Intelligent book taking robot

Abstract

The utility model relates to the field of book management, and aims to provide an intelligent book taking robot which has the characteristics of good environmental adaptability and high book taking efficiency. According to the technical scheme, the intelligent book taking robot is characterized by comprising a mechanical arm for grabbing books, a lifting mechanism for driving the mechanical arm to move up and down, a translation mechanism for driving the mechanical arm to move horizontally, a moving platform for temporarily storing the books, a controller and a camera.

Description

Technical Field

[0001] The utility model relates to the field of library management, and specifically relates to an intelligent book fetching robot. Background Art

[0002] Currently, existing automatic book fetching robots on the market, such as the Chinese utility model patent CN211333181U, include a signal acquisition and recognition unit, a book access and execution unit, and a driving chassis unit. The defects of this robot are as follows: books need to be additionally installed with radio frequency electronic tags and magnet sheets; the mechanical arm structure for grasping books is bloated; the robot lacks a book storage device, resulting in low book fetching efficiency; the driving chassis unit of this robot uses a steering servo for steering, and it cannot adapt to narrow environments such as libraries. Therefore, further improvement is needed. Content of the Utility Model

[0003] The purpose of the utility model is to overcome the deficiencies in the above background art and provide an intelligent book fetching robot, which should have the characteristics of good environmental adaptability and high book fetching efficiency.

[0004] The technical solution of the utility model is as follows:

[0005] An intelligent book fetching robot, characterized in that it includes a mechanical arm for grasping books, a lifting mechanism for driving the mechanical arm to move up and down, a translation mechanism for driving the mechanical arm to move horizontally, a moving platform for temporarily storing books, a controller, and a camera;

[0006] The mechanical arm includes a large arm, a small arm, and a mechanical claw connected in sequence, a first rotating motor for driving the large arm to rotate, and a second rotating motor for driving the small arm to rotate.

[0007] The mechanical claw includes a grasping support, a pair of fingers swingably positioned on the grasping support, a grasping motor, and a mechanical claw transmission component for transmitting the power of the grasping motor to drive the fingers to move; the grasping motor is fixed to the small arm, and the rotation axis of the grasping motor is perpendicular to the rotation axis of the second rotating motor; the rotation axes of the first rotating motor and the second rotating motor are parallel to each other.

[0008] The camera includes a positioning camera and an obstacle avoidance camera.

[0009] The mechanical claw transmission component includes a first connecting rod fixed to the rotating shaft of the grasping motor at one end, a second connecting rod whose two ends are rotatably hinged to the first connecting rod and one of the fingers, and a pair of gears rotatably positioned on the grasping support and meshing with each other; the finger is fixed to the gear, and the swing axis of the finger is coaxially arranged with the rotation axis of the gear; a book pressing rod is arranged on the first connecting rod; the positioning camera is arranged on the grasping support.

[0010] The lifting mechanism includes a second bracket, a lifting motor, a lifting seat, and a lifting transmission assembly arranged on the moving platform to transmit the power of the lifting motor and drive the lifting seat to move up and down; two lifting mechanisms are provided on the moving platform.

[0011] The translation mechanism includes a first bracket with both ends fixedly connected to the lifting seats of the respective lifting mechanisms, a pair of synchronous belt wheels arranged on the first bracket, a synchronous belt sleeved on the synchronous belt wheels, a synchronous motor for driving the synchronous belt wheels to rotate, and a translation seat that can be horizontally moved and positioned on the first bracket through a translation guiding structure and is fixed to the synchronous belt.

[0012] The moving platform includes a vehicle frame, four traveling wheels arranged on both sides of the vehicle frame, traveling motors for driving the respective traveling wheels, and a book bin; the obstacle avoidance camera is arranged at the front of the vehicle frame.

[0013] The book bin includes a number of cells, and each cell is composed of a bottom plate and a baffle.

[0014] The controller is electrically connected to the first rotation motor, the second rotation motor, the lifting motor, the synchronous motor, the traveling motor, the grasping motor, the positioning camera, and the obstacle avoidance camera.

[0015] The beneficial effects of the present utility model are:

[0016] The present utility model designs an intelligent book-taking robot. First, the positioning camera is used to identify the target book, then the lifting mechanism and the translation mechanism move the manipulator to the specified position, the manipulator then grabs the book into the book bin, and finally the moving platform identifies the obstacles through the obstacle avoidance camera and transports the book to the specified position. The intelligent book-taking robot is also equipped with a cleaning mechanism, which can clean the bookshelf and the books. Description of the Drawings

[0017] Figure 1 is a three-dimensional structural schematic diagram of the present utility model.

[0018] Figure 2 is a front view of the present utility model.

[0019] Figure 3 is a top view of the present utility model.

[0020] Figure 4 is a front view of the manipulator of the present utility model.

[0021] Figure 5 is a three-dimensional structural schematic diagram of the small arm of the present utility model.

[0022] Figure 6 is a rear view of the mechanical claw of the present utility model.

[0023] Figure 7It is the front view of the lifting mechanism of the present utility model.

[0024] Figure 8 It is the front view of the translation mechanism of the present utility model.

[0025] Figure 9 It is the left view of the translation mechanism of the present utility model.

[0026] Figure 10 It is the left view of the mobile platform of the present utility model.

[0027] Figure 11 It is the front view of the mobile platform of the present utility model.

[0028] Figure 12 It is the bottom view of the mobile platform of the present utility model.

[0029] Figure 13 It is the three-dimensional structure schematic diagram of the book bin of the present utility model.

[0030] Figure 14 It is one of the schematic diagrams of the working method of the mechanical claw of the present utility model.

[0031] Figure 15 It is the second schematic diagram of the working method of the mechanical claw of the present utility model.

[0032] Figure 16 It is the third schematic diagram of the working method of the mechanical claw of the present utility model.

[0033] Figure 17 It is the fourth schematic diagram of the working method of the mechanical claw of the present utility model.

[0034] Figure 18 It is the schematic diagram of the grasping mode of the manipulator of the present utility model.

[0035] Figure 19 It is the schematic diagram of the cleaning mode of the manipulator of the present utility model.

[0036] Reference numerals:

[0037] Manipulator 1, first rotation motor 11, forearm 12, second rotation motor 13, upper arm 14, mechanical claw 15, grasping support 15-1, finger 15-2, grasping motor 15-3, first connecting rod 15-4, second connecting rod 15-5, gear 15-6, book pressing rod 15-7, positioning camera 16, cleaning mechanism 17, lifting mechanism 2, second bracket 21, lifting motor 22, transmission table 23, lifting seat 24, lead screw 25, translation mechanism 3, first bracket 31, synchronous motor 32, translation seat 33, synchronous belt 34, synchronous pulley 35, translation guiding structure 36, slide rail 36-1, slider 36-2, moving platform 4, vehicle frame 41, driving wheel 42, Mecanum right wheel 42-1, Mecanum left wheel 42-2, driving motor 43, book bin 44, first baffle 44-1, second baffle 44-2, third baffle 44-3, fourth baffle 44-4, fifth baffle 44-5, sixth baffle 44-6, seventh baffle 44-7, obstacle avoidance camera 45. Detailed implementation manners

[0038] In order to make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0039] As Figure 1 、 Figure 2 、 Figure 3 shown, an intelligent book-taking robot includes a manipulator 1, a lifting mechanism 2, a translation mechanism 3, a moving platform 4, a camera, and a controller.

[0040] Among them: The manipulator is equipped with a mechanical claw for clamping a target book and cleaning the dust on the bookshelf; the lifting mechanism is used to drive the manipulator to move up and down so that the mechanical claw moves to the position of the bookshelf where the target book is located; the translation mechanism is used to drive the manipulator to move horizontally so that the mechanical claw moves to the position where the book is located; the moving platform is used to receive the book grabbed by the manipulator and transport the book to a designated position; the camera is used to avoid obstacles when the robot moves and locate the position where the target book is located; the controller is electrically connected to the manipulator, the lifting mechanism, the translation mechanism, the moving platform, and the camera.

[0041] As Figure 2 shown, the horizontal direction is the X-axis direction, the vertical direction is the Z-axis direction, and the origin is point O.

[0042] As Figure 3 shown, the horizontal direction is the X-axis direction, the vertical direction is the Y-axis direction, and the origin is point O.

[0043] The manipulator is a multi-section extendable structure, which can grab books from the bookshelf and transfer the books to the book bin of the mobile platform.

[0044] like Figure 4 As shown, the manipulator includes a first rotating motor 11, a large arm 12, a second rotating motor 13, a small arm 14, and a mechanical claw 15, and the large arm, the small arm, and the mechanical claw are connected in sequence. The rotating shaft of the first rotating motor is connected to the large arm, and the first rotating motor is used to drive the large arm to swing, and the rotating axis of the first rotating motor is parallel to the X axis; the second rotating motor is fixed on the large arm, and the rotating shaft of the second rotating motor is connected to the small arm, and the second rotating motor is used to drive the small arm to swing, and the rotating axis of the second rotating motor is parallel to the X axis.

[0045] like Figure 4 , Figure 5 As shown, the second rotating motor and the cleaning mechanism 17 are fixed to the upper end of the arm. The lower end of the forearm is fixed to the rotating shaft of the second rotating motor and is controlled by the second rotating motor to swing, and the swing axis of the forearm is parallel to the X axis. Under normal circumstances, the forearm extends forward, and the manipulator grabs the books on the bookshelf through the mechanical claw. Figure 19 As shown, the second rotating motor can also drive the small arm to flip and fold backwards, and the robot arm is converted into a cleaning mode to clean the dust on the bookshelf.

[0046] like Figure 6 As shown, the mechanical claw includes a grasping support 15-1, a finger 15-2, a grasping motor 15-3 and a mechanical claw transmission assembly. The grasping support is fixed to the upper end of the forearm, the grasping motor is fixed to the grasping support, and the rotation axis of the grasping motor is perpendicular to the X-axis. The finger is fixed to the grasping support, and the finger can swing on the grasping support, and the swing axis of the finger is perpendicular to the X-axis. The mechanical claw transmission assembly includes a first connecting rod 15-4, a second connecting rod 15-5, and a gear 15-6. The first connecting rod is fixed to the rotating shaft of the grasping motor, one end of the second connecting rod is rotatably hinged to the first connecting rod, and the other end of the second connecting rod is rotatably hinged to one of the fingers. Each finger is fixed to a gear, the rotation axis of the gear coincides with the swing axis of the finger, and the two gears are meshed, so the two fingers can swing in opposite directions, forming the grasping action of the mechanical claw.

[0047] The first connecting rod is also equipped with a book pressing rod 15-7, when encountering a book that cannot be directly grasped by fingers, such as Figure 14 As shown, a book pressing rod can be used to press down one corner of the top of the book (the side close to the robot) to tilt the book, while the other corner of the top of the book is tilted upward, and then the finger can be used to grasp the book.

[0048] The cameras include a positioning camera 16 and an obstacle avoidance camera 45. The positioning camera is fixed on a side of the grabbing support facing the book.

[0049] As shown Figure 7 in the figure, the lifting mechanism includes a second bracket 21, a lifting motor 22, a lifting seat 24 and a lifting transmission assembly. The two lifting mechanisms are symmetrically fixed on the moving platform in the left-right direction ( Figure 2 the two sides are in the left-right direction).

[0050] In each lifting mechanism: the lifting motor is fixed on the moving platform, and the rotation axis of the lifting motor is parallel to the Z-axis. A lifting transmission assembly for transmitting the driving force of the lifting motor is installed between the lifting motor and the second bracket. The lifting transmission assembly includes a transmission table 23 fixed to the upper end of the second bracket, and a lead screw 25 rotatably positioned on the transmission table (the lead screw is also coaxially connected to the rotating shaft of the lifting motor). The lifting seat is installed on the lead screw, and a threaded hole for cooperating with the lead screw is provided on the lifting seat; the lifting seats of the left and right two lifting mechanisms are simultaneously fixed to the translation mechanism, thus forming a whole. When the left and right two lifting motors rotate in the same direction and at the same speed, the rotational force is transmitted to the left and right two lifting seats by driving the lead screw to form a lifting force in the same direction, driving the translation mechanism to rise or fall along the Z-axis direction.

[0051] As shown Figure 8 in Figure 9 the figure, the translation mechanism includes a first bracket 31, a synchronous motor 32, a translation seat 33, a synchronous belt 34, a synchronous pulley 35, and a translation guiding structure 36. The translation guiding structure includes a slide rail 36-1 and a slider 36-2. The left and right ends of the first bracket are respectively fixed to the two lifting seats. The synchronous motor is installed at one end of the first bracket and the rotating shaft of the synchronous motor is coaxially connected to a synchronous pulley, and a synchronous pulley is also installed at the corresponding position at the other end of the first bracket. The synchronous belt is sleeved on the two synchronous pulleys. A translation guiding structure is provided on the first bracket, and the translation seat can horizontally move along the first bracket through the translation guiding structure, and the synchronous belt is fixed to the translation seat, so that the translation seat horizontally moves along the X-axis direction under the action of the driving force generated by the synchronous motor.

[0052] As shown Figure 10 in Figure 11 the figure, the moving platform includes a vehicle frame 41, traveling wheels 42, traveling motors 43, and a book bin 44. A total of four traveling motors are installed on both sides of the vehicle frame, and each traveling motor is equipped with a traveling wheel. The book bin is installed at the rear of the vehicle frame ( Figure 10 the left side is the rear), and an obstacle avoidance camera (for obstacle avoidance when the moving platform is traveling) is installed at the front of the vehicle frame ( Figure 10 the right side is the front).

[0053] As shown Figure 12 in Figure 12 the figure, the traveling wheels installed on the moving platform are Mecanum wheels, and a Mecanum right wheel 42-1 is installed at the upper left corner and the lower right corner ( Figure 12A McNamara left wheel 42-2 is installed at both the upper right corner and the lower left corner (of the relevant component). The McNamara wheel can convert the steering force of the walking wheel into axial force and radial force (parallel to the X-axis direction and the Y-axis direction respectively), and by controlling the rotational speeds of the four walking motors, finally synthesize a resultant force vector to enable this mobile platform to move freely on the XOY plane without changing the orientation of the mobile platform itself.

[0054] As Figure 13 shown, the book bin includes several baffles with the same specifications. Among them: the long sides of the fifth baffle 44-5, the sixth baffle 44-6, and the seventh baffle 44-7 are connected to each other in pairs to form a bottom plate, and are fixedly connected to the rear part of the vehicle frame by bolts; the first baffle 44-1, the second baffle 44-2, the third baffle 44-3, and the fourth baffle 44-4 are arranged vertically at intervals as baffles, and the long sides of the above baffles are connected and fixed to the bottom plate to form three cells, and the size of the cells can be adjusted by changing the intervals of the baffles.

[0055] The working principle of the intelligent book-taking robot is as follows:

[0056] 1. The user selects the required book through an external device and sends a book-taking signal; the controller receives the book-taking signal (including the book name, bookshelf position, and book layer position), and the mobile platform moves to the front of the bookshelf where the book is stored;

[0057] 2. The lifting mechanism is activated to move the mechanical claw to the height of the book layer where the book is stored; the translation mechanism is activated to move the mechanical claw horizontally, and the name of the book is scanned through the positioning camera to find the required book;

[0058] 3. As Figure 14 shown, when the mechanical claw moves to the position of the book, the pressing rod is used for work:

[0059] As Figure 15 shown, the pressing rod moves to the top of the target book, presses the corner of the top of the book, so that the corner of the other end of the top is lifted, which is beneficial for the mechanical claw to grab the book; as Figure 16 shown, the pressing rod releases the corner of the book and exits the bookshelf, the mechanical claw adjusts its position and then uses its fingers to grab the target book, and then puts the book into the book bin;

[0060] 4. The mobile platform moves to the designated position, and the user takes out the book from the book bin.

[0061] The working principle of the intelligent robot cleaning mode is as follows:

[0062] As Figure 18 、 Figure 19As shown in the figure, the second motor is used to control the rearward flipping of the forearm, making the cleaning mechanism the front end of the manipulator; then the position of the upper arm is adjusted by the lifting mechanism and the moving platform, so that the cleaning mechanism contacts the dusty bookshelf surface; the manipulator is driven to move horizontally by the translation mechanism, so that the cleaning mechanism performs the action of dust sweeping to complete the cleaning of the bookshelf.

[0063] The cleaning mechanism is a cleaning sponge.

[0064] All components of the present utility model are prior art and can be obtained by outsourcing.

[0065] The preferred embodiments of the present utility model are given in the drawings. However, the present utility model can be implemented in many different forms and is not limited to the embodiments described in this specification. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present utility model more thorough and comprehensive.

Claims

1. An intelligent book-taking robot, characterized in that: It includes a manipulator (1) for grasping books, a lifting mechanism (2) for driving the manipulator to move up and down, a translation mechanism (3) for driving the manipulator to move horizontally, a moving platform (4) for temporarily storing books, a controller, and a camera; The manipulator includes a large arm (12), a small arm (14), and a mechanical claw (15) connected in sequence, as well as a first rotating motor (11) for driving the large arm to rotate and a second rotating motor (13) for driving the small arm to rotate.

2. The intelligent book-taking robot according to claim 1, characterized in that: The mechanical claw includes a grasping support (15-1), a pair of fingers (15-2) swingably positioned on the grasping support, a grasping motor (15-3), and a mechanical claw transmission assembly for transmitting the power of the grasping motor to drive the fingers to move; the grasping motor is fixed to the small arm, and the rotation axis of the grasping motor is perpendicular to the rotation axis of the second rotating motor; the rotation axes of the first rotating motor and the second rotating motor are parallel to each other.

3. The intelligent book-taking robot according to claim 2, characterized in that: The camera includes a positioning camera (16) and an obstacle avoidance camera (45).

4. The intelligent book retrieval robot according to claim 3, wherein: The mechanical claw transmission assembly includes a first connecting rod (15-4) with one end fixed to the rotating shaft of the grasping motor, a second connecting rod (15-5) with both ends rotatably hinged to the first connecting rod and one of the fingers, and a pair of gears (15-6) rotatably positioned on the grasping support and meshing with each other; the finger is fixed to the gear, and the swing axis of the finger is coaxially arranged with the rotation axis of the gear; a book pressing rod (15-7) is provided on the first connecting rod; the positioning camera is provided on the grasping support.

5. An intelligent book-taking robot according to claim 4, characterized in that: The lifting mechanism includes a second support (21) provided on the moving platform, a lifting motor (22), a lifting seat (24), and a lifting transmission assembly for transmitting the power of the lifting motor to drive the lifting seat to move up and down; there are two lifting mechanisms provided on the moving platform.

6. The intelligent book retrieval robot according to claim 5, wherein: The translation mechanism includes a first support (31) with both ends respectively fixed to the lifting seats of each lifting mechanism, a pair of synchronous belt wheels (35) provided on the first support, a synchronous belt (34) sleeved on the synchronous belt wheels, a synchronous motor (32) for driving the synchronous belt wheels to rotate, and a translation seat (33) horizontally movably positioned on the first support through a translation guiding structure (36) and fixed to the synchronous belt.

7. The intelligent book retrieval robot according to claim 6, characterized in that: The moving platform includes a vehicle frame (41), four traveling wheels (42) provided on both sides of the vehicle frame, traveling motors (43) for driving each traveling wheel, and a book bin (44); the obstacle avoidance camera is provided at the front of the vehicle frame.

8. The intelligent book retrieval robot according to claim 7, characterized in that: The book bin includes a number of cells, and each cell is composed of a bottom plate and a baffle.

9. The intelligent book-taking robot according to claim 8, wherein: The controller is electrically connected to the first rotating motor, the second rotating motor, the lifting motor, the synchronous motor, the traveling motor, the grasping motor, the positioning camera, and the obstacle avoidance camera.

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