Mobile robot device for grabbing books

Abstract

The utility model discloses a mobile robot device for grabbing books, and relates to the technical field of book grabbing robots, the mobile robot device for grabbing books comprises a mobile assembly, the upper end of the mobile assembly is provided with a mechanical arm, the mobile assembly comprises a driving base and a control panel, the cleaning device comprises a driving base, moving wheels are arranged at the lower end of the driving base, connecting sleeves are welded to the two ends of one side of the driving base, a cleaning assembly is arranged on one side of each connecting sleeve and comprises a mounting frame, a mounting groove is formed in the surface of one side of the mounting frame, and a ball screw sliding rail is fixed in the mounting groove; according to the scheme, the problems that when an existing book grabbing robot moves, the bottom of the existing book grabbing robot is easily stumbled by sundries, the existing book grabbing robot easily topples over, a base plate is easily clamped by the sundries, and consequently moving is blocked and moving is inconvenient are solved.

Description

Technical Field

[0001] This utility model relates to the field of book-grabbing robot technology, specifically a mobile robot device for grabbing books. Background Technology

[0002] A book-grabbing robot is an automated device mainly used for grabbing, moving, and organizing books in libraries. Utilizing machine vision technology, the robot can identify the category and location of books. Through a robotic arm or gripping device, the robot can accurately grab books from the bookshelf, move the grabbed books to a designated location, and organize and put them away.

[0003] For example, Chinese patent CN108839035A (A Method for Retrieving Borrowed Books) includes the following steps: 1. Establishing a book database and affixing QR code labels; 2. Obtaining the location of the books; 3. Constructing a library map and obtaining the location of the target bookshelf; 4. Moving a book-grabbing robot to the target bookshelf; 5. Obtaining the target book grabbing point; 6. Grabbing the book. This invention features simple steps, a reasonable design, and achieves autonomous movement and accurate book positioning. It can accurately grab borrowed books, reducing the workload of library staff and demonstrating strong practicality.

[0004] For example, Chinese Patent CN209502319U (A Robot System for Automatic Book Sorting and Shelving) includes a power supply, a mobile chassis that can move automatically, a mounting base on the mobile chassis, and a control device, a data acquisition device, and an action device mounted on the mounting base. The data acquisition device includes a data acquisition bracket vertically fixed to one side of the mounting base, a book frame on the data acquisition bracket, a reader / writer on the data acquisition bracket, and a vision camera facing the book frame at the end of the data acquisition bracket away from the mounting base, the vision camera cooperating with the reader / writer. The action device includes a robot mounted on the mounting base, a book gripping device at the end of the robot away from the mounting base, and an intelligent camera on the robot. Its beneficial effects are: it can automatically realize the functions of random book picking, automatic book classification, book placement and shelving, and detection, achieving automatic book sorting and shelving.

[0005] However, existing book-grabbing robots are prone to tripping over debris, tipping over, or getting their chassis stuck, resulting in obstructed and inconvenient movement. Therefore, they do not meet the current requirements. To address this, we propose a mobile robot device for grabbing books. Utility Model Content

[0006] The purpose of this utility model is to provide a mobile robot device for grasping books, so as to solve the problems mentioned in the background art that the bottom of the existing book grasping robot is easily tripped by debris, easily tipped over, and easily jammed by debris when moving, thus causing obstructed movement and inconvenience.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a mobile robot device for grasping books, comprising: a mobile component, a mechanical arm disposed at the upper end of the mobile component, the mobile component including a drive base and a control panel, a moving wheel disposed at the lower end of the drive base, connecting sleeves welded to both ends of one side of the drive base, and a cleaning component disposed on one side of the connecting sleeve.

[0008] Preferably, the cleaning component includes a mounting bracket, a mounting groove is provided on one side surface of the mounting bracket, a ball screw slide rail is fixed inside the mounting groove, the moving end of the ball screw slide rail is externally connected to a fixing seat by a screw, and a cleaning brush is provided below the fixing seat.

[0009] Preferably, the upper end of the cleaning brush is provided with a fixing post, and the upper surface of the fixing seat is provided with a through-type insertion groove, and the fixing post passes through the insertion groove.

[0010] Preferably, one side surface of the fixing base is provided with a fastener hole, one end of the fastener hole is provided with a single-ended fastener, and one end of the single-ended fastener passes through the fastener hole and the fixing post, and is fixed by an external nut.

[0011] Preferably, a connecting frame is welded to one side of each end of the mounting bracket, a sleeve groove is provided on one side surface of the connecting sleeve, a connecting insert plate with a self-wrapped magnetic stone is provided inside the sleeve groove, a connecting slot is provided on one end surface of the connecting frame, the connecting frame is inserted into the sleeve groove, and the connecting insert plate is inserted into the connecting slot for magnetic fixation.

[0012] Preferably, the other side surface of the mounting bracket is provided with an anti-collision pad, and the anti-collision pad is made of fabric wrapped with sponge.

[0013] Preferably, the robotic arm is a six-axis robotic arm.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. This utility model provides a cleaning component on one side of the moving component. The cleaning component includes a mounting bracket with a ball screw slide rail and a cleaning brush with a fixed insertion post. The drive base uses an existing robot moving base, which moves its position by driving the moving wheels with a motor. This is existing technology. When moving, the ball screw slide rail drives the fixed base to move back and forth, thereby cleaning debris in the direction of movement through the cleaning brush. This prevents the robot from being affected by debris on the ground, improves safety, and solves the problem that existing book grasping robots are prone to tripping over debris at the bottom, tipping over, or getting their chassis stuck, resulting in obstructed and inconvenient movement.

[0016] 2. By setting a connecting slot on one side surface of the connecting frame, and setting a connecting plate with a self-wrapped magnetic stone inside the slot, the connecting frame is inserted into the slot and the connecting plate is inserted into the connecting slot for magnetic fixation, which facilitates the quick disassembly and maintenance of cleaning components and improves the convenience of installation and disassembly. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the cleaning component structure of this utility model;

[0019] Figure 3 This is a schematic diagram of the left side view of the movable component of this utility model;

[0020] Figure 4 This is a schematic diagram of the fixing base structure of this utility model;

[0021] In the diagram: 1. Moving component; 2. Robotic arm; 3. Drive base; 4. Control panel; 5. Moving wheels; 6. Cleaning component; 7. Connecting sleeve; 8. Mounting bracket; 9. Anti-collision pad; 10. Connecting bracket; 11. Mounting slot; 12. Ball screw slide rail; 13. Fixed base; 14. Fixed pin; 15. Cleaning brush; 16. Connecting slot; 17. Single-head fastener; 18. Connecting plate; 19. Sleeve groove; 20. Fastener hole; 21. Pin slot. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0023] Please see Figure 1-4This utility model provides an embodiment of a mobile robot device for grasping books, comprising: a mobile component 1, a robotic arm 2 at the upper end of the mobile component 1 (see figure), the robotic arm 2 being a six-axis robotic arm, the mobile component 1 including a drive base 3 and a control panel 4, a moving wheel 5 at the lower end of the drive base 3, connecting sleeves 7 welded to both ends of one side of the drive base 3, a cleaning component 6 on one side of the connecting sleeves 7, the cleaning component 6 including a mounting frame 8, a mounting groove 11 on one side surface of the mounting frame 8, a ball screw slide rail 12 fixed inside the mounting groove 11, a screw connecting the moving end of the ball screw slide rail 12 to a fixing seat 13, and a cleaning brush 15 below the fixing seat 13.

[0024] When moving, the ball screw slide rail 12 drives the fixed seat 13 to move back and forth, thereby cleaning the debris in the forward direction by the cleaning brush 15, thus avoiding the robot being affected by debris on the ground and improving safety.

[0025] Please see Figure 2 , 4 The upper end of the cleaning brush 15 is provided with a fixing post 14, and the upper surface of the fixing base 13 is provided with a through-type post groove 21, through which the fixing post 14 passes. One side surface of the fixing base 13 is provided with a fastener hole 20, and one end of the fastener hole 20 is provided with a single-headed fastener 17, through which the fastener hole 20 and the fixing post 14 are passed. An external nut is used to fix the fixing post 14, which is convenient for disassembly and replacement.

[0026] Please see Figure 1 , 2 3. Connecting brackets 10 are welded to one side of both ends of the mounting bracket 8. A groove 19 is provided on one side surface of the connecting sleeve 7. A connecting insert plate 18 with a magnetic stone is provided inside the groove 19. A connecting slot 16 is provided on one end surface of the connecting bracket 10. The connecting bracket 10 is inserted into the groove 19, and the connecting insert plate 18 is inserted into the connecting slot 16 and magnetically fixed. This facilitates the quick disassembly and maintenance of the cleaning component 6 and improves the convenience of installation and disassembly.

[0027] Please see Figure 1 , 2 On the other side of the mounting frame 8, there is a collision protection pad 9. The collision protection pad 9 is made of fabric wrapped around sponge. During the movement of the robot, the collision protection pad 9 protects the front surface of the mounting frame 8, which plays a collision buffering role, reduces the possibility of collision damage, and improves safety and protection.

[0028] Working principle: When in use, the fixing post 14 passes through the post slot 21 and is fixed by the single-head fastener 17. The connecting bracket 10 is inserted into the sleeve slot 19 and the connecting plate 18 is inserted into the connecting slot 16 and magnetically fixed. The connecting plate 18 is wrapped with a magnetic stone, which facilitates the quick disassembly and maintenance of the cleaning component 6 and improves the convenience of installation and disassembly.

[0029] The drive base 3 uses an existing robot mobile base, which moves its position by driving the moving wheels 5 with a motor. This is existing technology. During movement, the ball screw slide rail 12 drives the fixed seat 13 to move back and forth, thereby cleaning the debris in the forward direction by the cleaning brush 15, thus preventing the robot from being affected by debris on the ground and improving safety. The books to be grabbed are pre-input through the control panel 4 and searched through the pre-input database. The robot moves through the moving component 1. The robot uses RFID technology to read the electronic tags on the books to achieve rapid book positioning. The robotic arm 2 is a six-axis robotic arm. The gripping end of the six-axis robotic arm is equipped with a pneumatic gripping mechanism with vision components (not shown in the figure). This is an existing structure. Combined with computer vision technology, the robot can recognize the text on the spine of the book and identify the book. After identifying the book, the robot can accurately grab the book through the robotic arm 2 and the pneumatic gripping mechanism and then deliver it to the designated location. These are all existing technologies.

[0030] During the robot's movement, the front surface of the mounting frame 8 is protected by the anti-collision pad 9, which plays a collision buffering role, reduces the possibility of collision damage, and improves safety and protection.

[0031] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A mobile robot device for grasping books, comprising a moving component (1), characterized in that: The upper end of the moving component (1) is provided with a robotic arm (2). The moving component (1) includes a drive base (3) and a control panel (4). The lower end of the drive base (3) is provided with a moving wheel (5). Both ends of one side of the drive base (3) are welded with connecting sleeves (7). One side of the connecting sleeve (7) is provided with a cleaning component (6).

2. The mobile robot device for grasping books according to claim 1, characterized in that: The cleaning component (6) includes a mounting bracket (8), one side surface of which is provided with a mounting groove (11), a ball screw slide rail (12) is fixed inside the mounting groove (11), the moving end of the ball screw slide rail (12) is externally connected to a fixing seat (13) with screws, and a cleaning brush (15) is provided below the fixing seat (13).

3. The mobile robot device for grasping books according to claim 2, characterized in that: The cleaning brush (15) has a fixed post (14) at its upper end, and the upper surface of the fixed base (13) has a through-type post groove (21), and the fixed post (14) passes through the post groove (21).

4. The mobile robot device for grasping books according to claim 3, characterized in that: The fixing base (13) has a fastener hole (20) on one side surface. A single-headed fastener (17) is provided at one end of the fastener hole (20), and one end of the single-headed fastener (17) passes through the fastener hole (20) and the fixing post (14) and is fixed by an external nut.

5. A mobile robot device for grasping books according to claim 2, characterized in that: The mounting bracket (8) has a connecting bracket (10) welded to one side at both ends. The connecting sleeve (7) has a sleeve groove (19) on one side surface. The sleeve groove (19) has a connecting insert plate (18) with a self-wrapped magnetic stone inside. The connecting bracket (10) has a connecting slot (16) on one end surface. The connecting bracket (10) is inserted into the sleeve groove (19), and the connecting insert plate (18) is inserted into the connecting slot (16) and magnetically fixed.

6. The mobile robot device for grasping books according to claim 2, characterized in that: The other side surface of the mounting bracket (8) is provided with a shock-absorbing pad (9), and the shock-absorbing pad (9) is made of fabric wrapped around a sponge.

7. The mobile robot device for grasping books according to claim 1, characterized in that: The robotic arm (2) is a six-axis robotic arm.

Images