A book conveying device for robot docking

Abstract

The present application relates to the technical field of transport devices, and specifically discloses a book transport device for robot docking, which includes a first bracket, a second bracket, a third bracket, a belt and a driving mechanism; the second bracket is installed in the first bracket, and the third bracket is installed in the second bracket for horizontal sliding; an electric roller is rotatably connected in the second bracket, a plurality of fixed driven rollers are rotatably connected in the second bracket, and a plurality of movable driven rollers are rotatably connected in the third bracket, and the belt is wound around the circumference of the electric roller, the fixed driven roller and the movable driven roller, and the electric roller is used to drive the belt to rotate; the driving mechanism is installed in the second bracket, and the driving mechanism is used to drive the third bracket to slide along the horizontal direction of the robot. The present application has the effect of reducing the occurrence of books falling during the transportation process.

Description

Technical Field

[0001] The invention relates to the technical field of transport devices, and in particular to a book transport device for robot docking. Background Art

[0002] Currently, in the library robot sorting system, there are two main ways to connect the book return machine and the sorting robot: 1. The top surface of the book return belt of the book return machine is at the same height as the top surface of the robot tray. The robot stops and waits at the end of the book return belt. The book return belt rotates to send the books to the robot's book receiving tray, and the background notifies the robot to leave for the destination; 2. The book return belt is higher than the robot, and the end of the book return belt extends into the robot platform. The robot stops and waits directly below the book return belt. The book return belt rotates as the robot leaves, and the book falls onto the robot tray.

[0003] Regarding the above-mentioned related technologies, in the solution where the book return belt is at the same height as the robot tray, there is a gap between the robot and the end of the book return belt, so books are prone to fall if they are small or thin; in the solution where the robot waits under the belt and the book and the robot start at the same time, it is necessary to adjust the belt rotation speed and the robot forward speed to ensure that the book falls at the center of the robot tray, but different books have different sizes and thicknesses, and there is a probability that the book will be placed in the front or back, resulting in the book falling. Summary of the invention

[0004] In order to reduce the occurrence of books falling during the transportation process, the present application provides a book transportation device for robot docking.

[0005] The book conveying device for robot docking provided in the present application adopts the following technical solution:

[0006] A book conveying device for robot docking comprises a first bracket, a second bracket, a third bracket, a belt and a driving mechanism; the second bracket is installed in the first bracket, and the third bracket is installed in the second bracket for horizontal sliding; an electric roller is rotatably connected in the second bracket, a plurality of fixed driven rollers are rotatably connected in the second bracket, and a plurality of movable driven rollers are rotatably connected in the third bracket, the belt is wound around the circumference of the electric roller, the fixed driven roller and the movable driven roller, and the electric roller is used to drive the belt to rotate; the driving mechanism is installed in the second bracket, and the driving mechanism is used to drive the third bracket to slide along the robot in the horizontal direction.

[0007] Optionally, the second bracket is vertically slidably installed in the first bracket, and a driving member for driving the second bracket to rise and fall is installed in the first bracket; a laser sensor is installed at the end of the third bracket located at the end of the belt, and the laser sensor is used to sense the height of the upper edge of the book on the robot.

[0008] Optionally, the first bracket includes a vertical pole and a mounting plate, and there are four vertical poles, two of which are located on one side of the second bracket, and the other two are located on the other side of the second bracket; the mounting plate is connected between the four vertical poles, and the driving member is installed on the top surface of the mounting plate; the first linear guide rails are installed on the sides of the vertical poles close to the second bracket, and the second bracket is installed on the side of the slider of the first linear guide rail.

[0009] Optionally, the second bracket includes a bottom plate and a top plate, the bottom plate is located below the top plate; the top surfaces of both side edges of the bottom plate close to the first bracket are connected to first side plates, the sides of the first side plates away from each other are connected to inclined plates, and the bottom surface of the top plate is connected to the top surface of the inclined plate; the top surfaces of both side edges of the top plate close to the first bracket are connected to third side plates, and the third side plate is slidably connected to the first bracket; the third bracket is slidably installed between the top plate and the third side plate; the driving mechanism is installed on the bottom surface of the top plate, and the driving member is used to drive the bottom plate to rise and fall.

[0010] Optionally, the top surfaces of the two first side plates at one end away from the tail end of the belt are connected to the fourth side plates, and the bottom surfaces of the two first side plates at one end away from the tail end of the belt are connected to the fifth side plates; the electric roller is rotatably connected between the bottom ends of the two fifth side plates; three fixed driven rollers are provided, namely the first fixed driven roller, the second fixed driven roller and the third fixed driven roller; the first fixed driven roller is rotatably connected between the top ends of the two fourth side plates, the second fixed driven roller is rotatably connected between the ends of the two first side plates close to the electric roller, and the third fixed driven roller is rotatably connected between the ends of the two first side plates away from the electric roller.

[0011] Optionally, the third bracket includes a sliding plate and a movable plate, the sliding plate is arranged above the top plate, two second linear guides are connected to the bottom surface of the sliding plate, and the slider of the second linear guide is connected to the top surface of the top plate close to the tail end of the belt; two movable plates are provided, and the two movable plates are respectively connected to the top surfaces of the sliding plate close to the two sides of the third side plate; the sides of the third side plate close to each other are connected to the third linear guide, and the slider of the third linear guide is connected to the side of the movable plate away from the tail end of the belt; two laser sensors are provided, and the two laser sensors are connected to the bottom surface of one end of the sliding plate close to the tail end of the belt, and the laser sensor is located between the two second linear guides.

[0012] Optionally, a sixth side plate is connected to the bottom surface of one end of the two movable plates away from the tail end of the belt, and the sixth side plate is located between the top plate and the fourth side plate, and a movable opening for movement of the sixth side plate is provided on the side of the top plate close to the sixth side plate; three movable driven rollers are provided, namely a first movable driven roller, a second movable driven roller and a third movable driven roller; the first movable driven roller is rotatably connected between the bottom ends of the two sixth side plates, the second movable driven roller is rotatably connected between the top ends of the two sixth side plates, and the third movable driven roller is rotatably connected between one end of the two movable plates close to the tail end of the belt.

[0013] Optionally, the sides of the two movable plates that are away from each other are connected to support plates, and the support plate is located at the end of the movable plate close to the tail end of the belt. Two guide rods are fixedly connected between the tops of the two support plates, and two slides are sleeved on the two guide rods. The bottom ends of the two slides are connected to push plates, and the push plates are located above the belt; a pushing mechanism for driving the two slides to move closer to or away from each other is installed on the support plate, and the push plate is used to push books for correction.

[0014] Optionally, the pushing mechanism includes a second motor, a bidirectional lead screw, a first synchronous wheel, a second synchronous wheel and a synchronous belt; the second motor is installed on the top surface of one of the support plates, the two ends of the bidirectional lead screw are respectively rotatably connected in the two support plates, the two ends of the bidirectional lead screw respectively pass through the two slides, and the bidirectional lead screw is threadedly transmitted with the slides; the first synchronous wheel is coaxially connected to the output shaft of the second motor, the second synchronous wheel is coaxially connected to one end of the bidirectional lead screw, and the synchronous belt is wound around the first synchronous wheel and the second synchronous wheel.

[0015] Optionally, a first groove and a second groove are provided on the sides of the two push plates close to each other, the first groove is closer to the tail end of the belt than the second groove, and the length of the first groove is shorter than the second groove; a first pressure plate is provided in the first groove, the first pressure plate extends out of the first groove, and the side of the first pressure plate close to the first groove is connected with a first sliding rod, the end of the first sliding rod passes through the push plate and is connected to a first limiting plate, a first pressure sensor is installed in the first groove, and a first elastic folding plate is installed on the side of the first pressure plate close to the first sliding rod; a second pressure plate is provided in the second groove, the second pressure plate extends out of the second groove, and the side of the second pressure plate close to the second groove is connected with a second sliding rod, the end of the second sliding rod passes through the push plate and is connected to the second limiting plate, the second pressure sensor is installed in the second groove, and a second elastic folding plate is installed on the side of the second pressure plate close to the second sliding rod.

[0016] In summary, the present application includes at least one of the following beneficial technical effects:

[0017] 1. The electric roller drives the belt to rotate. The retractable belt is used. When the book reaches the end of the belt, the drive mechanism drives the third bracket to move horizontally, so that the belt is first extended as a whole to the top of the sorting robot; the belt rotation speed is set to be the same as the horizontal retraction speed, and the electric roller and the drive mechanism are started. At this time, the belt is retracted, and the book will remain relatively still in the horizontal direction. After the belt is fully retracted, the book will fall onto the robot tray; this can keep the position of the book fixed every time and prevent the book from falling;

[0018] 2. A high-precision laser sensor is installed at the end of the belt to sense the height of the books on the tray of the sorting robot. By transmitting the height signal to the terminal, the terminal controls the driver to drive the second bracket to rise, raising the belt height to an extendable position; if the subsequent books are of the same category, they will continue to be transmitted to the same robot, which can double the sorting efficiency;

[0019] 3. When the books placed on the belt are tilted, the pushing mechanism drives the two slides to approach each other, the two slides slide on the guide rods and drive the push plates to approach each other, the two push plates push the books, the push plates move the books, and the sides of the books gradually become parallel to the push plates, so that the books are vertically arranged along the length of the belt, making it more stable for the books to fall onto the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the conveying device of an embodiment of the present application;

[0021] Figure 2 is a schematic structural diagram of the conveying device of an embodiment of the present application from another perspective;

[0022] Figure 3 is a schematic cross-sectional structure diagram of a conveying device according to an embodiment of the present application;

[0023] Figure 4 It is a schematic diagram of the structure of the conveying device of the embodiment of the present application conveying books to the tail end;

[0024] Figure 5 is a schematic diagram of the structure of a conveying device in an embodiment of the present application conveying books to a robot;

[0025] Figure 6 It is a partial structural schematic diagram of the conveying device of an embodiment of the present application;

[0026] Figure 7 It is a structural schematic diagram of a push plate according to an embodiment of the present application;

[0027] Figure 8 It is a schematic structural diagram of the push plate from another perspective of the embodiment of the present application.

[0028] Description of reference numerals:

[0029] 01. Books; 1. First bracket; 11. Vertical pole; 111. First linear guide rail; 12. Mounting plate; 13. Driving member; 14. Laser sensor; 2. Second bracket; 21. Bottom plate; 211. First side plate; 212. Inclined plate; 213. Second side plate; 214. Fourth side plate; 215. Fifth side plate; 216. First fixed driven roller; 217. Second fixed driven roller; 218. Third fixed driven roller; 22. Top plate; 221. Third side plate; 222. Movable opening; 3. Third bracket; 31. Sliding plate; 311. Second linear guide rail; 32. Moving plate; 321. Third linear guide rail; 322. Sixth side plate; 323. First movable driven roller; 324. Second movable driven roller; 325 , the third movable driven roller; 4, belt; 5, driving mechanism; 51, the first motor; 52, gear; 53, rack; 6, electric roller; 7, support plate; 71, guide rod; 72, slide plate; 73, push plate; 731, the first groove; 732, the first pressure plate; 733, the first slide bar; 734, the first limit plate; 735, the first pressure sensor; 736, the first elastic folding plate; 737, the second groove; 738, the second pressure plate; 739, the second slide bar; 7310, the second limit plate; 7311, the second pressure sensor; 7312, the second elastic folding plate; 8, pushing mechanism; 81, the second motor; 82, the bidirectional screw; 83, the first synchronous wheel; 84, the second synchronous wheel; 85, synchronous belt; 9, robot. DETAILED DESCRIPTION

[0030] The following is combined with Figure 1-8 This application is described in further detail.

[0031] The present application embodiment discloses a book conveying device for robot docking. Figure 1-8 The conveying device includes a first bracket 1, a second bracket 2, a third bracket 3, a belt 4 and a driving mechanism 5; the first bracket 1 is installed on the ground, the second bracket 2 is installed in the first bracket 1, and the third bracket 3 is installed in the second bracket 2 for horizontal sliding; an electric roller 6 is rotatably connected in the second bracket 2, a plurality of fixed driven rollers are rotatably connected in the second bracket 2, and a plurality of movable driven rollers are rotatably connected in the third bracket 3, the belt 4 is wound around the circumference of the electric roller 6, the fixed driven roller and the movable driven roller, and the electric roller 6 is used to drive the belt 4 to rotate; the driving mechanism 5 is installed in the second bracket 2, and the driving mechanism 5 is used to drive the third bracket 3 to slide along the horizontal direction of the robot 9.

[0032] The electric roller 6 drives the belt 4 to rotate. The retractable belt 4 is used. When the book 01 reaches the end of the belt 4, the driving mechanism 5 drives the third bracket 3 to move horizontally, so that the belt 4 is first extended as a whole to just above the sorting robot 9; the belt 4 rotation speed is set to be the same as the horizontal retraction speed, and the electric roller 6 and the driving mechanism 5 are started. At this time, the belt 4 is retracted, and the book 01 will remain relatively still in the horizontal direction. After the belt 4 is fully retracted, the book 01 falls on the robot 9 tray; in this way, the position of the book 01 can be kept fixed each time to prevent the book from falling.

[0033] The second bracket 2 is vertically slidably installed in the first bracket 1, and a driving member 13 for driving the second bracket 2 to rise and fall is installed in the first bracket 1; a high-precision laser sensor 14 is installed at the end of the third bracket 3 located at the end of the belt 4, and the laser sensor 14 is used to sense the height of the upper edge of the book 01 on the robot 9.

[0034] A high-precision laser sensor 14 is provided at the end of the belt 4, which can sense the height of the books 01 on the tray of the sorting robot 9. By transmitting the height signal to the terminal, the terminal controls the driving component 13 to drive the second bracket 2 to rise, thereby raising the height of the belt 4 to an extendable position; if the subsequent books 01 are of the same category, they will continue to be transmitted to the same robot 9, thereby doubling the sorting efficiency.

[0035] The first bracket 1 includes a vertical rod 11 and a mounting plate 12. There are four vertical rods 11, two of which are located on one side of the second bracket 2, and the other two are located on the other side of the second bracket 2; the mounting plate 12 is connected between the four vertical rods 11, and the driving member 13 is installed on the top surface of the mounting plate 12; the side of the vertical rod 11 close to the second bracket 2 is installed with a first linear guide rail 111, and the second bracket 2 is installed on the side of the slider of the first linear guide rail 111.

[0036] The driving member 13 is an electric push rod, which is mounted on the top surface of the mounting plate 12 , and a piston rod of the electric push rod is connected to the bottom surface of the second bracket 2 .

[0037] When the second bracket 2 needs to be driven to rise or fall, the piston rod of the electric push rod is controlled to extend or retract, and the piston rod drives the second bracket 2 to slide up and down along the first linear guide rail 111 .

[0038] The second bracket 2 includes a bottom plate 21 and a top plate 22, the bottom plate 21 is located below the top plate 22, and the piston rod of the electric push rod is connected to the bottom surface of the bottom plate 21; the top surfaces of both side edges of the bottom plate 21 close to the vertical pole 11 are connected to the first side plates 211, and the sides of the first side plate 211 away from each other are connected to two inclined plates 212, and the second side plate 213 is connected between the two inclined plates 212 on the same side, and the bottom surface of the top plate 22 is connected to the four inclined plates 212 and the top surface of the second side plate 213; the top surfaces of both side edges of the top plate 22 close to the vertical pole 11 are connected to the third side plates 221, and the second side plates 213 and the third side plates 221 are connected to the side surfaces of the slider of the first linear guide rail 111; the third bracket 3 is slidably installed between the top plate 22 and the third side plate 221; the driving mechanism 5 is installed on the bottom surface of the top plate 22.

[0039] The top surfaces of the two first side plates 211 at one end away from the tail end of the belt 4 are connected to the fourth side plates 214, and the bottom surfaces of the two first side plates 211 at one end away from the tail end of the belt 4 are connected to the fifth side plates 215; the electric roller 6 is rotatably connected between the bottom ends of the two fifth side plates 215; there are three fixed driven rollers, namely the first fixed driven roller 216, the second fixed driven roller 217 and the third fixed driven roller 218; the first fixed driven roller 216 is rotatably connected between the top ends of the two fourth side plates 214, the second fixed driven roller 217 is rotatably connected between the ends of the two first side plates 211 close to the electric roller 6, and the third fixed driven roller 218 is rotatably connected between the ends of the two first side plates 211 away from the electric roller 6.

[0040] The third bracket 3 includes a sliding plate 31 and a moving plate 32. The sliding plate 31 is arranged above the top plate 22. Two second linear guide rails 311 are connected to the bottom surface of the sliding plate 31. The slider of the second linear guide rail 311 is connected to the top surface of the top plate 22 near the tail end of the belt 4; two moving plates 32 are provided. The two moving plates 32 are respectively connected to the top surfaces of the sliding plate 31 near the two sides of the third side plate 221. The top surface of the moving plate 32 is flush with the top surface of the fourth side plate 214; the sides of the third side plate 221 close to each other are connected to the third linear guide rail 321, and the slider of the third linear guide rail 321 is connected to the side of the moving plate 32 away from the tail end of the belt 4; two laser sensors 14 are provided. The two laser sensors 14 are connected to the bottom surface of one end of the sliding plate 31 near the tail end of the belt 4, and the laser sensor 14 is located between the two second linear guide rails 311.

[0041] The bottom surface of one end of the two movable plates 32 away from the tail end of the belt 4 is connected with the sixth side plate 322, and the sixth side plate 322 is located between the top plate 22 and the fourth side plate 214. The side of the top plate 22 close to the sixth side plate 322 is provided with a movable opening 222 for the sixth side plate 322 to move; three movable driven rollers are provided, namely the first movable driven roller 323, the second movable driven roller 324 and the third movable driven roller 325; the first movable driven roller 323 is rotatably connected between the bottom ends of the two sixth side plates 322, the second movable driven roller 324 is rotatably connected between the top ends of the two sixth side plates 322, and the third movable driven roller 325 is rotatably connected between the ends of the two movable plates 32 close to the tail end of the belt 4.

[0042] The belt 4 is sequentially wound over the first fixed driven roller 216 , wound under the electric roller 6 , wound over the second fixed driven roller 217 , wound under the third fixed driven roller 218 , wound under the first movable driven roller 323 , wound over the second movable driven roller 324 , wound under the third movable driven roller 325 , and finally wound over the first fixed driven roller 216 .

[0043] When the second bracket 2 slides in the third bracket 3, the sliding plate 31 slides on the top surface of the top plate 22 through the second linear guide 311, and the movable plate 32 slides on the third side plate 221 through the third linear guide 321. The movable plate 32 drives the sixth side plate 322 to move into the movable opening 222. The movable plate 32 and the sixth side plate 322 drive the three movable driven rollers to move together. The first movable driven roller 323 moves to the top of the robot 9, so that the belt 4 between the third movable driven roller 325 and the first fixed driven roller 216 is extended.

[0044] The driving mechanism 5 includes a first motor 51, a gear 52 and a rack 53. The first motor 51 is installed on the bottom surface of the top plate 22 near the tail end of the belt 4. The gear 52 is coaxially connected to the output shaft of the first motor 51. The gear 52 partially passes through the top plate 22. The rack 53 is connected to the bottom surface of the sliding plate 31. The rack 53 is arranged along the length direction of the belt 4, and the rack 53 is meshed with the gear 52.

[0045] When the third bracket 3 needs to be driven to slide, the first motor 51 drives the gear 52 to rotate, the gear 52 drives the rack 53 to move, the rack 53 drives the sliding plate 31 to move, and the sliding plate 31 can drive the entire third bracket 3 to slide.

[0046] The sides of the two movable plates 32 that are away from each other are connected to support plates 7, and the support plate 7 is located at the end of the movable plate 32 close to the tail end of the belt 4. Two guide rods 71 ​​are fixedly connected between the tops of the two support plates 7. Two slide plates 72 are sleeved on the two guide rods 71. The bottom ends of the two slide plates 72 are connected to push plates 73, and the push plates 73 are located above the belt 4; a pushing mechanism 8 for driving the two slide plates 72 to move closer to or away from each other is installed on the support plate 7, and the push plate 73 is used to push the book 01 for correction.

[0047] When the book 01 placed on the belt 4 tilts, the pushing mechanism 8 drives the two slides 72 to approach each other, the two slides 72 slide on the guide rod 71 and drive the push plates 73 to approach each other, the two push plates 73 push the book 01, and the push plates 73 move the book 01, and the sides of the book 01 gradually become parallel to the push plates 73, so that the book 01 is vertically arranged along the length direction of the belt 4, so that the book 01 falls onto the robot 9 more stably.

[0048] The pushing mechanism 8 includes a second motor 81, a bidirectional lead screw 82, a first synchronous wheel 83, a second synchronous wheel 84 and a synchronous belt 85; the second motor 81 is installed on the top surface of one of the support plates 7, the two ends of the bidirectional lead screw 82 are respectively rotatably connected in the two support plates 7, the two ends of the bidirectional lead screw 82 respectively pass through the two slides 72, and the bidirectional lead screw 82 and the slides 72 are threadedly transmitted; the first synchronous wheel 83 is coaxially connected to the output shaft of the second motor 81, the second synchronous wheel 84 is coaxially connected to one end of the bidirectional lead screw 82, and the synchronous belt 85 is wound around the first synchronous wheel 83 and the second synchronous wheel 84.

[0049] When it is necessary to drive the two slides 72 to move, the second motor 81 drives the first synchronous wheel 83 to rotate, the first synchronous wheel 83 drives the second synchronous wheel 84 to rotate through the synchronous belt 85, the second synchronous wheel 84 drives the bidirectional screw 82 to rotate, and the bidirectional screw 82 can drive the two slides 72 to move.

[0050] The sides of the two push plates 73 close to each other are both provided with a first groove 731 and a second groove 737. The first groove 731 is closer to the tail end of the belt 4 than the second groove 737, and the length of the first groove 731 is shorter than the second groove 737. A first pressing plate 732 is provided in the first groove 731, and the first pressing plate 732 extends out of the first groove 731. A first sliding rod 733 is connected to the side of the first pressing plate 732 close to the first groove 731. The end of the first sliding rod 733 passes through the push plate 73 and is connected to the first limiting plate 734. Two first pressure sensors 735 are installed in the first groove 731. The two first pressure sensors 735 are located on both sides of the first sliding rod 733. Two first elastic Folding plate 736, two first elastic folding plates 736 are located on both sides of the first pressure sensor 735; a second pressure plate 738 is arranged in the second groove 737, the second pressure plate 738 extends out of the second groove 737, and the second pressure plate 738 is connected to the second slide bar 739 on the side close to the second groove 737, the end of the second slide bar 739 passes through the push plate 73 and is connected to the second limit plate 7310, two second pressure sensors 7311 are installed in the second groove 737, the two second pressure sensors 7311 are located on both sides of the second slide bar 739, and two second elastic folding plates 7312 are installed on the side of the second pressure plate 738 close to the second slide bar 739, and the two second elastic folding plates 7312 are located on both sides of the second pressure sensor 7311.

[0051] When the push plates 73 correct the tilted book 01, the first pressure plate 732 in one of the push plates 73 contacts the corner of one side of the book 01, and the second pressure plate 738 in the other push plate 73 contacts the corner of the other side of the book 01. The first pressure plate 732 applies pressure to the first pressure sensor 735, and the second pressure plate 738 applies pressure to the second pressure sensor 7311. At this time, only one pressure sensor in each of the push plates 73 detects pressure. When the book 01 is gradually corrected, the two sides of the book 01 respectively squeeze the first pressure plate 732 and the second pressure plate 738 that are close to each other. Both the pressure sensor 735 and the second pressure sensor 7311 detect pressure, and the book 01 is corrected at this time, and then the two push plates 73 are driven away from each other; when the book 01 presses the first pressure plate 732 and the second pressure plate 738, the first pressure plate 732 presses the first elastic folding plate 736 and the second elastic folding plate 7312, and when the pressure of the book 01 on the first pressure plate 732 and the second pressure plate 738 is released, the first elastic folding plate 736 and the second elastic folding plate 7312 push away from the first pressure plate 732 and the second pressure plate 738, and the pressure on the first pressure sensor 735 and the second pressure sensor 7311 is released.

[0052] The implementation principle of the book conveying device for docking with the robot 9 in an embodiment of the present application is as follows: the electric roller 6 drives the belt 4 to rotate, and a retractable belt 4 is used. When the book 01 reaches the end of the belt 4, the driving mechanism 5 drives the third bracket 3 to move horizontally, so that the belt 4 is first extended as a whole to just above the sorting robot 9; the belt 4 rotation speed is set to be the same as the horizontal retraction speed, the electric roller 6 and the driving mechanism 5 are started, and the belt 4 is retracted at this time, and the book 01 will remain relatively still in the horizontal direction. After the belt 4 is fully retracted, the book 01 falls on the tray of the robot 9; in this way, the position of the book 01 can be kept fixed each time, and the book falling can be prevented.

[0053] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A book conveying device for robot docking, characterized in that: The robot comprises a first bracket (1), a second bracket (2), a third bracket (3), a belt (4) and a driving mechanism (5); the second bracket (2) is installed in the first bracket (1), and the third bracket (3) is installed in the second bracket (2) in a horizontally slidable manner; an electric roller (6) is rotatably connected in the second bracket (2), a plurality of fixed driven rollers are rotatably connected in the second bracket (2), and a plurality of movable driven rollers are rotatably connected in the third bracket (3); the belt (4) is wound around the circumference of the electric roller (6), the fixed driven roller and the movable driven roller, and the electric roller (6) is used to drive the belt (4) to rotate; the driving mechanism (5) is installed in the second bracket (2), and the driving mechanism (5) is used to drive the third bracket (3) to slide along the horizontal direction of the robot (9); The second bracket (2) is vertically slidably installed in the first bracket (1), and a driving member (13) for driving the second bracket (2) to rise and fall is installed in the first bracket (1); a laser sensor (14) is installed at the end of the third bracket (3) located at the end of the belt (4), and the laser sensor (14) is used to sense the height of the upper edge of the book (01) on the robot (9); The second bracket (2) comprises a bottom plate (21) and a top plate (22), wherein the bottom plate (21) is located below the top plate (22); the top surfaces of both sides of the bottom plate (21) close to the first bracket (1) are connected to first side plates (211), and the sides of the first side plates (211) away from each other are connected to inclined plates (212), and the bottom surface of the top plate (22) is connected to the top surface of the inclined plates (212); the top surfaces of both sides of the top plate (22) close to the first bracket (1) are connected to third side plates (221), and the third side plates (221) are slidably connected to the first bracket (1); the third bracket (3) is slidably installed between the top plate (22) and the third side plate (221); the driving mechanism (5) is installed on the bottom surface of the top plate (22), and the driving member (13) is used to drive the bottom plate (21) to rise and fall; The third bracket (3) comprises a sliding plate (31) and a moving plate (32), wherein the sliding plate (31) is arranged above the top plate (22), and the bottom surface of the sliding plate (31) is connected to two second linear guide rails (311), and the sliders of the second linear guide rails (311) are connected to the top surface of the top plate (22) near the tail end of the belt (4); two moving plates (32) are arranged, and the two moving plates (32) are respectively connected to the sliding plate (31) near the third side plate (221). The top surfaces on both sides; the sides of the third side plate (221) close to each other are connected to the third linear guide rail (321), and the slider of the third linear guide rail (321) is connected to the side of the movable plate (32) away from the tail end of the belt (4); two laser sensors (14) are provided, and the two laser sensors (14) are connected to the bottom surface of one end of the sliding plate (31) close to the tail end of the belt (4), and the laser sensor (14) is located between the two second linear guide rails (311).

2. A book transport device for robot docking according to claim 1, characterized in that: The first bracket (1) comprises a vertical rod (11) and a mounting plate (12); four vertical rods (11) are provided, two of which are located on one side of the second bracket (2), and the other two vertical rods (11) are located on the other side of the second bracket (2); the mounting plate (12) is connected between the four vertical rods (11), and the driving member (13) is mounted on the top surface of the mounting plate (12); the side surfaces of the vertical rods (11) close to the second bracket (2) are all mounted with first linear guide rails (111), and the second bracket (2) is mounted on the side surface of the slider of the first linear guide rail (111).

3. The book transport device for robot docking according to claim 1, characterized in that: The top surfaces of the two first side plates (211) at one end away from the tail end of the belt (4) are connected to the fourth side plate (214), and the bottom surfaces of the two first side plates (211) at one end away from the tail end of the belt (4) are connected to the fifth side plate (215); the electric roller (6) is rotatably connected between the bottom ends of the two fifth side plates (215); three fixed driven rollers are provided, namely, a first fixed driven roller (216), a second fixed driven roller (217) and a third fixed driven roller (218); the first fixed driven roller (216) is rotatably connected between the top ends of the two fourth side plates (214), the second fixed driven roller (217) is rotatably connected between the ends of the two first side plates (211) close to the electric roller (6), and the third fixed driven roller (218) is rotatably connected between the ends of the two first side plates (211) away from the electric roller (6).

4. The book transport device for robot docking according to claim 3, characterized in that: A sixth side plate (322) is connected to the bottom surface of one end of the two movable plates (32) away from the tail end of the belt (4); the sixth side plate (322) is located between the top plate (22) and the fourth side plate (214); a movable opening (222) for the sixth side plate (322) to move is provided on the side of the top plate (22) close to the sixth side plate (322); three movable driven rollers are provided, namely a first movable driven roller (323), a second movable driven roller (324) and a third movable driven roller (325); the first movable driven roller (323) is rotatably connected between the bottom ends of the two sixth side plates (322); the second movable driven roller (324) is rotatably connected between the top ends of the two sixth side plates (322); and the third movable driven roller (325) is rotatably connected between one end of the two movable plates (32) close to the tail end of the belt (4).

5. The book transport device for robot docking according to claim 1, characterized in that: The sides of the two movable plates (32) that are away from each other are both connected with a support plate (7), and the support plate (7) is located at one end of the movable plate (32) close to the tail end of the belt (4). Two guide rods (71) are fixedly connected between the tops of the two support plates (7), and two slide plates (72) are sleeved on the two guide rods (71). The bottom ends of the two slide plates (72) are connected with a push plate (73), and the push plate (73) is located above the belt (4); a pushing mechanism (8) for driving the two slide plates (72) to move closer to or away from each other is installed on the support plate (7), and the push plate (73) is used to push the book (01) for correction.

6. The book transport device for robot docking according to claim 5, characterized in that: The pushing mechanism (8) comprises a second motor (81), a bidirectional lead screw (82), a first synchronous wheel (83), a second synchronous wheel (84) and a synchronous belt (85); the second motor (81) is mounted on the top surface of one of the support plates (7); the two ends of the bidirectional lead screw (82) are respectively rotatably connected to the two support plates (7); the two ends of the bidirectional lead screw (82) respectively pass through the two slide plates (72); the bidirectional lead screw (82) and the slide plates (72) are threadedly driven; the first synchronous wheel (83) is coaxially connected to the output shaft of the second motor (81); the second synchronous wheel (84) is coaxially connected to one end of the bidirectional lead screw (82); and the synchronous belt (85) is wound around the first synchronous wheel (83) and the second synchronous wheel (84).

7. The book transport device for robot docking according to claim 5, characterized in that: The sides of the two push plates (73) close to each other are both provided with a first groove (731) and a second groove (737), the first groove (731) is closer to the tail end of the belt (4) than the second groove (737), and the length of the first groove (731) is shorter than that of the second groove (737); a first pressing plate (732) is provided in the first groove (731), the first pressing plate (732) extends out of the first groove (731), and the side of the first pressing plate (732) close to the first groove (731) is connected with a first sliding rod (733), the end of the first sliding rod (733) passes through the push plate (73) and is connected with a first limiting plate (734), and a first pressure sensor is installed in the first groove (731). The device (735) is provided with a first elastic folding plate (736) on the side of the first pressure plate (732) close to the first slide bar (733); a second pressure plate (738) is provided in the second groove (737), the second pressure plate (738) extends out of the second groove (737), the second pressure plate (738) is connected to the side of the second groove (737) close to the second slide bar (739), the end of the second slide bar (739) passes through the push plate (73) and is connected to the second limit plate (7310), a second pressure sensor (7311) is installed in the second groove (737), and a second elastic folding plate (7312) is installed on the side of the second pressure plate (738) close to the second slide bar (739).

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