A method for taking and placing books

Abstract

The present invention provides a book picking and placing method, which is implemented by a picking and placing robot. The picking and placing robot includes a lifting device, a transverse movement device, a first swing device, a second swing device and a clamping device. The lifting device drives the clamping device to move along the Z-axis direction, the transverse movement device drives the clamping device to move along the Y-axis direction, and the transverse movement device, the first swing device and the second swing device jointly drive the clamping device to move along the X-axis direction. The clamping device includes a circumferentially rotatable clamping hand; the clamping hand can cooperate with books in different placement states; an adjustment device for adjusting the distance between the clamping hands is also provided on the clamping hand, so that the clamping hand can cooperate with books of different thicknesses; a toggle device is also provided on the clamping hand, and the toggle device is used to toggle the book into a receiving cavity of the clamping hand; then, at the same time, a first conveying device rotates forward to transport the book, so that the book completely enters the receiving cavity; when the book is swung, the first conveying device rotates reversely to convey the book out of the receiving cavity.

Description

Technical Field

[0001] The present invention relates to the technical field of book access equipment, and in particular to a book access method. Background Art

[0002] In library management, book sorting, transporting, and shelving operations require significant manpower and time, increasing the workload of librarians and sometimes leading to errors in book sorting and shelving. In the age of informatization, traditional libraries face a common challenge: a lack of mechanized automation. Automating and intelligentizing library operations can fundamentally reduce librarians' workload and improve work efficiency. Using robots to sort and automatically access books and documents can not only reduce the disturbance and damage to the preservation environment of important documents caused by librarians' frequent entry and exit of the collection room, but also promote document preservation. Therefore, it is necessary to design a specialized gripping mechanism for book shelving that can, to a certain extent, replace manual labor and reduce labor intensity.

[0003] Patent document No. 201921807781.X, filed in China and published on June 30, 2020, discloses a specialized gripping mechanism for loading and unloading books. The mechanism comprises a trolley connected to a horizontal lateral movement mechanism, a vertical movement mechanism connected to the horizontal lateral movement mechanism, a horizontal longitudinal movement mechanism connected to the vertical movement mechanism, and a book gripping mechanism connected to the horizontal longitudinal movement mechanism. However, since books are not always placed vertically on a support surface, a vertically positioned gripper cannot grip tilted books. The gripper's wrist can only rotate horizontally along the Y-axis slide, not circumferentially along the Y-axis screw, resulting in the gripper always remaining vertically positioned. When a book is tilted, the sides of the book are tilted relative to the gripper, preventing the gripper from contacting the sides of the book, making it impossible to grip the book. Furthermore, when the gripper is extended, it impacts the book, pushing it back into position. This gripping mechanism swings only in the horizontal plane, driven by a rotating cylinder. This results in a narrow swing range and low gripping efficiency. Summary of the Invention

[0004] The present invention provides a book taking and placing method, which can correct the tilted books when taking out books, thereby reducing the tilt angle of the books in the accommodating cavity; when placing books, the gap between books on both sides of the to-be-placed position can be widened, so that the books can be placed in the to-be-placed position between the two books in the bookshelf, and the grabbing efficiency is high.

[0005] To achieve the above-mentioned purpose, the technical solution of the present invention is: a method for picking and placing books, which is implemented by a picking and placing robot, the picking and placing robot includes a lifting device and a transverse moving device, the transverse moving device is connected to the lifting device, the transverse moving device is connected to a first swinging device, the first swinging device is connected to a second swinging device, and the second swinging device is connected to a clamping device.

[0006] The clamping device includes a rotating motor and a clamping hand. The rotating motor is fixed on the second swinging fixed seat. The output end of the rotating motor is connected to the clamping hand. The rotating motor drives the clamping hand to rotate circumferentially around the axis in a first direction. The first direction is set parallel to the length direction of the swing arm.

[0007] The gripper includes a first clamping member and a second clamping member, the first clamping member is connected to the output end of the rotating motor, and the second clamping member is arranged opposite to the first clamping member; an adjusting device is connected between the top of the first clamping member and the top of the second clamping member, and the adjusting device is used to adjust the distance between the first clamping member and the second clamping member; an accommodating cavity is formed between the first clamping member, the second clamping member and the adjusting device, and the two sides and bottom of the accommodating cavity have openings; a first conveying device is provided on both the first clamping member and the second clamping member, and the two first conveying devices are arranged opposite to each other in the accommodating cavity.

[0008] A toggle device is also provided between the first clamping member and the second clamping member. The toggle device is located above the adjusting device. The toggle device includes a toggle motor, a toggle support and a toggle member. The toggle motor is installed on one side of the first clamping member. The output end of the toggle motor is connected to the toggle support. The toggle support extends toward the second clamping member. One end of the toggle member is connected to the toggle support and is perpendicular to the toggle support. The toggle motor drives the toggle member to swing toward the accommodating cavity.

[0009] The book taking and placing method comprises the following steps:

[0010] S1. The lifting device drives the clamping device to move along the Z-axis direction so that the clamping device is at the same height as the book to be taken out.

[0011] S2, the transverse movement device, the first swing device and the second swing device jointly drive the clamping device 6 to move along the Y axis and the X axis, so that the clamping device corresponds to the horizontal position of the book to be taken out, and the toggle member of the clamping device moves to the upper side of the book to be taken out.

[0012] S3. The adjusting device drives the second clamping member away from the first clamping member.

[0013] S4. The toggle motor drives the toggle member to swing toward the accommodating cavity, and the toggle member presses down to pull out the book, and the book tilts toward the accommodating cavity; the adjustment device drives the second clamping member to approach the first clamping member, and the two first conveying devices contact the side of the book. The friction between the two first conveying devices and the book clamps the book.

[0014] S5, the motor is driven to swing the moving member away from the accommodating cavity and reset it.

[0015] S6: The roller motors of the two first conveying devices rotate forward to convey the book, and at the same time, the toggle member swings toward the receiving cavity to press down on the other side of the book. During the movement of the book, the top of the book swings around the contact point between the bottom of the book and the bookshelf toward the receiving cavity. Under the combined action of the pressure of the toggle member and the conveying of the two first conveying devices, the book is corrected from the tilted state to the vertical state, thereby reducing the tilt of the book. When the book completely enters the receiving cavity, S7 is performed.

[0016] S7. The lifting device drives the clamping device to move along the Z-axis direction so that the clamping device is at the same height as the position where the books are to be placed.

[0017] S8, the transverse movement device, the first swing device and the second swing device jointly drive the clamping device to move along the Y axis and the X axis, so that the clamping device is level with the position where the books are to be placed and approaches the position where the books are to be placed.

[0018] S9. The first clamping piece and the second clamping piece extend into the space between the books on both sides of the position where the books are to be placed in the bookshelf, and the first clamping piece and the second clamping piece widen the gap between the two books in the bookshelf.

[0019] S10: The roller motors of the two first conveying devices rotate in opposite directions to convey the books to the position where the books are to be placed.

[0020] In the above method, the lifting device drives the clamping device to correspond to books of different vertical heights or placement positions, and the transverse movement device, the first swing device and the second swing device drive the clamping device to correspond to books or placement positions at different horizontal positions and different vertical positions in the horizontal plane; thus, the clamping device can take out books from different positions in the bookshelf or place books in different placement positions. The first swing device and the second swing device respectively drive the clamping device to swing, so that the clamping device can swing within a range on the horizontal plane; because the toggle member pulls out the book, the book will tilt into the accommodating cavity, and the tilted book will be corrected by the toggle member and the two first conveying devices to reduce the tilt angle of the book in the accommodating cavity; when placing the book, the gap between the books on both sides of the to-be-placed position can be widened, and the book can be placed in the to-be-placed position between the two books in the bookshelf, with high gripping efficiency.

[0021] Furthermore, the adjustment device includes an adjustment fixed seat, an adjustment sliding seat and an adjustment motor, the adjustment fixed seat includes an adjustment first connection part, an adjustment second connection part and an adjustment connecting piece, the adjustment connecting piece connects the adjustment first connection part and the adjustment second connection part, the adjustment motor is installed on the adjustment first connection part, and the adjustment second connection part is fixedly connected to the first clamping piece; the adjustment sliding seat is arranged between the adjustment first connection part and the adjustment second connection part and is located on one side of the adjustment connecting piece, and the adjustment sliding seat is connected to the second clamping piece.

[0022] An adjusting threaded hole is provided in the adjusting sliding seat; an adjusting screw is connected to the output end of the adjusting motor, and the adjusting screw passes through the adjusting threaded hole of the adjusting sliding seat and is rotatably connected to the adjusting second connecting part; an adjusting slot is provided on one side of the adjusting connecting piece, and an adjusting slider extends from one end of the adjusting sliding seat close to the adjusting slot, and the adjusting slider is slidably arranged in the adjusting slot.

[0023] The above setting limits the circumferential rotation of the adjusting sliding seat along the adjusting screw by cooperating with the adjusting slide groove and the adjusting slider. When the adjusting screw rotates, the adjusting sliding seat will be driven to move along the axial direction of the adjusting screw. The moving adjusting sliding seat drives the second clamping member to approach or move away from the first clamping member, thereby realizing the adjustment of the distance between the first clamping member and the second clamping member.

[0024] Furthermore, a receiving groove is provided in the first clamping member and the second clamping member, the first conveying device is respectively arranged in the two receiving grooves, a first clamp is provided above and below the receiving groove of the first clamping member, and a second clamp is provided above and below the receiving groove of the second clamping member, the first clamp and the second clamp are arranged away from the toggle motor, the first clamp and the second clamp are arranged opposite to each other and bent toward the direction close to the receiving cavity.

[0025] With the above arrangement, when placing books, it is necessary to place the drawings to be placed in the gap between two books in the bookshelf. By setting the first clamp and the second clamp to be bent toward the accommodating cavity, the local spacing between the first clamp and the second clamp is smaller than the spacing between the first clamp and the second clamp. The first clamp and the second clamp can easily extend into the gap between the two books in the bookshelf, and then the gap between the two books in the bookshelf is widened by the first clamp and the second clamp. This makes it convenient to output the drawings to be placed in the clamp to the gap between the two books in the bookshelf.

[0026] Furthermore, the first swing device includes a swinging first fixed base and a swing arm; the swinging first fixed base is connected to the movable end of the transverse movement device, and one end of the swing arm is hinged to the swinging first fixed base; a first swing motor is provided on the swinging first fixed base, and the output end of the first swing motor is connected to a swing driving gear; a swing driven gear is provided at the hinged connection between the swing arm and the swinging first fixed base, and the swing driving gear meshes with the swing driven gear, and the first swing motor drives the swing arm to swing relative to the transverse movement device. In this way, the first swing device drives the clamping device to swing along the hinged connection between the first fixed base and the swing arm as the axis.

[0027] Furthermore, the second swing device includes a second swinging fixed seat and a second swinging motor, wherein the second swinging fixed seat is located above the swing arm; the second swinging motor is mounted on the second swinging fixed seat, and the output end of the second swinging motor is connected to the end of the swing arm away from the transverse movement device. A first thrust bearing is provided on the output end of the second swinging motor, and the first thrust bearing is disposed between the second swinging fixed seat and the swing arm and abuts against the second swinging fixed seat and the swing arm; the second swinging motor drives itself to swing relative to the swing arm, and the swinging second swinging motor drives the clamping device on the second swinging fixed seat to move. In this way, the second swinging device drives the clamping device to swing along the connection between the second swinging device and the swing arm as the axis, and the clamping device has a large range of motion around the Z-axis.

[0028] Furthermore, a running device is provided on the chassis, and the running device is used to drive the chassis to move. The running device drives the automatic book picking and placing robot to move. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A three-dimensional schematic diagram of a pick-and-place robot.

[0030] Figure 2 It is a three-dimensional schematic diagram of the lifting device.

[0031] Figure 3 It is a three-dimensional schematic diagram of the transverse movement device.

[0032] Figure 4 It is a side view of the first swing device, the second swing device and the clamping device.

[0033] Figure 5 for Figure 4 Enlarged view of the dotted box part.

[0034] Figure 6 It is an exploded view of the first swing device and the second swing device.

[0035] Figure 7 It is a top view of the transverse movement device, the first swing device, the second swing device and the clamping device.

[0036] Figure 8 It is a schematic diagram of the transverse movement device, the first swing device and the second swing device after operation.

[0037] Figure 9 It is a three-dimensional schematic diagram of the second swing device and the clamping device.

[0038] Figure 10 Schematic diagram of the gripping device after rotation.

[0039] Figure 11 It is a three-dimensional schematic diagram of the toggle device in the clamping device.

[0040] Figure 12 It is a three-dimensional schematic diagram of the adjusting device in the clamping device.

[0041] Figure 13 A top view of the connection between the gripper and the adjustment device.

[0042] Figure 14 It is a schematic diagram of the toggle member in the clamping device swinging close to the accommodating cavity.

[0043] Figure 15 This is a schematic diagram of a book tilting toward the receiving cavity.

[0044] Figure 16 This is a schematic diagram of the toggle member in the clamping device correcting the book.

[0045] Figure 17 This is a schematic diagram of a book after it is modified from a tilted state to a vertical state. DETAILED DESCRIPTION

[0046] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] like Figure 1-17 As shown; A method for taking and placing books is implemented by a taking and placing robot, which comprises a chassis 1, a lifting device 2, a transverse device 3, a first swing device 4, a second swing device 5, a clamping device 6 and a walking device 7; the lifting device 2 is mounted on the chassis 1, the transverse device 3 is connected to the lifting device 2, one end of the first swing device 4 is connected to the transverse device 3, the other end of the second swing device 5 is connected to the second swing device 5, and the clamping device 6 is mounted on the second swing device 5; the lifting device 2 is used to independently drive the vertical movement of the clamping device 6; the transverse device 3 is used to independently drive the longitudinal movement of the clamping device 6; the transverse device 3 is also used to cooperate with the first swing device 4 and the second swing device 5 to drive the clamping device 6 to move laterally; refer to Figure 1As shown, the lifting device 2 drives the clamping device 6 to move along the Z-axis direction, the transverse device 3 drives the clamping device 6 to move along the Y-axis direction, and the transverse device 3, the first swing device 4 and the second swing device 5 jointly drive the transverse device 3 to move along the X-axis; in this way, the clamping device 6 is moved along the Z-axis, Y-axis and X-axis; the clamping device 6 can cooperate with books at different heights, different lateral positions or different longitudinal positions.

[0048] like Figure 5-9 As shown; the first swing device 4 drives the second swing device 5 and the clamping device 6 to swing left and right synchronously along the length direction of the transverse device 3; the second swing device 5 drives the clamping device 6 to swing left and right relative to the first swing device 4 along the length direction of the transverse device 3.

[0049] The first swing device 4 includes a first swinging fixed base 41 and a swing arm 42; the first swinging fixed base 41 is connected to the movable end of the transverse movement device 3, and one end of the swing arm 42 is hinged to the first swinging fixed base 41; a first swing motor 43 is provided on the first swinging fixed base 41, and the output end of the first swing motor 43 is connected to a swing driving gear 44; a swing driven gear 45 is provided at the hinged connection between the swing arm 42 and the first swinging fixed base 41, and the swing driving gear 44 meshes with the swing driven gear 45, so that the first swing motor 43 drives the swing arm 42 to swing relative to the transverse movement device 3. In this embodiment, the swing driving gear 44 and the swing driven gear 45 are both bevel gears.

[0050] The first swinging fixed seat 41 is provided with a hinge plate 411, and the swing arm 42 is provided with a first swinging part 421 and a second swinging part 422 at one end close to the first swinging fixed seat 41, and the hinge plate 411 is arranged between the first swinging part 421 and the second swinging part 422; a second thrust bearing 46 is provided between the first swinging part 421 and the hinge plate 411, and the first swinging part 421 and the hinge plate 411 are both in contact with the second thrust bearing 46; a third thrust bearing 47 is provided between the second swinging part 422 and the hinge plate 411, and the second swinging part 422 and the hinge plate 411 are both in contact with the third thrust bearing 47.

[0051] The swing driven gear 45 is fixed to the first swing portion 421 and connected to one side of the second thrust bearing 46. A first connecting shaft 412 extends from the upper surface of the hinge plate 411 and passes through the second thrust bearing 46 to be rotatably connected to the swing driven gear 45. The second thrust bearing 46 bears the load of the first swing portion 421 along the axial direction of the first connecting shaft 412. A second connecting shaft 413 extends from the lower surface of the hinge plate 411 and passes through the second thrust bearing 46 and is arranged in the second swing portion 422. A third thrust bearing 47 bears the load of the hinge plate along the axial direction of the second connecting shaft 413. The first swing motor 43 drives the swing driving gear 44 to rotate, which in turn drives the swing driven gear 45 to rotate. The swing driven gear 45 drives the swing arm 42 and one side of the second thrust bearing 46 to rotate, thereby causing the swing arm 42 to swing relative to the first swing fixed base 41.

[0052] The second swinging device 5 includes a swinging second fixed seat 51 and a second swinging motor 52, and the swinging second fixed seat 51 is located above the swing arm 42; the second swinging motor 52 is installed on the swinging second fixed seat 51; the end of the swing arm 42 away from the transverse movement device 3 is provided with a swing arm connecting hole 423; the output end of the second swinging motor 52 is connected to the swing arm connecting hole 423 through the first thrust bearing 53, and the first thrust bearing 53 is in contact with the swinging second fixed seat 51 and the swing arm 42; the second swinging motor 52 drives itself to swing relative to the swing arm 42, and the swinging second swinging motor 52 drives the clamping device 6 on the swinging second fixed seat 51 to move.

[0053] Since the swing driving gear 44 and the swing driven gear 45 are engaged, the swing driving gear 44 locks the swing driven gear 45. When the conveying end of the second swing motor 52 moves, the second swing motor 52 cannot drive the swing arm 41 to rotate. At the same time, the rotatable connection between the swing second fixed seat 51 and the swing arm 41 is realized by setting the first push-pull bearing, and then the second swing motor 52 drives itself to rotate around the swing arm connection hole 423. The rotating second swing motor 52 drives the swing second fixed seat 51 to rotate synchronously.

[0054] The first swing mechanism 4 drives the gripping mechanism 6 to swing along the axis at the hinged connection between the first fixed seat and the swing arm 42; the second swing mechanism 5 drives the gripping mechanism 6 to swing along the axis at the connection between the second swing mechanism 5 and the swing arm 42, resulting in a large range of motion of the gripping mechanism 6 about the Z-axis. When the transverse mechanism is not in operation, the first swing mechanism 4 and the second swing mechanism 5 can respectively drive the gripping mechanism 6 to swing within the horizontal plane formed by the longitudinal and transverse movements, providing excellent flexibility.

[0055] Reference Figure 1 、 5-9, when the clamping device 6 needs to be driven to move along the X-axis direction, the first swing device 4 is first driven to move horizontally along the Y-axis direction through the transverse movement device 3, and at the same time, the first swing motor 43 drives the swing arm 42 close to one end of the clamping device 6 to swing in the opposite direction of its own horizontal movement, and at the same time, the second swing motor 52 drives the second fixed seat 51 to swing in the opposite direction of the swing arm 42, so that the clamping device 6 is moved horizontally along the X-axis direction.

[0056] The gripping device 6 includes a rotating motor 61 and a gripper 62. The rotating motor 61 is fixed to the second swinging fixed base 51. The output end of the rotating motor 61 is connected to the gripper 62. The rotating motor 61 drives the gripper 62 to rotate circumferentially around the axis of the first direction. The first direction is parallel to the length direction of the swing arm 42. Figure 10 As shown, the first direction is the axial direction of the output end of the rotary motor 61. The gripper 62 is driven by the rotary motor 61 to rotate relative to the swing arm 42. This allows the gripper 62 to grip books vertically, horizontally, and diagonally, thus enabling it to grip books in various positions. This provides a wide range of applications.

[0057] The gripper 62 includes a first clamping member 621 and a second clamping member 622. The first clamping member 621 is connected to the output terminal of the rotary motor 61, and the second clamping member 622 is disposed opposite the first clamping member 621. An adjustment device 63 is connected between the top of the first clamping member 621 and the top of the second clamping member 622. The adjustment device 63 is used to adjust the distance between the first clamping member 621 and the second clamping member 622. By adjusting the distance between the first clamping member 621 and the second clamping member 622 via the adjustment device 63, the gripper 62 can grip books of different thicknesses.

[0058] A accommodating cavity 623 is formed between the first clamping member 621, the second clamping member 622 and the adjusting device 63, and the two sides and the bottom of the accommodating cavity 623 have openings; accommodating grooves 624 are provided in the first clamping member 621 and the second clamping member 622, and first conveying devices 64 are respectively provided in the two accommodating grooves 624, and the two first conveying devices 64 are arranged relative to each other in the accommodating cavity 623.

[0059] A toggle device 65 is also provided between the first clamping member 621 and the second clamping member 622. The toggle device 65 is located above the adjusting device 63. The toggle device 65 includes a toggle motor 651, a toggle support 652 and a toggle member 653. The toggle motor 651 is installed on one side of the first clamping member 621. The output end of the toggle motor 651 is connected to the toggle support 652. The toggle support 652 extends toward the second clamping member 622. One end of the toggle member 653 is connected to the toggle support 652 and is arranged perpendicular to the toggle support 652. The toggle motor 651 drives the toggle member 653 to swing toward the accommodating cavity 623. The toggle device 65 and the adjustment device 63 are both arranged on the top of the clamping hand 62, and there are openings on both sides and the bottom of the accommodating cavity 623. When clamping a book with a larger area, the two sides of the large-area book can extend out of the clamping hand 62 through the openings, and the bottom of the large-area book can extend out of the clamping hand 62 through the openings. The clamping hand 62 can clamp books of different areas and has good practicality.

[0060] The shifting device 65 and the two first conveying devices 64 are used to drive the books into the accommodating cavity 623. Figure 14-17 As shown; a book 90 is placed on the bookshelf 91. When the book 90 is taken out of the bookshelf 91, the toggle motor 651 drives the toggle member 653 to swing downward. The toggle member 653 contacts one side of the top of the book 90 and drives the book 90 to approach the accommodating cavity 623. Since the bookshelf 91 supports the book 90, the top of the book 90 tilts toward the accommodating cavity 623; then the toggle member 653 is reset and the book 91 is driven into the accommodating cavity 623 along the F1 direction through the two first conveying devices 64. During the movement of the book 91, the bookshelf 91 supports the book 90, and the toggle member 653 swings downward along F2 to contact the other side of the top of the book 90, so that the book 90 is corrected from the inclined state to the vertical state during the movement; then the adjustment device drives the second clamping member to approach the first clamping member to clamp the drawing in the accommodating cavity 623. When placing the books clamped by the clamping device 6, the clamping device 6 is driven to move along the X-axis direction by the transverse movement device 3, the first swing device 4 and the second swing device 5. When the clamping device 6 is moved to the bookshelf 91, the two first conveying devices 64 drive the book 91 away from the accommodating cavity 623 in the opposite direction of F1, thereby realizing the movement of the book 90 from the clamping device 6 to the bookshelf 91.

[0061] In this embodiment, a first clip 625 is provided above and below the accommodating groove 624 of the first clamping member 621, and a second clip 626 is provided above and below the accommodating groove 624 of the second clamping member 622. The first clip 625 and the second clip 626 are arranged away from the toggle motor 651, and the first clip 625 and the second clip 626 are arranged opposite to each other and bent toward the accommodating cavity 623. When placing books, it is necessary to place the drawings to be placed in the gap between two books in the bookshelf. By setting the first clamping piece 625 and the second clamping piece 626 to be bent toward the accommodating cavity 623, the local distance between the first clamping piece 625 and the second clamping piece 626 is smaller than the distance between the first clamping piece 621 and the second clamping piece 622. The first clamping piece 625 and the second clamping piece 626 can easily extend into the gap between the two books in the bookshelf, and then the gap between the two books in the bookshelf is expanded by the first clamping piece 621 and the second clamping piece 622; this makes it convenient to output the drawings to be placed in the clamping piece 62 to the gap between the two books in the bookshelf.

[0062] The toggle support 652 includes a first toggle support member 6521 and a second toggle support member 6522. The first toggle support member 6521 is connected to the output end of the toggle motor 651, and one end of the first toggle support member 6521 extends upward away from the adjustment device 63. The second toggle support member 6522 is arranged perpendicular to the first toggle support member 6521 and extends from the top end of the first toggle support member 6521. By extending one end of the first toggle support member 6521 upward away from the adjustment, the height of the top end of the first toggle support member 6521 is raised, and thus the height of the toggle member 653 connected to the second toggle support member 6522 is raised, so that the toggle member 653 can avoid the adjustment device 63.

[0063] The toggle member 653 includes a first toggle connector 6531, a second toggle connector 6532, and a third toggle connector 6533. The first toggle connector 6531 is connected to the second toggle support member 6522. The second toggle connector 6532 is positioned away from the second toggle support member 6522 and above the first toggle connector 6531. The third toggle member 653 is tilted and connected to the first and second toggle connectors 6531 and 6532. A rubber block 6534 is provided on the second toggle connector 6532. The third toggle connector 6533 is used to remove a book. By setting the third toggle connector 6533 at a higher level than the first toggle connector 6531, it facilitates engagement with the top of the book to remove the book. The rubber block 6534 increases friction between the toggle member 653 and the book, while preventing the toggle member 653 from damaging the book.

[0064] The adjustment device 63 includes an adjustment fixed seat 631, an adjustment sliding seat 632, and an adjustment motor 633. The adjustment fixed seat 631 includes a first adjustment connection portion 6311, a second adjustment connection portion 6312, and an adjustment connecting member 6313. The adjustment connecting member 6313 connects the first adjustment connection portion 6311 and the second adjustment connection portion 6312. The adjustment motor 633 is mounted on the first adjustment connection portion 6311. The second adjustment connection portion 6312 is fixedly connected to the first clamping member 621. In this embodiment, the second adjustment connection portion 6312 and the first clamping member 621 are integrally formed. The adjustment sliding seat 632 is disposed between the first adjustment connection portion 6311 and the second adjustment connection portion 6312 and located on one side of the adjustment connecting member 6313. The adjustment sliding seat 632 is connected to the second clamping member 622.

[0065] An adjustment threaded hole (not shown) is provided in the adjustment slide seat 632. An adjustment screw 634 is connected to the output end of the adjustment motor 633. The adjustment screw 634 passes through the adjustment threaded hole of the adjustment slide seat 632 and is rotatably connected to the second adjustment connection portion 6312. An adjustment slot 635 is provided on one side of the adjustment connection member 6313. An adjustment slider 636 extends from the end of the adjustment slide seat 632 near the adjustment slot 635 and slides within the adjustment slot 635. The adjustment slot 635 and the adjustment slider 636 cooperate to restrict the circumferential rotation of the adjustment slide seat 632 along the adjustment screw 634. Rotation of the adjustment screw 634 drives the adjustment slide seat 632 along the axial direction of the adjustment screw 634. The moving adjustment slide seat 632 drives the second clamping member 622 toward or away from the first clamping member, thereby adjusting the distance between the first clamping member 621 and the second clamping member 622.

[0066] The first conveying device 64 includes a roller motor 641, a driven roller 642, and a first conveyor belt 643. The roller motor 641 is rotatably mounted at one end of the receiving slot 624, and the driven roller 642 is rotatably mounted at the other end of the receiving slot 624. The first conveyor belt 643 is sleeved over the roller motor 641 and the driven roller 642. The roller motor 641 drives the first conveyor belt 643 to rotate. The roller motor 641 drives the first conveyor belt 643 to rotate, and the two first conveyor belts 643 contact the sides of the books to transport the books.

[0067] The lifting device 2 includes a lifting bracket 21, a lifting motor 22, a lifting guide shaft 23, and a lifting slide 24. One end of the lifting bracket 21 is connected to the chassis 1, and the lifting motor 22 is located at the other end of the lifting bracket 21. The lifting motor 22 is connected to a lifting screw 25. Two lifting guide shafts 23 are provided, and the two lifting guide shafts 23 are symmetrically arranged about the lifting screw 25. The lifting slide 24 is installed on the lifting screw 25 and the two lifting guide shafts 23. The lifting motor 22 drives the lifting slide 24 to move. The transverse movement device 3 is connected to the lifting slide 24. The lifting guide shaft 23 limits the circumferential rotation of the lifting slide 24 along the lifting screw 25. The rotation of the lifting screw 25 drives the lifting slide 24 to move along the axial direction of the lifting screw 25. The structure is simple, and the lifting slide 24 drives the transverse movement device 3 to move synchronously.

[0068] The transverse movement device 3 includes a transverse movement bracket 31, a transverse movement motor 32, and a transverse movement sliding seat 33. The transverse movement bracket 31 is fixed to the lifting sliding seat 24, and the transverse movement motor 32 is arranged on the transverse movement bracket 31. The transverse movement motor 32 is connected to a transverse movement screw 34, and the transverse movement sliding seat 33 is passed through the transverse movement screw 34. A transverse movement guide rail 35 is also provided on the transverse movement bracket 31, and the transverse movement sliding seat 33 is connected to a transverse movement slider (not shown in the figure), and the transverse movement slider is slidably arranged on the transverse movement guide rail 35. The transverse movement motor 32 drives the transverse movement sliding seat 33 to move, and the first swinging device 4 is connected to the transverse movement sliding seat 33. The transverse movement guide rail 35 limits the circumferential rotation of the transverse movement sliding seat 33 along the transverse movement screw 34. The rotation of the transverse movement screw 34 drives the transverse movement sliding seat 33 to move along the axial direction of the transverse movement screw 34. The structure is simple, and the first swinging device 4 is driven to move synchronously by the transverse movement sliding seat 33.

[0069] The running device 7 is provided on the chassis 1 and is used to drive the chassis 1 to move. The pick-and-place robot is driven to move by the running device 7. The running device 7 is prior art and will not be described in detail here.

[0070] The book taking and placing method comprises the following steps:

[0071] S1, the lifting device 2 drives the clamping device 6 to move along the Z axis so that the clamping device 6 is at the same height as the book to be taken out;

[0072] S2, the transverse movement device 3, the first swing device 4 and the second swing device 5 jointly drive the clamping device 6 to move along the Y axis and the X axis, so that the clamping device 6 corresponds to the horizontal position of the book to be taken out, and the toggle member of the clamping device 6 moves to the upper side of the book to be taken out.

[0073] S3. The adjusting device drives the second clamping member away from the first clamping member.

[0074] S4. The toggle motor drives the toggle member 623 to swing toward the accommodating cavity 623. The toggle member 623 presses down to remove the book, and the book tilts toward the accommodating cavity 623. The adjustment device drives the second clamping member to approach the first clamping member. The two first conveying devices come into contact with the side of the book. The friction between the two first conveying devices and the book clamps the book.

[0075] S5 , the motor is driven to swing the movable member 623 away from the accommodating cavity 623 to reset.

[0076] S6: The roller motors 641 of the two first conveying devices rotate forward to convey the book. At the same time, the toggle member 623 swings toward the receiving cavity 623 to press down on the other side of the book. During the movement of the book, the top of the book swings around the contact point between the bottom of the book and the bookshelf toward the receiving cavity. Under the combined action of the pressure of the toggle member 623 and the conveying of the two first conveying devices 64, the book is corrected from the tilted state to the vertical state, reducing the tilt of the book. When the book completely enters the receiving cavity 623, S7 is performed.

[0077] S7. The lifting device drives the clamping device to move along the Z-axis direction so that the clamping device is at the same height as the position where the books are to be placed.

[0078] S8, the transverse movement device, the first swing device and the second swing device jointly drive the clamping device to move along the Y axis and the X axis, so that the clamping device is level with the position where the books are to be placed and approaches the position where the books are to be placed.

[0079] S9. The first clamping piece 625 and the second clamping piece 626 extend into the space between the books on both sides of the position where the books are to be placed in the bookshelf. The first clamping piece 625 and the second clamping piece 626 widen the gap between the two books in the bookshelf.

[0080] S10 , the roller motors 641 of the two first conveying devices rotate in opposite directions to convey the books to the position where the books are to be placed.

[0081] In the above method, the lifting device drives the clamping device to correspond to books of different vertical heights or placement positions, and the transverse movement device, the first swing device, and the second swing device drive the clamping device to correspond to books or placement positions at different horizontal and vertical positions in the horizontal plane; thus, the clamping device can take out books from different positions in the bookshelf or place books in different placement positions. The first swing device and the second swing device respectively drive the clamping device to swing, so that the clamping device can swing within a range on the horizontal plane; because the toggle member pulls out the book, the book will tilt into the accommodating cavity, and the tilted book will be corrected by the toggle member and the two first conveying devices to reduce the tilt angle of the book in the accommodating cavity; when placing the book, the gap between the books on both sides of the to-be-placed position can be widened, and the book can be placed in the to-be-placed position between the two books in the bookshelf.

Claims

1. A method for taking and placing books, characterized in that: This is achieved by a pick-and-place robot, which includes a lifting device and a transverse device, the transverse device is connected to the lifting device, the transverse device is connected to a first swing device, the first swing device is connected to a second swing device, and the second swing device is connected to a clamping device; The gripping device includes a rotating motor and a gripper, wherein the rotating motor is fixed to the second swing device, and the output end of the rotating motor is connected to the gripper, and the rotating motor drives the gripper to rotate circumferentially around an axis in a first direction, and the first direction is arranged parallel to the length direction of the swing arm; The gripper includes a first gripping member and a second gripping member, wherein the first gripping member is connected to the output end of the rotating motor, and the second gripping member is arranged opposite to the first gripping member; an adjusting device is connected between the top of the first gripping member and the top of the second gripping member, and the adjusting device is used to adjust the distance between the first gripping member and the second gripping member; a receiving cavity is formed between the first gripping member, the second gripping member and the adjusting device, and the two sides and the bottom of the receiving cavity have openings; a first conveying device is provided on both the first gripping member and the second gripping member, and the two first conveying devices are arranged opposite to each other in the receiving cavity; A toggle device is further provided between the first clamping member and the second clamping member. The toggle device is located above the adjustment device and includes a toggle motor, a toggle support, and a toggle member. The toggle motor is mounted on one side of the first clamping member. The output end of the toggle motor is connected to the toggle support. The toggle support extends toward the second clamping member. One end of the toggle member is connected to the toggle support and is perpendicularly arranged to the toggle support. The toggle motor drives the toggle member to swing toward the accommodating cavity. The book taking and placing method comprises the following steps: S1, the lifting device drives the gripping device to move along the Z axis so that the gripping device is at the same height as the book to be taken out; S2, the traverse device, the first swing device and the second swing device jointly drive the clamping device to move along the Y axis and the X axis, so that the clamping device corresponds to the horizontal position of the book to be taken out, and the toggle member of the clamping device moves to the side above the book to be taken out; S3, the adjusting device drives the second clamping member away from the first clamping member; S4. The toggle motor drives the toggle member to swing toward the accommodating cavity. The toggle member presses down to remove the book, and the book tilts toward the accommodating cavity. The adjustment device drives the second clamping member to approach the first clamping member. The two first conveying devices contact the sides of the book. The friction between the two first conveying devices and the book clamps the book. S5, the motor is driven to swing the moving member away from the accommodating cavity and reset; S6: The roller motors of the two first conveying devices rotate forward to convey the book, while the toggle member swings toward the receiving cavity to press down on the other side of the book. During the movement of the book, the top of the book swings around the contact point between the bottom of the book and the bookshelf toward the receiving cavity. Under the combined action of the pressure of the toggle member and the conveying of the two first conveying devices, the book is corrected from the tilted state to the vertical state, reducing the tilt of the book. When the book is completely in the receiving cavity, S7 is performed. S7, the lifting device drives the gripping device to move along the Z-axis direction so that the gripping device is at the same height as the position where the books are to be placed; S8, the traverse device, the first swing device and the second swing device jointly drive the gripping device to move along the Y axis and the X axis, so that the gripping device is aligned with the level of the position where the books are to be placed and approaches the position where the books are to be placed; S9, the first clamping piece and the second clamping piece extend into the space between the books on both sides of the position where the books are to be placed in the bookshelf, and the first clamping piece and the second clamping piece widen the gap between the two books in the bookshelf; S10: The roller motors of the two first conveying devices rotate in opposite directions to convey the books to the position where the books are to be placed.

2. A book taking and placing method according to claim 1, characterized in that: The adjusting device includes an adjusting fixed seat, an adjusting sliding seat and an adjusting motor. The adjusting fixed seat includes an adjusting first connecting portion, an adjusting second connecting portion and an adjusting connecting piece. The adjusting connecting piece connects the adjusting first connecting portion and the adjusting second connecting portion. The adjusting motor is mounted on the adjusting first connecting portion. The adjusting second connecting portion is fixedly connected to the first clamping piece. The adjusting sliding seat is arranged between the adjusting first connecting portion and the adjusting second connecting portion and is located on one side of the adjusting connecting piece. The adjusting sliding seat is connected to the second clamping piece. An adjusting threaded hole is provided in the adjusting sliding seat; an adjusting screw is connected to the output end of the adjusting motor, and the adjusting screw passes through the adjusting threaded hole of the adjusting sliding seat and is rotatably connected to the adjusting second connecting part; an adjusting slot is provided on one side of the adjusting connecting piece, and an adjusting slider extends from one end of the adjusting sliding seat close to the adjusting slot, and the adjusting slider is slidably arranged in the adjusting slot.

3. A book taking and placing method according to claim 1, characterized in that: A receiving groove is provided in the first clamping member and the second clamping member, and the first conveying device is respectively arranged in the two receiving grooves. A first clamp is provided above and below the receiving groove of the first clamping member, and a second clamp is provided above and below the receiving groove of the second clamping member. The first clamp and the second clamp are arranged away from the toggle motor, and the first clamp and the second clamp are arranged opposite to each other and bent toward the direction close to the receiving cavity.

4. A book taking and placing method according to claim 1, characterized in that: The first swing device includes a swinging first fixed seat and a swing arm; the swinging first fixed seat is connected to the movable end of the traversing device, and one end of the swing arm is hinged to the swinging first fixed seat; a first swing motor is provided on the swinging first fixed seat, and the output end of the first swing motor is connected to a swing driving gear; a swing driven gear is provided at the hinge between the swing arm and the swinging first fixed seat, and the swing driving gear is engaged with the swing driven gear, and the first swing motor drives the swing arm to swing relative to the traversing device.

5. A book taking and placing method according to claim 4, characterized in that: The second swing device includes a swinging second fixed seat and a second swing motor, and the swinging second fixed seat is located above the swing arm; the second swing motor is installed on the swinging second fixed seat, and the output end of the second swing motor is connected to the end of the swing arm away from the transverse movement device, and a first thrust bearing is passed through the output end of the second swing motor, and the first thrust bearing is arranged between the swinging second fixed seat and the swing arm and abuts against the swinging second fixed seat and the swing arm; the second swing motor drives itself to swing relative to the swing arm, and the swinging second swing motor drives the clamping device on the swinging second fixed seat to move.

6. A book taking and placing method according to claim 1, characterized in that: A running gear is provided on the chassis, and the running gear is used for driving the chassis to move.

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