A library book sorting device and a control method thereof

Abstract

The application discloses a library book sorting device and a control method thereof. When taking a book, the book is first tilted by a book tilting device, and then the book is completely taken out by a book clamping device. When the book is tilted, a control system controls the cutting position of a magnetorheological fluid storage sleeve of a cutting distribution device according to the thickness of the book, adjusts the flow of the magnetorheological fluid into the book tilting sleeve, and further adjusts the volume of the book tilting sleeve and the contact area with the book. Meanwhile, the control system controls the energization intensity of an electromagnet, and further adjusts the hardness of the magnetorheological fluid in the book tilting sleeve until the book tilting sleeve can completely adhere to the book. The book tilting device can be suitable for tilting books with relatively large thickness and weight, and does not generate extrusion stress on the book, so that the book is not extruded, deformed or scratched and worn, and lossless book taking and sorting are realized.

Description

Technical Field

[0001] This invention relates to the field of book management technology, specifically to a library book sorting device and its control method. Background Technology

[0002] Chinese patent CN113830481B discloses an automatic book retrieval and placement device and method for libraries based on image scanning. This device utilizes image scanning technology, combining camera photography, image scanning, microcontroller, and image processing programs to accurately determine the position of books and gaps, achieving accurate book retrieval and placement. Before placing a book, a pry bar is used to "pry" the book, and then a clamping hand delivers the book. Before retrieving a book, a pry bar is used to "hook" the book, and then a clamping device holds the book. However, the pry bar lacks buffer protection when prying books, which can easily cause books to be squeezed, deformed, scratched, and worn. Furthermore, it cannot dynamically adjust the contact state according to the thickness and binding method of the book, which may cause prying failure or aggravate the damage to the book. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a library book sorting device and its control method that can adapt to books of different thicknesses and achieve non-destructive book retrieval.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A library book sorting device includes a mounting base, a movable base, and a control system. The mounting base is disposed on the movable base. The movable base is further provided with a lifting drive for raising and lowering the mounting base, a rotation drive for rotating the mounting base, and a moving drive for moving the mounting base. The mounting base is provided with a book-pulling device and a book-clamping device. The book-pulling device is located above the book-clamping device. The book-pulling device includes a telescopic drive, a moving guide rail, a support frame, a mounting chamber, and a book-pulling sleeve. The telescopic drive and the moving guide rail are both fixed to the mounting base. The support frame is connected to the telescopic end of the telescopic drive and slides on the moving guide rail. The mounting chamber is rotatably disposed on the support frame. The device is equipped with a rotary drive mechanism for driving the installation chamber to rotate. The book-pulling sleeve is located inside the installation chamber, with the book-pulling end extending out of the installation chamber. The installation chamber also contains a magnetorheological fluid storage sleeve, a cut-off distribution device, and an electromagnet. The magnetorheological fluid storage sleeve is connected to the book-pulling sleeve. The cut-off distribution device is used to regulate the flow rate of the magnetorheological fluid in the magnetorheological fluid storage sleeve into the book-pulling sleeve. The electromagnet is positioned close to the book-pulling sleeve. The book-clamping device is equipped with a first visual detection device, which is signal-connected to the control system. The control system is signal-connected to the moving base, the telescopic drive, the rotary drive mechanism, the cut-off distribution device, the electromagnet, the lifting drive, the rotary drive, the moving drive, and the book-clamping device.

[0006] As a further improvement to the above technical solution:

[0007] The cut-off distribution device includes a lifting seat and a lifting drive mechanism for driving the lifting seat to move up and down in the installation chamber. The magnetorheological fluid storage sleeve is inserted into the lifting seat. The lifting seat is provided with a fixed clamping block, a movable clamping block, and a moving drive mechanism for driving the movable clamping block to move closer to or away from the fixed clamping block. The fixed clamping block and the movable clamping block are located on both sides of the magnetorheological fluid storage sleeve. The control system is signal-connected to the lifting drive mechanism and the moving drive mechanism.

[0008] The lifting drive mechanism includes a rotary motor and a lead screw. The rotary motor is located at both ends of the bottom of the mounting chamber. One end of the lead screw is connected to the rotary motor, and the other end is rotatably located at the top of the mounting chamber. Both ends of the lifting seat are threadedly connected to the lead screw. The mounting chamber is provided with a lifting guide rail, and the lifting seat slides on the lifting guide rail.

[0009] The rotary motor is fitted with a magnetic isolation sleeve.

[0010] The mobile drive mechanism includes a drive wheel, a driven wheel, a traction rope, and a drive motor located at both ends of the lifting platform. The traction rope is wound around the drive wheel and the driven wheel. The drive motor is connected to the drive wheel. The traction rope is movably passed through the fixed clamping block and is connected to the movable clamping block. The control system is signal-connected to the drive motor.

[0011] The lifting seat is provided with a movable guide groove, and the movable clamping block is provided with a slider, which slides in the movable guide groove.

[0012] The book clamping device includes a first clamping arm and a second clamping arm mounted on a mounting base. Both the first clamping arm and the second clamping arm are equipped with telescopic rods. The opposite ends of the telescopic rods are equipped with book clamping blocks. The telescopic rods are signal-connected to the control system.

[0013] The book clip has a flexible anti-slip layer.

[0014] The mobile base is equipped with a book cache shelf and a second visual detection device, which is connected to the control system signal.

[0015] A control method for the above-mentioned library book sorting device includes the following steps:

[0016] S1. The first vision detection device detects the thickness and storage position of the book and sends the parameters to the control system;

[0017] S2. The control system controls the lifting drive, rotating drive, and moving drive to operate, so that the three drive the mounting base to the appropriate book-picking position. The telescopic drive extends the mounting chamber, placing the book-pulling sleeve above the target book, with the book-clamping device positioned in front of the target book. The rotating drive rotates the mounting chamber, causing the book-pulling end of the book-pulling sleeve to abut against the top of the book. The control system controls the cutting position of the cutting and distributing device on the magnetorheological fluid storage sleeve according to the book thickness, adjusting the flow rate of the magnetorheological fluid entering the book-pulling sleeve. At the same time, the control system controls the energizing intensity of the electromagnet, adjusting the hardness of the magnetorheological fluid in the book-pulling sleeve until the book-pulling sleeve can completely fit the book without causing compressive stress. Then, the telescopic drive retracts the mounting chamber, causing the book-pulling sleeve to tilt and extend from the top of the book, positioning it between the book-clamping devices. Finally, the control system controls the book-clamping device to clamp the sides of the book, the book-pulling device resets, and the moving base retracts, completely detaching the target book from the bookshelf, completing the book retrieval and sorting process.

[0018] Compared with the prior art, the advantages of the present invention are as follows:

[0019] This invention discloses a library book sorting device. A first visual detection device detects parameters such as book thickness and storage / retrieval position, sending these parameters to a control system. The control system then controls a lifting drive, a rotating drive, and a moving drive to move the mounting base to the appropriate book-retrieval position. The control system also controls a telescopic drive to extend the mounting chamber, positioning the book-pulling sleeve above the target book and the book-clamping device in front of it. A rotating drive mechanism rotates the mounting chamber, causing the book-pulling end of the sleeve to contact the top of the book. The book-pulling device first creates an incline at the top of the book, and then the book-clamping device clamps the book from both sides to completely remove it. This method avoids accidentally pulling out books from the sides when retrieving the target book and prevents damage to the books from the clamping device directly clamping them. During book pulling, the control system adjusts the cutting position of the cutting and dispensing device on the magnetorheological fluid storage sleeve based on the book thickness, regulating the entry... The flow rate of the magnetorheological fluid inside the book-removing sleeve is adjusted to regulate its volume and contact area with the book. Simultaneously, the power supply and energizing intensity of the electromagnet are controlled to adjust the hardness of the magnetorheological fluid within the sleeve, ensuring the sleeve completely adheres to the book over a large area. This allows for the removal of thicker and heavier books without applying compressive stress, preventing damage such as squeezing, deformation, or scratches. Furthermore, the sorting device also features a book placement function. During book placement, the control system activates the lifting, rotating, and moving drive devices, guiding the mounting base to the appropriate placement position. After the clamping device grips the sides of the book, the moving base moves forward to place it back into its designated shelf position. Simultaneously, the control system controls the telescopic drive to retract the mounting chamber, de-energizing the electromagnet and flexibly retracting the book-removing sleeve to prevent obstruction or damage. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the library book sorting device of the present invention.

[0021] Figure 2 This is a three-dimensional structural diagram of the book-clamping device in the library book sorting device of the present invention.

[0022] Figure 3 This is a three-dimensional structural diagram of the book-picking device in the library book sorting device of the present invention.

[0023] Figure 4 This is a schematic diagram of the internal structure of the book-picking device in the library book sorting device of the present invention.

[0024] Figure 5 This is a front view of the internal structure of the installation chamber in the library book sorting device of the present invention.

[0025] Figure 6This is a top view of the internal structure of the chamber in the library book sorting device of the present invention.

[0026] Figure 7 This is a three-dimensional structural diagram of the cutting and distributing device in the library book sorting device of the present invention.

[0027] Figure 8 This is a three-dimensional structural diagram of the moving drive mechanism in the library book sorting device of the present invention.

[0028] Figure 9 This is a three-dimensional structural diagram of the cutting and distributing device in the library book sorting device of the present invention cutting off the magnetorheological fluid storage sleeve.

[0029] Figure 10 This is a three-dimensional structural diagram of the book-removing device of the present invention, which involves the removal of the book cover from the target book and the removal of the book.

[0030] The labels in the diagram represent: 1. Mounting base; 2. Book-pulling device; 21. Support frame; 22. Mounting chamber; 221. Lifting guide rail; 23. Book-pulling sleeve; 24. Rotary drive mechanism; 25. Magnetorheological fluid storage sleeve; 26. Cut-off and distribution device; 261. Lifting seat; 2611. Moving guide groove; 262. Lifting drive mechanism; 2621. Rotary motor; 2622. Lead screw; 2623. Magnetic isolation sleeve; 263. Fixed clamping block; 264. Movable clamping block; 265. Moving drive mechanism ; 2651, Drive wheel; 2652, Driven wheel; 2653, Traction rope; 2654, Drive motor; 2655, Mounting slot; 27, Telescopic drive; 28, Moving guide rail; 3, Book clamping device; 31, First clamping arm; 32, Second clamping arm; 33, Telescopic rod; 34, Book clamping block; 4, First vision detection device; 5, Moving base; 51, Book buffer shelf; 52, Second vision detection device; 71, Lifting drive device; 72, Rotation drive device; 73, Moving drive device. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In this invention, unless otherwise explicitly specified and limited, the terms "assembly," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] Example 1

[0036] Figures 1 to 10 This invention illustrates an embodiment of a library book sorting device. The device includes a mounting base 1, a movable base 5, and a control system. The mounting base 1 is mounted on the movable base 5. The movable base 5 is also equipped with a lifting drive 71 for driving the mounting base 1 to rise and fall, a rotation drive 72 for driving the mounting base 1 to rotate, and a movement drive 73 for driving the mounting base 1 to move. The mounting base 1 is equipped with a book-pulling device 2 and a book-clamping device 3. The book-pulling device 2 is located above the book-clamping device 3. The book-pulling device 2 includes a telescopic drive 27, a moving guide rail 28, a support frame 21, a mounting chamber 22, and a book-pulling sleeve 23. The telescopic drive 27 and the moving guide rail 28 are both fixed to the mounting base 1. The support frame 21 is connected to the telescopic end of the telescopic drive 27 and slides on the moving guide rail 28. The mounting chamber 22 is rotatably mounted on the movable guide rail 28. The support frame 21 is equipped with a rotary drive mechanism 24 for driving the installation chamber 22 to rotate. The book-pulling sleeve 23 is located inside the installation chamber 22, with the book-pulling end extending out of the installation chamber 22. The installation chamber 22 is also equipped with a magnetorheological fluid storage sleeve 25, a cut-off distribution device 26, and an electromagnet. The magnetorheological fluid storage sleeve 25 is connected to the book-pulling sleeve 23. The cut-off distribution device 26 is used to regulate the flow rate of the magnetorheological fluid in the magnetorheological fluid storage sleeve 25 into the book-pulling sleeve 23. The electromagnet is located close to the book-pulling sleeve 23. The book-clamping device 3 is equipped with a first visual detection device 4, which is signal-connected to the control system. The control system is signal-connected to the moving base 5, the telescopic drive 27, the rotary drive mechanism 24, the cut-off distribution device 26, the electromagnet, the lifting drive device 71, the rotary drive device 72, the moving drive device 73, and the book-clamping device 3.

[0037] The library book sorting device uses a first visual detection device 4 to detect parameters such as book thickness and storage / retrieval position, and sends these parameters to the control system (not shown in the figure). The control system controls the lifting drive device 71, the rotating drive device 72, and the moving drive device 73 to operate, so that the three drive the mounting base 1 to a suitable book retrieval position. The control system controls the telescopic drive 27 to extend the mounting chamber 22, so that the book-pulling sleeve 23 is above the target book and the book-clamping device 3 is in front of the target book. The rotating drive mechanism 24 drives the mounting chamber 22 to rotate, so that the book-pulling end of the book-pulling sleeve 23 abuts against the top of the book. The book-pulling device 2 first pries the top of the book to an inclined position, and then the book-clamping device 3 clamps the book from both sides and completely removes it. This can, to some extent, avoid the books on both sides being pulled out when retrieving the target book, and at the same time, avoid the book-clamping device 3 directly clamping the book and causing damage to the books on both sides. During book pulling, the control system controls the cutting and dispensing device 26 to cut off the magnetorheological fluid storage sleeve 25 according to the book thickness, adjusting the entry... The flow rate of the magnetorheological fluid inside the book-removing sleeve 23 is adjusted to regulate the volume of the book-removing sleeve 23 and the contact area with the book. At the same time, the energizing strength of the electromagnet power supply and the electromagnet (not shown in the figure) is controlled to adjust the hardness of the magnetorheological fluid inside the book-removing sleeve 23 until the book-removing sleeve 23 can completely adhere to the book over a large area. This allows it to handle thicker and heavier books without causing compressive stress on the books, avoiding squeezing, deformation, scratches, or wear caused by book removal. This achieves non-destructive book removal and sorting. In addition, this sorting device can also perform a book placement function. When placing a book, the control system controls the lifting drive device 71, the rotating drive device 72, and the moving drive device 73 to operate, so that the three drive the mounting base 1 to the appropriate book placement position. After the book clamping device 3 clamps the two sides of the book, the moving base 5 moves forward to place it in the bookshelf. At the same time, the control system controls the telescopic drive 27 to drive the mounting chamber 22 to retract, and the electromagnet is no longer energized, so that the book-removing sleeve 23 is in a flexible state, avoiding obstruction of book placement or damage to the book.

[0038] Furthermore, such as Figure 4 , Figure 5 , Figure 7 and Figure 9As shown, in this embodiment, the cut-off and distribution device 26 includes a lifting seat 261 and a lifting drive mechanism 262 for driving the lifting seat 261 to move up and down in the installation chamber 22. The magnetorheological fluid storage sleeve 25 is inserted into the lifting seat 261. The lifting seat 261 is provided with a fixed clamping block 263, a movable clamping block 264, and a moving drive mechanism 265 for driving the movable clamping block 264 to move closer to or away from the fixed clamping block 263. The fixed clamping block 263 and the movable clamping block 264 are located on both sides of the magnetorheological fluid storage sleeve 25. The control system is signal-connected to the lifting drive mechanism 262 and the moving drive mechanism 265. The control system controls the cutting height of the lifting seat 261 on the magnetorheological fluid storage sleeve 25 according to the thickness of the book. The cutting method is that the moving drive mechanism 265 drives the movable clamping block 264 to approach the fixed clamping block 263, which can cut off the magnetorheological fluid storage sleeve 25 between the fixed clamping block 263 and the movable clamping block 264. The magnetorheological fluid above the cutting point in the magnetorheological fluid storage sleeve 25 enters the book-pulling sleeve 23, while the magnetorheological fluid below is cut off and retained, thereby regulating the flow rate of the magnetorheological fluid entering the book-pulling sleeve 23.

[0039] Furthermore, such as Figure 4 and Figure 5 As shown, in this embodiment, the lifting drive mechanism 262 includes a rotary motor 2621 and a lead screw 2622. The rotary motor 2621 is located at both ends of the bottom of the mounting chamber 22. One end of the lead screw 2622 is connected to the rotary motor 2621, and the other end is rotatably mounted on the top of the mounting chamber 22. The lifting seat 261 is threadedly connected to the lead screw 2622 at both ends. A lifting guide rail 221 is provided inside the mounting chamber 22, and the lifting seat 261 slides on the lifting guide rail 221. The rotary motor 2621 drives the lead screw 2622 to rotate forward or reverse, thereby causing the lifting seat 261, which is threadedly connected to the lead screw 2622, to slide and rise on the lifting guide rail 221. The structure is simple. Preferably, the lifting guide rail 221 is a T-shaped guide rail, and the lifting seat 261 is provided with a T-shaped guide groove that cooperates with the T-shaped guide rail.

[0040] Furthermore, such as Figure 4 and Figure 5 As shown, in this embodiment, the rotary motor 2621 is fitted with a magnetic isolation sleeve 2623 to prevent the rotary motor 2621 from affecting the use of the magnetorheological fluid.

[0041] Furthermore, such as Figure 7 and Figure 8As shown, in this embodiment, the moving drive mechanism 265 includes a driving wheel 2651, a driven wheel 2652, a traction rope 2653, and a drive motor 2654 located at both ends of the lifting base 261. The traction rope 2653 is wound around the driving wheel 2651 and the driven wheel 2652. The drive motor 2654 is connected to the driving wheel 2651. The traction rope 2653 is movably inserted into the fixed clamping block 263 and is connected to the movable clamping block 264. The control system is signal-connected to the drive motor 2654. After receiving the drive signal from the control system, the drive motor 2654 drives the driving wheel 2651 to rotate forward or backward, thereby driving the traction rope 2653 to move the movable clamping block 264 closer to or away from the fixed clamping block 263. The structure is simple and compact. Preferably, a magnetic isolation sleeve 2623 is also provided on the drive motor 2654; more preferably, the drive wheel 2651 is provided with multiple mounting grooves 2655, and the traction rope 2653 is wound around each mounting groove 2655 in sequence to increase the friction of the traction rope 2653, ensuring that the traction rope 2653 can smoothly drive the movable clamping block 264 to move, thereby improving the transmission effectiveness and stability.

[0042] Furthermore, such as Figure 7 As shown, in this embodiment, the lifting seat 261 is provided with a movable guide groove 2611, and the movable clamping block 264 is provided with a slider, which slides in the movable guide groove 2611. The slider (not shown in the figure) and the movable guide groove 2611 provide guidance for the movement of the movable clamping block 264.

[0043] Furthermore, such as Figure 1 and Figure 2 As shown, in this embodiment, the book clamping device 3 includes a first clamping arm 31 and a second clamping arm 32 disposed on the mounting base 1. Both the first clamping arm 31 and the second clamping arm 32 are provided with telescopic rods 33. The opposite ends of the telescopic rods 33 are provided with book clamping blocks 34. The telescopic rods 33 are connected to the control system signal.

[0044] Furthermore, such as Figure 2 As shown, in this embodiment, the book-clamping block 34 is provided with a flexible anti-slip layer. This improves the stability of clamping the book and reduces damage to the book during handling.

[0045] Furthermore, such as Figure 1 As shown, in this embodiment, the movable base 5 is equipped with a book buffer rack 51 and a second visual detection device 52, which is connected to the control system via a signal. The control system controls the extension and retraction of the telescopic rod 33 according to the book thickness, thereby adjusting the distance between the two opposing book clamping blocks 34 to accommodate books of different thicknesses. Preferably, multiple sets of book clamping devices 3 are provided, and the multiple sets of book clamping devices 3 are arranged at intervals along the height direction of the mounting base 1, which can enhance the clamping force on the books.

[0046] More preferably, in this embodiment, such as Figure 1 and Figure 2 As shown, the moving drive device 73 is mounted on the moving base 5 and is driven by a gear and rack. The rotating drive device 72 is mounted on the moving drive device 73. The lifting drive device 71 is mounted on the rotating drive device 72. The mounting base 1 is mounted on the lifting drive device 71.

[0047] More preferably, in this embodiment, the book-removing device 2 is particularly suitable for, for example, Figure 10 The book shown has a hard cover, and the size of the hard cover is larger than the size of the inner pages. The book cover 23 is flexibly attached to both the hard cover and the inner pages. The book cover 23 can apply force to the hard cover to further protect the inner pages of the book.

[0048] Example 2

[0049] This embodiment discloses a control method for the above-mentioned library book sorting device, including the following steps:

[0050] S1. The first vision detection device 4 detects the thickness and storage position of the book and sends the parameters to the control system.

[0051] S2. The control system controls the lifting drive device 71, the rotating drive device 72, and the moving drive device 73 to operate, causing the three to drive the mounting base 1 to reach a suitable book-retrieving position. The telescopic drive 27 drives the mounting chamber 22 to extend, positioning the book-retrieving sleeve 23 above the target book and the book-clamping device 3 in front of the target book. The rotating drive mechanism 24 drives the mounting chamber 22 to rotate, causing the book-retrieving end of the book-retrieving sleeve 23 to abut against the top of the book. The control system controls the cutting and distributing device 26 to cut off the magnetorheological fluid storage sleeve 25 according to the book thickness. The flow rate of magnetorheological fluid entering the book-pulling sleeve 23 is adjusted, and the control system controls the energizing intensity of the electromagnet to adjust the hardness of the magnetorheological fluid in the book-pulling sleeve 23 until the book-pulling sleeve 23 can completely fit the book without causing compressive stress on the book. Then, the telescopic drive 27 drives the mounting chamber 22 to retract, so that the book-pulling sleeve 23 pulls the top of the book and tilts it out, positioning it between the book clamping devices 3. Finally, the control system controls the book clamping devices 3 to clamp the two sides of the book, the book-pulling device 2 resets, and the moving base 5 retracts, so that the target book is completely removed from the bookshelf, completing the book retrieval and sorting.

[0052] The control method of the library book sorting device is that, during book sorting, the control system can adjust the flow rate and hardness of the magnetorheological fluid inside the book-scraping sleeve 23 according to the thickness of the book, so that the book-scraping sleeve 23 can fit the book without generating compressive stress, and can achieve non-destructive book scraping of books of various thicknesses.

[0053] Example 3

[0054] This embodiment discloses a sorting method for the above-mentioned library book sorting device, the steps of which are as follows:

[0055] M1, Task Reception: The communication module establishes a stable connection with the library management system, receives the book retrieval task instruction containing the target book ID, bookshelf number, and floor coordinates, and performs format standardization processing and CRC cyclic redundancy check on the instruction data to ensure that the instruction has not been tampered with or lost before transmitting it to the control system.

[0056] M2. Perception and Acquisition: The environmental obstacle avoidance device uses the lidar on the mobile base 5 to scan obstacles such as bookshelves, pedestrians, tables and chairs in the library in real time and sends the information to the control system. The control system generates a dynamic obstacle avoidance path. The first vision detection device 4 uses the vision camera on the mobile base 5 and the clamping arm to accurately collect parameters such as the thickness of the target book, the spine outline, and the distance between surrounding books. Especially for thick books or hardcover books, the sampling accuracy of the thickness data will be further enhanced. All perception data is transmitted to the control system in a synchronous manner.

[0057] M3, Data Calculation: The control system combines task instructions and sensing data to perform multi-dimensional calculations, and calculates the amount of magnetorheological fluid filling and the current carrying intensity of the electromagnet based on the thickness of the book.

[0058] M4. Positioning Adjustment: The control system controls the mobile base 5 to move along the obstacle avoidance path to the front of the target bookshelf, and simultaneously controls the rotation drive device 72 to adjust the horizontal orientation of the clamping arm. The mobile drive device 73 adjusts the front and rear extension distance of the clamping arm, and then the lifting drive device 71 adjusts the clamping arm to the height of the target book to ensure that the book cover 23 is above the book.

[0059] M5, Flexible Adaptation: The control system controls the telescopic drive support frame 21 to move forward along the moving guide rail 28 until it reaches directly above the target book. The rotary drive mechanism 24 operates, causing the mounting chamber 22 to rotate within the support frame 21 until the book-pulling end of the book-pulling sleeve 23 abuts against the top of the target book. Simultaneously, the control system controls the rotary motor 2621 to rotate, causing the lifting seat 261 to rise and fall to the specified cut-off height. At this time, the drive motor 2654 starts, driving the drive wheel 2651 to rotate. The drive wheel 2651 pulls the movable clamping block 264 through the wound traction rope 2653, causing the slider on the lower surface of the movable clamping block 264 to move along the lifting seat 261. The guide groove 2611 slides stably and cooperates with the fixed clamping block 263 to form a precise clamping on the magnetorheological fluid storage sleeve 25 in the installation chamber 22, so as to achieve partial cut-off of the magnetorheological fluid in the magnetorheological fluid storage sleeve 25, leaving only the fluid path to the book cover 23 unobstructed. At this time, the uncut magnetorheological fluid in the magnetorheological fluid storage sleeve 25 flows naturally into the book cover 23 through the connecting pipe and the liquid inlet hole of the book cover 23. At the same time, the control system sends an energizing command to the electromagnet power supply, and adjusts the hardness of the magnetorheological fluid in the book cover 23 by changing the current intensity of the electromagnet, so that the book cover 23 can stably fit the outline of the book without generating compressive stress and causing no damage.

[0060] M6. The control system controls the telescopic drive to move the support frame 21 backward along the moving guide rail 28. The book-pulling sleeve 23, supported by the magnetorheological fluid, causes the upper part of the target book to tilt and detach from the gap between the surrounding books. After the first visual detection device 4 confirms that the tilt angle of the book meets the clamping conditions, the control system controls the clamping arm to slowly approach from both sides of the book to clamp the target book. The book-pulling device 2 resets, and then the moving base 5 moves further backward to completely detach the book from the bookshelf and place it in the book buffer rack 51. Finally, it is transported to the designated location.

[0061] Furthermore, in this embodiment, the book clamping block 34 is also equipped with a pressure sensor. Throughout the process, the communication module continuously receives status feedback data from each actuator, including the real-time position of the moving base 5, the motor speed of each drive device, the amount of magnetorheological fluid filling, the pressure value of the clamping arm, etc., and transmits it to the control system for real-time verification. If a deviation is found (such as excessive clamping force or insufficient book tilt angle), the control system immediately issues a correction command, such as fine-tuning the electromagnet current to reduce the hardness of the magnetorheological fluid, adjusting the height of the lifting seat 261, adjusting the extension length of the telescopic rod 33, etc., to reduce the deviation.

[0062] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A library book sorting device, comprising a mounting base (1), a movable base (5), and a control system, wherein the mounting base (1) is disposed on the movable base (5), and the movable base (5) is further provided with a lifting drive device (71) for driving the mounting base (1) to rise and fall, a rotation drive device (72) for driving the mounting base (1) to rotate, and a movement drive device (73) for driving the mounting base (1) to move; the mounting base (1) is provided with a book-pulling device (2) and a book-clamping device (3), wherein the book-pulling device (2) is located above the book-clamping device (3), characterized in that: The book-removing device (2) includes a telescopic drive (27), a moving guide rail (28), a support frame (21), a mounting chamber (22), and a book-removing sleeve (23). The telescopic drive (27) and the moving guide rail (28) are both fixed on the mounting base (1). The support frame (21) is connected to the telescopic end of the telescopic drive (27), and the support frame (21) slides on the moving guide rail (28). The mounting chamber (22) is rotatably mounted on the support frame (21), and the support frame (21) is provided with a mechanism for driving the mounting chamber (22) to rotate. A rotary drive mechanism (24) is provided. The book-pulling sleeve (23) is located inside the installation chamber (22), and the book-pulling end extends out of the installation chamber (22). The installation chamber (22) is also provided with a magnetorheological fluid storage sleeve (25), a cut-off distribution device (26), and an electromagnet. The magnetorheological fluid storage sleeve (25) is connected to the book-pulling sleeve (23). The cut-off distribution device (26) is used to adjust the flow rate of the magnetorheological fluid in the magnetorheological fluid storage sleeve (25) into the book-pulling sleeve (23). The electromagnet is located close to the book-pulling sleeve (23). The book-clamping device (3) is located on... A first visual inspection device (4) is provided, which is signal-connected to the control system. The control system is signal-connected to the movable base (5), the telescopic drive (27), the rotary drive mechanism (24), the cut-off distribution device (26), the electromagnet, the lifting drive device (71), the rotary drive device (72), the moving drive device (73), and the book clamping device (3). The cut-off distribution device (26) includes a lifting seat (261) and a lifting drive for driving the lifting seat (261) to move up and down in the mounting chamber (22). The mechanism (262) is provided with a magnetorheological fluid storage sleeve (25) inserted in a lifting seat (261). The lifting seat (261) is provided with a fixed clamping block (263), a movable clamping block (264) and a moving drive mechanism (265) for driving the movable clamping block (264) to move closer to or away from the fixed clamping block (263). The fixed clamping block (263) and the movable clamping block (264) are located on both sides of the magnetorheological fluid storage sleeve (25). The control system is signal connected to the lifting drive mechanism (262) and the moving drive mechanism (265).

2. The library book sorting device according to claim 1, characterized in that: The lifting drive mechanism (262) includes a rotary motor (2621) and a lead screw (2622). The rotary motor (2621) is located at both ends of the bottom of the mounting chamber (22). One end of the lead screw (2622) is connected to the rotary motor (2621), and the other end is rotatably located at the top of the mounting chamber (22). The lifting seat (261) is threadedly connected to the lead screw (2622) at both ends. The mounting chamber (22) is provided with a lifting guide rail (221), and the lifting seat (261) slides on the lifting guide rail (221).

3. The library book sorting device according to claim 2, characterized in that: The rotary motor (2621) is covered with a magnetic isolation sleeve (2623).

4. The library book sorting device according to claim 1, characterized in that: The mobile drive mechanism (265) includes a drive wheel (2651), a driven wheel (2652), a traction rope (2653), and a drive motor (2654) located at both ends of the lifting seat (261). The traction rope (2653) is wound around the drive wheel (2651) and the driven wheel (2652). The drive motor (2654) is connected to the drive wheel (2651). The traction rope (2653) is movably inserted into the fixed clamping block (263) and is connected to the movable clamping block (264). The control system is signal-connected to the drive motor (2654).

5. The library book sorting device according to claim 4, characterized in that: The lifting seat (261) is provided with a movable guide groove (2611), and the movable clamping block (264) is provided with a slider, which slides in the movable guide groove (2611).

6. The library book sorting device according to any one of claims 1 to 5, characterized in that: The book clamping device (3) includes a first clamping arm (31) and a second clamping arm (32) provided on the mounting base (1). The first clamping arm (31) and the second clamping arm (32) are each provided with a telescopic rod (33). The opposite ends of the telescopic rod (33) are provided with book clamping blocks (34). The telescopic rod (33) is connected to the control system signal.

7. The library book sorting device according to claim 6, characterized in that: The book clip (34) is provided with a flexible anti-slip layer.

8. The library book sorting device according to any one of claims 1 to 5, characterized in that: The mobile base (5) is equipped with a book cache shelf (51) and a second visual detection device (52), which is connected to the control system signal.

9. A control method for a library book sorting device as described in any one of claims 1 to 8, characterized in that: Includes the following steps: S1, First vision detection device (4) detects the thickness and storage location of the books and sends the parameters to the control system; S2. The control system controls the lifting drive (71), the rotation drive (72), and the moving drive (73) to operate, so that the three drive the mounting base (1) to reach the appropriate book-retrieving position. The telescopic drive (27) drives the mounting chamber (22) to extend, so that the book-retrieving sleeve (23) is above the target book, and the book-clamping device (3) is located in front of the target book. The rotation drive mechanism (24) drives the mounting chamber (22) to rotate, so that the book-retrieving end of the book-retrieving sleeve (23) abuts against the top of the book. The control system controls the cutting and distributing device (26) to cut off the magnetorheological fluid storage sleeve (25) according to the book thickness. The flow rate of the magnetorheological fluid entering the book-pulling sleeve (23) is adjusted, and the energizing intensity of the electromagnet is controlled by the control system. The hardness of the magnetorheological fluid in the book-pulling sleeve (23) is adjusted until the book-pulling sleeve (23) can completely fit the book without causing pressure on the book. Then the telescopic drive (27) drives the installation chamber (22) to move backward, so that the book-pulling sleeve (23) pulls the top of the book and tilts it out, and is located between the book clamping devices (3). Finally, the control system controls the book clamping devices (3) to clamp the two sides of the book, the book-pulling device (2) is reset, the moving base (5) moves backward, so that the target book is completely removed from the bookshelf, and the book picking and sorting is completed.

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