A book storage robot

Abstract

A book storage robot comprises a temporary storage rack and a chassis. The temporary storage rack is mounted on the chassis. The chassis also comprises a translation screw and a guide rail. The guide rail is engaged with the translation seat and can be slidably assembled. The translation screw passes through the translation seat and is assembled with the translation seat by screw thread. The translation screw is driven to rotate by a translation motor. A rotating cylinder is also mounted on the translation seat. The rotating shaft of the rotating cylinder is assembled with the bottom of the rotating rack. The rotating rack can be axially slidably assembled with the guide shaft and assembled with the lifting screw by screw thread. The top of the guide shaft and the top of the lifting screw are respectively assembled with the lifting rack. A side-moving cylinder is mounted on the lifting rack. The telescopic shaft of the side-moving cylinder is assembled with the outer shell of the clamping cylinder. Different clamping plates are respectively mounted on the two clamping claws of the clamping claw cylinder. The lifting screw is driven to rotate by the lifting motor. The temporary storage rack comprises a chassis and a book rack. A plurality of partition plates are installed on the book rack at intervals. A placement groove is formed between the two partition plates. Books are placed in the placement groove one by one.

Description

Technical Field

[0001] The invention relates to a robot, in particular to a book storage robot. Background Art

[0002] As society develops, people's spiritual needs are getting higher and higher. Libraries are an indispensable part of our study and life. At present, the book sorting work in libraries is tedious and boring, and it is a mechanized operation. Generally, the returned books need to be sent back to the corresponding bookshelf according to the preset coordinates, and then placed in the corresponding grid to complete the book sorting. Due to the large number of books and the wide variety of categories, the actual workload is very large, but in fact, they are all programmed operations, so they have the possibility of being replaced by intelligent machinery.

[0003] In response to this, the applicant has designed a book storage robot that can place books that need to be returned back to corresponding locations according to preset coordinates. Summary of the invention

[0004] In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is to provide a book storage robot.

[0005] To achieve the above-mentioned purpose, the present invention provides a book storage robot, comprising a temporary storage rack and a chassis, wherein the temporary storage rack is mounted on the chassis, and the chassis is also provided with a translation screw and a guide rail, wherein the guide rail is engaged with the translation seat and can be slidably assembled, wherein the translation screw passes through the translation seat and is screwed with the translation seat by a thread, and the translation screw is driven to rotate directly or indirectly by a translation motor;

[0006] The translation seat is also equipped with a rotating cylinder, the rotating shaft of which is assembled with the bottom of the rotating frame; the rotating frame is axially slidably assembled with the guide shaft and assembled with the lifting screw by screw thread; the top of the guide shaft and the top of the lifting screw are respectively assembled with the lifting frame; the lifting frame is equipped with a side-shifting cylinder, the telescopic shaft of which is assembled with the outer shell of the clamping cylinder, and different clamping plates are respectively installed on the two clamping claws of the clamping claw cylinder; the lifting screw is directly or indirectly driven to rotate by the lifting motor;

[0007] The temporary storage rack comprises a bottom frame and a book shelf. A plurality of partition plates are installed on the book shelf at intervals. A placement groove is formed between two partition plates. Books are placed in the placement groove one by one.

[0008] As a further improvement of the present invention, four Mecanum wheels are installed on the chassis, each Mecanum wheel is respectively mounted on a wheel axle, the wheel axle and the chassis can be assembled in a circular rotation and are connected to the motor shaft of the wheel motor through a second belt to form a belt transmission mechanism.

[0009] As a further improvement of the present invention, the temporary storage rack includes a base frame installed on the chassis and a bookshelf detachably installed on the base frame, a connecting seat is installed at the bottom of the bookshelf, vertical plates are installed at both ends of the bookshelf, a first horizontal plate and a second horizontal plate are installed on the inner sides of the two vertical plates, the second horizontal plate is assembled and fixed to the connecting seat, and the interior of the connecting seat is a hollow plug-in cavity; a base frame top plate and a base frame box are provided on the base frame, the base frame box is installed on the base frame top plate, a plug-in seat plate is installed on the base frame box, a plug-in block is provided on the plug-in cavity, and the plug-in block is installed in the plug-in cavity and assembled with it.

[0010] As a further improvement of the present invention, the base frame and the bookshelf are connected and assembled by a connecting mechanism, the connecting mechanism includes a connecting frame installed in the base frame box, a top mounting frame installed on the first horizontal plate, a connecting seat is installed on the connecting frame, a driving disk is rotatably installed in the connecting seat, and a fixed disk is non-rotatably installed in the connecting seat, a radial slide groove is provided on the fixed disk, the radial slide groove is engaged with a radial slider and can be slidably assembled, the radial slider is assembled with the bottom of the radial plug plate, and a connecting plug block is provided on the radial plug plate;

[0011] The driving disk is provided with a driving arc groove, which is engaged with and slidably assembled with a driving pin, and the driving pin is installed on a radial slider, and the distances between the two ends of the driving arc groove and the axis of the driving disk are not equal; the top mounting frame is directly or indirectly assembled with the connecting tube, and the connecting tube is provided with a plug-in slide groove, and the connecting plug block can be inserted into the plug-in slide groove to realize the connection and assembly of the base frame and the book shelf.

[0012] As a further improvement of the present invention, the bottom of the connecting plug block is provided with a plug block inclined surface, and the bottom of the plug-in slide groove is provided with a slot inclined surface, and the slot inclined surface can be fitted with the plug block inclined surface, thereby driving the connecting cylinder to move axially downward;

[0013] The top surface of the connecting seat is fitted with the bottom surface of the retaining plate, and the retaining plate is installed on the connecting seat. The retaining plate and the connecting cylinder can be axially slidably assembled. A connecting cylinder plate is also provided on the connecting cylinder, and the connecting cylinder plate can be axially slidably mounted on the cylinder plate guide shaft. The two ends of the cylinder plate guide shaft are respectively mounted on the retaining plate and the top mounting frame. A connecting spring is mounted on the part of the cylinder plate guide shaft located between the connecting cylinder plate and the retaining plate. The connecting spring is used to apply an elastic force to the connecting cylinder plate to prevent it from moving downward.

[0014] As a further improvement of the present invention, a driving cylinder is coaxially mounted on the driving disk, and the driving cylinder and the connecting frame can be assembled in a circular rotation, and a connecting worm wheel is mounted on the connecting frame, and the connecting worm wheel and the connecting worm part are meshed for transmission, and the connecting worm part is arranged on the connecting worm shaft, and the connecting worm shaft and the connecting frame can be assembled in a circular rotation, and one end of the connecting worm shaft is connected to the motor shaft of the connecting motor.

[0015] As a further improvement of the present invention, a power battery and an industrial computer are installed in the chassis; a sub-battery and a PLC are built into the bookshelf, the sub-battery is used to temporarily supply power to the electrical equipment on the bookshelf after the bookshelf is separated from the chassis, and the PLC is used to control the electrical equipment on the bookshelf;

[0016] It also includes a fixed connector column, wherein the fixed connector column has built-in strong wires for power transmission and weak wires for signal transmission, and the top surface of the fixed connector column is respectively provided with a conductive sheet connected to the strong wire and a conductive sheet electrically connected to the weak wire; the two conductive sheets are respectively pressed and conductively connected with the two matching conductive sheets on the connector plug, thereby realizing the communication connection between the strong power input bookshelf on the chassis, the industrial computer and the PLC;

[0017] The joint plug can be axially slidably installed in the joint inner tube, the joint inner tube is arranged in the joint tube, the joint tube is installed on the top mounting frame, the joint inner tube is also respectively installed with a first limiting ring and a second limiting ring, the joint plug is installed between the first limiting ring and the second limiting ring, and a stop ring is arranged on the joint plug, and the stop ring cannot pass through the first limiting ring; the joint plug is also assembled with one end of the joint slide rod, the other end of the joint slide rod is sleeved with a joint spring, passes through the second limiting ring and is assembled with the third limiting ring, the third limiting ring cannot pass through the second limiting ring, and the two ends of the joint spring are respectively pressed between the second limiting ring and the joint plug;

[0018] The connector slide bar has another strong wire and another weak wire built in, and one end of the strong wire and one end of the weak wire are electrically connected to the corresponding matching conductive sheets respectively, and the other end of the strong wire and the other end of the weak wire are electrically connected to the strong wire part and the weak wire part in the spring wire respectively, and the spring wire has elasticity; the spring wire connects the strong electricity to various electrical equipment on the bookshelf through the power battery relay, and connects the weak electricity to the PLC; a sub-battery relay is connected in series on the sub-battery, so that the sub-battery relay and the power battery relay are selectively connected to realize sub-battery power supply or power battery power supply, and the control ends of the sub-battery relay and the power battery relay are connected to the PLC, and their opening and closing are controlled by the PLC.

[0019] As a further improvement of the present invention, it also includes a clamping mechanism, which clamps the book in the corresponding placement slot, the clamping mechanism includes a thickness clamping plate and a width clamping plate, the thickness clamping plate is engaged with the thickness slide slot and can be slidably assembled, the width clamping plate is assembled with the second clamping power plate through a clamping connection plate, the clamping connection plate is engaged with the width slide slot and can be slidably assembled, the width slide slot and the thickness slide slot are both arranged on the bookshelf and connected with the placement slot, the thickness clamping plate is located in the transverse direction of the placement slot, and clamps the book from the thickness direction of the book when in use; the width clamping plate is located in the longitudinal direction of the placement slot, and clamps the book from the width direction of the book when in use;

[0020] The second clamping power plate is mounted on the first clamping screw and assembled with it through threaded engagement. The first clamping screw is assembled with the bookshelf and the third clamping vertical plate in a circularly rotatable and non-axially movable manner. The first clamping screw is partially transmitted through the first clutch worm gear of the first clutch assembly and the clamping worm gear; the clamping worm gear portion is arranged on the second clamping spindle; the first clutch assembly is used to control whether the first clutch worm gear drives the first clamping screw to rotate; the thickness clamping plate is directly or indirectly driven by the first clamping spindle, so that the thickness clamping plate moves axially along the first clamping spindle to clamp the book.

[0021] As a further improvement of the present invention, the first clutch assembly includes a clutch sleeve, which can be rotatably mounted on the first clamping screw, and the clutch sleeve is assembled with the first clamping vertical plate and the second clamping vertical plate in a rotatable manner but cannot be axially moved. The clutch sleeve is non-rotatably mounted with the first clutch worm gear and the clutch wheel, and a plurality of clutch protrusions are arranged on the outer wall of the clutch wheel. The clutch wheel is installed in a clutch cavity, which is filled with magnetorheological fluid and the clutch cavity is arranged in a clutch cover, and a drive ring is arranged on the clutch cover, and the drive ring is non-rotatably mounted on the first clamping screw, and the clutch cover and the clutch sleeve are sealed and can be rotatably mounted. A coil shell is installed on the outer side of the drive ring, and the coil shell is installed on the third clutch vertical plate and a coil is installed in the coil shell. When the coil is energized, a magnetic field is generated, and the magnetic field controls the viscosity of the magnetorheological fluid in the clutch cavity to achieve power connection or disconnection between the clutch wheel and the clutch cover.

[0022] As a further improvement of the present invention, it also includes a second clutch assembly, the second clutch assembly is used to control whether the first clutch worm gear drives the cam main shaft to rotate, the second clutch assembly and the first clutch assembly have the same structure, except that the part of the second clutch assembly corresponding to the first clutch worm gear of the first clutch assembly is the second clutch worm gear, the second clutch worm gear is partially meshed with the clamping worm for transmission, and the driving ring of the second clutch assembly and the cam main shaft cannot be assembled in a relatively circumferentially rotatable manner;

[0023] The clutch sleeve of the second clutch assembly is sleeved on the cam main shaft, a cam shaft is installed on one end of the cam main shaft, a cam is sleeved on the cam shaft, a long axis end and a short axis end are respectively provided on the cam, the cam shaft is also assembled with the fourth clutch vertical plate so as to be rotatable in a circle, and the first clutch vertical plate, the second clutch vertical plate, the third clutch vertical plate and the fourth clutch vertical plate are respectively assembled with the book shelf;

[0024] A clutch partition is also installed between the third clutch vertical plate and the fourth clutch vertical plate, a clutch guide tube is installed on the clutch partition, the clutch guide tube is sleeved on the clutch guide shaft, the top of the clutch guide shaft passes through the clutch guide tube and is assembled with the clutch lifting seat, and the bottom passes through the clutch guide tube and is assembled with the clutch connecting plate, a clutch spring is sleeved on the part of the clutch guide shaft located between the clutch connecting plate and the clutch partition, and the clutch spring is used to apply a thrust to the clutch connecting plate away from the clutch partition, so that the clutch lifting seat is kept at the lowest displacement point in the initial state;

[0025] The outer wall of the cam is in close contact with the bottom surface of the clutch lifting seat. In the initial state, the short axis end of the cam is in close contact with the clutch lifting seat. When the cam rotates until its long axis end is in close contact with the clutch lifting seat, it is in the use state, and the clutch lifting seat is at the highest displacement point.

[0026] A first power clamping plate is provided at the bottom of the thickness clamping plate, a guide seat is installed on the first power clamping plate, a clutch sliding shaft is installed on the guide seat, the clutch sliding shaft passes through the clutch block, the clutch block can slide axially along the clutch sliding shaft, and a compression spring is sleeved on the part of the clutch sliding shaft located between the clutch block and the guide seat, and the compression spring is used to apply a thrust to the clutch block to push the guide base;

[0027] The clutch block is assembled with the clutch drive seat, and the clutch drive seat can be lifted and moved relative to the first power clamping plate; a half groove is provided on the clutch block, an internal thread is provided on the inner wall of the half groove, and an external thread is provided on the first clamping spindle, and the half groove can be assembled with the first clamping spindle through threaded engagement;

[0028] In the initial state, the half groove is not in contact with the first clamping spindle, and the guide base is located at the lowest displacement point. At this time, the first clamping spindle cannot drive the clutch block to move; when the long axis end of the cam is pressed against the clutch lifting seat, the clutch lifting seat moves up, thereby pushing the guide base and the clutch block to overcome the elastic force of the compression spring and move up. After the clutch block moves up, the half groove is pressed against the first clamping spindle, so that the external thread of the first clamping spindle and the internal thread of the half groove are screwed together for assembly, and then as the first clamping spindle rotates, the first power clamping plate is driven to move axially along the first clamping spindle.

[0029] The beneficial effects of the present invention are:

[0030] The present invention can realize the autonomous return of books to the bookshelf, realizes intelligent book return, and at the same time the book return speed is relatively fast, the accuracy of putting books back to the bookshelf is high, and the quality of the books is not greatly damaged during the storage process of the equipment. It has the characteristics of low equipment cost and high efficiency, can greatly improve the work efficiency of the library, save people's time, and enhance the intelligence level of the library.

[0031] The clamping mechanism of the present invention can clamp the book in the thickness direction and the width direction of the book, which can realize the clamping of the book on the one hand and the positioning of the book on the other hand, thereby greatly improving the accuracy of the subsequent clamping claw cylinder grabbing the book. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1-Figure 3 It is a structural diagram of embodiment 1.

[0033] Figure 4 It is a schematic diagram of the structure of the first embodiment after the temporary storage rack A is removed.

[0034] Figure 5-Figure 8 It is a schematic diagram of the local structure of the clamping cylinder 550, the side shift cylinder 540, and the rotating frame 130.

[0035] Figure 9-10 It is a structural diagram of the second embodiment.

[0036] Figure 11-Figure 12 It is a schematic diagram of the local structure of the lifting plate 720.

[0037] Figure 13-Figure 16 This is a schematic diagram of the structure of the bookshelf and base frame. Fig.15 This is a cross-sectional view of the center plane where the axis of the fixed joint column A251 is located. Fig.16 yes Fig.15 Enlarged view of F1 in the middle.

[0038] Fig.17 It is a structural diagram of the chassis.

[0039] Figure 18-Figure 22 It is a structural diagram of the connecting mechanism.

[0040] Figure 23-Figure 28 This is a schematic diagram of the structure of the bookshelf, where Fig.26 This is the cross-sectional view of the center plane of the thickness slide A122. Fig. 27 This is a cross-sectional view of the center plane where the axis of the first clamping screw is located. Fig.28 for Fig. 27 Enlarged view of F2 in the middle.

[0041] Figure 29-Figure 34 It is a schematic diagram of the structure of the thickness clamping plate and the width clamping plate. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0043] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0044] Embodiment 1

[0045] See also Figure 1-Figure 8 A book storage robot includes a temporary storage rack A and a chassis 110. The temporary storage rack A is mounted on the chassis 110. Four Mecanum wheels 210 are mounted on the chassis 110. Each Mecanum wheel 210 is respectively mounted on a wheel axle 310. The wheel axle 310 and the chassis 110 can be assembled in a circular rotation and connected to the motor shaft of the wheel motor 560 through a second belt 620 to form a belt transmission mechanism. When in use, each wheel motor 560 drives a Mecanum wheel 210 respectively, so that the four Mecanum wheels 210 can realize functions such as forward, backward, side shift, and steering through different steering combinations.

[0046] The chassis 110 also has a translation screw 320 and a guide rail 410. The guide rail 410 is engaged with the translation seat 120 and can be slidably assembled. The translation screw 320 passes through the translation seat 120 and is assembled therewith by threaded engagement. The translation screw 320 is connected to the motor shaft of the translation motor 510 through the first belt 610 to form a belt transmission mechanism. After the first motor 510 is started, it can drive the translation screw 320 to rotate in a circle, thereby driving the translation seat 120 to move along its axial direction.

[0047] The translation seat 120 is also equipped with a rotating cylinder 520, and the rotating shaft of the rotating cylinder 520 is assembled with the bottom of the rotating frame 130, so that the rotating cylinder 520 can drive the rotating frame 130 to rotate in a circle after being started; the rotating frame 130 can be axially slidably assembled with the guide shaft 331 and assembled with the lifting screw 332 through threaded engagement, and the top of the guide shaft 331 and the top of the lifting screw 332 are respectively assembled with the lifting frame 140, and the lifting frame 140 is equipped with a side-shifting cylinder 540, and the telescopic shaft of the side-shifting cylinder 540 is assembled with the outer shell of the clamping cylinder 550, and different clamping plates 420 are respectively installed on the two clamping claws of the clamping claw cylinder 550. When in use, the clamping claw cylinder 550 drives the two clamping claws to move closer to or away from each other, thereby driving the two clamping plates 420 to move closer to or away from each other, thereby achieving the clamping and release of the book 01. After the side shift cylinder 540 is started, it can drive the clamping cylinder 550 to move along the telescopic axis of the side shift cylinder 540, so as to adjust the distance between the clamping plate 420 and the lifting frame 140 to take out the books from the temporary storage rack A and place the books on the bookshelf to complete the book return.

[0048] The lifting screw 332 is connected to the motor shaft of the lifting motor 530 through the third belt 630 to form a belt transmission mechanism. After the lifting motor 530 is started, it can drive the lifting screw 332 to rotate in a circle, thereby adjusting the distance between the lifting frame 140 and the rotating frame 130 to achieve the lifting and lowering of the clamping cylinder, thereby adapting to bookshelves of different heights. After the rotating cylinder 520 is started, it drives the rotating frame to rotate, thereby using bookshelves with different angles with the chassis, and after the translation motor is started, it drives the clamping cylinder to translate to adapt to different horizontal positions on the bookshelf.

[0049] The temporary storage rack A includes a base frame A110 and a bookshelf A120. A plurality of partition plates A130 are installed at intervals on the bookshelf A120. A placement slot A121 is formed between two partition plates A130. Books 01 are placed in the placement slot A121 one by one to facilitate subsequent clamping by the clamping plate 420. An infrared sensor A210 is installed at each placement slot A121. The infrared sensor A210 is used to detect whether there is a book placed in the placement slot A121. The specific principle is that the infrared sensor emits a beam of light. If the light is not blocked, there is not enough infrared light returned. At this time, it is judged that the corresponding placement slot A121 is vacant. If there is a book placed in the corresponding placement slot A121, each infrared sensor is provided with a number, so that the number information output by the infrared sensor is used to judge the placement slot A121 where the book is placed.

[0050] In this embodiment, a power battery, an industrial computer, an air pump, and an air tank can be installed in the chassis 110, and a camera and a path recognition device can be installed on the chassis 110. When in use, the battery is used to power each electrical device, the industrial computer is used to send and receive control instructions to each electrical device, the air pump is used to input pressurized gas into the air tank, and the air tank is used to supply gas to each cylinder. The camera and the path recognition device are used to realize the automatic walking of the present invention according to the preset path. Its technical solution can adopt the corresponding technical solution of the existing AGV car, and its repeated positioning accuracy can reach the millimeter level, which can fully meet the accuracy requirements of returning books. In the prototype test of this embodiment, a path line that is convenient for machine vision recognition is first drawn on the ground according to the path, so that the present invention can walk along the planned path after machine vision recognizes the path. Coordinates are set for the grids on the bookshelf and the bookshelf respectively. The coordinate system of the coordinates takes the place where the books to be put back in the temporary storage rack as the origin, establishes a three-dimensional coordinate system, sets a unique identifier on each book, and confirms the coordinate point of the identifier in the coordinate system, so as to provide coordinate point guidance for subsequent book returns, so as to facilitate path planning.

[0051] In this embodiment, an RFID tag can be attached to each book. The RFID tag records the unique code corresponding to the book. When in use, the RFID tag information is read by the RFID reader and then input into the system. The system uses the unique code to find the bookshelf coordinates where the book is located, and then plans the path. The operator places the book in the placement slot A121, and the corresponding infrared sensor A210 sends a signal. The PLC installed on the temporary storage rack can determine the placement slot where the book is located by the number of the infrared sensor A210, so as to plan the rotation angle of the subsequent translation motor, the rotation angle of the rotary cylinder, the rotation angle of the lifting motor, the telescopic length of the side shift cylinder, etc., so as to generate a set of control instructions. After the chassis reaches the end of the planned path, the book 01 in the corresponding placement slot A121 is taken out by the cooperation of various electrical equipment on the chassis, and placed in the grid of the corresponding bookshelf to complete the book return. In this embodiment, a sub-coordinate can be set on the chassis, and the origin of the sub-coordinate is the geometric center of the chassis. The three-dimensional coordinate system of the sub-coordinate is used to calculate the coordinate displacement vector of the movement of the clamping plate, thereby providing control information for the subsequent movement of the clamping plate.

[0052] Embodiment 2

[0053] See also Figure 9-Figure 23In the first embodiment, the temporary storage rack A is fixed on the chassis, which means that a device is required when sorting books, resulting in huge waste. At the same time, since books are of different thicknesses and widths, it is obviously inappropriate to place books of different specifications only through the placement slots A121 of uniform specifications. Although it is currently possible to install an industrial camera at the clamping cylinder to use machine vision to realize the positioning of books in different states, this method is expensive and currently has poor reliability. Therefore, in this embodiment, the temporary storage rack A is divided into a base frame A110 installed on the chassis and a bookshelf A120 detachably installed on the base frame A110. A connecting seat A160 is installed at the bottom of the bookshelf A120. Lifting protrusions A161 are arranged on the outer sides of both ends of the connecting seat A160. The lifting protrusions A161 are pressed down on the lifting plate 720. The lifting plate 720 is installed on the lifting power plate 730. The lifting power plate 730 can be axially slidably mounted on the lifting optical axis 340. The upper and lower ends of the lifting optical axis 340 are respectively assembled with the lifting top plate 712 and the lifting seat 710. The lifting top plate 712 and the lifting seat 710 are assembled by a lifting bracket 713. A positioning back plate 711 and a lifting cylinder 570 are also installed on the lifting seat 710. The lifting lifting shaft 571 of the lifting cylinder 570 is assembled with the lifting power plate 730. After the lifting cylinder 570 is started, it can drive the lifting power plate 730 and the lifting plate 720 to rise and fall, thereby driving the book shelf A120 to rise and fall synchronously. This design allows the chassis part to match multiple book shelves A120, so that after the operator places a book on the book shelf A120 alone, the chassis moves to between the two lifting plates 720, and the bottom frame A110 is close to the positioning back plate 711. At this time, the book shelf A120 is located directly above the bottom frame A110, and then the book shelf A120 moves down, so that the book shelf A120 is placed on the bottom frame A110, and then the book shelf A12 and the bottom frame A110 are assembled and fixed through the connecting mechanism, so that the chassis can carry the book shelf A120 to the preset end point and place the book at the preset coordinates. After the books are placed, the empty bookshelf A120 moves to two lifting plates 720 without a bookshelf A120, and completes the fit and positioning with the positioning back plate 711, and then the two lifting plates 720 move up, driving the empty bookshelf A120 to move up and away from the base frame A110, and this empty bookshelf A120 is used for the next book sorting. The chassis can be moved to the bottom of other bookshelves A120 with books, and after being fit and positioned with the positioning back plate 711, this bookshelf A120 is installed and enters the next cycle. This design allows one chassis 110 to correspond to multiple bookshelves A120, which can effectively prevent the waste of the chassis during the sorting process, and can also greatly reduce the procurement and maintenance costs of the equipment, which is more suitable for the current library book return and sorting scenario.

[0054] Vertical plates A140 are respectively installed at both ends of the bookshelf A120, and the first horizontal plate A142 and the second horizontal plate A143 are respectively installed on the inner sides of the two vertical plates A140. The second horizontal plate A143 is assembled and fixed with the connecting seat A160, and the interior of the connecting seat A160 is a hollow plug-in cavity A162; the base frame A110 is provided with a base frame top plate A111 and a base frame box A112, and the base frame box A112 is installed on the base frame top plate A111, and a plug-in seat plate A113 is installed on the base frame box A112, and a plug-in block A1131 is provided on the plug-in cavity A162, and the plug-in block A1131 is installed in the plug-in cavity A162 and assembled with it, so as to realize the positioning and clamping between the base frame A110 and the bookshelf A120.

[0055] The connecting mechanism includes a connecting frame A114 installed in the chassis box A112 and a top mounting frame A460 installed on the first cross plate A142. A connecting seat A115 is installed on the connecting frame A114. A driving disk A810 is rotatably installed in the connecting seat A115, and a fixed disk A820 is non-rotatably installed in the connecting seat A115. A radial slide groove A821 is arranged on the fixed disk A820. The radial slide groove A821 is engaged with and slidably assembled with a radial slider A450. The radial slider A450 is assembled with the bottom of a radial plug plate A440. A connecting plug block A441 is arranged on the radial plug plate A440, and a plug block slope A4411 is arranged at the bottom of the connecting block A441.

[0056] The driving disk A810 is provided with a driving arc groove A811, which is engaged with the driving pin A451 and can be slidably assembled. The driving pin A451 is installed on the radial slider A450, and the distances between the two ends of the driving arc groove A811 and the axis of the driving disk A810 are not equal. When the driving disk rotates, the driving arc groove A811 can be driven to rotate synchronously. The driving arc groove A811 drives the driving pin A451 to move radially along the driving disk, thereby driving the radial slider A450 and the radial plug plate A440 to slide along the radial slide groove A821. A driving cylinder A812 is also coaxially mounted on the driving disk A810, and the driving cylinder A812 and the connecting frame A114 can be assembled in a circular rotation, and the connecting frame A114 is provided with a connecting worm wheel A311, and the connecting worm wheel A311 is meshed with the connecting worm part A312 for transmission, and the connecting worm part A312 is arranged on the connecting worm shaft A710, and the connecting worm shaft A710 and the connecting frame A114 can be assembled in a circular rotation, and one end of the connecting worm shaft A710 is connected to the motor shaft of the connecting motor A220, and after the connecting motor is started, it can drive the connecting worm shaft A710 to rotate in a circular rotation, thereby driving the driving cylinder A812 and the driving disk A810 to rotate.

[0057] The top surface of the connecting seat A115 is fitted with the bottom surface of the retaining plate A163, and the retaining plate A163 is installed on the connecting seat A160. The retaining plate A163 and the connecting tube A430 can be axially slidably assembled. The connecting tube A430 is provided with a plug-in slide groove A432 and a connecting tube plate A431. The plug-in slide groove A432 can be plug-in assembled with the connecting plug block A441, and a slot slope A4321 is provided at the bottom of the plug-in slide groove A432. The slot slope A4321 can be fitted with the plug block slope A4411, thereby driving the connecting tube A430 to move axially downward, thereby realizing the fastening assembly of the bookshelf and the base frame A110. The connecting cylinder plate A431 can be axially slidably mounted on the cylinder plate guide shaft A730, and the two ends of the cylinder plate guide shaft A730 are respectively mounted on the retaining plate A163 and the top mounting frame A460. The cylinder plate guide shaft A730 is mounted on the portion between the connecting cylinder plate A431 and the retaining plate A163 with a connecting spring A530, and the connecting spring A530 is used to apply an elastic force to the connecting cylinder plate A431 to prevent it from moving downward.

[0058] When assembling the bookshelf and the base frame, first move the bookshelf downward until the top surface of the connecting seat A115 fits with the bottom surface of the retaining plate A1633. At this time, the radial plug plate A440 is inserted into the connecting tube A430, and the connecting plug block A441 corresponds to the plug-in slide groove A432, but at this time, the highest point of the slot slope A4321 is higher than the highest point of the plug block slope A4411. Then start the connecting motor, drive the disk A810 to rotate, thereby driving the radial plug plate A440 to move, so that the connecting plug block A441 is inserted into the plug-in slide groove A432, and then through the cooperation of the plug block slope A4411 and the slot slope A4321, the connecting tube A430 overcomes the elastic force of the connecting spring and moves downward, thereby pulling the bookshelf toward the base frame, and at the same time clamping and fixing the bookshelf and the base frame, so as to achieve stable assembly between the bookshelf and the base frame.

[0059] Preferably, a sub-battery and a PLC can be built into the bookshelf. The sub-battery is used to temporarily power the electrical equipment on the bookshelf after the bookshelf is separated from the base frame, and the PLC is used to control the electrical equipment on the bookshelf. After the base frame and the bookshelf are assembled, the power of the power battery on the chassis needs to be used, and the PLC needs to communicate with the industrial computer to facilitate signal exchange and subsequent unified control. For this purpose, the present embodiment also adds a fixed joint column A251, which has built-in strong wires for power transmission and weak wires for signal transmission, and the top surface of the fixed joint column A251 is respectively provided with a conductive sheet connected to the strong wire and a conductive sheet electrically connected to the weak wire. The two conductive sheets are respectively pressed and conductively connected with the two matching conductive sheets on the connector plug A252, so as to realize the communication connection between the strong current input bookshelf, industrial computer and PLC on the chassis; the connector plug A252 can be axially slidably installed in the connector inner tube A721, the connector inner tube A721 is arranged in the connector tube A720, and the connector tube A720 is installed on the top mounting frame A460, and the first limiting ring A722 and the second limiting ring A723 are also respectively installed in the connector inner tube A721, and the connector plug A252 is installed between the first limiting ring A722 and the second limiting ring A723, and the connector A stop ring A2521 is provided on the head plug A252, and the stop ring A2521 cannot pass through the first limiting ring A722; the connector plug A252 is also assembled with one end of the connector slide rod A253, and the other end of the connector slide rod A253 is fitted with a connector spring A540, passes through the second limiting ring A723 and is assembled with the third limiting ring A2531, and the third limiting ring A2531 cannot pass through the second limiting ring A723, and the two ends of the connector spring A540 are respectively pressed between the second limiting ring A723 and the connector plug A252, thereby applying an elastic force to push the connector plug A252 downward. The connector slide A253 has another strong wire and another weak wire built in, and one end of the strong wire and one end of the weak wire are electrically connected to the corresponding matching conductive sheet respectively, and the other end of the strong wire and the other end of the weak wire are electrically connected to the strong wire part and the weak wire part in the spring wire A254 respectively, and the spring wire A254 has elastic elasticity, so that it can adapt to the sliding of the connector slide A253. The spring wire A254 connects the strong electricity to each electrical device of the bookshelf through the power battery relay, and connects the weak electricity to the PLC. In this embodiment, a sub-battery relay is connected in series on the sub-battery, so that the sub-battery relay and the power battery relay are selected to be connected to realize the sub-battery power supply or the power battery power supply, and the control ends of the sub-battery relay and the power battery relay are connected to the PLC, and the PLC controls their opening and closing.

[0060] See also Figure 9-Figure 15 , Figure 24-Figure 34For books of different thicknesses and widths, the present embodiment adopts a clamping mechanism A600 to clamp them in the corresponding placement slot A121, the clamping mechanism A600 includes a thickness clamping plate A410 and a width clamping plate A420, the thickness clamping plate A410 is engaged with the thickness slide slot A122 and can be slidably assembled, the width clamping plate A420 is assembled with the second clamping power plate A422 through a clamping connecting plate A421, the clamping connecting plate A421 is engaged with the width slide slot A123 and can be slidably assembled, the width slide slot A123 and the thickness slide slot A122 are both arranged on the bookshelf A120 and connected with the placement slot A121, the thickness clamping plate A410 is located in the transverse direction of the placement slot A121, and clamps the book from the thickness direction of the book when in use; the width clamping plate A420 is located in the longitudinal direction of the placement slot, and clamps the book from the width direction of the book when in use.

[0061] A first airbag A510 is installed on the side of the placement groove A121 corresponding to the thickness clamping plate A410. The first airbag A510 is hollow and sealed inside and is made of elastic material, such as rubber or silicone. A first trigger plate A511 is installed inside the first airbag A510 on one end facing the thickness clamping plate A410. The first trigger plate A511 is directly opposite to the trigger end of the first collision switch A231. The first collision switch A231 is installed in the first airbag A510. When in use, the thickness clamping plate A410 squeezes the book toward the first airbag A510, causing the first airbag A510 to deform, and then pushes the first trigger plate A511 to move toward the first collision switch A231 until the first collision switch A231 is triggered. After the first collision switch A231 is triggered, a signal is input to the PLC, and the PLC determines that the book is clamped in the thickness direction.

[0062] A second airbag A520 is installed in the placement groove A121 on the side corresponding to the width clamping plate A420. The interior is hollow, sealed and made of elastic material, such as rubber or silicone. A second trigger plate A521 is installed in the second airbag A520 on the end facing the width clamping plate A420. The second trigger plate A521 is directly opposite to the trigger end of the second collision switch A232. The second collision switch A232 is installed in the second airbag A520. When in use, the width clamping plate A420 squeezes the book toward the second airbag A520, causing the second airbag A520 to deform, and then pushes the second trigger plate A521 to move toward the second collision switch A232 until the second collision switch A232 is triggered. After the second collision switch A232 is triggered, a signal is input to the PLC, and the PLC determines that the book is clamped in the width direction. The placement groove A121 is located on the outside of the second airbag A520 and is also equipped with an end fixing plate A150. The end fixing plate A150 is installed on the bookshelf, and the second airbag A520 is installed on the end fixing plate A150. This design is to close the placement groove A121 at one end of the end fixing plate A150 on the one hand, and to provide attachment for the second airbag A520 on the other hand.

[0063] The second clamping power plate A422 is sleeved on the first clamping screw A750 and assembled with it through threaded engagement. The first clamping screw A750 is assembled with the bookshelf A120 and the third clamping vertical plate A613 in a circularly rotatable and non-axially movable manner. The first clamping screw A750 is transmitted to the clamping worm part A333 through the first clutch worm gear A332 of the first clutch assembly; the clamping worm part A333 is arranged on the second clamping spindle A742. The second clamping spindle A742 is respectively assembled with the two vertical plates A140 in a circularly rotatable and non-axially movable manner. The second clamping spindle A742 is connected to the second active motor A262 through the second active belt A322 to form a belt drive mechanism. After the second active motor A262 is started, it can drive the second clamping spindle A742 to rotate in a circle.

[0064] The first clutch assembly includes a clutch sleeve A850, which can be rotatably mounted on the first clamping screw A750. The clutch sleeve A850 is rotatably mounted on the first clamping plate A611 and the second clamping plate A612, and is assembled rotatably and non-axially. The clutch sleeve A850 is non-rotatably mounted with a first clutch worm gear A332 and a clutch wheel A340. A plurality of clutch protrusions A341 are arranged on the outer wall of the clutch wheel A340. The clutch wheel A340 is installed in a clutch cavity A861, and the clutch cavity A861 is filled with magnetorheological fluid. The clutch cavity A862 is arranged in the clutch. Inside the closing cover A860, a driving ring A862 is provided on the clutch cover A860, and the driving ring A862 is non-circularly rotatably mounted on the first clamping screw A750. The clutch cover A860 and the clutch sleeve A850 are sealed and rotatably assembled in a circular manner. A coil shell A270 is installed on the outer side of the driving ring A862, and the coil shell A270 is installed on the third clutch vertical plate A613 and a coil A271 is installed in the coil shell A270. When the coil is energized, a magnetic field is generated, and the magnetic field controls the viscosity of the magnetorheological fluid in the clutch chamber A861 to achieve power connection or disconnection between the clutch wheel A340 and the clutch cover A860. In the initial state, the coil is not energized. At this time, the clamping worm part A333 drives the first clutch worm wheel A332 to rotate, thereby driving the clutch sleeve A850 and the clutch wheel A340 to rotate. At this time, due to the low viscosity of the magnetorheological fluid, the clutch wheel cannot drive the clutch cover A860 to rotate, that is, the clutch sleeve A850 and the first clamping screw A750 rotate relative to each other, and the first clamping screw A750 does not rotate. Once the coil is energized, the magnetic field of the coil makes the viscosity of the magnetorheological fluid increase or even solidify. At this time, the clutch wheel can drive the clutch cover to rotate, that is, the clutch sleeve A850 drives the first clamping screw A750 to rotate, and the first clamping screw A750 drives the width clamping plate A420 to press against the book 01 until the second collision switch is triggered, at which time the book is clamped in the width direction.

[0065] The second clutch assembly and the first clutch assembly have the same structure, except that the part corresponding to the first clutch worm gear A332 of the second clutch assembly is the second clutch worm gear A331, and the second clutch worm gear A331 is meshed with the clamping worm part A333 for transmission. The clutch sleeve A850 of the second clutch assembly is mounted on the cam main shaft A760, and the limiting wheel A830 and the cam shaft A761 are respectively installed on both ends of the cam main shaft A760. The limiting wheel A830 is provided with a limiting wheel block A831, and the third collision switch A233 and the fourth collision switch A234 are respectively installed on the two maximum rotation displacement points of the limiting wheel block A831. The third collision switch A233 and the fourth collision switch A234 are respectively installed on different switch mounting blocks A601, and the switch mounting block A601 is installed on the first clutch vertical plate A611. When the limit wheel A830 rotates to the two maximum rotation points, it will trigger the third collision switch A233 and the fourth collision switch A234. After being triggered, the third collision switch A233 and the fourth collision switch A234 will input signals to the PLC, and the PLC determines the current rotation angle of the cam main shaft A760 according to the signals. The cam shaft A761 is provided with a cam A840, and the cam A840 is respectively provided with a long axis end A841 and a short axis end A842. The cam shaft A762 is also assembled with the fourth clutch vertical plate A614 for circular rotation. The first clutch vertical plate A611, the second clutch vertical plate A612, the third clutch vertical plate A613, and the fourth clutch vertical plate A614 are respectively assembled with the book shelf A120. In the initial state, the coil of the second clutch assembly is not energized, so that its clutch sleeve and the cam main shaft A760 rotate relative to each other, so that the cam main shaft A760 does not rotate. After the coil is energized, the clutch wheel drives the clutch cover to rotate through the magnetorheological fluid, so that the clutch sleeve drives the cam main shaft A760 to rotate, so that the cam A840 rotates synchronously.

[0066] A clutch partition A650 is also installed between the third clutch vertical plate A613 and the fourth clutch vertical plate A614, and a clutch guide tube A772 is installed on the clutch partition A650. The clutch guide tube A772 is sleeved on the clutch guide shaft A771. The top of the clutch guide shaft A771 passes through the clutch guide tube A772 and is assembled with the clutch lifting seat A620, and the bottom passes through the clutch guide tube A772 and is assembled with the clutch connecting plate A630. A clutch spring A550 is sleeved on the part of the clutch guide shaft A771 located between the clutch connecting plate A630 and the clutch partition A650. The clutch spring A550 is used to apply a thrust to the clutch connecting plate A630 away from the clutch partition A650, so that the clutch lifting seat A620 is maintained at the lowest displacement point in the initial state. The outer wall of the cam A840 is in close contact with the bottom surface of the clutch lift seat A620, so that in the initial state, the short axis end A842 of the cam A840 is in close contact with the clutch lift seat A620. The cam A840 is in use state when its long axis end A841 is rotated to be in close contact with the clutch lift seat A620, and the clutch lift seat A620 is at the highest displacement point.

[0067] The bottom of the thickness clamping plate A410 is provided with a first power clamping plate A411, on which a guide seat A660 is installed, on which a clutch slide shaft A780 is installed, the clutch slide shaft A780 passes through the clutch block A640, the clutch block A640 can slide axially along the clutch slide shaft A780, and the clutch slide shaft A780 is sleeved with a compression spring A560 on the part between the clutch block A640 and the guide seat A660, and the compression spring A560 is used to apply a thrust to the clutch block A640 to push the guide base A670. The clutch block A640 is assembled with a clutch drive seat A670, and the clutch drive seat A670 can move up and down relative to the first power clamping plate A411.

[0068] A half groove A641 is provided on the clutch block A640, an internal thread is provided on the inner wall of the half groove A641, an external thread is provided on the first clamping spindle A741, and the half groove A641 can be assembled with the first clamping spindle A741 by threaded engagement; in the initial state, the half groove A641 does not contact the first clamping spindle A741, and the guide base A670 is located at the lowest displacement point. At this time, the first clamping spindle A741 cannot drive the clutch block A640 to move. When the long axis end of the cam is pressed against the clutch lifting seat A620, the clutch lifting seat A620 moves upward, thereby pushing the guide base A670 and the clutch block A640 to move upward to overcome the elastic force of the compression spring. After the clutch block A640 moves upward, the half groove A641 is pressed against the first clamping spindle A741, so that the external thread of the first clamping spindle A741 is screwed together with the internal thread of the half groove A641, and then the first power clamping plate A411 is driven to move axially along the first clamping spindle A741 with the rotation of the first clamping spindle A741, that is, the thickness clamping plate A410 is driven to press the book against the first airbag A510 until the first collision switch is triggered. In this embodiment, the outer wall of the first airbag can be set to a smooth surface, so that when in use, the thickness clamping plate A410 first clamps the book, and then the width clamping plate A420 clamps the book, thereby achieving the clamping of the book.

[0069] The first clamping spindle A741 and the two vertical plates A140 are assembled so as to be rotatable in a circular manner. The first clamping spindle A741 is connected to the motor shaft of the first active motor A261 through the first active belt A321 to form a belt transmission mechanism. After being driven, the first active motor A261 can drive the first clamping spindle A741 to rotate in a circular manner.

[0070] Preferably, the bottom of the first power clamping plate A411 is spherically mounted with a first ball A412; the bottom of the guide base A670 is spherically mounted with a second ball A671. The clutch lifting seat A620 is provided with a seat groove A621, and the bottom of the first power clamping plate A411 and the bottom of the guide base A670 are both inserted into the seat groove A621 and can slide relative to each other. After the clutch lifting seat A620 moves upward, the second ball A671 and the first ball A412 are used to press the guide base A670 and the first power clamping plate A411, so that the guide base A670 and the first power clamping plate A411 can move stably, and the friction between the guide base A670, the first power clamping plate A411 and the clutch lifting seat is reduced.

[0071] Preferably, a shield A141 is installed on the outer side of the first driving belt A321 and the second driving belt A322. The shield is installed on a vertical plate A140 close thereto. The shield A141 is used to prevent the first driving belt A321 and the second driving belt A322 from being exposed and causing safety hazards.

[0072] When in use, each placement slot A121 corresponds to a clamping mechanism A600, and the clamping mechanism A600 uses the power of the second clamping spindle A742 combined with two clutch components to control the width clamping plate A420 to clamp the book, and the cam A840 rotates to make the clutch block close to the first clamping spindle A741. The rotation of the first clamping spindle A741 can drive the thickness clamping plate A410 to clamp the book, thereby achieving the clamping and positioning of the book, so that the positioning reference of the clamping claw cylinder is the first airbag and the second airbag installed at the placement slot. On the one hand, it improves the accuracy of the clamping claw cylinder to grab the book, and on the other hand, it can also clamp the book to prevent the book from tilting and causing subsequent clamping failure. When the clamping plate 420 clamps the book, first clamp the two clamping plates A420 on the two end surfaces of the book, and then control the thickness clamping plate and the width clamping plate to move in the opposite direction to reset and release the book.

Claims

1. A book storage robot, characterized by: It includes a temporary storage rack and a chassis, wherein the temporary storage rack is installed on the chassis, and the chassis also has a translation screw and a guide rail, wherein the guide rail is engaged with the translation seat and can be slidably assembled, the translation screw passes through the translation seat and is screwed with the translation seat through a thread, and the translation screw is directly or indirectly driven to rotate by a translation motor; The translation seat is also equipped with a rotating cylinder, the rotating shaft of which is assembled with the bottom of the rotating frame; the rotating frame is axially slidably assembled with the guide shaft and assembled with the lifting screw by screw thread; the top of the guide shaft and the top of the lifting screw are respectively assembled with the lifting frame; the lifting frame is equipped with a side-shifting cylinder, the telescopic shaft of which is assembled with the outer shell of the clamping cylinder, and different clamping plates are respectively installed on the two clamping claws of the clamping claw cylinder; the lifting screw is directly or indirectly driven to rotate by the lifting motor; The temporary storage rack comprises a bottom frame and a bookshelf, wherein a plurality of partition plates are installed at intervals on the bookshelf, and a placement slot is formed between two partition plates, and books are placed in the placement slot one by one; It also includes a clamping mechanism, which clamps the book in the corresponding placement slot, and the clamping mechanism includes a thickness clamping plate and a width clamping plate, the thickness clamping plate is engaged with the thickness slide slot and can be slidably assembled, the width clamping plate is assembled with the second clamping power plate through a clamping connection plate, the clamping connection plate is engaged with the width slide slot and can be slidably assembled, the width slide slot and the thickness slide slot are both arranged on the bookshelf and communicated with the placement slot, the thickness clamping plate is located in the transverse direction of the placement slot, and clamps the book from the thickness direction of the book when in use; the width clamping plate is located in the longitudinal direction of the placement slot, and clamps the book from the width direction of the book when in use; The second clamping power plate is sleeved on the first clamping screw and assembled with it through threaded engagement. The first clamping screw can be assembled with the book shelf and the third clamping vertical plate in a circumferentially rotatable and non-axially movable manner. The first clamping screw is partially driven by the first clutch worm gear of the first clutch assembly and the clamping worm gear; the clamping worm gear portion is arranged on the second clamping spindle; the first clutch assembly is used to control whether the first clutch worm gear drives the first clamping screw to rotate; the thickness clamping plate is directly or indirectly driven by the first clamping spindle, so that the thickness clamping plate moves axially along the first clamping spindle to clamp the book; The first clutch assembly includes a clutch sleeve, which can be rotatably mounted on the first clamping screw, and the clutch sleeve and the first clamping vertical plate and the second clamping vertical plate can be rotatably mounted but cannot be axially moved. The clutch sleeve is non-rotatably mounted with a first clutch worm gear and a clutch wheel, and a plurality of clutch protrusions are arranged on the outer wall of the clutch wheel. The clutch wheel is installed in a clutch cavity, which is filled with magnetorheological fluid and the clutch cavity is arranged in a clutch cover, and a driving ring is arranged on the clutch cover, and the driving ring is non-rotatably mounted on the first clamping screw, and the clutch cover and the clutch sleeve are sealed and can be rotatably mounted. A coil shell is installed on the outer side of the driving ring, and the coil shell is installed on the third clutch vertical plate and a coil is installed in the coil shell. When the coil is energized, a magnetic field is generated, and the magnetic field controls the viscosity of the magnetorheological fluid in the clutch cavity to achieve power connection or disconnection between the clutch wheel and the clutch cover.

2. The book storage robot according to claim 1, characterized in that: Four Mecanum wheels are installed on the chassis, each Mecanum wheel is respectively mounted on a wheel axle, the wheel axle and the chassis can be assembled in a circular rotation and are connected to the motor shaft of the wheel motor through a second belt to form a belt transmission mechanism.

3. The book storage robot according to claim 1, characterized in that: The temporary storage rack includes a base frame installed on the chassis and a bookshelf detachably installed with the base frame, a connecting seat is installed at the bottom of the bookshelf, vertical plates are installed at both ends of the bookshelf, a first horizontal plate and a second horizontal plate are installed on the inner sides of the two vertical plates, the second horizontal plate is assembled and fixed to the connecting seat, and the interior of the connecting seat is a hollow plug-in cavity; a base frame top plate and a base frame box are arranged on the base frame, the base frame box is installed on the base frame top plate, a plug-in seat plate is installed on the base frame box, a plug-in block is arranged on the plug-in cavity, and the plug-in block is installed in the plug-in cavity and engaged with it.

4. The book storage robot according to claim 3, characterized in that: The bottom frame and the bookshelf are connected and assembled by a connecting mechanism, the connecting mechanism includes a connecting frame installed in the bottom frame box, a top mounting frame installed on the first horizontal plate, a connecting seat is installed on the connecting frame, a driving disk is rotatably installed in the connecting seat, and a fixed disk is non-rotatably installed in the connecting seat, a radial slide groove is provided on the fixed disk, the radial slide groove is engaged with a radial slider and can be slidably assembled, the radial slider is assembled with the bottom of the radial plug plate, and a connecting plug block is provided on the radial plug plate; The driving disk is provided with a driving arc groove, which is engaged with and slidably assembled with a driving pin, and the driving pin is installed on a radial slider, and the distances between the two ends of the driving arc groove and the axis of the driving disk are not equal; the top mounting frame is directly or indirectly assembled with the connecting tube, and the connecting tube is provided with a plug-in slide groove, and the connecting plug block can be inserted into the plug-in slide groove to realize the connection and assembly of the base frame and the book shelf.

5. The book storage robot according to claim 4, characterized in that: The bottom of the connecting plug block is provided with an insert block inclined surface, and the bottom of the plug-in slide groove is provided with a slot inclined surface, and the slot inclined surface can be fitted with the plug block inclined surface, thereby driving the connecting cylinder to move axially downward; The top surface of the connecting seat is fitted with the bottom surface of the retaining plate, and the retaining plate is installed on the connecting seat. The retaining plate and the connecting cylinder can be axially slidably assembled. A connecting cylinder plate is also provided on the connecting cylinder, and the connecting cylinder plate can be axially slidably mounted on the cylinder plate guide shaft. The two ends of the cylinder plate guide shaft are respectively mounted on the retaining plate and the top mounting frame. A connecting spring is mounted on the part of the cylinder plate guide shaft located between the connecting cylinder plate and the retaining plate. The connecting spring is used to apply an elastic force to the connecting cylinder plate to prevent it from moving downward.

6. The book storage robot according to claim 4, characterized in that: A driving cylinder is also coaxially mounted on the driving disk, and the driving cylinder and the connecting frame can be assembled in a circular rotation, and a connecting worm wheel is mounted on the connecting frame, and the connecting worm wheel and the connecting worm part are meshed for transmission, and the connecting worm part is arranged on the connecting worm shaft, and the connecting worm shaft and the connecting frame can be assembled in a circular rotation, and one end of the connecting worm shaft is connected to the motor shaft of the connecting motor.

7. The book storage robot as claimed in claim 4, characterized in that: The chassis is equipped with power batteries and industrial computers; the bookshelf is equipped with sub-batteries and PLCs. The sub-batteries are used to temporarily supply power to the electrical equipment on the bookshelf after the bookshelf is separated from the chassis, and the PLCs are used to control the electrical equipment on the bookshelf. It also includes a fixed connector column, wherein the fixed connector column has built-in strong wires for power transmission and weak wires for signal transmission, and the top surface of the fixed connector column is respectively provided with a conductive sheet connected to the strong wire and a conductive sheet electrically connected to the weak wire; the two conductive sheets are respectively pressed and conductively connected with the two matching conductive sheets on the connector plug, thereby realizing the communication connection between the strong power input bookshelf on the chassis, the industrial computer and the PLC; The joint plug can be axially slidably installed in the joint inner tube, the joint inner tube is arranged in the joint tube, the joint tube is installed on the top mounting frame, the joint inner tube is also respectively installed with a first limiting ring and a second limiting ring, the joint plug is installed between the first limiting ring and the second limiting ring, and a stop ring is arranged on the joint plug, and the stop ring cannot pass through the first limiting ring; the joint plug is also assembled with one end of the joint slide rod, the other end of the joint slide rod is sleeved with a joint spring, passes through the second limiting ring and is assembled with the third limiting ring, the third limiting ring cannot pass through the second limiting ring, and the two ends of the joint spring are respectively pressed between the second limiting ring and the joint plug; The connector slide bar has another strong wire and another weak wire built in, and one end of the strong wire and one end of the weak wire are electrically connected to the corresponding matching conductive sheets respectively, and the other end of the strong wire and the other end of the weak wire are electrically connected to the strong wire part and the weak wire part in the spring wire respectively, and the spring wire has elasticity; the spring wire connects the strong electricity to various electrical equipment on the bookshelf through the power battery relay, and connects the weak electricity to the PLC; a sub-battery relay is connected in series on the sub-battery, so that the sub-battery relay and the power battery relay are selectively connected to realize sub-battery power supply or power battery power supply, and the control ends of the sub-battery relay and the power battery relay are connected to the PLC, and their opening and closing are controlled by the PLC.

8. The book storage robot according to claim 1, characterized in that: It also includes a second clutch assembly, which is used to control whether the first clutch worm gear drives the cam main shaft to rotate. The second clutch assembly and the first clutch assembly have the same structure, except that the part of the second clutch assembly corresponding to the first clutch worm gear of the first clutch assembly is the second clutch worm gear, the second clutch worm gear is partially meshed with the clamping worm for transmission, and the driving ring of the second clutch assembly and the cam main shaft cannot be assembled in a relatively circumferentially rotatable manner; The clutch sleeve of the second clutch assembly is sleeved on the cam main shaft, a camshaft is installed on one end of the cam main shaft, a cam is sleeved on the camshaft, a long axis end and a short axis end are respectively provided on the cam, and the camshaft is also assembled with the fourth clutch vertical plate for circular rotation, the second clutch assembly includes the first clutch vertical plate, the second clutch vertical plate, the third clutch vertical plate, and the fourth clutch vertical plate, and the first clutch vertical plate, the second clutch vertical plate, the third clutch vertical plate, and the fourth clutch vertical plate are respectively assembled with the book shelf; A clutch partition is also installed between the third clutch vertical plate and the fourth clutch vertical plate, a clutch guide tube is installed on the clutch partition, the clutch guide tube is sleeved on the clutch guide shaft, the top of the clutch guide shaft passes through the clutch guide tube and is assembled with the clutch lifting seat, and the bottom passes through the clutch guide tube and is assembled with the clutch connecting plate, a clutch spring is sleeved on the part of the clutch guide shaft located between the clutch connecting plate and the clutch partition, and the clutch spring is used to apply a thrust to the clutch connecting plate away from the clutch partition, so that the clutch lifting seat is kept at the lowest displacement point in the initial state; The outer wall of the cam is in close contact with the bottom surface of the clutch lifting seat. In the initial state, the short axis end of the cam is in close contact with the clutch lifting seat. When the cam rotates until its long axis end is in close contact with the clutch lifting seat, it is in the use state, and the clutch lifting seat is at the highest displacement point. A first power clamping plate is provided at the bottom of the thickness clamping plate, a guide seat is installed on the first power clamping plate, a clutch sliding shaft is installed on the guide seat, the clutch sliding shaft passes through the clutch block, the clutch block can slide axially along the clutch sliding shaft, and a compression spring is sleeved on the part of the clutch sliding shaft located between the clutch block and the guide seat, and the compression spring is used to apply a thrust to the clutch block to push the guide base; The clutch block is assembled with the clutch drive seat, and the clutch drive seat can be lifted and moved relative to the first power clamping plate; a half groove is provided on the clutch block, an internal thread is provided on the inner wall of the half groove, and an external thread is provided on the first clamping spindle, and the half groove can be assembled with the first clamping spindle through threaded engagement; In the initial state, the half groove is not in contact with the first clamping spindle, and the guide base is located at the lowest displacement point. At this time, the first clamping spindle cannot drive the clutch block to move; when the long axis end of the cam is pressed against the clutch lifting seat, the clutch lifting seat moves up, thereby pushing the guide base and the clutch block to overcome the elastic force of the compression spring and move up. After the clutch block moves up, the half groove is pressed against the first clamping spindle, so that the external thread of the first clamping spindle and the internal thread of the half groove are screwed together for assembly, and then as the first clamping spindle rotates, the first power clamping plate is driven to move axially along the first clamping spindle.

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