Intelligent manipulator for grabbing books

Abstract

The invention relates to the technical field of mechanical arms for grabbing books, in particular to an intelligent mechanical arm for grabbing books, which comprises an adapting assembly for supporting books adjacent to the two sides of a target book, the adapting assembly comprises two groups of screw rods, and the surfaces of the two groups of screw rods are in meshed connection with moving blocks; and one ends of the two sets of moving blocks are fixedly connected with moving plates, driving rods are inserted into the two sets of lead screws, and one ends of the driving rods are coaxially connected with an output shaft of a driving motor. Through cooperative use of all parts, when a target book is grabbed, adjacent books on the two sides of the target book can be supported, meanwhile, the target book can be supported and clamped, and it is guaranteed that the target book is stable in the grabbing process.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators for grabbing books, in particular to an intelligent manipulator for grabbing books. Background Art

[0002] The book grabbing robot is an intelligent automation device that uses a multi-joint robot arm with an adaptive gripper or vacuum suction cup as the end effector, combined with visual recognition, force sensing and path planning algorithms to achieve accurate positioning, safe grabbing and efficient handling of books. It uses a camera or laser radar to scan the bookshelf, identify the position and posture of the target book, and then the control system optimizes the motion trajectory and adjusts the gripping force to avoid damaging the book. It can be widely used in library self-service borrowing and returning, book sorting and other scenarios.

[0003] However, when the existing robot arm is in use and faces closely arranged books on the bookshelf to grab books, due to the friction between the target book and the adjacent books on both sides, when grabbing the target book, the friction will cause the adjacent books on both sides of the target book to move synchronously, causing displacement or even overall tilt, which not only destroys the original neat order of the bookshelf, but also may cause the risk of collapse due to the change in the stacking state of the books. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent manipulator for grabbing books, so as to solve the problem that when the manipulator in the prior art grabs books closely arranged on a bookshelf, the friction between the target book and the books on both sides often causes non-target books to be moved, destroying the order of the bookshelf and possibly causing it to collapse.

[0005] To achieve the above object, the present invention provides the following technical solution: an intelligent manipulator for grabbing books, comprising a hollow shell, two sets of symmetrically arranged guide grooves are opened through the right side of the hollow shell, a mechanical arm is fixedly installed on the left side of the hollow shell, and further comprising: a driving motor is fixedly installed at the front end of the hollow shell, and a containing box is fixedly connected to the upper end of the hollow shell through a vertical rod; It also includes an adaptation component that can support adjacent books on both sides of the target book, and the adaptation component includes two groups of screw rods, the surfaces of the two groups of screw rods are meshingly connected with moving blocks, one end of the two groups of moving blocks is fixedly connected with a moving plate, and a driving rod is inserted into the interior of the two groups of screw rods, and one end of the driving rod is coaxially connected to the output shaft of the driving motor.

[0006] Furthermore, the two groups of screw rods are symmetrically arranged inside the hollow shell, and the ends of the two groups of screw rods that are far away from each other are fixedly connected to the inner wall of the hollow shell, and the threads on the surfaces of the two groups of screw rods are opened in opposite directions.

[0007] Further, one end of each of the two groups of moving blocks penetrates through the inside of the guide groove and extends to the outside, and the moving blocks are slidably engaged with the guide groove.

[0008] Further, both of the two groups of moving plates are in an L-shaped structure, and strip-shaped grooves and grooves are symmetrically formed on the opposite surfaces of the two groups of moving plates. Clamping plates are fixedly installed inside the two groups of grooves through electric telescopic rods, and anti-slip strips are inclinedly installed on the opposite surfaces of the two groups of clamping plates.

[0009] Further, three groups of electromagnets are equidistantly arranged on the surface of the driving rod, and the electromagnets are electrically connected to an external power supply through a controller. The front and rear groups of the three groups of electromagnets are respectively arranged inside the two groups of lead screws, and the electromagnet located in the middle is arranged inside the cam.

[0010] Further, it further includes a support assembly for grasping the target book. The support assembly includes a support plate arranged between the two groups of moving plates, and the support plate is inclined. Moving strips are telescopically connected to both sides of the support plate. A round rod is fixedly installed on one side of the support plate close to the hollow shell, and the end of the round rod is inserted into the inside of the hollow shell. A driven block is fixedly connected to the end of the round rod, and the driven block is elastically connected to the inner wall of the hollow shell through a connecting spring. A cam is arranged on one side of the driven block. A through groove is formed through the surface of the cam. Winding rollers are fixedly installed on both sides of the cam, and the mutually remote ends of the two winding rollers are rotationally connected to the inner wall of the hollow shell through mounting plates. Winding belts are fixedly connected to the surfaces of the two winding rollers, and one end of each winding belt penetrates through the inside of the receiving box and extends to the outside. Multiple groups of teeth are equidistantly arranged on the surfaces of the two winding belts. Gears are meshed with the surfaces of the two groups of teeth. A round roller is fixedly connected between the two gears. A flexible plate is fixedly connected to the surface of the round roller.

[0011] Further, the mutually remote ends of the two groups of moving strips are slidably engaged with the inner walls of the strip-shaped grooves through sliders, and the sliders are clamped inside the strip-shaped grooves.

[0012] Further, the cam is sleeved on the surface of the driving rod, and the through groove and the driven block are in sliding extrusion fit.

[0013] Further, the mutually remote ends of the two groups of gears are rotationally connected to the inner wall of the receiving box. One end of the flexible plate penetrates through the inside of the receiving box, and both sides of the flexible plate are fixedly connected to the ends of the winding belts.

[0014] The technical solution provided by the present invention has the following beneficial effects compared with the known prior art: 1. The present invention, through the cooperation of components such as the lead screw, moving block, and driving rod, when clamping the target book, drives the driving rod to rotate through the driving motor, and controls the energization of two sets of electromagnets distributed before and after on the surface of the driving rod, so that the electromagnets can be attracted to the inner wall of the lead screw, and then the two lead screws start to rotate. The rotating lead screw drives the moving plate fixedly connected to one end of the moving block engaged on its surface to move, adjusting the distance between the two moving plates to adapt to the thickness of different target books, and can also support the books adjacent to both sides of the target book, ensuring that the target book will not drive the adjacent books on both sides to move during the grasping process, and ensuring that the remaining books are neatly arranged.

[0015] 2. The present invention, through the cooperation of components such as the support plate, through groove, and round roller, after the position of the moving plate is adjusted, the controller energizes the electromagnet in the middle position to attract it to the inner wall of the cam, and at the same time cuts off the power supply of the two sets of electromagnets arranged front and back, so that the driving motor drives the cam to rotate through the driving rod. The rotating cam drives the winding roller to wind the winding belt. The teeth provided on the surface of the winding belt drive the meshing gears to rotate synchronously, so that the round roller rotates synchronously and starts to wind the flexible plate, and the movement of the flexible plate drives the target book to tilt. While the cam rotates, it pushes the round rod fixedly connected to one side of the driven block to move outward through the through groove, and drives the support plate to move synchronously to support the tilted target book. When the support plate contacts the target book, the moving strips on both sides of the support plate will move to the end of the strip groove and trigger the action of the clamping plate to clamp the target book, ensuring the stability during the clamping process of the target book. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall structure of the adaptation component of the present invention; Figure 3 It is a schematic diagram of the overall structure of the moving plate of the present invention; Figure 4 It is a schematic diagram of the structural cooperation between the adaptation component and the support component of the present invention; Figure 5 It is Figure 4 The enlarged schematic diagram of the structure at A in Figure 6Schematic diagram of the separation of the driving rod, cam and winding roller structure of the present invention; Figure 7 Schematic diagram of the internal structure of the accommodation box of the present invention; Figure 8 For Figure 7 Enlarged schematic diagram of the structure at position B in

[0018] In the figure: 1, hollow shell; 101, guide groove; 2, robotic arm; 3, driving motor; 4, accommodation box; 5, adaptation component; 501, lead screw; 502, moving block; 503, moving plate; 5031, strip groove; 5032, groove; 5033, clamping plate; 504, driving rod; 5041, electromagnet; 6, support component; 601, support plate; 602, moving strip; 603, round rod; 604, driven block; 605, cam; 606, through groove; 607, winding roller; 608, winding belt; 609, teeth; 610, gear; 611, round roller; 612, flexible plate. Detailed implementation manners

[0019] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] The following further describes the present invention with reference to the embodiments.

[0021] Embodiment: An intelligent robotic arm for grasping books, as Figures 1-8 shown, includes a hollow shell 1. Two groups of symmetrically arranged guide grooves 101 are penetrated and opened on the right side of the hollow shell 1. By providing the guide grooves 101, the functions of guiding and limiting can be achieved; a robotic arm 2 is fixedly installed on the left side of the hollow shell 1. The robotic arm 2 is a prior art and is used to control the overall height and position of the hollow shell 1 to facilitate the grasping of books. It further includes that a driving motor 3 is fixedly installed at the front end of the hollow shell 1. By providing the driving motor 3, a power source can be provided for the grasping of the target book; the upper end of the hollow shell 1 is fixedly connected to an accommodation box 4 through a vertical rod. The inside of the accommodation box 4 is a hollow structure and can play a role in storage; it is worth noting that the vertical rod at the lower end of the accommodation box 4 is a telescopic structure to facilitate adjusting the distance between the accommodation box 4 and the hollow shell 1 to adapt to books of different heights.

[0022] Combined with the attached Figure 1 - attached Figure 8, it further includes an adaptation component 5 capable of supporting the books adjacent to both sides of the target book, which can adapt to the thickness of different target books and ensure that the target book will not drive the adjacent books on both sides to move during the grasping process, thus ensuring the neat and orderly arrangement of the bookshelf; the adaptation component 5 includes two sets of lead screws 501, which are symmetrically arranged inside the hollow shell 1, and the two ends of the two sets of lead screws 501 away from each other are fixedly connected to the inner wall of the hollow shell 1, and the thread directions on the surfaces of the two sets of lead screws 501 are opposite. By setting the lead screws 501, the purpose of driving the components to move can be achieved; Among them, moving blocks 502 are engaged with the surfaces of the two sets of lead screws 501. One end of each of the two sets of moving blocks 502 passes through the inside of the guide groove 101 and extends to the outside, and the moving block 502 is slidably matched with the guide groove 101. By setting the moving block 502, relative movement or separation from each other can be carried out under the rotation of the lead screw 501; one end of each of the two sets of moving blocks 502 is fixedly connected to a moving plate 503, and the two sets of moving plates 503 are both of L-shaped structures. By setting the moving plate 503, it can follow the moving block 502 to move synchronously, so that the distance between the two sets of moving plates 503 can meet the thickness of the target book.

[0023] Among them, strip-shaped grooves 5031 and grooves 5032 are symmetrically formed on the opposite surfaces of the two sets of moving plates 503. By setting the strip-shaped grooves 5031, the functions of guiding and limiting can be achieved; the grooves 5032 can play a role in receiving; clamping plates 5033 are fixedly installed in the two sets of grooves 5032 through electric telescopic rods. By setting the clamping plates 5033, the target book can be clamped and fixed; it should be noted that the clamping plate 5033 is electrically connected to a trigger button, which is fixedly installed at one end of the strip-shaped groove 5031 away from the hollow shell 1 and is not shown in the figure due to the perspective; anti-slip strips are obliquely installed on the opposite surfaces of the two sets of clamping plates 5033. By setting the anti-slip strips, the stability of the target book during the grasping process can be ensured and it will not fall off; Among them, a driving rod 504 is inserted inside the two sets of lead screws 501, and one end of the driving rod 504 is coaxially connected to the output shaft of the driving motor 3. By setting the driving rod 504, it can rotate synchronously with the output shaft of the driving motor 3, achieving the purpose of kinetic energy transfer; three groups of electromagnets 5041 are equidistantly arranged on the surface of the driving rod 504, and the electromagnets 5041 are electrically connected to an external power supply through a controller. The front and rear two groups of the three groups of electromagnets 5041 are respectively arranged inside the two sets of lead screws 501, and the electromagnet 5041 in the middle is arranged inside the cam 605. By setting the electromagnets 5041, it can control its attraction to the inner walls of the lead screws 501 and the cam 605 through its power on and off; it is worth noting that when the front and rear two groups of electromagnets 5041 are energized and attracted to the inner walls of the two sets of lead screws 501, the electromagnet 5041 in the middle is de-energized. At this time, the rotation of the driving rod 504 will only drive the lead screws 501 to rotate.

[0024] Combined with the attached Figure 1 - attached Figure 8 It also includes a support assembly 6 for grasping the target book, so that the target book can be supported during grasping, ensuring stability during the grasping process of the target book; it includes a support plate 601 arranged between the two moving plates 503, and the support plate 601 is inclined. By setting the inclined support plate 601, it is convenient to better contact the target book to form a support; both sides of the support plate 601 are telescopically connected with moving strips 602. One end of the two moving strips 602 away from each other is slidably matched with the inner wall of the strip-shaped groove 5031 through a slider, and the slider is clamped inside the strip-shaped groove 5031. By setting the moving strips 602, they can move synchronously with the support plate 601, and at the same time, they can also slide inside the strip-shaped groove 5031 and press the trigger button to make the clamping plate 50323 move. Among them, a round rod 603 is fixedly installed on one side of the support plate 601 close to the hollow shell 1, and the end of the round rod 603 is inserted inside the hollow shell 1. The end of the round rod 603 is fixedly connected with a driven block 604, and the driven block 604 is elastically connected to the inner wall of the hollow shell 1 through a connecting spring. By setting the round rod 603 and the driven block 604, the movement of the driven block 604 can drive the round rod 603 to move synchronously, so that the support plate 601 moves synchronously; it is worth noting that by setting the connecting spring, the reaction force generated by its deformation can drive the round rod 603 and the driven block 604 to reset; there is a cam 605 on one side of the driven block 604, and the cam 605 is sleeved on the surface of the driving rod 504. By setting the cam 605, it can be attracted to the electromagnet 5041 at the middle position on the surface of the driving rod 504 and rotate synchronously with the driving rod 504.

[0025] Among them, a through groove 606 is formed through the surface of the cam 605. The through groove 606 is in sliding extrusion fit with the follower block 604. By providing the through groove 606, when the cam 605 rotates synchronously with the driving rod 504, the driving rod 504 can be squeezed by the through groove 606 to move laterally and compress the connecting spring; both sides of the cam 605 are fixedly installed with winding rollers 607, and one end of the two winding rollers 607 away from each other is rotatably connected to the inner wall of the hollow shell 1 through a mounting plate. By providing the winding rollers 607, they can rotate synchronously with the cam 605 and play a role in winding; both surfaces of the two winding rollers 607 are fixedly connected with winding belts 608, and one end of the winding belt 608 penetrates through the inside of the accommodating box 4 and extends to the outside. By providing the winding belt 608, it can be wound when the winding roller 607 rotates; it should be noted that one end of the winding belt 608 penetrates into the accommodating box 4 from the bottom and exits from the right side of the accommodating box 4; Among them, a plurality of sets of teeth 609 are equidistantly arranged on the surfaces of the two winding belts 608. A gear 610 is meshed with the surfaces of the two sets of teeth 609. One end of the two gears 610 away from each other is rotatably connected to the inner wall of the accommodating box 4. By providing the teeth 609 and the gears 610, when the winding belt 608 is wound, the teeth 609 can drive the gears 610 to rotate; a round roller 611 is fixedly connected between the two gears 610. By providing the round roller 611, it can rotate synchronously with the gear 610; a flexible plate 612 is fixedly connected to the surface of the round roller 611. One end of the flexible plate 612 penetrates through the inside of the accommodating box 4, and both sides of the flexible plate 612 are fixedly connected to the end of the winding belt 608. By providing the flexible plate 612, it can drive the target book to tilt when it is wound; it should be noted that before the flexible plate 612 is wound, through the adjustment of the robotic arm 2, it will be located at the upper end of the target book and contact its upper end.

[0026] Specifically, when grasping the target book, the robotic arm 2 adjusts the overall position of the hollow shell 1, and then controls the two electromagnets 5041 arranged front and back to start being energized. The energized electromagnets 5041 start to attract the two lead screws 501, and then the driving motor 3 is started to drive the driving rod 504 to start rotating. The rotating driving rod 504 starts to drive the lead screw 501 to rotate synchronously, and drives the moving plate 503 to move synchronously through the moving block 502, and starts to adjust the distance between the two moving plates 503 so that the distance between the two moving plates 503 meets the thickness of the target book. After the moving plate 503 is adjusted, the robotic arm 2 is used to control the overall movement of the hollow shell 1 so that the short side of the moving plate 503 starts to contact the adjacent books on both sides of the target book to support the adjacent books on both sides of the target book, and then the height of the vertical rod is adjusted so that the lower surface of the flexible plate 612 contacts the upper end of the target book; After the adjustment is completed, the two sets of electromagnets 5041 set before and after are powered off, and the electromagnet 5041 at the middle position is powered on and attracted to the inner wall of the cam 605, so that the driving rod 504 starts to drive the cam 605 to rotate synchronously. The rotating cam 605 will drive the winding rollers 607 arranged on both sides to rotate synchronously and start winding the winding belt 608. The wound winding belt 608 will drive the gear 610 to start rotating through the teeth 609 opened on the surface, and at the same time will drive the round roller 611 to rotate synchronously, and start winding the flexible plate 612, so that the flexible plate 612 drives the target book to tilt; while the cam 605 is rotating, it will start to squeeze the driven block 604 through the through groove 606, so that the driven block 604 drives the support plate 601 and the moving strip 602 to move horizontally through the round rod 603. After the flexible plate 612 is wound up, the support plate 601 will contact the back of the target book to form a support for the target book. At the same time, the moving strip 602 will move to the end of the strip groove 5031 and press the trigger button, so that the clamping plate 5033 is powered on and extended to clamp the target book to ensure the stability during the grabbing process of the target book.

[0027] The above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent manipulator for grasping books, comprising a hollow shell (1). Two sets of symmetrically arranged guide grooves (101) are penetratingly opened on the right side of the hollow shell (1). A robotic arm (2) is fixedly installed on the left side of the hollow shell (1), and it is characterized in that, It further includes: A driving motor (3) is fixedly installed at the front end of the hollow shell (1), and a receiving box (4) is fixedly connected to the upper end of the hollow shell (1) through a vertical rod; It further includes an adaptation component (5) capable of supporting the books adjacent to both sides of the target book. The adaptation component (5) includes two screw rods (501). Moving blocks (502) are meshed and connected to the surfaces of the two screw rods (501). One end of each of the two moving blocks (502) is fixedly connected to a moving plate (503). A driving rod (504) is inserted into the two screw rods (501), and one end of the driving rod (504) is coaxially connected to the output shaft of the driving motor (3); It further includes a support component (6) for grasping the target book. The support component includes a support plate (601) disposed between the two moving plates (503), and the support plate (601) is inclined. Moving strips (602) are telescopically connected to both sides of the support plate (601). A round rod (603) is fixedly installed on the side of the support plate (601) close to the hollow shell (1), and the end of the round rod (603) is inserted into the hollow shell (1). A driven block (604) is fixedly connected to the end of the round rod (603), and the driven block (604) is elastically connected to the inner wall of the hollow shell (1) through a connecting spring. A cam (605) is disposed on one side of the driven block (604). A through groove (606) is formed through the surface of the cam (605). Winding rollers (607) are fixedly installed on both sides of the cam (605), and one end of each of the two winding rollers (607) away from each other is rotatably connected to the inner wall of the hollow shell (1) through a mounting plate. Winding belts (608) are fixedly connected to the surfaces of the two winding rollers (607), and one end of each winding belt (608) penetrates through the inside of the receiving box (4) and extends to the outside. A plurality of groups of teeth (609) are equidistantly formed on the surfaces of the two winding belts (608). Gears (610) are meshed and connected to the surfaces of the two groups of teeth (609). A round roller (611) is fixedly connected between the two gears (610). A flexible plate (612) is fixedly connected to the surface of the round roller (611).

2. The intelligent manipulator for grasping books according to claim 1, characterized in that: The two screw rods (501) are symmetrically arranged inside the hollow shell (1), and one end of each of the two screw rods (501) away from each other is fixedly connected to the inner wall of the hollow shell (1), and the thread opening directions on the surfaces of the two screw rods (501) are opposite.

3. The intelligent mechanical hand for grasping books according to claim 1, wherein: One end of each of the two moving blocks (502) penetrates through the inside of the guide groove (101) and extends to the outside, and the moving block (502) is in sliding fit with the guide groove (101).

4. The intelligent manipulator for grasping books according to claim 1, characterized in that: The two moving plates (503) are both in an L-shaped structure, and strip-shaped grooves (5031) and grooves (5032) are symmetrically formed on the opposite surfaces of the two moving plates (503). Clamping plates (5033) are fixedly installed in the two grooves (5032) through electric telescopic rods, and anti-slip strips are inclinedly installed on the opposite surfaces of the two clamping plates (5033).

5. The intelligent manipulator for grasping books according to claim 1, wherein: The surface of the driving rod (504) is equidistantly provided with three groups of electromagnets (5041), and the electromagnets (5041) are electrically connected to an external power supply through a controller. The front and rear groups of the three groups of electromagnets (5041) are respectively arranged inside the two lead screws (501), and the electromagnet (5041) located in the middle is arranged inside the cam (605).

6. The intelligent mechanical hand for grasping books according to claim 4, wherein: One end of each of the two moving strips (602) away from each other is in sliding fit with the inner wall of the strip-shaped groove (5031) through a slider, and the slider is clamped inside the strip-shaped groove (5031).

7. The intelligent mechanical hand for grasping books according to claim 5, wherein: The cam (605) is sleeved on the surface of the driving rod (504), and the through groove (606) and the driven block (604) are in sliding extrusion fit with each other.

8. The intelligent manipulator for grasping books according to claim 1, wherein: One end of each of the two gears (610) away from each other is rotatably connected to the inner wall of the accommodating box (4). One end of the flexible plate (612) penetrates through the inside of the accommodating box (4), and both sides of the flexible plate (612) are fixedly connected to the end of the winding belt (608).

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