose of the present invention is to propose a book loading and unloading robot, which uses PLC to encode the scanner signal, and then realizes the search for the position of the book in combination with the movement of the servo motor: the combination of the thickness sensor and the servo motor realizes the book loading and...

AI Technical Summary

Problems solved by technology

The quality of the control of the library robot's loading and unloading directly affects the quality of the borrowed books. At present, there are few researches on this aspect.

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