Book grabbing device and control method of book grabbing device

Abstract

The invention provides a book grabbing device and a control method of the book grabbing device. The book grabbing device is used for solving the technical problems that a book grabbing device in the prior art is large in weight, poor in safety, loud in noise and poor in universality. The book grabbing device comprises a sucking module, a telescopic clamping module, an installing module and a machine vision module. The control method of the book grabbing device comprises the step one of book grabbing action and the step two of book putting-back action. According to the technical scheme of the embodiment, two clamping manners of a vacuum sucker and a clamping plate, the number and the position of the vacuum sucker can be adjusted, and the device universality is improved. Compressed air is used as power, mechanical transmission parts like a gear are avoided, noise is low, and operation is facilitated. Data is stored in a remote server, the device is simple in structure, the device weightis reduced, and the device body form is reduced. A central processing system can recognize books through book names, book numbers, book positions, two-dimensional bar codes or bar codes, and the recognition manner is intelligent.

Description

technical field [0001] The invention relates to the field of intelligent clamps, in particular to a book grabbing device and a control method for the book grabbing device. Background technique [0002] In the daily management of large libraries, book-shelf robots are gradually replacing manpower, realizing operations such as automatic inventory and putting on shelves. In the development of the shelf robot, in addition to the need to configure the control software system, the terminal execution end of the robot needs to be equipped with a relatively powerful and versatile book grabbing device to realize the grabbing and placement of books of different sizes, thicknesses, and weights. . Because it is used with a robot, it has high requirements on the weight, precision, safety and functionality of the book grabbing device. [0003] Many domestic units and individuals have made a lot of attempts here. For example, the application number 201610927023.6 of "An End Effector for B...

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Problems solved by technology

[0003] Many domestic units and individuals have made a lot of attempts here. For example, the application number 201610927023.6 of "An End Effector for Book Grabbing and Returning Device" applied by Hubei University of Technology uses motor rotation, through the worm gear and multi-link mechanism. The function drives the movement of the book clamping mechanism to realize the clamping and releasing of books. The disadvantage is that it is easy to pinch fingers, low safety, and loud noise

Application number 201610626708.7 of Xiang Fengfan's "Book ATM Machine and Book Grabbing Machine with Thickness Measuring Function" is driven by a motor, and the book clamping mechanism is driven by a ball screw and a spring structure. The advantage is that it is equipped with a thickness sensor, which can measure the thickness of books. , but the disadvantages are also obvious, that is, the motor drive is easy to pinch fingers, the safety is low, and the noise is large

Application No. 201610277274.4 of Shanghai University's "A Device for Automatically Grabbing and Placing Books" uses electric-driven moving parts to grab and place target books, and combined with machine vision CCD cameras can realize automatic book recognition and edge detection. The disadvantages are The volume is too large and the versatility is very weak

The above three patents have revealed many disadvantages in use, which can be summed up as heavy weight, poor safety, high noise and poor versatility. At present, the library shelf robot is in urgent need of a grasping mechanism with good comprehensive performance.

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