A library robot based on robotic arm grasping

Abstract

This utility model relates to the field of library robot technology, and discloses a library robot based on a robotic arm grasping mechanism. It includes tracked wheels, a base on top of each tracked wheel, an electric slide rail fixedly connected to the top of the base, a sliding block slidably connected to the outer wall of the electric slide rail, a fixed plate fixedly connected to the top of the sliding block, an inclined plate fixedly connected inside the fixed plate, and a protective cover fixedly connected to the outer wall of the top of the inclined plate. This utility model allows movement within the library via the tracked wheels, enabling rapid access to target areas. With the aid of components such as the electric slide rail and moving disk, the robot can precisely adjust its position. A camera identifies and locates books, which are then placed on a conveyor belt for temporary storage or transfer. The entire process is highly automated, allowing for rapid response to borrowing requests. Compared to manual searching and retrieval, this significantly reduces time, effectively improving the efficiency of book retrieval and borrowing, and reducing reader waiting time.

Description

Technical Field

[0001] This utility model relates to the field of library robot technology, specifically a library robot based on robotic arm grasping. Background Technology

[0002] Libraries have a large collection of books, and a large number of books are checked out and returned daily. Librarians need to spend a lot of time and energy on tasks such as classifying, organizing, shelving, and moving books, which is labor-intensive and inefficient. Furthermore, manual operation makes it difficult to ensure the accuracy of book storage locations, hindering borrowers' retrieval. Therefore, an automated device is needed to reduce the workload of staff and improve the efficiency and accuracy of library management.

[0003] The work of shelving, returning, and transferring books requires frequent manual handling, especially for heavy books or books on tall bookshelves. Long-term operation can easily lead to occupational health problems such as muscle strain and fatigue for administrators.

[0004] To address the aforementioned issues, a library robot based on robotic arm grasping is proposed. Utility Model Content

[0005] The purpose of this invention is to provide a library robot based on a robotic arm for grasping, which solves the problem in the prior art that the work of book shelving, repositioning, and transfer requires frequent manual handling, especially for heavy books or books on tall bookshelves, which can easily lead to muscle strain, fatigue and other occupational health problems for administrators over a long period of time.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a library robot based on a robotic arm grasping mechanism, comprising tracked wheels, a base on the top of the tracked wheels, an electric slide rail fixedly connected to the top of the base, a sliding block slidably connected to the outer wall of the electric slide rail, a fixed plate fixedly connected to the top of the sliding block, an inclined plate fixedly connected inside the fixed plate, a protective cover fixedly connected to the outer wall of the top of the inclined plate, a movable disk fixedly connected to one end of the inclined plate and slidably connected to the top of the base, a support frame fixedly connected to the other end of the inclined plate, a conveyor belt disposed inside the support frame, a sliding plate disposed on the top left side of the fixed plate, a first motor fixedly connected to the outer wall of the front end of the sliding plate, a rotating column fixedly connected to the output end of the first motor, and the rotating column... A rotating plate is fixedly connected to the outer wall. A camera is fixedly connected to the top left side of the rotating plate. A telescopic rod is rotatably connected to the rear end of the rotating plate, and the telescopic rod is rotatably connected to the outer wall of the sliding plate. A uniformly distributed electric push rod is fixedly connected to the outer wall of the left side of the rotating plate. A grooved plate is fixedly connected to the output end of the electric push rod. A second motor is fixedly connected to the outer wall of the right side of the grooved plate. A rotating disk is fixedly connected to the output end of the second motor. An inclined rod is rotatably connected to the outer walls of both ends of the rotating disk. A moving plate is rotatably connected to one end of the inclined rod. A uniformly distributed guide block is fixedly connected to the outer wall of the right side of the grooved plate. A moving block is slidably connected to the outer wall of the guide block, and the moving block is fixedly connected to the moving plate. A clamping plate is fixedly connected to the outer wall of the left side of the moving plate. A drive assembly is provided on the top of the fixed plate.

[0007] By adopting the above technical solution, the telescopic rod has a fixed sleeve and a telescopic rod inside, which allows the whole to extend and retract. The groove plate is moved by the electric push rod, so that the clamp can easily clamp and fix the book, making it easy to grab.

[0008] As a further description of the above technical solution: the drive assembly includes a connecting plate, which is slidably connected to both ends of the left side of the fixed plate, and a third motor is fixedly connected to the outer wall of the rear end of the connecting plate.

[0009] By adopting the above technical solution, the third motor is fixed by the connecting plate.

[0010] As a further description of the above technical solution: a rotating column is fixedly connected to the output end of the third motor, and a drive sprocket is fixedly connected to the outer walls of both the left and right ends of the rotating column.

[0011] By adopting the above technical solution, the third motor drives the rotating column to drive the drive sprocket to rotate.

[0012] As a further description of the above technical solution: a rotating rod is rotatably connected inside the top of the connecting plate, and driven sprockets are fixedly connected to the outer walls of both the left and right ends of the rotating rod.

[0013] By adopting the above technical solution, the driven sprocket drives the rotating rod to rotate.

[0014] As a further description of the above technical solution: the driving sprocket and the driven sprocket are connected by chain meshing.

[0015] By adopting the above technical solution, the driven sprocket is driven to rotate by the driving sprocket and the chain.

[0016] As a further description of the above technical solution: a connecting block is fixedly connected to the outer wall of the chain, and the connecting block is fixedly connected to the moving disk.

[0017] By adopting the above technical solution, the connecting block is moved by the movement of the chain.

[0018] As a further description of the above technical solution: gears are fixedly connected to the outer ring of the middle end of the rotating column.

[0019] By adopting the above technical solution, the rotating column drives the gear to rotate.

[0020] As a further description of the above technical solution: the outer ring of the gear is meshed with a rack, and the rack is fixedly connected to the fixing plate.

[0021] By adopting the above technical solution, the gear meshes with the rack.

[0022] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0023] This utility model provides a library robot based on a robotic arm for grasping. First, it can move within the library using tracked wheels, quickly reaching the target area. With the help of components such as electric slide rails and moving disks, it can accurately adjust its position. Then, it uses a camera to identify and locate books, placing them on a conveyor belt for temporary storage or transfer. The entire process is highly automated and can quickly respond to borrowing requests. Compared with manual book searching and retrieval, it significantly shortens the time, effectively improving the efficiency of book retrieval and borrowing, and reducing readers' waiting time.

[0024] This utility model provides a library robot based on a robotic arm for grasping. A second motor drives a rotating disk to rotate, which in turn moves a diagonal bar and a movable disk, allowing the clamp to hold the books. This eliminates the need for manual grasping and handling, freeing staff from tedious physical labor and allowing them to devote more energy to other more important tasks, such as reader services and book sorting and shelving, thereby reducing the workload of staff. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0026] Figure 2 This is a schematic diagram of the structure of the sliding plate of this utility model;

[0027] Figure 3 This is a schematic diagram of the structure of the electric actuator of this utility model;

[0028] Figure 4 This is a schematic diagram of the gear structure of this utility model.

[0029] In the diagram: 1. Track wheel; 2. Base; 3. Electric slide rail; 4. Sliding block; 5. Moving disc; 6. Inclined plate; 7. Protective cover; 8. Bearing frame; 9. Fixed plate; 10. Sliding plate; 11. First motor; 12. Rotating column; 13. Rotating plate; 14. Camera; 15. Telescopic rod; 16. Electric push rod; 17. Second motor; 18. Rotating disc; 19. Inclined rod; 20. Moving disc; 21. Guide block; 22. Moving block; 23. Clamping plate; 24. Third motor; 25. Connecting plate; 26. Conveyor belt; 27. Drive sprocket; 28. Rotating column; 29. ​​Gear; 30. Rack; 31. Chain; 32. Rotating rod; 33. Driven sprocket; 34. Connecting block; 35. Groove plate. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] To further understand the contents of this utility model, a detailed description of this utility model will be provided with reference to the accompanying drawings.

[0032] Reference Figures 1-4 This utility model discloses a library robot based on a robotic arm for grasping, including tracked wheels 1, which are mounted on the bottom of a base 2. The rotation of the tracked wheels 1 enables the robot to move across the library floor and reach the target bookshelf area according to a preset path or navigation instructions. When the robot reaches the vicinity of the target area, the electric slide rail 3 fixed to the top of the base 2 is activated, driving the sliding block 4, which is slidably connected to its outer wall, to move along the length of the electric slide rail 3. Since the top of the sliding block 4 is fixedly connected to the fixed plate 9, it drives the fixed plate 9 and all components above it to achieve initial lateral adjustment. During the movement of the fixed plate 9, the movable disk 5 fixed at one end of the inclined plate 6 slides along the top surface of the base 2, providing auxiliary support for the inclined plate 6 and the supporting frame 8, ensuring the stability of the overall movement.

[0033] Book recognition and positioning adjustment

[0034] A sliding plate 10, located on the top left side of the fixed plate 9, provides the mounting base for the recognition and grasping components. A first motor 11, fixed to the outer wall of the front end of the sliding plate 10, is powered on and its output drives the fixedly connected rotating column 12 to rotate. A rotating plate 13, fixed to the outer wall of the rotating column 12, rotates synchronously with the rotating column 12. Simultaneously, a telescopic rod 15, rotatably connected to the rear end of the rotating plate 13, extends and retracts. The telescopic rod 15 and the rotating connection point on the outer wall of the sliding plate 10 form a lever support, precisely adjusting the tilt angle of the rotating plate 13. A camera 14, fixed to the top left side of the rotating plate 13, adjusts its angle with the rotating plate 13, aiming at the target bookshelf area, and achieving book location recognition and positioning through image acquisition.

[0035] Book grabbing action execution

[0036] After positioning, multiple evenly distributed electric push rods 16 fixed to the left outer wall of the rotating plate 13 extend synchronously, pushing the grooved plate 35 fixed at the output end to move towards the target book until the clamping plate 23 approaches both sides of the book. The second motor 17 fixed to the right outer wall of the grooved plate 35 starts, and its output end drives the fixedly connected rotating disk 18 to rotate. The inclined rods 19 rotatably connected to the outer walls at both ends of the rotating disk 18 change angle as the rotating disk 18 rotates, thereby pulling the moving plate 20 rotatably connected to one end of the inclined rod 19. Multiple guide blocks 21 fixed to the right outer wall of the grooved plate 35 form a sliding limit on the moving block 22. The moving block 22 is fixedly connected to the moving plate 20, so that the moving plate 20 moves smoothly along the length direction of the guide block 21. The clamping plate 23 fixed to the left outer wall of the moving plate 20 moves synchronously with the moving plate 20. The two clamping plates 23 approach each other and finally clamp the target book, completing the grasping action.

[0037] Drive component linkage and position fine-tuning

[0038] In the drive assembly located at the top of the fixed plate 9, the connecting plate 25 is slidably connected to both ends of the left side of the fixed plate 9. The third motor 24, fixed to the outer wall of the rear connecting plate 25, starts, and its output drives the fixedly connected rotating column 28 to rotate. The drive sprockets 27, fixed to the outer walls of both ends of the rotating column 28, rotate synchronously with the rotating column 28. The drive sprockets 27 engage with the driven sprockets 33 fixed to both ends of the rotating rod 32 via a chain 31. The rotating rod 32 is rotatably connected to the inside of the top of the connecting plate 25. The connecting block 34, fixed to the outer wall of the chain 31, moves with the chain 31. Since the connecting block 34 is fixedly connected to the moving disk 5, it further fine-tunes the position of the moving disk 5, achieving precise positioning of the gripping component. The gear 29, fixed to the outer ring of the middle of the rotating column 28, rotates with the rotating column 28. The gear 29 engages with the rack 30 fixed to the fixed plate 9, providing auxiliary guidance for the fixed plate 9 during the sliding process of the connecting plate 25, ensuring the linearity and stability of the overall displacement.

[0039] Book storage and transfer

[0040] After the book is grasped, the position of the clamping plate 23 is adjusted by the reverse action of the aforementioned components, moving the book above the carrying frame 8. The second motor 17 rotates in the reverse direction, driving the rotating disk 18, the inclined rod 19, and other components to move, causing the clamping plate 23 to release the book, and the book falls onto the conveyor belt 26 set inside the carrying frame 8. The conveyor belt 26 starts, transporting the book along the length of the carrying frame 8 to the temporary storage area or transfer outlet, completing the temporary storage or transfer operation of the book. In the above specific embodiment, the connection relationship of each component satisfies the following: fixed connections are fastened with bolts or welded, rotating connections are achieved by bearings or pins to achieve relative rotation, and sliding connections are achieved by guide rails and sliders or hole shafts with clearance fit to achieve linear movement. The protective cover 7 is fixed to the top outer wall of the inclined plate 6, providing dust and rain protection for its internal components.

[0041] Working principle: The entire unit moves within the library via the bottom track wheels 1, adjusting its position for subsequent operations. Upon reaching the target area, the electric slide rail 3 on top of the base 2 drives the sliding block 4 to move, thereby adjusting the lateral position of the fixed plate 9 and the components above it. Simultaneously, the moving disk 5 slides on top of the base 2, working with the inclined plate 6 to achieve stable displacement 1 of the load-bearing structure. In the positioning and gripping preparation stage, the sliding plate 10 on the top left of the fixed plate 9 provides support. The first motor 11 starts and drives the rotating plate 13 to rotate via the rotating column 12. The telescopic rod 15 assists in adjusting the angle of the rotating plate 13, enabling the camera 14 on the top left to be aligned with the target book area, completing the identification and positioning of the book's location. After positioning, the evenly distributed electric push rods 16 on the left outer wall of the rotating plate 13 extend, pushing the grooved plate 35 closer to the target book. The gripping action is driven by the second motor 17, whose output end drives the rotating disk 18 to rotate. The inclined rods 19 at both ends of the rotating disk 18 then pull the moving plate 20. Under the limiting action of the guide block 21, the moving block 22 drives the moving plate 20 to move laterally, finally closing the clamping plate 23 on the left side of the moving plate 20, completing the clamping and gripping of the book. The gripped book can be placed on the conveyor belt 26 inside the carrying frame 8 for temporary storage or transfer. Throughout the process, the drive component provides power support for the movement of each part. The third motor 24 is fixed to the outer wall of the connecting plate 25. Its output end drives the rotating column 28 to rotate. The driving sprockets 27 at both ends of the rotating column 28 are driven by the driven sprockets 33 at both ends of the rotating rod 32 through the chain 31. The connecting block 34 on the outer wall of the chain 31 drives the moving disk 5 to further adjust its position. Meanwhile, the gear 29 at the middle of the rotating column 28 meshes with the rack 30, which assists the fixed plate 9 in achieving stable movement when the connecting plate 25 slides, ensuring the accuracy of the gripping and transfer process.

[0042] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0043] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A library robot based on mechanical arm gripping comprising a caterpillar wheel (1), characterized in that: The track wheel (1) is provided with a base (2) on top. An electric slide rail (3) is fixedly connected to the top of the base (2). A sliding block (4) is slidably connected to the outer wall of the electric slide rail (3). A fixed plate (9) is fixedly connected to the top of the sliding block (4). An inclined plate (6) is fixedly connected inside the fixed plate (9). A protective cover (7) is fixedly connected to the outer wall of the top of the inclined plate (6). A movable disk (5) is fixedly connected to one end of the inclined plate (6), and the movable disk (5) is slidably connected to the top of the base (2). A bearing frame (8) is fixedly connected to the other end of the inclined plate (6). A conveyor belt (26) is provided inside the bearing frame (8). A sliding plate (10) is provided on the top left side of the fixed plate (9). A first motor (11) is fixedly connected to the outer wall of the front end of the sliding plate (10). A rotating column (12) is fixedly connected to the output end of the first motor (11). A rotating plate (13) is fixedly connected to the outer wall of the rotating column (12). A camera is fixedly connected to the top left side of the rotating plate (13). The camera (14) has a telescopic rod (15) rotatably connected to the rear end of the rotating plate (13), and the telescopic rod (15) is rotatably connected to the outer wall of the sliding plate (10). A uniformly distributed electric push rod (16) is fixedly connected to the left outer wall of the rotating plate (13). A grooved plate (35) is fixedly connected to the output end of the electric push rod (16). A second motor (17) is fixedly connected to the right outer wall of the grooved plate (35). A rotating disk (18) is fixedly connected to the output end of the second motor (17). The outer walls of both ends of the rotating disk (18) are rotatably connected with inclined rods (19). One end of the inclined rod (19) is rotatably connected with a moving plate (20). The outer wall of the right side of the groove plate (35) is fixedly connected with evenly distributed guide blocks (21). The outer wall of the guide block (21) is slidably connected with a moving block (22), and the moving block (22) is fixedly connected with the moving plate (20). The outer wall of the left side of the moving plate (20) is fixedly connected with a clamping plate (23). The top of the fixed plate (9) is provided with a driving assembly.

2. The library robot based on mechanical arm grabbing according to claim 1, characterized in that: The drive assembly includes a connecting plate (25), which is slidably connected to both ends of the left side of the fixed plate (9), and a third motor (24) is fixedly connected to the outer wall of the connecting plate (25) at the rear end.

3. The library robot based on mechanical arm grabbing according to claim 2, characterized in that: The output end of the third motor (24) is fixedly connected to a rotating column (28), and the outer walls of both the left and right ends of the rotating column (28) are fixedly connected to a drive sprocket (27).

4. The library robot based on mechanical arm grabbing according to claim 2, characterized in that: The top of the connecting plate (25) is rotatably connected to a rotating rod (32), and the outer walls of both the left and right ends of the rotating rod (32) are fixedly connected to driven sprockets (33).

5. The library robot based on mechanical arm grabbing according to claim 3, characterized in that: The driving sprocket (27) and the driven sprocket (33) are connected by a chain (31).

6. The library robot based on mechanical arm grabbing according to claim 5, characterized in that: The outer wall of the chain (31) is fixedly connected to a connecting block (34), and the connecting block (34) is fixedly connected to the moving disk (5).

7. The library robot based on mechanical arm grabbing according to claim 3, characterized in that: Gears (29) are fixedly connected to the outer ring of the middle end of the rotating column (28).

8. The library robot based on mechanical arm grabbing according to claim 7, characterized in that: The outer ring of the gear (29) is meshed with a rack (30), and the rack (30) is fixedly connected to the fixing plate (9).

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