Book storing and taking device based on horizontal conveying-type book grabbing manipulator and control method thereof

Abstract

The invention discloses a book storing and taking device based on a horizontal conveying-type book grabbing manipulator and a control method thereof, and belongs to the field of intelligent book shelves. The invention discloses the book storing and taking device, the device comprises a book shelf and a book grabbing manipulator, the book grabbing manipulator adopts a horizontal conveying-type design to grab and convey books; by means of the design of a book box module telescopic push plate of the book shelf, books can be stably grabbed and transferred, the storing and taking stability of the books on the book shelf is improved, the books are grabbed and conveyed through a upper book clamping and conveying belt mechanism and a lower book clamping and conveying belt mechanism, the books areprotected, and the books are effectively prevented from being damaged in the mechanical storing and taking process. Meanwhile, the book box modules are designed to be opened and closed and arranged inan up-and-down overlapping mode, enough opening size can be achieved in the book storing and taking process, storing and taking of books are further facilitated, the structural design of the book shelf is more compact, more book boxes can be conveniently arranged in the book shelf with the same size, and the space utilization rate of the book shelf is increased.

Description

technical field [0001] The present invention relates to a book management device, more specifically, to a book access device based on a flat-feed book grabbing robot and a control method thereof. Background technique [0002] In recent years, with the rapid development of the book industry, there are more and more types of books and documents. In order to facilitate the reference of books, most of the existing books are stored on bookshelves, so bookshelves have also become necessary equipment in libraries and other places. The frame of a traditional bookshelf is usually provided with multiple spaces for storing books, which is convenient for inserting various books. In order to maximize the use of the space in the bookshelf, the books are generally placed side by side vertically. In general, books of the same type are placed together for reference. Since books of different types are in the same row, adjacent books are usually tightly clamped, and there is no space for them ...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to overcome the shortcomings of existing book access devices such as poor book grasping stability and easily damaged books, and to provide a book access device and its control method based on a flat-feed book grasping manipulator. Invented technical solution, the book grabbing manipulator adopts a flat-feeding design to grab and transport books, and cooperates with the book box module telescopic push plate design of the book shelf, which can stably realize the grabbing and transferring of books, and improves the books in the book shelf. The access stability on the book shelf, and the use of the upper and lower book conveyor belt mechanism to grab and transport the books, protect the books and effectively prevent the books from being damaged during the mechanical access process; at the same time, the book box module The opening and closing design and the upper and lower stacking settings can have a sufficient opening size in the process of book access, which further facilitates the access of books, and makes the structural design of the book shelf more compact, which is convenient for setting more bookshelves in the same size book shelf. More book boxes improve the space utilization of the bookshelf; moreover, the book grabbing manipulator can adapt to book boxes of different specifications by detecting the thickness of books, ensuring correct access to books, especially suitable for fast storage of a large number of different books

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