A library book sorting robot

Abstract

The present invention belongs to the technical field of sorting equipment, and in particular to a library book homing and sorting robot, comprising a sorting robot shell, a SLAM laser scanner, a Z-axis moving frame, a fixed rod, a clamping arm body, a rotating component, a height auxiliary adjustment component and a notch opening component, wherein the SLAM laser scanner is mounted on the top of the sorting robot shell, the Z-axis moving frame is slidably connected to the middle of the sorting robot shell, the rotating component is mounted on the outside of the Z-axis moving frame, the fixed rod is mounted on the outside of the top of the rotating component, the height auxiliary adjustment component is slidably connected to the outside of the rotating component, and the notch opening component is mounted on the outside of the height auxiliary adjustment component; the expanded plate added to the device is a diamond structure with thin top and bottom and wide middle. When the book is thicker, the Z-shaped frame and the expanded plate can be pushed by a power cylinder, and then the book attached to one side of the expanded plate can be squeezed outward, thereby providing storage space for the thick books and completing the automatic homing and sorting operation.

Description

Technical Field

[0001] The invention belongs to the technical field of arranging equipment, and in particular relates to a library book returning and arranging robot. Background Art

[0002] The library manages books by using a classification vocabulary to arrange and display the books. The book classification vocabulary uses a logical method based on the content, form, genre and purpose of the books to divide the books of all subjects into multiple categories according to their subject content. Each major category is further divided into many small categories, and each small category is further divided into many sub-subcategories.

[0003] Traditional robots face certain challenges when dealing with closely arranged books, especially when inserting books. First, they need to open a gap between two adjacent books, then insert the front of the book to be returned into the gap, and then push it in with force. In the process of pushing the books in, since the manipulator part of the traditional robot can only perform pick-up and placement operations, the administrator is required to assist and continuously apply a certain force to the books on both sides to ensure that the returned books can be pushed in smoothly. In the above process, especially when returning high-positioned books, the operation becomes extremely troublesome and inefficient for the administrator.

[0004] Therefore, a library book returning and sorting robot is designed to solve the above problems. Summary of the invention

[0005] In order to solve the problems raised in the above background technology, the present invention provides a library book returning and sorting robot to solve the problem of automatic returning of high-position books and automatically open gaps when books are densely distributed.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a library book homing and sorting robot, comprising a sorting robot shell, a SLAM laser scanner, a Z-axis movable frame, a fixed rod, a clamping arm body, a rotating assembly, a height auxiliary adjustment assembly and a notch opening assembly, wherein the SLAM laser scanner is mounted on the top of the sorting robot shell, the Z-axis movable frame is slidably connected to the middle of the sorting robot shell, the rotating assembly is mounted on the outside of the Z-axis movable frame, the fixed rod is mounted on the outside of the top of the rotating assembly, the clamping arm body is mounted on the outside of the fixed rod, the height auxiliary adjustment assembly is slidably connected to the outside of the rotating assembly, and the notch opening assembly is mounted on the outside of the height auxiliary adjustment assembly;

[0007] The SLAM laser scanner is used for full-range scanning and positioning of the library on-site environment, the arranging robot shell is used to connect the Z-axis movable frame and keep the Z-axis movable frame displaced in the middle of the arranging robot shell, the fixing rod is used to connect the clamping arm body, the clamping arm body is used to clamp the books in the bookshelf, the rotating assembly is used to connect the height auxiliary adjustment assembly, the height auxiliary adjustment assembly is used to extend the moving distance of the clamping arm body and the notch opening assembly, and the notch opening assembly is used to quickly open the gap where books are stored tightly and cooperate with the clamping arm body to insert the books into the inner side of the gap of the books.

[0008] Preferably, the notch opening assembly includes a Z-shaped frame, a hydraulic cylinder, a flip base, a flip frame, a flip shaft, a locking gear, a rack, an L-shaped block and a flaring plate, the Z-shaped frame is installed on one side of the height auxiliary adjustment assembly, the outer side of the piston end of the hydraulic cylinder is fixedly connected to the rack, the rack is slidably connected to the top of the flip base, the flip frame is rotatably connected to the inner side of the flip shaft, the flip shaft is fixedly connected to the top of the flip base, the locking gear is sleeved on the outer side of the flip shaft and meshed with the inner tooth groove of the rack, the L-shaped block is installed on the outer side of the flip frame, and the flaring plate is rotatably connected to the outer side of the L-shaped block and is used to expand the gap between adjacent books.

[0009] Preferably, the expansion plate is a diamond-shaped structure that is thin at the top and bottom and wide in the middle, and the expansion plate is made of high-carbon alloy steel.

[0010] Preferably, the auxiliary height adjustment component includes a pushing cylinder, a push rod, a lifting platform and a slide rail, the pushing cylinder is installed on one side of the rotating component, the push rod is installed on the outside of the output end of the pushing cylinder, the lifting platform is installed on the outside of the push rod, and the slide rail is installed on the surface of the lifting platform and is slidably connected to the inner side of the Z-shaped frame.

[0011] Preferably, the rotating assembly includes a dust cover, a driving motor, a connecting shaft, a rotating shaft and a support frame, the dust cover is installed on the outside of the Z-axis movable frame, the driving motor is installed inside the dust cover and fixedly connected to one end of the connecting shaft through a coupling, the rotating shaft is rotatably connected to the inner side of the dust cover, the support frame is fixedly connected to the outer side of the rotating shaft, and the support frame is fixedly connected to the surface of the fixed rod.

[0012] Preferably, mutually meshing transmission gears are installed on opposite sides of the connecting shaft and the rotating shaft.

[0013] Preferably, a power motor, a threaded rod and a linear axis are also provided on one side of the tidying robot shell, the power motor is installed on the top of the threaded rod, and the linear axis is symmetrically distributed on both sides of the threaded rod and is slidably connected to the inner wall of the Z-axis moving frame.

[0014] Preferably, a power cylinder is also installed on one side of the lifting platform, and the output end of the power cylinder is fixedly connected to the surface of the Z-shaped frame.

[0015] Preferably, an ultrasonic sensor and a stepper motor are also installed on the inner side of the L-shaped block, the ultrasonic sensor is parallel to the expansion plate and is used to sense the distance between books, and the stepper motor is installed on one side of the expansion plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the present invention, the expansion plate added to the device is a diamond-shaped structure that is thin at the top and bottom and wide in the middle. The expansion plate is smoothly inserted between two densely arranged books to organize the books with the help of an ultrasonic sensor.

[0018] 2. In the present invention, since the gaps between densely arranged books are small, when the expansion plate is inserted into the gap, the expansion plate is rotated 90° by a stepper motor, so that thinner magazines can be placed into the bookshelf conveniently; and when the books are thicker, the Z-shaped frame and the expansion plate can be pushed by a power cylinder, thereby squeezing the books attached to one side of the expansion plate outward, thereby providing storage space for thick books and completing the automatic homing and sorting operation.

[0019] 3. In the present invention, the lifting platform of the device can move stably above the support frame, and cooperate with the rotating support frame so that the lifting platform can still have telescopic space when the support frame reaches the highest position and the lowest position, so that the expansion plate can perform longitudinal insertion operations for books that are not high enough and expand the scope of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 A cross-sectional view of the robot housing in the present invention;

[0023] Figure 3 This is a diagram showing the rotation effect of the support frame in the present invention;

[0024] Figure 4It is a schematic diagram of the structure of the Z-axis moving frame in the present invention;

[0025] Figure 5 It is a structural schematic diagram of the notch-pushing assembly in the present invention;

[0026] Figure 6 It is a structural schematic diagram of the expansion plate in the present invention;

[0027] Figure 7 It is a schematic diagram of the structure of the rotating assembly in the present invention.

[0028] In the figure:

[0029] 1. Arrangement robot shell; 2. SLAM laser scanner; 3. Z-axis moving frame; 4. Fixed rod; 5. Clamping arm body; 6. Rotating assembly; 7. Height auxiliary adjustment assembly; 8. Notch opening assembly; 9. Z-shaped frame; 10. Hydraulic cylinder; 11. Flip base; 12. Flip frame; 13. Flip axis; 14. Locking gear; 15. Rack; 16. L-shaped block; 17. Expanding plate; 18. Push cylinder; 19. Push rod; 20. Lifting platform; 21. Slide rail; 22. Dust cover; 23. Drive motor; 24. Connecting shaft; 25. Rotating shaft; 26. Support frame; 27. Transmission gear; 28. Power motor; 29. ​​Threaded rod; 30. Linear axis; 31. Power cylinder; 32. Ultrasonic sensor; 33. Stepper motor; 34. Thread groove; 35. Slide groove. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figure 1-7 A library book retrieval and sorting robot shown in the figure includes a sorting robot shell 1, a SLAM laser scanner 2, a Z-axis moving frame 3, a fixed rod 4, a clamping arm body 5, a rotating assembly 6, a height auxiliary adjustment assembly 7 and a notch opening assembly 8, wherein the SLAM laser scanner 2 is mounted on the top of the sorting robot shell 1, the Z-axis moving frame 3 is slidably connected to the middle of the sorting robot shell 1, the rotating assembly 6 is mounted on the outside of the Z-axis moving frame 3, the fixed rod 4 is mounted on the outside of the top of the rotating assembly 6, the clamping arm body 5 is mounted on the outside of the fixed rod 4, the height auxiliary adjustment assembly 7 is slidably connected to the outside of the rotating assembly 6, and the notch opening assembly 8 is mounted on the outside of the height auxiliary adjustment assembly 7;

[0032] The SLAM laser scanner 2 is used for full-range scanning and positioning of the library on-site environment. The tidying robot shell 1 is used to connect the Z-axis moving frame 3 and keep the Z-axis moving frame 3 displaced in the middle of the tidying robot shell 1. The fixing rod 4 is used to connect the clamping arm body 5. The clamping arm body 5 is used to clamp the books in the bookshelf. The rotating component 6 is used to connect the height auxiliary adjustment component 7. The height auxiliary adjustment component 7 is used to extend the moving distance of the clamping arm body 5 and the notch opening component 8. The notch opening component 8 is used to quickly open the gap where books are stored tightly and cooperate with the clamping arm body 5 to insert the books into the inner side of the gap of the books.

[0033] The expanded plate 17 added to the device is a diamond-shaped structure that is thin at the top and bottom and wide in the middle. The expanded plate 17 is smoothly inserted between two densely arranged books to organize the books in cooperation with the ultrasonic sensor 32. Since the gap between the densely arranged books is small, when the expanded plate 17 is inserted into the gap, the expanded plate 17 is rotated 90° by the stepper motor 33, so that it is convenient to put thinner magazines into the bookshelf; and when the books are thicker, the power cylinder 31 can be used to push the Z-shaped frame 9 and the expanded plate 17, and then the books attached to one side of the expanded plate 17 are squeezed outward, thereby providing storage space for thick books and completing the automatic homing and sorting operation.

[0034] The notch-opening assembly 8 includes a Z-shaped frame 9, a hydraulic cylinder 10, a flip base 11, a flip frame 12, a flip shaft 13, a locking gear 14, a rack 15, an L-shaped block 16 and a flaring plate 17. The Z-shaped frame 9 is installed on one side of the height auxiliary adjustment assembly 7. The outer side of the piston end of the hydraulic cylinder 10 is fixedly connected to the rack 15, and the rack 15 is slidably connected to the top of the flip base 11. The flip frame 12 is rotatably connected to the inner side of the flip shaft 13, and the flip shaft 13 is fixedly connected to the top of the flip base 11. The locking gear 14 is sleeved on the outer side of the flip shaft 13 and meshed with the inner tooth groove of the rack 15. The L-shaped block 16 is installed on the outer side of the flip frame 12, and the flaring plate 17 is rotatably connected to the outer side of the L-shaped block 16 and is used to expand the gap between adjacent books.

[0035] The expansion plate 17 is a diamond-shaped structure that is thin at the top and bottom and wide in the middle, and the expansion plate 17 is made of high-carbon alloy steel.

[0036] The height auxiliary adjustment component 7 includes a pushing cylinder 18, a push rod 19, a lifting platform 20 and a slide rail 21. The pushing cylinder 18 is installed on one side of the rotating component 6, the push rod 19 is installed on the outside of the output end of the pushing cylinder 18, the lifting platform 20 is installed on the outside of the push rod 19, and the slide rail 21 is installed on the surface of the lifting platform 20 and is slidably connected to the inner side of the Z-shaped frame 9.

[0037] Start the hydraulic cylinder 10 below, which directly pushes the rack 15. With the cooperation of the locking gear 14 and the rack 15, the flip shaft 13 sleeved in the middle can drive the flip frame 12 and the flaring plate 17 below to be longitudinally inserted into the gap between the books. Then, the stepper motor 33 inside the L-shaped block 16 is rotated to drive the flaring plate 17 to rotate. The flaring plate 17 rotates its narrow surface 90° and abuts between the two books. The clamping arm body 5 is reversely started to place the clamped thin magazine inside the gap.

[0038] The rotating assembly 6 includes a dust cover 22, a driving motor 23, a connecting shaft 24, a rotating shaft 25 and a support frame 26. The dust cover 22 is installed on the outside of the Z-axis moving frame 3, the driving motor 23 is installed inside the dust cover 22 and is fixedly connected to one end of the connecting shaft 24 through a coupling, the rotating shaft 25 is rotatably connected to the inner side of the dust cover 22, the support frame 26 is fixedly connected to the outside of the rotating shaft 25, and the support frame 26 is fixedly connected to the surface of the fixed rod 4.

[0039] Transmission gears 27 meshing with each other are installed on opposite sides of the connecting shaft 24 and the rotating shaft 25 .

[0040] A power motor 28, a threaded rod 29 and a linear shaft 30 are also provided on one side of the sorting robot housing 1. The power motor 28 is installed on the top of the threaded rod 29, and the linear shaft 30 is symmetrically distributed on both sides of the threaded rod 29 and is slidably connected to the inner wall of the Z-axis moving frame 3.

[0041] A power cylinder 31 is also installed on one side of the lifting platform 20 , and the output end of the power cylinder 31 is fixedly connected to the surface of the Z-shaped frame 9 .

[0042] An ultrasonic sensor 32 and a stepper motor 33 are also installed on the inner side of the L-shaped block 16 . The ultrasonic sensor 32 is parallel to the expansion plate 17 and is used to sense the distance between books. The stepper motor 33 is installed on one side of the expansion plate 17 .

[0043] Working principle: When the device is in use, the SLAM laser scanner 2 performs 360° full range and with its extremely precise linear and angular resolution and high scanning rate, the tidying robot shell 1 can accurately reach the position of the bookshelf to be sorted. Then, according to the height of the books, the push cylinder 18 can be automatically started, and its output end pushes the push rod 19, and the push rod 19 moves the lifting platform 20 smoothly along the outside of the support frame 26. The ultrasonic sensor 32 calculates the distance of the books by measuring the round-trip time of the ultrasonic pulse based on the reflection characteristics of ultrasonic waves at the interface between two media. By measuring the distance between each book and the sensor and combining the relative position relationship between the sensors, the precise distance between the books can be calculated. During this process, the power cylinder 31 is started to slide the Z-shaped frame 9 back and forth along the tooth grooves of the positioning slide rail 21 and the slide groove 35, so as to control the position of the flaring plate 17 so that it can be accurately aligned between the two books; then the hydraulic cylinder 10 below is started, and the hydraulic cylinder 10 directly pushes the rack 15. With the cooperation of the locking gear 14 and the rack 15, the flip shaft 13 sleeved in the middle can drive the flip frame 12 and the flaring plate 17 below to be longitudinally inserted into the gap between the books, and then the stepper motor 33 on the inner side of the L-shaped block 16 is rotated to drive the flaring plate 17 to rotate, and the flaring plate 17 rotates its narrow surface 90° and abuts between the two books, and the clamping arm body 5 is reversely started to place the clamped thin magazine on the inner side of the gap. When the books are thicker, the power cylinder 31 can be started to push the Z-shaped frame 9, and the Z-shaped frame 9 drives the flaring plate 17 to squeeze the books attached to one side of the flaring plate 17 outward, and the books are pushed away by simulating the pulling action of human hands, and a proper amount of space is provided for the books to be returned to their original positions; when returning to their original positions, the power motor 28 above can be started to drive the threaded rod 29, and under the screw transmission of the threaded surface of the threaded rod 29 and the threaded groove 34 of the Z-axis moving frame 3, the Z-axis moving frame 3 can slide stably on the surface of the linear shaft 30 through the built-in through hole, thereby moving the fixed rod 4 and the clamping arm body 5 to the low position and the high position, and at the same time, the power motor 28 can be started to drive the threaded rod 29. The driving motor 23 inside the dust cover 22 drives the connecting shaft 24 to rotate. The connecting shaft 24 drives the upper rotating shaft 25 to rotate at a reduced speed with the cooperation of the transmission gear 27. The rotating shaft 25 drives the support frame 26 to rotate. The support frame 26 drives the notch-pushing assembly 8 and the expansion plate 17 located on the notch-pushing assembly 8 to rotate, so that the expansion plate 17 is located at a high position or a low position of the support frame 26, and under the action of the pushing cylinder 18, the expansion plate 17 is driven by the lifting platform 20 to complete the lifting and lowering adjustment, thereby facilitating the insertion and opening of the gaps between books at different heights, so that the clamping arm body 5 can smoothly take or return the books.

[0044] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A library book retrieval robot, characterized by: The tidying robot comprises a casing (1), a SLAM laser scanner (2), a Z-axis movable frame (3), a fixed rod (4), a clamping arm body (5), a rotating assembly (6), a height auxiliary adjustment assembly (7) and a notch opening assembly (8), wherein the SLAM laser scanner (2) is mounted on the top of the tidying robot casing (1), the Z-axis movable frame (3) is slidably connected to the middle of the tidying robot casing (1), the rotating assembly (6) is mounted on the outside of the Z-axis movable frame (3), the fixed rod (4) is mounted on the outside of the top of the rotating assembly (6), the clamping arm body (5) is mounted on the outside of the fixed rod (4), the height auxiliary adjustment assembly (7) is slidably connected to the outside of the rotating assembly (6), and the notch opening assembly (8) is mounted on the outside of the height auxiliary adjustment assembly (7); The notch opening assembly (8) comprises a Z-shaped frame (9), a hydraulic cylinder (10), a flip base (11), a flip frame (12), a flip shaft (13), a locking gear (14), a rack (15), an L-shaped block (16) and a flaring plate (17); the Z-shaped frame (9) is mounted on one side of the height auxiliary adjustment assembly (7); the outer side of the piston end of the hydraulic cylinder (10) is fixedly connected to the rack (15); and the rack (15) is slidably connected to the flip base (11). The turning frame (12) is rotatably connected to the inner side of the turning shaft (13), the turning shaft (13) is fixedly connected to the top of the turning base (11), the locking gear (14) is sleeved on the outer side of the turning shaft (13) and meshed with the inner tooth groove of the rack (15), the L-shaped block (16) is installed on the outer side of the turning frame (12), and the expansion plate (17) is rotatably connected to the outer side of the L-shaped block (16) and is used to expand the gap between adjacent books; The expansion plate (17) is a diamond-shaped structure that is thin at the top and bottom and wide in the middle, and the expansion plate (17) is made of high-carbon alloy steel; The SLAM laser scanner (2) is used for full-range scanning and positioning of the library on-site environment; the arranging robot shell (1) is used to connect the Z-axis movable frame (3) and keep the Z-axis movable frame (3) displaced in the middle of the arranging robot shell (1); the fixing rod (4) is used to connect the clamping arm body (5); the clamping arm body (5) is used to clamp books in the bookshelf; the rotating component (6) is used to connect the height auxiliary adjustment component (7); the height auxiliary adjustment component (7) is used to extend the moving distance of the clamping arm body (5) and the notch opening component (8); the notch opening component (8) is used to quickly open the gap where books are stored tightly and cooperate with the clamping arm body (5) to insert the book into the inner side of the gap of the book.

2. The library book retrieval robot according to claim 1, characterized in that: The auxiliary height adjustment component (7) comprises a pushing cylinder (18), a push rod (19), a lifting platform (20) and a slide rail (21), wherein the pushing cylinder (18) is mounted on one side of the rotating component (6), the pushing rod (19) is mounted on the outside of the output end of the pushing cylinder (18), the lifting platform (20) is mounted on the outside of the pushing rod (19), and the slide rail (21) is mounted on the surface of the lifting platform (20) and is slidably connected to the inner side of the Z-shaped frame (9).

3. The library book retrieval robot according to claim 1, characterized in that: The rotating assembly (6) comprises a dust cover (22), a driving motor (23), a connecting shaft (24), a rotating shaft (25) and a supporting frame (26); the dust cover (22) is mounted on the outside of the Z-axis moving frame (3); the driving motor (23) is mounted inside the dust cover (22) and is fixedly connected to one end of the connecting shaft (24) via a coupling; the rotating shaft (25) is rotatably connected to the inside of the dust cover (22); the supporting frame (26) is fixedly connected to the outside of the rotating shaft (25), and the supporting frame (26) is fixedly connected to the surface of the fixed rod (4).

4. The library book retrieval robot according to claim 3, characterized in that: Transmission gears (27) that mesh with each other are also installed on opposite sides of the connecting shaft (24) and the rotating shaft (25).

5. The library book retrieval robot according to claim 1, characterized in that: A power motor (28), a threaded rod (29) and a linear shaft (30) are also provided on one side of the tidying robot housing (1); the power motor (28) is mounted on the top of the threaded rod (29); the linear shaft (30) is symmetrically distributed on both sides of the threaded rod (29) and is slidably connected to the inner wall of the Z-axis moving frame (3).

6. The library book retrieval robot according to claim 2, characterized in that: A power cylinder (31) is also installed on one side of the lifting platform (20), and the output end of the power cylinder (31) is fixedly connected to the surface of the Z-shaped frame (9).

7. The library book retrieval robot according to claim 1, characterized in that: An ultrasonic sensor (32) and a stepper motor (33) are also installed on the inner side of the L-shaped block (16); the ultrasonic sensor (32) is parallel to the expansion plate (17) and is used to sense the distance between books; and the stepper motor (33) is installed on one side of the expansion plate (17).

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