Machine capable of automatically identifying positions of books and returning books

Abstract

The invention discloses a machine capable of automatically recognizing positions of books and returning the books, and relates to the technical field of library equipment.The machine comprises a chassis part, a book containing box, a lifting mechanism and a mechanical arm, an ultrasonic sensor and universal wheels driven by a motor are installed on the chassis part, and a shear fork telescopic mechanism and a shear fork type lifting table are arranged in the book containing box; a ball screw lifting table is arranged at the tail, a pressure sensor is arranged in the scissor telescopic mechanism, a mechanical arm is arranged above the scissor lifting table, and a bar code scanner is arranged on the side wall of a clamping jaw at the tail end of the mechanical arm. An ultrasonic sensor and a chassis part are close to a target bookshelf, target books of different heights can be clamped by the mechanical arm through cooperation of a ball screw lifting table, a scissor telescopic mechanism, a scissor type lifting table and a bar code scanner, and the purposes of automatically recognizing the positions of the books and returning the books can be achieved.

Description

Technical Field

[0001] This invention patent relates to the field of library equipment technology, specifically to a machine that can automatically identify the location of books and return them. Background Technology

[0002] A library is an institution that collects, organizes, and preserves books and materials for public reading and reference. It has the functions of preserving human cultural heritage, developing information resources, and participating in social education. Another function is to collect resources that people are unwilling (or unable) to purchase, making them available for public use or access as part of its collection. Libraries can be run by public bodies, government agencies, or private organizations. Libraries are an external storage and selective transmission mechanism for social memory (usually manifested as written records of information). In other words, libraries are a memory and dissemination device for social knowledge, information, and culture.

[0003] After books are returned, they need to be sorted and categorized by the administrators before being placed in appropriate locations. This process is time-consuming and, due to the large number and variety of books, increases the workload of administrators significantly, leading to reduced efficiency in book registration. To address this, we propose a machine that can automatically identify the location of books and return them. Summary of the Invention

[0004] The purpose of this invention is to provide a machine that can automatically identify the location of books and return them, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this invention patent specifically adopts the following technical solution:

[0006] A machine capable of automatically identifying and returning book locations includes a chassis, a ball screw lifting platform, a scissor telescopic mechanism, a scissor-type lifting platform, a robotic arm, and a book storage box. The machine is characterized in that: a book storage box is mounted on the upper surface of the chassis; a ball screw lifting platform is located at the rear of the book storage box; two scissor telescopic mechanisms are installed inside the book storage box; a scissor-type lifting platform is located between the two scissor telescopic mechanisms; and a robotic arm is located at the upper end of the scissor-type lifting platform.

[0007] Furthermore, the chassis portion is provided with omnidirectional wheels around its perimeter, each of which is connected to a first motor via a transmission belt, and each first motor is mounted on top of the chassis portion.

[0008] Furthermore, four ultrasonic sensors are evenly distributed around the chassis. These ultrasonic sensors are fixed to the bottom of the book box and are connected to the central control system via signals.

[0009] Furthermore, the ball screw lifting platform includes a pair of third motors mounted on motor support bases. The output shafts of the third motors are connected to the screw, driving the ball bearings to move linearly along the screw, thereby raising and lowering the connecting plate.

[0010] Furthermore, each scissor lift mechanism includes a first link and a second link, which are rotatably connected at their midpoint. A servo motor is located below each scissor lift mechanism, and the servo motor drives a first lead screw to rotate the first and second links around a pivot pin. Each scissor lift mechanism is equipped with a pressure sensor, and the scissor lift mechanism is connected to the pressure sensor via a signal connection.

[0011] Furthermore, a robotic arm is provided at the upper end of the scissor lift platform, and a barcode scanner is provided on the side wall of the gripper at the end of the robotic arm.

[0012] Furthermore, in the scissor lift platform, the end of link three is rotatably connected to a support base, the end of link five is rotatably connected to a support base on the other side, the end of link three is rotatably connected to the end of link four, the end of link five is rotatably connected to the end of link six, the end of link four is rotatably connected to the lower end of the upper support plate, the end of link six is ​​rotatably connected to the lower end of the other side of the upper support plate, the middle of link three is rotatably connected to link five, and the middle of link four is rotatably connected to link six. A second motor is provided below the scissor lift platform. The second motor drives the second lead screw to rotate link three, link four, link five, and link six in the scissor lift platform and control the rising and falling of the robotic arm.

[0013] The beneficial effects of this invention patent are as follows:

[0014] 1. In this invention, staff input the library bookshelf location information into the machine's central control system in advance. The device moves in the narrow aisle space of the library through omnidirectional wheels and chassis. It identifies the placement information of the books based on the barcode on the back of the books and moves to the designated bookshelf. During this process, ultrasonic sensors installed around the bookshelf provide real-time feedback on the surrounding obstacles to prevent the device from colliding with bookshelves or pedestrians. When the device moves to the designated bookshelf...

[0015] 2. In this invention, the books inside the book box are lifted by a ball screw lifting platform so that the robotic arm can grip the books. The books in the book box are kept upright by a scissor telescopic mechanism. When the books are gripped by the robotic arm and removed from the book box, the ball screw lifting platform descends rapidly. At the same time, the pressure sensor on the scissor telescopic mechanism detects that the pressure between the book and the sensor has decreased, and drives the scissor telescopic mechanism to squeeze the books to prevent them from collapsing and affecting subsequent return.

[0016] 3. After the robotic arm of this invention picks up a book, the position of the gripper head is controlled by the servo motor on the robotic arm. A scissor lift platform is designed below the robotic arm, which can return books with both high and low layers well. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the present invention.

[0018] Figure 2 This is a structural diagram of the chassis portion of this invention patent.

[0019] Figure 3 This is a structural diagram of the scissor telescopic mechanism of this invention patent.

[0020] Figure 4 This is a structural diagram of the scissor lift platform of this invention patent.

[0021] Figure 5 This is a structural diagram of the ball screw lifting platform of this invention patent.

[0022] Reference numerals: 1. Chassis; 2. Omnidirectional wheel; 3. Ball screw lifting platform; 4. Scissor telescopic mechanism; 5. Pressure sensor; 6. Scissor lifting platform; 7. Robotic arm; 8. Book box; 9. First motor; 10. Ultrasonic sensor; 11. Link 1; 12. Link 2; 13. Servo motor; 14. First lead screw; 15. Transmission belt; 16. Second lead screw; 17. Support base; 18. Second motor; 19. Link 3; 20. Link 4; 21. Upper support plate; 22. Link 5; 23. Link 6; 24. Third motor; 25. Motor support base; 26. Screw; 27. Ball bearing; 28. Connecting plate. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0024] Please see Figure 1-5 This invention patent provides a machine that can automatically identify the location of books and return them, including: a chassis part 1, an omnidirectional wheel 2 at the rear of the chassis part 1, a book box 8 mounted on the upper surface of the chassis part 1, a ball screw lifting platform 3 at the rear of the book box 8, two scissor telescopic mechanisms 4 installed inside the book box 8, a scissor lifting platform 6 between the two scissor telescopic mechanisms 4, and a robotic arm 7 at the upper end of the scissor lifting platform 6.

[0025] The chassis 1 ensures the stability of the omnidirectional wheels 2, the ball screw lifting platform 3, and the book storage box 8. The omnidirectional wheels 2 enable overall movement of the device. The ball screw lifting platform 3 allows for the lifting and lowering of the book storage box 8, which in turn enables book storage. The scissor lift platform 6 provides support for the robotic arm 7 and allows for height adjustment. The robotic arm 7 then clamps the books.

[0026] Staff pre-entered the library bookshelf location information into the machine's central control system. The device moves through the narrow aisle space of the library via omnidirectional wheels 2 and a chassis 1. It identifies the book's placement information based on the barcode on the back of the book and moves it to the designated bookshelf. During this process, ultrasonic sensors installed around the book-holding box continuously monitor for obstacles to prevent the device from colliding with bookshelves or pedestrians. When the device reaches the designated bookshelf, the books inside the book-holding box 8 are lifted by a ball screw lifting platform 3 so that the robotic arm 7 can grasp the books. The books in the book-holding box 8 are then detached via a scissor lift. The telescopic mechanism 4 remains upright. When the book is picked up from the book box 8 by the robotic arm 7, the ball screw lifting platform 3 descends rapidly. At the same time, the pressure sensor 5 on the scissor telescopic mechanism 4 detects a decrease in pressure between the book and the sensor, and drives the scissor telescopic mechanism 4 to squeeze the book to prevent it from collapsing and affecting subsequent return. After the robotic arm 7 picks up the book, the position of the robotic arm gripper is controlled by the servo motor on the robotic arm 7. A scissor-type lifting platform 6 is designed below the robotic arm 7, which can return books with both high and low layers well.

[0027] In this embodiment, preferably, omnidirectional wheels 2 are provided around the chassis part 1, and each omnidirectional wheel 2 is connected to a first motor 9 via a transmission belt 15, and each first motor 9 is mounted on top of the chassis part 1; under the action of the chassis part 1, the installation stability of the first motor 9 can be achieved, and under the action of the first motor 9, the rotation of the omnidirectional wheel 2 can be achieved, thereby achieving the purpose of moving the entire device.

[0028] In this embodiment, preferably, four ultrasonic sensors 10 are evenly distributed around the chassis part 1. The ultrasonic sensors 10 are fixed to the bottom of the book box 8 and are connected to the central control system via signal. The ultrasonic sensors 10 can provide feedback on the surrounding obstacles at any time to prevent the device from hitting the bookshelf or pedestrians.

[0029] In this embodiment, preferably, the ball screw lifting platform 3 includes a pair of third motors 24, which are mounted on the motor support 25. The output shaft of the third motor 24 is connected to the screw 26, driving the ball body 27 to move linearly along the screw 26, so that the connecting plate 28 rises and falls. The ball screw lifting platform 3 can lift the built-in books, making it convenient for the robotic arm 7 to grip them.

[0030] In this embodiment, preferably, each scissor lift mechanism 4 has a first connecting rod 11 and a second connecting rod 12, which are rotatably connected at the midpoint of their connection. A servo motor 13 is located below the scissor lift mechanism 4, and the servo motor 13 drives the first lead screw 14 to rotate the first connecting rod 11 and the second connecting rod 12 around the pivot pin. Each scissor lift mechanism 4 is equipped with a pressure sensor 5, and the scissor lift mechanism 4 and the pressure sensor 5 are connected via a signal. The scissor lift mechanism 4 keeps the book in an upright position, facilitating the gripping of the robotic arm 7.

[0031] In this embodiment, preferably, a robotic arm 7 is provided at the upper end of the scissor lift platform 6, and a barcode scanner is provided on the side wall of the gripper at the end of the robotic arm 7; the barcode scanner is used to identify the barcode on the back of the book.

[0032] In this embodiment, preferably, the end of connecting rod 3 19 in the scissor lift platform 6 is rotatably connected to a support base 17, the end of connecting rod 5 22 is rotatably connected to a support base 17 on the other side, the end of connecting rod 3 19 is rotatably connected to the end of connecting rod 4 20, the end of connecting rod 5 22 is rotatably connected to the end of connecting rod 6 23, the end of connecting rod 4 20 is rotatably connected to the lower end of the upper support plate 21, the end of connecting rod 6 23 is rotatably connected to the lower end of the other side of the upper support plate 21, the middle of connecting rod 3 19 and connecting rod 5 22 is rotatably connected, and the middle of connecting rod 4 20 and connecting rod 6 23 is rotatably connected. A second motor 18 is provided below the scissor lift platform 6. The second motor drives the second lead screw 16 to rotate connecting rods 3 19, 4 20, 5 22, and 6 23 in the scissor lift platform 6 and controls the rise and fall of the robotic arm 7. The scissor lift platform 6 dynamically adjusts the height of the robotic arm 7 to enable the robotic arm 7 to grip books of different heights.

[0033] The working principle and usage process of this invention patent: When using this device, staff input the library bookshelf location information into the machine's central control system in advance. The device moves within the narrow aisle space of the library via omnidirectional wheels 2 and a chassis 1. It identifies the placement information of books based on the barcodes on the back of the books and moves to the designated bookshelf. During this process, ultrasonic sensors installed around the book-holding box constantly report the surrounding obstacles to prevent the device from colliding with bookshelves or pedestrians. When the device reaches the designated bookshelf, the books inside the book-holding box 8 are lifted by the ball screw lifting platform 3 so that the robotic arm 7 can grasp the books. The books in the book box 8 are kept upright by the scissor lift mechanism 4. When the book is picked up from the book box 8 by the robotic arm 7, the ball screw lifting platform 3 descends rapidly. At the same time, the pressure sensor 5 on the scissor lift mechanism 4 detects that the pressure between the book and the sensor has decreased, and drives the scissor lift mechanism 4 to squeeze the book to prevent the book from collapsing and affecting the subsequent return. After the robotic arm 7 picks up the book, the position of the robotic arm gripper is controlled by the servo motor on the robotic arm 7. A scissor lift platform 6 is designed below the robotic arm 7, which can return books with high or low layers well.

[0034] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A machine capable of automatically identifying and returning book locations, comprising a chassis (1), a ball screw lifting platform (3), a scissor telescopic mechanism (4), a scissor-type lifting platform (6), a robotic arm (7), and a book storage box (8), characterized in that: A book box (8) is installed on the upper surface of the chassis part (1). A ball screw lifting platform (3) is provided at the tail of the book box (8). Two scissor telescopic mechanisms (4) are installed inside the book box (8). A scissor lifting platform (6) is provided between the two scissor telescopic mechanisms (4). A mechanical arm (7) is provided at the upper end of the scissor lifting platform (6).

2. The machine that can automatically identify the location of books and return them according to claim 1, characterized in that: The chassis part (1) is provided with omnidirectional wheels (2) around its perimeter. Each omnidirectional wheel (2) is connected to a first motor (9) via a transmission belt (15), and each first motor (9) is mounted on top of the chassis part (1).

3. The machine that can automatically identify the location of books and return them according to claim 1, characterized in that: Four ultrasonic sensors (10) are evenly distributed around the chassis part (1). The ultrasonic sensors (10) are fixed to the bottom of the book box (8) and are connected to the central control system via signals.

4. The machine that can automatically identify the location of books and return them according to claim 1, characterized in that: The ball screw lifting platform (3) includes a pair of third motors (24). The third motors (24) are mounted on the motor support base (25). The output shaft of the third motors (24) is connected to the screw (26) to drive the ball body (27) to move linearly along the screw (26), so that the connecting plate (28) rises and falls.

5. A machine capable of automatically identifying and returning book locations according to claim 1, characterized in that: Each of the scissor lift mechanisms (4) has a first link (11) and a second link (12), which are rotatably connected at the midpoint of their connection. A servo motor (13) is located below the scissor lift mechanism (4). The servo motor (13) drives a first lead screw (14) to rotate the first link (11) and the second link (12) of the scissor lift mechanism (4) around a pivot. Each scissor lift mechanism (4) is equipped with a pressure sensor (5), and the scissor lift mechanism (4) and the pressure sensor (5) are connected by a signal.

6. A machine capable of automatically identifying and returning book locations according to claim 1, characterized in that: The upper end of the scissor lift platform (6) is provided with a mechanical arm (7), and the side wall of the gripper at the end of the mechanical arm (7) is provided with a barcode scanner.

7. A machine capable of automatically identifying and returning book locations according to claim 1, characterized in that: In the scissor lift platform (6), the end of connecting rod three (19) is rotatably connected to a support base (17), the end of connecting rod five (22) is rotatably connected to a support base (17) on the other side, the end of connecting rod three (19) is rotatably connected to the end of connecting rod four (20), the end of connecting rod five (22) is rotatably connected to the end of connecting rod six (23), the end of connecting rod four (20) is rotatably connected to the lower end of the upper support plate (21), and the end of connecting rod six (23) is rotatably connected to the lower end of the upper support plate (21) on the other side. The connecting rod is rotatably connected to the middle of the connecting rod 3 (19) and the connecting rod 5 (22), and the connecting rod 4 (20) and the connecting rod 6 (23) are rotatably connected to the middle of the connecting rod. A second motor (18) is provided below the scissor lift platform (6). The second motor drives the second lead screw (16) to rotate the connecting rod 3 (19), the connecting rod 4 (20), the connecting rod 5 (22), and the connecting rod 6 (23) in the scissor lift platform (6) and control the rise and fall of the robotic arm (7).

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