Intelligent trolley for saving and taking books in library

[0017] The following describes the implementation of the present invention in detail with reference to the drawings and embodiments.

[0018] Such as figure 1 with figure 2 As shown, the present invention is an intelligent book access car for libraries, including a car body 1, a book storage drawer 2, a PLC controller, a mechanical arm, a manipulator 6, an engine 7, a hydraulic oil tank 8 and book barcode scanning Device. The book storage drawer 2 has a unique number. Each book storage drawer 2 is connected to a separate hydraulic expansion mechanism to control its opening and closing, and the stepping motor controlling the hydraulic expansion mechanism is connected to the PLC controller.

[0019] The mechanical arm has three stages. The engine 7 drives the hydraulic oil in the hydraulic oil tank 8 to complete the telescopic action. The first-level telescopic arm 3 is connected to the top of the car body 1 and one end of the second-level telescopic arm 4, and the other end of the second-level telescopic arm 4 is connected to the end. One end of the telescopic arm 5 of the final stage, the other end of the telescopic arm 5 of the final stage is connected to the manipulator 6, the engine 7 and the hydraulic oil tank 8 are connected to the PLC controller, and the book barcode scanner connected to the PLC controller is installed on the manipulator 6, and the manipulator 6 Can complete the action of depositing and borrowing books. The manipulator 6 is driven by hydraulic pressure to drive the piston to move, drive the hinge and the support rod to move, and make it telescopic. The barcode scanner is installed in the middle of the manipulator 6. When the target is scanned, the information is sent to the PLC, and then the PLC controls the movement of the manipulator.

[0020] When books need to be stored, the librarian puts the books to be accessed into the book storage drawer 2, and then sends the book storage instruction on the workbench, the PLC controls the trolley to reach the bookshelf, and the book storage drawer 2 is opened in sequence under the control of the PLC , The robotic arm drives the robotic arm 6 to grab the books in the book storage drawer 2 and place them in the position corresponding to the barcode. When the trolley receives the instruction to fetch the books, the trolley reaches the target bookshelf according to the PLC control, searches for the number bar code, and the robot 6 grabs it when it is found.

[0021] Such as image 3 As shown, the first-stage telescopic arm 3 includes a stepping motor 3-1, the output shaft of the stepping motor 3-1 is connected to an internal gear 3-4, the internal gear 3-4 is engaged with the external gear 3-5, and the external gear 3 5 Welding connection with robotic arm 1 3-2, robotic arm 2 3-3 is controlled by hydraulic oil in robotic arm 3-2, and hydraulic oil is provided by hydraulic oil tank 8. The stepping motor 3-1 drives the inner gear 3-4 to rotate, and the inner gear 3-4 drives the outer gear 3-5 to rotate. When the outer gear 3-5 rotates, the robot arm 3-1 rotates to adjust the manipulator 6. direction. The stepping motor drives the hydraulic oil to control the telescopic arm 2 3-3. When the book storage position is high, the first-level telescopic arm 3 will extend. The length is the length of the arm 1 3-2 plus the extended machine. Arm two 3-3.

[0022] Such as Figure 4 As shown, the secondary robot arm 4 includes a stepping motor two 4-1 connected to the robot arm two 3-3. The stepping motor two 4-1 is connected to the robot arm three 4-2 through an internal and external gear transmission structure to control its movement direction , Manipulator 4-3 is controlled by hydraulic oil in manipulator 3 4-2, which is provided by hydraulic oil tank 8. Stepping motor two 4-1 also controls the movement direction of robotic arm three 4-2 through gear transmission, the telescopic movement of robotic arm three 4-3 is hydraulically controlled, and robotic arm three 4-3 is connected to stepping motor three 5-1. .

[0023] Such as Figure 5 with Image 6 As shown, the final telescopic arm 5 includes a stepping motor three 5-1 connected to the mechanical arm four 4-3, the stepping motor three 5-1 is connected to the piston 5-2, and the piston 5-2 is connected to the manipulator 6 through a hinge structure. . The opening of the manipulator 6 is mainly controlled by the stepping motor 35-1. When the manipulator 6 grabs the book, the stepping motor three 5-1 drives the piston 5-2 to move inward, pulls the hinge 5-6 to move backward, the hinge 5-6 pulls the rod to move, the hinge 5-5-1 and the hinge 5-5-2 is closed to the middle, and hinge 5-4-1 and hinge 5-4-2 are closed at the same time, so that the claws of manipulator 6 are combined to grab the book. The hinge 5-3-1 and the hinge 5-3-2 can make the front support rod rotate to match the gripping and opening of the manipulator 6. The hinges 5-7 fix the jaws of the manipulator 6 together while maintaining the freedom of rotation.

[0024] In the three-stage manipulator mechanism, the first stepping motor realizes the rotation of the first-stage telescopic arm through gear transmission, and the inside of the first-stage telescopic arm is a hydraulic mechanism, and the first stepping motor drives the hydraulic oil of the hydraulic cylinder to realize the telescope of the first-stage manipulator Function; The two-stage telescopic arm mechanism includes a second stepping motor, the second stepping motor motor is connected with the first-stage telescopic arm, which can be extended and rotated under the drive of the motor; the third-stage telescopic arm is the third stepping motor The movement is completed under the action of, the manipulator and the telescopic arm are connected. The manipulator and manipulator 6 coordinately complete the task of accessing the book under the control of the PLC.

[0025] The PLC controls the walking route of the trolley, and the internal motor drives the wheels to move. The left and right sides of the car body are the book storage drawer 2. The book storage drawer 2 has a three-layer structure. The librarian can put the borrowed and returned books in batches. Inside the book storage drawer 2, the smart car can take the books to the shelf at one time, and then take the book from the book storage drawer 2 and put it back on the shelf, which increases the work efficiency.

[0026] The working process of the present invention:

[0027] When picking up the book, the console sends the magnetic stripe code of the book picked up to the smart access car, such as figure 1 The trolley receives the signal and transmits it to the PLC controller. The PLC controller issues a command. The internal motor drives the trolley to reach the position of the book. The magnetic stripe scanner scans to the position of the book. The motor controls the angle of the manipulator and hydraulically controls the expansion and contraction of the manipulator to make the manipulator 6 Move to the location of the book, such as Figure 5 , The piston in the final telescopic arm moves forward, pushes the hinge mechanism to open the grip, and the mechanical arm moves forward to make the book between the two jaws, such as Image 6 , The piston in the last-stage telescopic arm moves backward, pushes the hinge mechanism to make the hand grip tightly, takes out the book and puts it in the book storage drawer 2, and then grabs the next book. When the books are put on the shelf, the administrator puts all the books to be put into the book storage drawer 2. The magnetic stripe scanner obtains the book information and sends it to the PLC. The PLC controls the trolley to reach the correct position, and the hydraulic mechanism on the book storage drawer 2 opens the book storage drawer 2. , The manipulator 6 grabs the books in the book storage drawer 2 and places them in the correct position of the barcode. Then proceed to the shelves of the next book. The invention is mainly realized by the principle of motor drive, hydraulic control, intelligent control, and hinge mechanism.

[0028] The PLC controller of the present invention receives the command from the workbench, stores the bibliography to be accessed in the CPU, and then according to the bookcase position where the bibliography is located, the PLC programming program drives the trolley to reach the designated target, and the code scanner on the robotic arm , Search for the code on the bookshelf, and then the manipulator puts the book to the specified location or picks it up from the specified location.

[0029] The invention has a plurality of stepping motors to respectively drive respective telescopic arms or manipulators, and the extension of the manipulator is realized by the stepping motors driving the hydraulic oil in the hydraulic cylinder. The invention can be applied not only in the field of libraries, but also in warehouses or unmanned supermarkets.