Book carrying device

Abstract

The utility model provides a book carrying device which comprises a carrying robot base, a carrying robot body fixed on the carrying robot base, a book storage box, a driving plate and a push rod motor, the book storage box comprises a box body, a door opening sensor, a door closing sensor, a grating emitter and a grating receiver, and the door opening sensor, the door closing sensor, the grating emitter and the grating receiver are arranged in the box body. The grating emitter and the grating receiver are oppositely matched, an opening is formed in the box body, and a gate is movably installed at the opening; wherein the push rod motor is respectively connected with the driving plate and the gate, and the door opening sensor, the door closing sensor, the grating emitter and the grating receiver are respectively connected with the driving plate. Therefore, opening and closing of the box body gate can be achieved through the driving plate, the push rod motor, the door opening and closing sensor, the grating transmitter and the grating receiver, the box body gate can be automatically opened and closed without manual participation, the carrying efficiency is greatly improved, and time and labor are saved.

Description

Technical Field

[0001] The utility model relates to the technical field of book transport, in particular to a book transport device. Background Art

[0002] Currently, most book transportation methods rely on manual labor, especially the opening and closing of book boxes during transportation, which results in low transportation efficiency, time-consuming and labor-intensive. Utility Model Content

[0003] In order to solve one of the above technical problems, the present utility model proposes the following technical solution.

[0004] The first embodiment of the present utility model proposes a book transporting device, including a transporting robot base, a transporting robot body fixed to the transporting robot base, a book storage box, a drive plate and a push rod motor, the book storage box includes a box body, a door opening sensor, a door closing sensor, a grating transmitter and a grating receiver arranged in the box body, the grating transmitter and the grating receiver are arranged in relative cooperation, an opening is opened on the box body, and a gate is movably installed at the opening; wherein, the push rod motor is respectively connected to the drive plate and the gate, and the door opening sensor, the door closing sensor, the grating transmitter and the grating receiver are respectively connected to the drive plate.

[0005] In addition, the book transporting device according to the above embodiment of the present invention may also have the following additional technical features.

[0006] In some examples, the opening is located on the top or outer side wall of the box.

[0007] In some examples, the door opening sensor is located at the top of the box, and the door closing sensor is located at the bottom of the box.

[0008] In some examples, the driver board has a first signal acquisition port, a second signal acquisition port, and a third signal acquisition port, the door opening sensor is connected to the first signal acquisition port of the driver board via a first wire, the door closing sensor is connected to the second signal acquisition port of the driver board via a second wire, and the grating receiver is connected to the third signal acquisition port of the driver board via a third wire.

[0009] In some examples, the driving board has a first signal output port and a second signal output port, and the push rod motor is connected to the first signal output port and the second signal output port of the driving board through a fourth wire and a fifth wire, respectively.

[0010] In some examples, the book transporting device also includes a step-down module, the driving board has a power input terminal and a power output terminal, the step-down module is connected to the power input terminal of the driving board, and the door opening sensor, the door closing sensor, the grating receiver and the grating transmitter are respectively connected to the power output terminal of the driving board.

[0011] The technical solution of the embodiment of the utility model adopts a drive plate, a push rod motor, a door opening and closing sensor and a grating transmitter and receiver to realize the opening and closing of the box gate. The box gate can be automatically opened and closed without human intervention, which greatly improves the handling efficiency and saves time and effort. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a structural diagram of a book transporting device according to an embodiment of the present invention.

[0013] Figure 2 This is a structural diagram of a book transporting device according to an example of the present invention. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0015] The utility model provides a book transporting device which can automatically and efficiently transport books.

[0016] Figure 1 This is a structural diagram of a book transporting device according to an embodiment of the present invention.

[0017] The book transport device of the present invention can be used in outdoor and indoor book transport scenarios, such as transporting books to a book return kiosk or to a borrowing and returning port in a library, including automatic loading and unloading operations of books.

[0018] like Figure 1As shown, the book transporting device includes a transport robot base (not shown in the figure), a transport robot body fixed on the transport robot base (not shown in the figure), a book storage box 1 (for storing books), a drive plate 2 and a push rod motor 3 (an electric drive device), the book storage box 1 includes a box body 11, a door opening sensor 12, a door closing sensor 13, a grating transmitter 14 and a grating receiver 15 arranged in the box body, the grating transmitter 14 and the grating receiver 15 are arranged in relative coordination, an opening is opened on the box body 11, and a gate 16 is movably installed at the opening, the gate 16 is used to open or close the opening, when it is opened, the robot body loads and unloads books, and closes after loading and unloading.

[0019] The push rod motor 3 is connected to the driving plate 2 and the gate 16 respectively, and the door opening sensor 12, the door closing sensor 13, the grating transmitter 14 and the grating receiver 15 are connected to the driving plate 2 respectively.

[0020] The opening can be located at the top or outer wall of the box body 11, the door opening sensor 12 can be located at the top of the box body, and the door closing sensor 13 can be located at the bottom of the box body, or both the door opening sensor 12 and the door closing sensor 13 can be arranged on the inner bottom surface of the box body 11.

[0021] The drive plate 2 drives the push rod motor 3, which in turn opens or closes the gate 16. The door opening sensor 12 and door closing sensor 13 (both of which can be pressure-activated sensors) monitor the open and closed states of the gate 16, respectively. When the gate 16 is open or fully open, the door opening sensor 12 sends an opening signal to the drive plate 2. When the gate 16 is closed or fully closed, the door closing sensor 13 sends a closing signal to the drive plate 2. Upon receiving the fully open or fully closed signal, the drive plate 2 stops driving the push rod motor 3. The grating transmitter 14 is used to emit light signals, and the grating receiver 15 is used to receive light signals. During the process of unloading books, when a light signal is received (indicating that the light signal is not blocked by books at this time), a corresponding book-cleared signal is sent to the driving board 2, and the driving board 2 drives the push rod motor 3 to rotate, driving the gate 16 to close; when no light signal is received during the process of filling books (indicating that the light signal is blocked by books at this time), a corresponding book-full signal is sent to the driving board 2, and the driving board 2 drives the push rod motor 3 to rotate, driving the gate 16 to close.

[0022] Among them, a plurality of infrared emitting tubes can be installed in the grating transmitter 14 (which can cover the left side wall of the box 1), and the same number of infrared receiving tubes arranged in the same manner can be installed in the corresponding grating receiver 15 (which can cover the right side wall of the box 11), and the infrared emitting tubes and the infrared receiving tubes are arranged in a one-to-one correspondence. When there are no books in the box 11 or the books are not full, the light signal emitted by the grating transmitter 14 can smoothly reach the grating receiver 15. When books need to be loaded and the box 11 is full of books, the light signal emitted by the grating transmitter 14 is blocked and cannot smoothly reach the grating receiver 15. The grating receiver 15 does not receive the light signal, so it sends a signal to the driver board 2 that the books are full; when books need to be unloaded and the books in the box 11 are emptied, the grating transmitter 14 emits a light signal that can smoothly reach the grating receiver 15. The grating receiver 15 receives the light signal, so it sends a signal to the driver board 2 that the books are cleared.

[0023] Specifically, when books need to be transported, the book transport device can be operated to the transport destination, and the drive plate 3 can be used to drive the push rod motor 3 to rotate, driving the gate 16 to open. When the door opening sensor 12 detects that the gate 16 is fully open, it sends a fully open signal to the drive plate 2, and the drive plate 2 stops driving the push rod motor 3 to rotate. After it is fully opened, the robot body begins to transport books from the box 11 or fill the box 11 with books. When the books are emptied or filled in the box 11, the grating receiver 14 sends a book empty signal or a book full signal to the drive plate 2, and the drive plate 2 drives the push motor 3 to rotate, driving the gate 16 to close, thereby completing the automatic loading and unloading of books. Finally, the book transport device can be operated to the next destination.

[0024] Among them, the specific structures or models of the drive plate 2, push rod motor 3, door opening sensor 12, door closing sensor 13, grating transmitter 14 and grating receiver 15 can be any existing ones, and the embodiment of the utility model does not limit the specific models of each device.

[0025] Therefore, the book handling device of the embodiment of the utility model adopts a drive plate, a push rod motor, a door opening and closing sensor and a grating transmitter and receiver to realize the opening and closing of the box gate. The box gate can be automatically opened and closed without human intervention, which greatly improves the handling efficiency and saves time and effort.

[0026] In one example of the present invention, Figure 2 As shown, the driving board 2 has a first signal acquisition port X1, a second signal acquisition port X0 and a third signal acquisition port X2. The door opening sensor 12 is connected to the first signal acquisition port X1 of the driving board 2 through a first wire R2, the door closing sensor 13 is connected to the second signal acquisition port X0 of the driving board 2 through a second wire R1, and the grating receiver 15 is connected to the third signal acquisition port X2 of the driving board through a third wire R3.

[0027] Reference Figure 2 The driving board 2 has a first signal output port Y3 and a second signal output port Y4. The push rod motor 3 is connected to the first signal output port Y3 and the second signal output port Y4 of the driving board 2 through a fourth wire R4 and a fifth wire R5 respectively. The driving board 2 drives the push rod motor 3 to rotate.

[0028] Reference Figure 2 The book handling device may further include a step-down module 4 and a robot chassis main controller 5 (the controller of the robot itself). The driving board 2 may also have a power input terminal and a power output terminal. The step-down module 4 is connected to the power input terminal of the driving board 2, and the door opening sensor 12, the door closing sensor 13, the grating receiver 14 and the grating transmitter 15 are respectively connected to the power output terminal of the driving board 2.

[0029] Among them, the robot chassis main controller 5 can serve as the main controller of the book handling device. The step-down module 4 can serve as a power converter for the robot chassis main controller 5 to provide power to the driver board 2. The driver board 2 is connected to the robot chassis main controller 5 via the serial port line L1, and exchanges information with the robot chassis main controller 5. By connecting to the step-down module 4, the 24V power obtained from the robot chassis main controller 5 is converted to 12V to provide power to the driver board 2. The door opening sensor 12 and the door closing sensor 13 are connected to the 12V power supply of the driver board via wires to obtain power. The door opening sensor 12 is connected to the first signal acquisition port X1 of the driver board 2 via the first wire R2, and reports the door opening status signal to the driver board 2. The door closing sensor 13 is connected to the second signal acquisition port X0 of the driver board 2 via the second wire R1, and reports the door closing status signal to the driver board 2.

[0030] The grating receiver 15 and grating transmitter 14 are connected to the 12V power supply of the driver board 2 via wires to obtain power. The grating receiver 15 is also connected to the third signal acquisition port X2 of the driver board 2 via a third wire R3 to report the grating trigger signal to the driver board 2.

[0031] Specifically, taking the example of loading books during transport, when the book transport device arrives at the book return kiosk, the robot chassis main controller 5 sends a signal to the driver board 2 via serial port line L1 to open the gate 16 above the book transport device. The driver board 2 then drives the pusher motor 3 to rotate, slowly opening the gate 16. When the door-open sensor 12 reports the fully-open status of the gate 16 to the driver board 2 via the X1 port connected to wire R2, the driver board 2 stops driving the pusher motor 2. When the grating receiver 15 senses that its signal is blocked by books, it sends a full-load signal to the driver board 2 via the X2 port connected to wire R3. The driver board 2 then drives the pusher motor 3 to slowly close the gate. When the door-close sensor 13 reports the fully-closed status of the gate to the driver board 2 via the X0 port connected to wire R1, the driver board 2 stops driving the pusher motor 3. Once the book transport device is fully loaded, the robot chassis main controller 5 drives the book transport device along a pre-set route to a designated location to unload the books.

[0032] To sum up, the book handling device of the embodiment of the utility model can realize fully automatic book handling without human intervention, greatly improving work efficiency; it can adapt to books of different sizes and shapes and has strong versatility; it can adopt unmanned driving technology and can operate stably in complex outdoor environments; it has a compact structure and meets the requirements of modern libraries; it does not require an external power supply and is energy-saving and environmentally friendly.

[0033] In the description of this specification, the reference terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Those skilled in the art can change, modify, replace, and modify the above embodiments within the scope of the present invention.

Claims

1. A book transport device, characterized in that: The book storage box comprises a handling robot base, a handling robot body fixed to the handling robot base, a book storage box, a drive plate, and a push rod motor. The book storage box comprises a box body, a door opening sensor, a door closing sensor, a grating transmitter, and a grating receiver arranged in the box body. The grating transmitter and the grating receiver are arranged in relative coordination. An opening is formed on the box body, and a gate is movably installed at the opening. The push rod motor is connected to the driving plate and the gate respectively, and the door opening sensor, the door closing sensor, the grating transmitter and the grating receiver are connected to the driving plate respectively.

2. The book transport device according to claim 1, wherein: The opening is located on the top or outer side wall of the box.

3. The book transport device according to claim 1, wherein: The door opening sensor is located at the top of the box body, and the door closing sensor is located at the bottom of the box body.

4. The book transport device according to claim 1, wherein: The driving board has a first signal acquisition port, a second signal acquisition port and a third signal acquisition port. The door opening sensor is connected to the first signal acquisition port of the driving board through a first wire, the door closing sensor is connected to the second signal acquisition port of the driving board through a second wire, and the grating receiver is connected to the third signal acquisition port of the driving board through a third wire.

5. The book transport device according to claim 1, wherein: The driving board has a first signal output port and a second signal output port, and the push rod motor is connected to the first signal output port and the second signal output port of the driving board through a fourth wire and a fifth wire respectively.

6. The book transporting device according to any one of claims 1 to 5, characterized in that: It also includes a step-down module, the driving board has a power input end and a power output end, the step-down module is connected to the power input end of the driving board, and the door opening sensor, the door closing sensor, the grating receiver and the grating transmitter are respectively connected to the power output end of the driving board.

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