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A robot system for taking and returning books in a library

A robotic system and library technology, applied in manipulators, program-controlled manipulators, storage devices, etc., can solve problems such as bookshelves that are not considered, and achieve the effects of intelligent and unmanned, reduced workload, and reliable action execution

Active Publication Date: 2021-09-03
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are currently existing Chinese patents related to returning books such as CN 201710988126.8. Although there are manipulators and moving bookshelves to find the corresponding position of the books, in fact, as in the school library, there are splints on one side of the books to prevent the books from falling over. There will be no gaps in the close contact between the bookshelves, and the books are in a certain order from one side to the other in the bookshelf. The corresponding position must be opened to put the book in. It is actually impossible to complete it with only one manipulator; when it comes to returning books Chinese patent CN 201610411005.2 also cannot solve the above problems; at the same time, the above two patents only involve the process of returning books, not the process of picking up books; For example, the book is neatly placed in the bookshelf, and there is no force point for the robotic arm to pick it up. It is necessary to design an action such as hooking the book out before the follow-up action, and the patent does not consider the problem of bookshelf arrangement after picking up the book.

Method used

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  • A robot system for taking and returning books in a library
  • A robot system for taking and returning books in a library
  • A robot system for taking and returning books in a library

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0135] This embodiment proposes a robot for automatically taking and returning books in a library, and its structure can be found in figure 1 with figure 2 shown, including:

[0136] Manipulator module 1: For details, see image 3 , including the long arm 11 used to push the book and the lock against the book to prevent it from falling during the process of taking and returning the book, and the short arm 12 used to open and close the lock and hold the book to prevent it from falling during the process of taking and returning the book 1. It is used to take out the book from the bookshelf when taking the book and put the book into the bookshelf when returning the book. The gripping arm 13 is used to take the book from the gripping arm during the book taking and put the book back when returning the book. The small arm part 14 removed from the lifting mechanism of the book access module;

[0137] Book Access Module 2: For details, see Figure 9 , including a book elevating m...

Embodiment 2

[0162] The entire book fetching process is roughly divided into four parts, which are respectively the book fetching process of the gripping arm 13 , the book receiving process of the small arm 14 , the book access process, bookshelf sorting and the reset process of the mechanical arm module 1 .

[0163] Clamping arm part 13 takes book process as Figures 21 to 28 shown. At first the robot moves to the designated bookshelf, finds the position of the book to be taken out by the camera 1312 on the gripping arm 13, then hooks the top of the book with a hook; then the gripping arm extension 1321 shrinks, and the gripping arm The lifting section 1323 descends, and these two actions cooperate with each other to make the book be hooked out of the bookshelf at a certain angle; after the book is hooked out of the bookshelf, the clamping arm splint 1318 will clamp the book under the control of the clamping arm splint motor 1317, At the same time, the extension section 1321 of the clamp...

Embodiment 3

[0168] The entire book return process is also roughly divided into four parts, which are the gap manufacturing process, the book box delivery process, the gripping arm 13 book delivery process, bookshelf arrangement and the mechanical arm module 1 reset process. Considering efficiency factors, different processes will overlap in time.

[0169] The gap manufacturing process such as Figures 42 to 47 and Figures 51 to 53 shown. Firstly, the robot determines the position where the book should be inserted according to the label on the book to be returned and the label on the bookshelf. The gripping arm 13 will use the camera 1312 to locate the book on the left side of the insertion position, and then use the hook to hook the book; the long arm 11 moves to the corresponding position of the mechanical lock 5, the extension section 111 of the long arm is extended and inserted into the gap of the mechanical lock 5, the short arm part 12 moves to the corresponding position, the exte...

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Abstract

The invention relates to a robot system for taking and returning books in a library, comprising: a movement module; a lift module: installed on the movement module and moving with it; a robot shell: set on the lift module, and can be driven up and down by it; set on the robot The mechanical arm module on the housing: including the long arm and the short arm, as well as the gripping arm and the small arm; the book access module arranged on the robot housing: including the box, and the Book lifting mechanism, book pushing mechanism and book pushing mechanism, wherein, the book lifting mechanism is used to drop books into or lift out of the box body, and the book pushing mechanism and book pushing mechanism are respectively arranged on both sides of the box body, and can Cooperate to realize the transfer of books between the book lifting mechanism and the lifting mechanism; mechanical lock: set on the bookshelf, and used to fix the remaining books on the bookshelf. Compared with the prior art, the present invention integrates the functions of picking up and returning books in the library, has high execution efficiency, and can realize intelligent and unmanned book sorting in the library.

Description

technical field [0001] The invention belongs to the technical field of book taking and returning equipment, and relates to a library taking and returning robot system. Background technique [0002] There are many kinds of books in the library, and the storage location of the books in the library is fixed. Therefore, readers need to find the corresponding location of the book during the borrowing process, and the staff also need to find the corresponding storage location of the book when returning the book to store the book. The process takes too much time and effort. Therefore, it is of great significance to solve the difficulties in the search process so as to save the time of readers and staff. There are currently existing Chinese patents related to book return such as CN 201710988126.8. Although there are manipulators and mobile bookshelves to find the corresponding position of the book, in fact, as in the school library, there are splints on one side of the book to prev...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J5/00B25J9/02B25J9/10B25J9/16B25J11/00B65G1/04
CPCB25J5/007B25J9/02B25J9/10B25J9/16B25J9/1682B25J9/1697B25J11/00B65G1/04
Inventor 卜王辉张书恺
Owner TONGJI UNIV
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