An automated book retrieval and placement robot

Abstract

The application provides an automatic book taking and placing robot, which comprises a lifting device, a horizontal moving device, a first swinging device, a second swinging device and a clamping device. The lifting device drives the clamping device to move along the Z-axis direction. The horizontal moving device drives the clamping device to move along the Y-axis direction. The horizontal moving device, the first swinging device and the second swinging device jointly drive the clamping device to move along the X-axis direction. The clamping device comprises a clamping hand which can rotate in a circumferential direction. The clamping hand can cooperate with books in different placing states. An adjusting device for adjusting the distance between the clamping hands is arranged on the clamping hand. The clamping hand can cooperate with books of different thicknesses. A pushing device is arranged on the clamping hand. The pushing device is used for pushing the books into the accommodating cavities of the clamping hand. Then, a first conveying device rotates forward to convey the books, so that the books completely enter the accommodating cavities. When the books are swung, the first conveying device rotates reversely to convey the books out of the accommodating cavities.

Description

Technical Field

[0001] This invention relates to the field of book retrieval equipment technology, specifically to an automatic book retrieval robot. Background Technology

[0002] In library management, tasks such as book classification, handling, and shelving require significant manpower and time, increasing the workload of librarians and sometimes leading to errors in book classification and shelving. In the wave of information technology, the lack of mechanized automation devices in traditional libraries is a common challenge. Automation and intelligentization of library operations can fundamentally reduce the workload of librarians and improve work efficiency. Using robots to classify and automatically retrieve books and documents can not only reduce the disturbance and damage to the preservation environment of important documents caused by frequent entry and exit of librarians, but also better protect these documents. Therefore, it is necessary to design a dedicated book-grabbing mechanism to replace manual labor to a certain extent and reduce labor intensity.

[0003] A Chinese patent application with application number 201921807781.X and publication date of June 30, 2020, discloses a special gripping mechanism for loading and unloading books. The mechanism includes a trolley, a horizontal moving mechanism connected to the trolley, a vertical moving mechanism connected to the horizontal moving mechanism, a horizontal longitudinal moving mechanism connected to the vertical moving mechanism, and a book gripping mechanism connected to the horizontal longitudinal moving mechanism. However, since books are not necessarily placed vertically on the support surface, the vertically positioned gripper cannot hold books that are tilted. Furthermore, the gripping mechanism's wrist can only rotate horizontally along the Y-axis slide, not circumferentially along the Y-axis lead screw, thus the gripper remains vertically positioned. When a book is tilted, its sides are tilted relative to the gripper, preventing the gripper from contacting the sides of the book and thus failing to grip it. Additionally, when the gripper extends, it impacts the book, pushing it back to its original position. The gripping device only swings in the horizontal plane driven by a rotating cylinder. The swing range of the gripping device is small and it cannot place books into the cavity. Summary of the Invention

[0004] This invention provides an automatic book-picking and placing robot. The gripping device has a large swing range and good flexibility, and can rotate to grip books in different positions. The tossing device and the adjustment device avoid the accommodating cavity, so that the accommodating cavity can accommodate books of different sizes.

[0005] To achieve the above objectives, the technical solution of the present invention is: an automatic book picking and placing robot, including a lifting device and a lateral moving device, the lateral moving device being connected to the lifting device, and further including a first swinging device, a second swinging device and a gripping device, one end of the first swinging device being connected to the lateral moving device, the other end of the second swinging device being connected to the second swinging device, and the gripping device being mounted on the second swinging device.

[0006] The first swinging device drives the second swinging device and the gripping device to swing synchronously along the length direction of the transverse moving device; the second swinging device drives the gripping device to swing relative to the first swinging device along the length direction of the transverse moving device.

[0007] The first swinging device includes a first fixed swinging base and a swinging arm; the first fixed swinging base is connected to the movable end of the traversing device, and one end of the swinging arm is hinged to the first fixed swinging base; a first swinging motor is provided on the first fixed swinging base, and the output end of the first swinging motor is connected to a swinging drive gear; a swinging driven gear is provided at the hinge point between the swinging arm and the first fixed swinging base, and the swinging drive gear meshes with the swinging driven gear, and the first swinging motor drives the swinging arm to swing relative to the traversing device.

[0008] The second swinging device includes a second swinging fixed base and a second swinging motor. The second swinging fixed base is located above the swinging arm. The second swinging motor is mounted on the second swinging fixed base. The output end of the second swinging motor is connected to the end of the swinging arm away from the lateral movement device. A first thrust bearing is installed on the output end of the second swinging motor. The first thrust bearing is located between the second swinging fixed base and the swinging arm and abuts against the second swinging fixed base and the swinging arm. The second swinging motor drives itself to swing relative to the swinging arm. The swinging second swinging motor drives the clamping device on the second swinging fixed base to move.

[0009] The gripping device includes a rotary motor and a gripper. The rotary motor is fixed on the swinging second fixed base. The output end of the rotary motor is connected to the gripper. The rotary motor drives the gripper to rotate circumferentially around the axis of the first direction. The first direction is parallel to the length direction of the swing arm.

[0010] The gripper includes a first clamping member and a second clamping member. The first clamping member is connected to the output end of a rotary motor, and the second clamping member is disposed opposite to the first clamping member. An adjustment device is connected between the top of the first clamping member and the top of the second clamping member 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 adjustment device, and the accommodating cavity has openings on both sides and the bottom. The first clamping member and the second clamping member are each provided with a first conveying device, and the two first conveying devices are disposed opposite to each other in the accommodating cavity.

[0011] 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.

[0012] The actuating support includes a first actuating support and a second actuating support. The first actuating support is connected to the output end of the actuating motor, and one end of the first actuating support extends upward away from the adjusting device. The second actuating support is perpendicular to the first actuating support and extends from the top end of the first actuating support.

[0013] The actuating component includes a first actuating connector, a second actuating connector, and a third actuating connector. The first actuating connector is connected to the actuating second support. The second actuating connector is located away from the actuating second support and above the first actuating connector. The third actuating component is inclined and connected to the first and second actuating connectors. A rubber block is provided on the second actuating connector.

[0014] The above configuration includes a lifting device for independently driving the vertical movement of the gripping device; a lateral movement device for independently driving the longitudinal movement of the gripping device; and a lateral movement device that, in conjunction with the first and second swinging devices, drives the gripping device to move laterally. This allows the gripping device to move along the Z, Y, and X axes, enabling it to accommodate books at different heights, lateral positions, or longitudinal positions. The first swinging device drives the gripping device to swing around the hinge point between the first fixed base and the swing arm; the second swinging device drives the gripping device to swing around the connection point between the second swinging device and the swing arm, providing a large range of motion around the Z-axis. When the lateral movement device is not in operation, the first and second swinging devices can respectively drive the gripping device to swing within the horizontal plane formed by the longitudinal and lateral movements, resulting in good flexibility for the gripping device.

[0015] The gripper is driven to rotate by a rotary motor, rotating circumferentially relative to the swing arm. This allows the gripper to hold books vertically, horizontally, and diagonally, enabling it to hold books in various orientations. It has a wide range of applications. The distance between the first and second gripping components can be adjusted via an adjustment device, allowing the gripper to hold books of different thicknesses. Both the actuating and adjusting devices are located at the top of the gripper, which has openings on both sides and the bottom of the accommodating cavity. When gripping large books, the sides and bottom of the large book can extend out of the gripper through these openings, making the gripper suitable for books of varying sizes and highly practical.

[0016] When taking out a book, a downward-swinging toggle moves the book at a certain angle, allowing part of the book to enter the receiving cavity. Then, the book is transported by two conveying devices to ensure that the whole book enters the receiving cavity. When placing a book, the conveying device transports the book in the opposite direction and outputs the book to the outside of the gripper.

[0017] By moving one end of the first support member upwards away from the adjustment mechanism, the height of the top of the first support member is increased, thereby raising the height of the actuating member connected to the second support member, allowing the actuating member to avoid the adjustment device. The second actuating connector is used to push out the book. A rubber block is used to increase the friction between the second actuating connector and the book, while preventing damage to the book. Simultaneously, the horizontal height of the second actuating connector is higher than that of the first actuating connector, facilitating the engagement of the second actuating connector with the top of the book to push it out.

[0018] Furthermore, the adjustment device includes an adjustment fixed base, an adjustment sliding base, and an adjustment motor. The adjustment fixed base includes an adjustment first connecting part, an adjustment second connecting part, and an adjustment connecting member. The adjustment connecting member connects the adjustment first connecting part and the adjustment second connecting part. The adjustment motor is mounted on the adjustment first connecting part, and the adjustment second connecting part is fixedly connected to the first clamping member. The adjustment sliding base is disposed between the adjustment first connecting part and the adjustment second connecting part and is located on one side of the adjustment connecting member. The adjustment sliding base is connected to the second clamping member.

[0019] 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 second adjusting connection part; an adjusting groove is provided on one side of the adjusting connection part, and an adjusting slider extends from the end of the adjusting sliding seat near the adjusting groove, and the adjusting slider is slidably disposed in the adjusting groove.

[0020] The above configuration restricts the adjustment sliding seat from rotating circumferentially along the adjustment screw by cooperating with the adjustment slide groove and the adjustment slider. When the adjustment screw rotates, it will drive the adjustment sliding seat to move axially along the adjustment screw. The moving adjustment sliding seat will cause the second clamping member to move closer to or further away from the first clamping member, thereby adjusting the distance between the first clamping member and the second clamping member.

[0021] Furthermore, both the first clamping member and the second clamping member are provided with receiving grooves. The first conveying device is respectively disposed in the two receiving grooves. A first clamping piece is provided above and below the receiving groove of the first clamping member, and a second clamping piece is provided above and below the receiving groove of the second clamping member. The first clamping piece and the second clamping piece are disposed away from the actuating motor. The first clamping piece and the second clamping piece are disposed opposite to each other and bent toward the receiving cavity.

[0022] With the above setup, when placing books, the drawing to be placed needs to be placed in the gap between two books in the bookshelf. The first and second clamping pieces are bent towards the accommodating cavity. The distance between the first and second clamping pieces is smaller than the distance between the first and second clamping components. The first and second clamping pieces can easily extend into the gap between two books in the bookshelf. Then, the first and second clamping components widen the gap between two books in the bookshelf. This makes it convenient to output the drawing to be placed in the clamping pieces into the gap between two books in the bookshelf.

[0023] Furthermore, the first conveying device includes a roller motor, a driven roller, and a first conveyor belt. The roller motor is rotatably disposed at one end of the receiving groove, and the driven roller is rotatably disposed at the other end of the receiving groove. The first conveyor belt is sleeved on the roller motor and the driven roller, and the roller motor drives the first conveyor belt to rotate.

[0024] The above setup involves a roller motor driving the first conveyor belt to rotate, with the two first conveyor belts contacting the sides of the books to achieve book transport.

[0025] Furthermore, the first fixed base of the swing arm is provided with a hinge plate, and the end of the swing arm near the first fixed base of the swing arm is provided with a first swing part and a second swing part. The hinge plate is disposed between the first swing part and the second swing part. A second thrust bearing is provided between the first swing part and the hinge plate, and both the first swing part and the hinge plate abut against the second thrust bearing. A third thrust bearing is provided between the second swing part and the hinge plate, and both the second swing part and the hinge plate abut against the third thrust bearing. The swing driven gear is fixed on the first swing part and connected to one side of the second thrust bearing. A first connecting shaft extends from the upper surface of the hinge plate and passes through the second thrust bearing to be rotatably connected to the swing driven gear. A second connecting shaft extends from the lower surface of the hinge plate and passes through the second thrust bearing and is disposed in the second swing part.

[0026] The above configuration involves the first swing motor driving the swing drive gear to rotate, which in turn drives the swing driven gear to rotate. The swing driven gear then drives one side of the swing arm and the second thrust bearing to rotate, thereby enabling the swing arm to swing relative to the first fixed base.

[0027] Furthermore, the lifting device is mounted on the chassis and includes a lifting bracket, a lifting motor, a lifting guide shaft, and a lifting sliding seat. One end of the lifting bracket is connected to the chassis, and the lifting motor is located at the other end of the lifting bracket. The lifting motor is connected to a lifting screw. There are two lifting guide shafts, which are symmetrically arranged about the lifting screw. The lifting sliding seat passes through the lifting screw and the two lifting guide shafts. The lifting motor drives the lifting sliding seat to move. The lateral movement device is connected to the lifting sliding seat.

[0028] The above configuration limits the circumferential rotation of the lifting sliding seat along the lifting screw via the lifting guide shaft. The rotation of the lifting screw drives the lifting sliding seat to move along the axial direction of the lifting screw. The structure is simple, and the lifting sliding seat drives the transverse movement device to move synchronously.

[0029] Furthermore, the lateral movement device includes a lateral movement bracket, a lateral movement motor, and a lateral movement sliding seat; the lateral movement bracket is fixed on the lifting sliding seat, the lateral movement motor is mounted on the lateral movement bracket, the lateral movement motor is connected to a lateral movement lead screw, and the lateral movement sliding seat passes through the lateral movement lead screw; a lateral movement guide rail is also provided on the lateral movement bracket, and a lateral movement slider is connected to the lateral movement sliding seat, the lateral movement slider being slidably mounted on the lateral movement guide rail; the lateral movement motor drives the lateral movement sliding seat to move, and the first swinging device is connected to the lateral movement sliding seat.

[0030] The above configuration limits the circumferential rotation of the transverse sliding seat along the transverse lead screw via the transverse guide rail. The rotation of the transverse lead screw drives the transverse sliding seat to move along the axial direction of the transverse lead screw. The structure is simple, and the transverse sliding seat drives the first swing device to move synchronously.

[0031] Furthermore, a walking mechanism is installed on the chassis to drive the chassis to move. The walking mechanism drives the automatic book-picking and placing robot to move. Attached Figure Description

[0032] Figure 1 This is a three-dimensional schematic diagram of the present invention.

[0033] Figure 2 This is a three-dimensional schematic diagram of the lifting device in this invention.

[0034] Figure 3 This is a three-dimensional schematic diagram of the transverse movement device in this invention.

[0035] Figure 4 This is a side view of the first swinging device, the second swinging device, and the clamping device.

[0036] Figure 5 for Figure 4 Enlarged view within the dashed box.

[0037] Figure 6 This is an exploded view of the first and second swinging devices.

[0038] Figure 7 This is a top view of the transverse movement device, the first swing device, the second swing device, and the gripping device.

[0039] Figure 8 This is a schematic diagram showing the operation of the transverse movement device, the first swing device, and the second swing device.

[0040] Figure 9This is a three-dimensional schematic diagram of the second swinging device and the clamping device.

[0041] Figure 10 This is a schematic diagram of the gripping device after rotation.

[0042] Figure 11 This is a three-dimensional schematic diagram of the actuating device in the clamping device.

[0043] Figure 12 This is a three-dimensional schematic diagram of the adjusting device in the clamping device.

[0044] Figure 13 A top view showing the connection between the gripper and the adjustment device.

[0045] Figure 14 This is a schematic diagram of the actuating element in the clamping device swinging near the receiving cavity.

[0046] Figure 15 This is a schematic diagram showing the book tilting towards the cavity.

[0047] Figure 16 This is a schematic diagram of how the book is adjusted by the actuating element in the gripping device.

[0048] Figure 17 This is a schematic diagram of the book after it was modified from a tilted position to a vertical position. Detailed Implementation

[0049] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0050] like Figure 1-17 As shown; an automatic book-picking and placing robot includes a chassis 1, a lifting device 2, a lateral movement device 3, a first swing device 4, a second swing device 5, a gripping device 6, and a walking device 7; the lifting device 2 is mounted on the chassis 1, the lateral movement device 3 is connected to the lifting device 2, one end of the first swing device 4 is connected to the lateral movement device 3, the other end of the second swing device 5 is connected to the second swing device 5, and the gripping device 6 is mounted on the second swing device 5; the lifting device 2 is used to drive the vertical movement of the gripping device 6 independently; the lateral movement device 3 is used to drive the longitudinal movement of the gripping device 6 independently; the lateral movement device 3 is also used to cooperate with the first swing device 4 and the second swing device 5 to drive the gripping device 6 to move laterally; see reference. Figure 1 As shown, the lifting device 2 drives the gripping device 6 to move along the Z-axis, the lateral movement device 3 drives the gripping device 6 to move along the Y-axis, and the lateral movement device 3, the first swing device 4, and the second swing device 5 together drive the lateral movement device 3 to move along the X-axis; thus, the gripping device 6 can move along the Z-axis, Y-axis, and X-axis; the gripping device 6 can cooperate with books of different heights, different lateral positions, or different longitudinal positions.

[0051] like Figure 5-9As 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.

[0052] The first swinging device 4 includes a swinging first fixed base 41 and a swinging arm 42. The swinging first fixed base 41 is connected to the movable end of the transverse movement device 3, and one end of the swinging arm 42 is hinged to the swinging first fixed base 41. A first swinging motor 43 is provided on the swinging first fixed base 41, and the output end of the first swinging motor 43 is connected to a swinging driving gear 44. A swinging driven gear 45 is provided at the hinge point between the swinging arm 42 and the swinging first fixed base 41. The swinging driving gear 44 meshes with the swinging driven gear 45, and the first swinging motor 43 drives the swinging arm 42 to swing relative to the transverse movement device 3. In this embodiment, both the swinging driving gear 44 and the swinging driven gear 45 are bevel gears.

[0053] The first fixed base 41 of the swing arm is provided with a hinge plate 411. The swing arm 42 is provided with a first swing part 421 and a second swing part 422 at one end near the first fixed base 41 of the swing arm. The hinge plate 411 is disposed between the first swing part 421 and the second swing part 422. A second thrust bearing 46 is provided between the first swing part 421 and the hinge plate 411, and both the first swing part 421 and the hinge plate 411 abut against the second thrust bearing 46. A third thrust bearing 47 is provided between the second swing part 422 and the hinge plate 411, and both the second swing part 422 and the hinge plate 411 abut against the third thrust bearing 47.

[0054] The swing driven gear 45 is fixed to the first swing part 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 the first connecting shaft 412 passes through the second thrust bearing 46 and is rotatably connected to the swing driven gear 45. The second thrust bearing 46 bears the load of the first swing part 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 the second connecting shaft 413 passes through the second thrust bearing 46 and is installed in the second swing part 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 rotation of the swing driven gear 45 drives the swing arm 42 and one side of the second thrust bearing 46 to rotate, thereby realizing the swing arm 42 swinging relative to the swing first fixed seat 41.

[0055] The second swing device 5 includes a second swing fixed base 51 and a second swing motor 52. The second swing fixed base 51 is located above the swing arm 42. The second swing motor 52 is mounted on the second swing fixed base 51. The swing arm 42 has a swing arm connection hole 423 at one end away from the transverse moving device 3. The output end of the second swing motor 52 passes through the first thrust bearing 53 and is connected to the swing arm connection hole 423. The first thrust bearing 53 abuts against the second swing fixed base 51 and the swing arm 42. The second swing motor 52 drives itself to swing relative to the swing arm 42. The swinging second swing motor 52 drives the clamping device 6 on the second swing fixed base 51 to move.

[0056] Because the swing drive gear 44 and the swing driven gear 45 are meshed, the swing drive gear 44 locks the swing driven gear 45. When the conveying end of the second swing motor 52 is activated, the second swing motor 52 cannot drive the swing arm 41 to rotate. At the same time, the first push-pull bearing enables a rotatable connection between the swing second fixed seat 51 and the swing arm 41. Consequently, 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.

[0057] The first swinging device 4 drives the clamping device 6 to swing around the hinge point between the first fixed seat and the swing arm 42 as the axis; the second swinging device 5 drives the clamping device 6 to swing around the connection point between the second swinging device 5 and the swing arm 42 as the axis. The clamping device 6 has a large range of motion around the Z-axis. When the lateral device is not in operation, the first swinging device 4 and the second swinging device 5 can respectively drive the clamping device 6 to swing within the horizontal plane formed by the longitudinal and lateral movements, and the clamping device 6 has good flexibility.

[0058] Reference Figure 1 , 5 As shown in Figure 9, when it is necessary to drive the gripping device 6 to move along the X-axis, the first swinging device 4 is first driven to move horizontally along the Y-axis by the transverse moving device 3. At the same time, the first swinging motor 43 drives the swinging arm 42 to swing in the opposite direction of its horizontal movement to the end near the gripping device 6. Meanwhile, the second swinging motor 52 drives the swinging second fixed seat 51 to swing in the opposite direction of the swinging arm 42. In this way, the gripping device 6 can move horizontally along the X-axis.

[0059] The gripping device 6 includes a rotary motor 61 and a gripper 62. The rotary motor 61 is fixed on the swinging second fixed base 51, and the output end of the rotary motor 61 is connected to the gripper 62. The rotary motor 61 drives the gripper 62 to rotate circumferentially around an axis in a first direction, which is parallel to the length direction of the swing arm 42. (Refer to...) Figure 10As shown, the first direction is the axial direction of the output end of the rotary motor 61. The gripper 62 is driven to rotate by the rotary motor 61, and the gripper 62 rotates circumferentially relative to the swing arm 42. Thus, the gripper 62 can grip books vertically, horizontally, and diagonally; this allows for gripping books in different placement positions. It has a wide range of applications.

[0060] The gripper 62 includes a first gripping member 621 and a second gripping member 622. The first gripping member 621 is connected to the output end of the rotary motor 61, and the second gripping member 622 is disposed opposite to the first gripping member 621. An adjustment device 63 is connected between the top of the first gripping member 621 and the top of the second gripping member 622. The adjustment device 63 is used to adjust the distance between the first gripping member 621 and the second gripping member 622. By adjusting the distance between the first gripping member 621 and the second gripping member 622 through the adjustment device 63, the gripper 62 can grip books of different thicknesses.

[0061] A receiving cavity 623 is formed between the first clamping member 621, the second clamping member 622 and the adjusting device 63. The receiving cavity 623 has openings on both sides and at the bottom. A receiving groove 624 is provided in both the first clamping member 621 and the second clamping member 622. A first conveying device 64 is provided in each of the two receiving grooves 624. The two first conveying devices 64 are arranged opposite to each other in the receiving cavity 623.

[0062] 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 perpendicular to the toggle support 652. The toggle motor 651 drives the toggle member 653 to swing toward the accommodating cavity 623. Both the actuating device 65 and the adjusting device 63 are located on the top of the gripper 62. The accommodating cavity 623 has openings on both sides and the bottom. When gripping a large book, the sides of the large book can extend out of the gripper 62 through the openings, and the bottom of the large book can extend out of the gripper 62 through the openings. The gripper 62 can grip books of different sizes, making it highly practical.

[0063] The actuating device 65 and the two first conveying devices 64 are used to drive the book into the receiving cavity 623, as shown in the reference. Figure 14-17As shown; when book 90 is placed on bookshelf 91 and removed from bookshelf 91, motor 651 drives actuator 653 to swing downwards. Actuator 653 contacts one side of the top of book 90 and moves book 90 closer to accommodating cavity 623. Since bookshelf 91 supports book 90, the top of book 90 tilts towards accommodating cavity 623. Then actuator 653 returns to its original position, and two first conveying devices 64 move book 91 into accommodating cavity 623 along direction F1. During the movement of book 91, bookshelf 91 supports book 90, and actuator 653 swings downwards along direction F2 to contact the other side of the top of book 90, thus correcting book 90 from tilted to vertical position during movement. Then, adjusting device drives second clamping member to move closer to first clamping member to clamp the book in accommodating cavity 623. When placing the book held by the gripping device 6, the gripping device 6 is driven to move along the X-axis direction by the transverse device 3, the first swing device 4 and the second swing device 5. When the gripping device 6 is moved to the bookshelf 91, the two first conveying devices 64 move the book 91 away from the accommodating cavity 623 in the opposite direction of F1, so that the book 90 is moved from the gripping device 6 to the bookshelf 91.

[0064] In this embodiment, a first clamping piece 625 is provided above and below the receiving groove 624 of the first clamping member 621, and a second clamping piece 626 is provided above and below the receiving groove 624 of the second clamping member 622. The first clamping piece 625 and the second clamping piece 626 are disposed away from the toggle motor 651. The first clamping piece 625 and the second clamping piece 626 are disposed opposite to each other and bent toward the receiving cavity 623. When arranging books, the drawings to be placed need to be placed in the gap between two books in the bookshelf. By setting the first clamp 625 and the second clamp 626 to be bent towards the accommodating cavity 623, the distance between the first clamp 625 and the second clamp 626 is smaller than the distance between the first clamp 621 and the second clamp 622. The first clamp 625 and the second clamp 626 can easily extend into the gap between two books in the bookshelf. Then, the first clamp 621 and the second clamp 622 widen the gap between two books in the bookshelf. This makes it convenient to output the drawings to be placed in the clamp 62 into the gap between two books in the bookshelf.

[0065] The actuating support 652 includes a first actuating support 6521 and a second actuating support 6522. The first actuating support 6521 is connected to the output end of the actuating motor 651, and one end of the first actuating support 6521 extends upward away from the adjusting device 63. The second actuating support 6522 is perpendicular to the first actuating support 6521 and extends to the top of the first actuating support 6521. By extending one end of the first actuating support 6521 upward away from the adjusting device 63, the height of the top of the first actuating support 6521 is increased, thereby increasing the height of the actuating member 653 connected to the second actuating support 6522, thus allowing the actuating member 653 to avoid the adjusting device 63.

[0066] The actuating component 653 includes a first actuating connector 6531, a second actuating connector 6532, and a third actuating connector 6533. The first actuating connector 6531 is connected to the actuating second support component 6522. The second actuating connector 6532 is positioned away from the actuating second support component 6522 and above the first actuating connector 6531. The third actuating component 653 is inclined and connected to both the first and second actuating connectors 6531 and 6532. A rubber block 6534 is provided on the second actuating connector 6532. The third actuating connector 6533 is used to push out the book. By setting the third actuating connector 6533 at a higher horizontal height than the first actuating connector 6531, it is easier to engage with the top of the book to push it out. The rubber block 6534 increases the friction between the actuating component 653 and the book, while preventing the actuating component 653 from damaging the book.

[0067] The adjusting device 63 includes an adjusting fixed base 631, an adjusting sliding base 632, and an adjusting motor 633. The adjusting fixed base 631 includes an adjusting first connecting part 6311, an adjusting second connecting part 6312, and an adjusting connecting member 6313. The adjusting connecting member 6313 connects the adjusting first connecting part 6311 and the adjusting second connecting part 6312. The adjusting motor 633 is mounted on the adjusting first connecting part 6311. The adjusting second connecting part 6312 is fixedly connected to the first clamping member 621. In this embodiment, the adjusting second connecting part 6312 and the first clamping member 621 are integrally formed. The adjusting sliding base 632 is disposed between the adjusting first connecting part 6311 and the adjusting second connecting part 6312 and is located on one side of the adjusting connecting member 6313. The adjusting sliding base 632 is connected to the second clamping member 622.

[0068] An adjusting threaded hole (not shown in the figure) is provided in the adjusting sliding seat 632; the output end of the adjusting motor 633 is connected to an adjusting screw 634, which passes through the adjusting threaded hole of the adjusting sliding seat 632 and is rotatably connected to the adjusting second connecting part 6312; an adjusting groove 635 is provided on one side of the adjusting connecting part 6313, and an adjusting slider 636 extends from the end of the adjusting sliding seat 632 near the adjusting groove 635, which is slidably disposed in the adjusting groove 635. The adjusting groove 635 and the adjusting slider 636 cooperate to restrict the adjusting sliding seat 632 from rotating circumferentially along the adjusting screw 634. Thus, when the adjusting screw 634 rotates, it will drive the adjusting sliding seat 632 to move axially along the adjusting screw 634. The moving adjusting sliding seat 632 will drive the second clamping member 622 to move closer to or away from the first clamping member, thereby adjusting the distance between the first clamping member 621 and the second clamping member 622.

[0069] 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 groove 624, and the driven roller 642 is rotatably mounted at the other end of the receiving groove 624. The first conveyor belt 643 is sleeved on the roller motor 641 and the driven roller 642, and the roller motor 641 drives the first conveyor belt 643 to rotate. By driving the first conveyor belt 643 to rotate, the two first conveyor belts 643 come into contact with the sides of the books, thereby realizing the transfer of the books.

[0070] The lifting device 2 includes a lifting bracket 21, a lifting motor 22, a lifting guide shaft 23, and a lifting sliding seat 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. There are two lifting guide shafts 23, which are symmetrically arranged about the lifting screw 25. The lifting sliding seat 24 passes through the lifting screw 25 and the two lifting guide shafts 23. The lifting motor 22 drives the lifting sliding seat 24 to move. The transverse movement device 3 is connected to the lifting sliding seat 24. The lifting guide shaft 23 limits the circumferential rotation of the lifting sliding seat 24 along the lifting screw 25. The rotation of the lifting screw 25 drives the lifting sliding seat 24 to move along the axial direction of the lifting screw 25. The structure is simple, and the lifting sliding seat 24 drives the transverse movement device 3 to move synchronously.

[0071] 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 on the lifting sliding seat 24, the transverse movement motor 32 is mounted on the transverse movement bracket 31, and the transverse movement motor 32 is connected to a transverse movement lead screw 34. The transverse movement sliding seat 33 passes through the transverse movement lead screw 34. A transverse movement guide rail 35 is also provided on the transverse movement bracket 31, and a transverse movement slider (not shown in the figure) is connected to the transverse movement sliding seat 33. The transverse movement slider is slidably mounted 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 lead screw 34. The rotation of the transverse movement lead screw 34 drives the transverse movement sliding seat 33 to move in the axial direction of the transverse movement lead screw 34. The structure is simple, and the transverse movement sliding seat 33 drives the first swinging device 4 to move synchronously.

[0072] The walking device 7 is mounted on the chassis 1 and is used to drive the chassis 1 to move. The automatic book-picking and placing robot is driven by the walking device 7. The walking device 7 is prior art and will not be described in detail here.

[0073] The working method of the automatic book retrieval robot includes the following steps:

[0074] S1. The lifting device 2 drives the gripping device 6 to move along the Z-axis, so that the gripping device 6 is at the same height as the book to be taken out.

[0075] S2, the lateral movement device 3, the first swing device 4 and the second swing device 5 together drive the gripping device 6 to move along the Y-axis and X-axis, so that the gripping device 6 corresponds to the horizontal position of the book to be taken out, and the actuating part of the gripping device 6 moves to the side above the book to be taken out.

[0076] S3. The adjusting device drives the second clamping member away from the first clamping member.

[0077] S4. The toggle motor drives the toggle member 653 to swing towards the accommodating cavity 623. The toggle member 653 presses down and pulls out the book, and the book tilts towards the accommodating cavity 623. The adjustment device drives the second clamping member to approach the first clamping member. The two first conveying devices contact the side of the book, and the friction between the two first conveying devices and the book clamps the book.

[0078] S5. The toggle motor drives the toggle member 653 to swing and reset in the direction away from the accommodating cavity 623.

[0079] S6. The roller motors 641 of the two first conveying devices rotate in the forward direction to convey the book. At the same time, the actuating element 653 swings towards the accommodating cavity 623 to press down on the other side of the book. During the movement, the top of the book swings away from the accommodating cavity around the contact point between the bottom of the book and the bookshelf. Under the combined action of the pressure of the actuating element 653 and the conveying of the two first conveying devices 64, the book is corrected from an inclined state to a vertical state, reducing the inclination of the book. After the book has completely entered the accommodating cavity 623, proceed to S7.

[0080] S7. 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 placed.

[0081] S8, the horizontal movement device, the first swing device and the second swing device together drive the gripping device to move along the Y-axis and X-axis, so that the gripping device is horizontally aligned with the position where the book is to be placed and moves closer to the position where the book is to be placed.

[0082] S9. The first clip 625 and the second clip 626 extend into the space between the books on both sides of the book to be placed in the bookshelf, and the first clip 625 and the second clip 626 widen the gap between the two books in the bookshelf.

[0083] S10, the roller motors 641 of the two first conveying devices rotate in opposite directions to convey the books to the book placement position.

Claims

1. An automatic book-picking and placing robot, comprising a lifting device and a lateral movement device, wherein the lateral movement device is connected to the lifting device, characterized in that: It also includes a first swing device, a second swing device and a clamping device. One end of the first swing device is connected to the transverse moving device, the other end of the second swing device is connected to the second swing device, and the clamping device is installed on the second swing device. The first swinging device drives the second swinging device and the gripping device to swing synchronously along the length direction of the transverse moving device; the second swinging device drives the gripping device to swing relative to the first swinging device along the length direction of the transverse moving device. The first swinging device includes a swinging first fixed base and a swinging arm; the swinging first fixed base is connected to the movable end of the traversing device, and one end of the swinging arm is hinged to the swinging first fixed base; a first swinging motor is provided on the swinging first fixed base, and the output end of the first swinging motor is connected to a swinging drive gear; a swinging driven gear is provided at the hinge point between the swinging arm and the swinging first fixed base, and the swinging drive gear meshes with the swinging driven gear, and the first swinging motor drives the swinging arm to swing relative to the traversing device. The second swing device includes a second swing fixed base and a second swing motor. The second swing fixed base is located above the swing arm. The second swing motor is mounted on the second swing fixed base. The output end of the second swing motor is connected to the end of the swing arm away from the lateral movement device. A first thrust bearing is installed on the output end of the second swing motor. The first thrust bearing is located between the second swing fixed base and the swing arm and abuts against the second swing fixed base and the swing arm. The second swing motor drives itself to swing relative to the swing arm. The swinging second swing motor drives the clamping device on the second swing fixed base to move. The gripping device includes a rotary motor and a gripper. The rotary motor is fixed on the swinging second fixed base. The output end of the rotary motor is connected to the gripper. The rotary motor drives the gripper to rotate circumferentially around the axis of the first direction. The first direction is parallel to the length direction of the swing arm. The gripper includes a first clamping member and a second clamping member. The first clamping member is connected to the output end of a rotary motor, and the second clamping member is disposed opposite to the first clamping member. An adjustment device is connected between the top of the first clamping member and the top of the second clamping member to adjust the distance between the first clamping member and the second clamping member. A receiving cavity is formed between the first clamping member, the second clamping member, and the adjustment device. The receiving cavity has openings on both sides and the bottom. Both the first clamping member and the second clamping member are provided with a first conveying device, and the two first conveying devices are disposed opposite to each other in the receiving cavity. A toggle device is provided between the first clamping member and the second clamping member. The toggle device is located above the adjustment 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. The actuating support includes a first actuating support and a second actuating support. The first actuating support is connected to the output end of the actuating motor, and one end of the first actuating support extends upward away from the adjusting device. The second actuating support is arranged perpendicularly to the first actuating support and extends to the top of the first actuating support. The actuating component includes a first actuating connector, a second actuating connector, and a third actuating connector. The first actuating connector is connected to the actuating second support. The second actuating connector is located away from the actuating second support and above the first actuating connector. The third actuating component is inclined and connected to the first and second actuating connectors. A rubber block is provided on the second actuating connector.

2. The automatic book-picking and placing robot according to claim 1, characterized in that: The adjusting device includes an adjusting fixed base, an adjusting sliding base, and an adjusting motor. The adjusting fixed base includes an adjusting first connecting part, an adjusting second connecting part, and an adjusting connecting member. The adjusting connecting member connects the adjusting first connecting part and the adjusting second connecting part. The adjusting motor is mounted on the adjusting first connecting part, and the adjusting second connecting part is fixedly connected to the first clamping member. The adjusting sliding base is disposed between the adjusting first connecting part and the adjusting second connecting part and is located on one side of the adjusting connecting member. The adjusting sliding base is connected to the second clamping member. 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 second adjusting connection part; an adjusting groove is provided on one side of the adjusting connection part, and an adjusting slider extends from the end of the adjusting sliding seat near the adjusting groove, and the adjusting slider is slidably disposed in the adjusting groove.

3. The automatic book-picking and placing robot according to claim 1, characterized in that: Both the first clamping member and the second clamping member are provided with receiving grooves. The first conveying device is respectively disposed in the two receiving grooves. A first clamping piece is provided above and below the receiving groove of the first clamping member. A second clamping piece is provided above and below the receiving groove of the second clamping member. The first clamping piece and the second clamping piece are disposed away from the actuating motor. The first clamping piece and the second clamping piece are disposed opposite to each other and bent toward the receiving cavity.

4. The automatic book-picking and placing robot according to claim 3, characterized in that: The first conveying device includes a roller motor, a driven roller, and a first conveyor belt. The roller motor is rotatably mounted at one end of the receiving groove, and the driven roller is rotatably mounted at the other end of the receiving groove. The first conveyor belt is sleeved on the roller motor and the driven roller, and the roller motor drives the first conveyor belt to rotate.

5. The automatic book-picking and placing robot according to claim 1, characterized in that: The first fixed base of the swing arm is provided with a hinge plate. A first swing portion and a second swing portion are provided at one end of the swing arm near the first fixed base. The hinge plate is positioned between the first swing portion and the second swing portion. A second thrust bearing is provided between the first swing portion and the hinge plate, and both the first swing portion and the hinge plate abut against the second thrust bearing. A third thrust bearing is provided between the second swing portion and the hinge plate, and both the second swing portion and the hinge plate abut against the third thrust bearing. The swing driven gear is fixed to the first swing portion and connected to one side of the second thrust bearing. A first connecting shaft extends from the upper surface of the hinge plate, passing through the second thrust bearing and rotatably connected to the swing driven gear. A second connecting shaft extends from the lower surface of the hinge plate, passing through the second thrust bearing and being positioned within the second swing portion.

6. The automatic book-picking and placing robot according to claim 1, characterized in that: The lifting device is mounted on the chassis and includes a lifting bracket, a lifting motor, a lifting guide shaft, and a lifting sliding seat. One end of the lifting bracket is connected to the chassis, and the lifting motor is located at the other end of the lifting bracket. The lifting motor is connected to a lifting screw. There are two lifting guide shafts, which are symmetrically arranged about the lifting screw. The lifting sliding seat passes through the lifting screw and the two lifting guide shafts. The lifting motor drives the lifting sliding seat to move. The lateral movement device is connected to the lifting sliding seat.

7. The automatic book-picking and placing robot according to claim 1, characterized in that: The lateral movement device includes a lateral movement bracket, a lateral movement motor, and a lateral movement sliding seat. The lateral movement bracket is fixed on the lifting sliding seat, the lateral movement motor is mounted on the lateral movement bracket, and the lateral movement motor is connected to a lateral movement lead screw. The lateral movement sliding seat passes through the lateral movement lead screw. A lateral movement guide rail is also provided on the lateral movement bracket, and a lateral movement slider is connected to the lateral movement sliding seat. The lateral movement slider is slidably mounted on the lateral movement guide rail. The lateral movement motor drives the lateral movement sliding seat to move, and the first swinging device is connected to the lateral movement sliding seat.

8. The automatic book-picking and placing robot according to claim 1, characterized in that: A walking device is installed on the chassis, which is used to drive the chassis to move.

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