CN109677825B - Book grabbing device and control method thereof - Google Patents
Book grabbing device and control method thereof Download PDFInfo
- Publication number
- CN109677825B CN109677825B CN201910054584.3A CN201910054584A CN109677825B CN 109677825 B CN109677825 B CN 109677825B CN 201910054584 A CN201910054584 A CN 201910054584A CN 109677825 B CN109677825 B CN 109677825B
- Authority
- CN
- China
- Prior art keywords
- book
- module
- plate
- vacuum
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 14
- 230000009471 action Effects 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 238000007667 floating Methods 0.000 claims description 21
- 238000005452 bending Methods 0.000 claims description 19
- 230000003014 reinforcing effect Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 6
- 230000009347 mechanical transmission Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 230000007547 defect Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 210000003437 trachea Anatomy 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0288—Signatures, i.e. sections of printed magazines, papers or books
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a book grabbing device and a control method of the book grabbing device, which are used for solving the technical problems of heavy weight, poor safety, high noise and poor universality of the book grabbing device in the prior art; a book gripping device, comprising: the device comprises a suction module, a telescopic clamping module, a mounting module and a machine vision module; the control method of the book grabbing device comprises the following steps: book grabbing action and step two: the book is put back in motion. By implementing the technical scheme of the invention, two clamping modes of the vacuum chuck and the clamping plate are used, the number and the positions of the vacuum chucks can be adjusted, and the universality of the device is improved; the compressed air is used as power, mechanical transmission parts such as gears and the like are omitted, noise is low, and operation is convenient; the data are stored in the remote server, the device has a simple structure, the weight of the device is reduced, and the shape of the device is reduced; the central processing system can identify books through book names, book numbers, book positions, two-dimensional codes or bar codes, and the identification mode is intelligent.
Description
Technical Field
The invention relates to the field of intelligent clamps, in particular to a book grabbing device and a control method of the book grabbing device.
Background
In daily management of large libraries, the book shelf robot is gradually replacing manpower, and automatic checking, shelf placing and other operations are realized. Besides the need of configuring a control software system, the development of the racking robot needs to be equipped with a book grabbing device with strong functions and strong universality at the terminal execution end of the robot, so that books with different sizes, thicknesses and weights can be grabbed and placed. Because the book grabbing device is matched with a robot, the book grabbing device has high requirements on weight, precision, safety and functionality.
Many attempts are made at this point by many units and individuals in China, for example, an end effector of a book grabbing and replacing device applied by Hubei university of industry is 201610927023.6, which adopts a motor to rotate, and drives a book clamping mechanism to move through the functions of a worm gear and a multi-link mechanism, so that books are clamped and released, the defects of easy finger clamping, low safety and high noise are overcome. The book clamping mechanism is driven to move by adopting motor drive to a sail book ATM and book grabbing machinery with thickness measuring function 201610626708.7, and the book clamping mechanism is driven to move by a ball screw and spring structure. The application number 201610277274.4 of the device for automatically grabbing and placing books of Shanghai university adopts an electric driving moving part to grab and place target books, and can realize automatic book identification and edge detection by combining a machine vision CCD camera, and has the defects of large volume and very weak universality. All three patents show a lot of defects in use, and the defects of large weight, poor safety, large noise and poor universality are summarized, so that the existing library on-shelf robot is urgently required to be provided with a grabbing mechanism with good comprehensive performance.
Disclosure of Invention
In order to solve the technical problems, the invention discloses a book grabbing device and a control method of the book grabbing device, and the technical scheme of the invention is implemented as follows:
A book gripping device, comprising: the device comprises a suction module, a telescopic clamping module, a mounting module and a machine vision module; wherein, the suction module includes: a plurality of vacuum chucks, a vacuum generator and a positioning plate; the vacuum chuck is arranged and fixed on the positioning plate; the vacuum generator is connected to the vacuum chuck through an air pipe and provides negative pressure for the vacuum chuck; the positioning plate is provided with a through hole through which the power supply line and the air pipe pass; the telescopic clamping module comprises: the device comprises a rotary cylinder, a clamping plate, a rotary cylinder mounting plate, a fixed seat, a guide shaft, a linear bearing, a reference plate, a thin cylinder, a floating joint and an electromagnetic valve; the clamping plates are arranged on the rotary cylinders, and when the rotary cylinders work, the rotary cylinders in pairs rotate in opposite directions to drive the clamping plates to open and close; the rotary cylinder is fixed on the fixed seat; the guide shaft penetrates through the center hole of the linear bearing and is fixedly connected with the fixed seat; the linear bearing is arranged on the reference plate; the thin cylinder is arranged on the reference plate; the floating joint is arranged between the thin air cylinder and the rotary air cylinder mounting plate; the electromagnetic valve is arranged on the reference plate and is connected with and controls the movements of the thin cylinder and the rotary cylinder; the reference plate is fixedly connected with the positioning plate; the mounting module includes: the mounting flange and the connecting plate; the connecting plate is fixed on the mounting flange; the datum plate is connected to the connecting plate, so that the telescopic clamping module is fixedly connected with the mounting module; the machine vision module includes: the device comprises a bending piece, a digital camera and a light source; the bending piece is connected to the mounting module; the digital camera is mounted on the bending piece, and the light source is connected to the digital camera.
Preferably, the vacuum chucks are uniformly distributed along the circumference, and the number of the vacuum chucks is 3-8.
Preferably, the mounting module further comprises: the wire support is mounted on the reinforcing rib.
Preferably, the bending member is connected to the reinforcing bar.
Preferably, the light source is an annular light source, and the machine vision module further comprises an annular light source bracket, and the annular light source bracket is fixed on the digital camera.
Preferably, the machine vision system further comprises a central processor, wherein the central processor is a PLC or a singlechip, and the central processor is connected to the suction module, the telescopic clamping module and the machine vision module.
Preferably, the central processing unit further comprises a wireless communication module, wherein the wireless communication module is connected to a cloud server, and the cloud server is provided with a database for storing book information.
A control method of a book grabbing device, which uses the book grabbing device with the characteristics, comprises the following steps: step one: the book grabbing action 1.1 starts the machine vision module, the light source is turned on to illuminate a target book, the digital camera shoots the target book, the pictures are analyzed in the central processing unit, information of the target book in the pictures is obtained, book information stored in the database in the server is read, and the book position is determined; 1.2, starting the suction mechanism, starting the vacuum generator, and enabling the vacuum sucker to generate vacuum negative pressure to attach and grasp the target book; 1.3, starting the telescopic clamping module, controlling the rotary cylinder to move by the electromagnetic valve, opening the clamping plate, controlling the thin cylinder to extend by the electromagnetic valve, driving the rotary cylinder mounting plate to extend together by the floating joint, controlling the rotary cylinder to close by the electromagnetic valve after the extension is completed, and retracting the thin cylinder until the clamping plate contacts with the target book and compresses the book; 1.4 moving the book to the book position; step two: the book placing back action 2.1 starts the telescopic clamping module, the electromagnetic valve controls the thin air cylinder to extend to separate the pressing plate from the target book, the electromagnetic valve controls the rotary air cylinder to move to open the clamping plate, the electromagnetic valve controls the thin air cylinder to retract, and the floating joint drives the rotary air cylinder mounting plate to retract together; 2.2, starting the suction mechanism, closing the vacuum generator, and enabling the vacuum sucker to be separated from the target book without generating vacuum negative pressure; 2.3, starting the machine vision module, judging whether the replacement is finished, and if not, returning to the step 1.1; if yes, ending.
Preferably, the book information includes: two-dimensional codes and/or bar codes, book names, book numbers, and book locations.
Preferably, the step 2.3 further includes shooting the target book, reading book information in a database in the server, and checking whether the book information matches with the book information in the step 1.1.
By implementing the technical scheme of the invention, the technical problems of heavy weight, poor safety, high noise and poor universality of the book grabbing device in the prior art can be solved; by implementing the technical scheme of the invention, two clamping modes of the vacuum chuck and the clamping plate are used, the number and the positions of the vacuum chucks can be adjusted, and the universality of the device is improved; the compressed air is used as power, mechanical transmission parts such as gears and the like are omitted, noise is low, and operation is convenient; the data are stored in the remote server, the device has a simple structure, the weight of the device is reduced, and the shape of the device is reduced; the central processing system can identify books through book names, book numbers, book positions, two-dimensional codes or bar codes, and the identification mode is intelligent.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only one embodiment of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a schematic structural view of a suction module according to an embodiment of the present invention;
FIG. 2 is a schematic view of a telescopic clamping module according to an embodiment of the present invention, shown in FIG. 1;
FIG. 3 is a schematic view of a telescopic clamping module according to an embodiment of the present invention, shown in FIG. 2;
FIG. 4 is a schematic view of a mounting module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a machine vision module according to an embodiment of the present invention;
FIG. 6 is a schematic view of the overall apparatus of one embodiment of the present invention;
FIG. 7 is a flow chart illustrating steps of a control method according to the present invention;
FIG. 8 is a flow chart illustrating steps of the control method of the present invention.
In the above drawings, each reference numeral indicates:
1-a vacuum chuck; 2-a vacuum generator; 3-positioning plates; 4-a rotary cylinder; 5-clamping plates; 6-fixing base; 7-a guide shaft; 8-linear bearings; 9-a reference plate; 10-a thin cylinder; 11-floating joint; 12-an electromagnetic valve; 13-mounting a flange; 14-connecting plates; 15-bending piece; 16-a digital camera; 17-a light source; 18-reinforcing ribs; 19-wire support; 20-a light source holder; 21-a rotary cylinder mounting plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In one embodiment of the present invention, a book grabbing apparatus, as shown in fig. 1,2,3,4, 5 and 6, includes: the device comprises a suction module, a telescopic clamping module, a mounting module and a machine vision module; wherein, the suction module includes: a plurality of vacuum chucks 1, a vacuum generator 2 and a positioning plate 3; the vacuum chuck 1 is arranged and fixed on the positioning plate 3; the vacuum generator 2 is connected to the vacuum chuck 1 through an air pipe and provides negative pressure for the vacuum chuck 1; the positioning plate 3 is provided with a through hole through which the power supply line and the air pipe pass; the telescopic clamping module comprises: the device comprises a rotary cylinder 4, a clamping plate 5, a rotary cylinder mounting plate 21, a fixed seat 6, a guide shaft 7, a linear bearing 8, a reference plate 9, a thin cylinder 10, a floating joint 11 and an electromagnetic valve 12; the clamping plates 5 are arranged on the rotary air cylinders 4, and when in operation, the rotary air cylinders 4 in pairs rotate in opposite directions to drive the clamping plates 5 to perform opening and closing motions; the rotary cylinder 4 is fixed on the fixed seat 6; the guide shaft 7 passes through the center hole of the linear bearing 8 and is fixedly connected with the fixed seat 6; the linear bearing 8 is arranged on the reference plate 9; the thin cylinder 10 is mounted on the reference plate 9; a floating joint 11 is arranged between the thin cylinder 10 and the positioning plate 3; the electromagnetic valve 12 is arranged on the reference plate 9 and is connected with and controls the movements of the thin air cylinder 10 and the rotary air cylinder 4; the reference plate 9 is fixedly connected with the positioning plate 3; the installation module includes: a mounting flange 13 and a connection plate 14; the connecting plate 14 is fixed on the mounting flange 13; the datum plate 9 is connected to the connecting plate 14, so that the telescopic clamping module is fixedly connected with the mounting module; the machine vision module includes: a bending member 15, a digital camera 16, and a light source 17; the bending piece 15 is connected to the mounting module; the digital camera 16 is mounted on the bending member 15, and the light source 17 is connected to the digital camera 16.
In the prior art, a book grabbing device usually uses a motor to output power, and a clamping plate or a manipulator in a grabbing mechanism is driven by a mechanical structure to grab books; because the shapes and the movable ranges of the clamping plates and the mechanical arms are fixed, books with certain specification and weight can be clamped, and the application range is small; when books weight is heavier, in order to snatch, remove books firmly, splint and manipulator need exert great pressure to books, because splint and manipulator and books's area of contact are little, books atress is too concentrated, and splint and manipulator and books's contact point pressure is great, damage books easily after snatching many times.
In this embodiment, the book is suctioned using a suction module. Set up a plurality of screw holes on the locating plate 3, vacuum chuck 1 can pass through the fix with screw with the locating plate 3, and vacuum generator 2 can pass through the fix with screw on the locating plate 3, and each vacuum chuck 1 can use independent trachea to be connected with vacuum generator 2, and trachea and vacuum generator 2 or vacuum chuck 1 can be connected through detachable mode. When the vacuum generator 2 or the vacuum chuck 1 is damaged, the vacuum generator can be replaced only by detaching the air pipe and detaching the screw, so that the maintenance is convenient. The face that vacuum chuck 1 and books contacted can use materials such as leakproofness is good, soft rubber, and after vacuum chuck 1 adsorbed the books surface, the flexible material on vacuum chuck 1 surface can take place slight deformation for vacuum chuck 1 laminates books surface completely, avoids vacuum chuck 1 gas leakage to lead to books to fall, and vacuum chuck 1 surface is flexible material, and vacuum chuck 1 is even with books's contact surface everywhere atress, avoids books surface damage that books partial region atress is too big to lead to. The vacuum generator 2 can gradually improve the suction force provided by the vacuum chuck 1, protect books and improve the safety and reliability of the device. The rotary cylinder 4 and the thin cylinder 10 use compressed air as power, and have low noise.
In the telescopic clamping module, the clamping plate 5 and the rotary cylinder 4 can be detachably fixed through screws, the clamping plate 5 with different sizes is replaced, the telescopic clamping module can be suitable for books with different specifications, and the universality of the device is improved. The pair of revolving cylinders 4 are symmetrically arranged at two ends of the revolving cylinder mounting plate 21, and when the clamping plate 5 is idle, the revolving cylinders 4 control the clamping plate 5 to be placed parallel to the reference plate 9 towards two sides of the reference plate 9. The rotatable angle of the rotary cylinder 4 is larger than 90 degrees, and in the use process, the rotary cylinder 4 can rotate the clamping plate 5 to the lower side of the suction module for supporting books, so that the surface of the clamping plate 5 can be set to be a flat surface, the pressure is uniformly dispersed, the damage to book covers is avoided, and the safety and the reliability of the device are improved. The floating joint 11 is arranged between the reference plate 9 and the rotary cylinder mounting plate 21, one end of the floating joint 11, which is close to the reference plate 9, is connected with the piston of the thin cylinder 10, the other end of the floating joint 11 is connected with the rotary cylinder mounting plate 21, and the floating joint 11, the thin cylinder 10 and the rotary cylinder mounting plate 21 can be fixed by using screws, so that the thin cylinder mounting plate is convenient to detach and replace. In the use process, the thin air cylinder 10 can be controlled by compressed air, and as the thin air cylinder 10 is fixed with the reference plate 9, the air pressure in the thin air cylinder 10 is increased, the thin air cylinder 10 pushes the floating joint 11 to move downwards, and the rotary air cylinder mounting plate 21 moves downwards; when the air pressure in the slim cylinder 10 is reduced, the slim cylinder 10 pulls the floating joint 11 to move upward, and the rotary cylinder mounting plate 21 moves upward. An external control system controls the movements of the slim cylinder 10 and the rotary cylinder 4 through the solenoid valve 12 to adjust the position of the clamping plate 5.
The locating plate 3 and the reference plate 9 are provided with matched threaded holes, the locating plate 3 and the reference plate 9 are fixed by using screws, the suction module is fixed on the telescopic clamping module, the threaded holes for fixing the locating plate 3 on the reference plate 9 can be arranged near the electromagnetic valve 12, the electric wires in the suction module are close to the control wires of the electromagnetic valve 12, the electric wires can be connected outside the device together after summarizing, only the electric wires for connecting the electromagnetic valve 12 with the rotary cylinder 4 and the thin cylinder 10 are arranged in the main body part of the telescopic clamping module, the possibility of damage of the electric wires in the moving process of the rotary cylinder 4 and the thin cylinder 10 is reduced, and the safety and reliability of the device are improved.
The mounting flange 13 is provided with a plurality of positioning holes and threaded holes, and can be connected with other moving parts through screws to serve as a main interface for external mounting connection of the book grabbing device. Different locating holes and threaded holes on the mounting flange 13 are used for being connected with external equipment, the mounting mode is flexible, the book grabbing device is convenient to mount on different external equipment, and the universality of the device is improved. The mounting flange 13 is fixed with the connecting plate 14 through screws, the connecting plate 14 is fixed with the telescopic clamping module through screws, and the machine vision module is fixed with the mounting module through screws, so that the machine vision module is convenient to detach, and easy to replace and maintain.
The bending piece 15, the mounting module and the digital camera 16, and the digital camera 16 and the light source 17 can be connected through screws, so that the disassembly is convenient. Different bending pieces 15 can be selected according to the data of book specifications, library environment, height of the book case, specifications and the like, so as to adjust the positions and orientations of the digital camera 16 and the light source 17. The bending piece 15 is integrally cast, the strength is higher, the curvature radius of the bending part is small, the required space is small, the space utilization rate is improved, and the whole volume of the device is reduced.
In a preferred embodiment, as shown in fig. 1 and 6, the vacuum chucks 1 are uniformly distributed along the circumference, and the number of the vacuum chucks 1 is 3 to 8. According to the data such as the material, the weight, the specification and the like of the covers of the books, a user can select to uniformly arrange different numbers of vacuum chucks 1 at different positions on the positioning plate 3 so as to be suitable for books of different types and improve the universality of the device.
In a preferred embodiment, as shown in fig. 2,3, 4 and 6, the mounting module further comprises: the reinforcing rib 18 and the wire support 19, the reinforcing rib 18 sets up between mounting flange 13 and connecting plate 14, and the wire support 19 is installed on the reinforcing rib 18. The reinforcing ribs 18 are fixed with the mounting flange 13 and the connecting plate 14 through screws, the connecting plate 14 and the mounting flange 13 are reinforced, stress at the joint of the connecting plate 14 and the mounting flange 13 is dispersed, and the reinforcing ribs 18 with different specifications can be selected according to the weight of the book grabbing device, the weight of the book and other parameters, so that the stability of the device is improved. The wire support 19 is connected with the reinforcing ribs 18 through screws, and round holes are formed in the wire support 19 and used for fixing power supply and control wires of the electromagnetic valve 12, the machine vision module and the suction mechanism, so that the wire is prevented from being damaged in the moving process of the device, and the service life of the device is prolonged.
In a preferred embodiment, as shown in fig. 4, 5 and 6, the bending member 15 is connected to a reinforcing rib 18. The bending piece 15 can be fixedly connected with the reinforcing rib 18 by using screws, the weight of the machine vision module is dispersed to the connecting plate 14 and the mounting flange 13 through the reinforcing rib 18, the deformation or fracture caused by overlarge stress at the connecting position of the connecting plate 14 and the mounting flange 13 is avoided, and the service lives of the connecting plate 14 and the mounting flange 13 are prolonged.
In a preferred embodiment, as shown in fig. 5 and 6, the light source 17 is a ring light source 17, and the machine vision module further includes a ring light source holder 20, the ring light source holder 20 being fixed to the digital camera 16. The annular light source 17 is used for providing enough brightness to illuminate the book features, and meanwhile, shadows in pictures can be reduced, the influence of shadows on image recognition is avoided, and the accuracy of the device for recognizing the books is improved. The brightness of the annular light source 17 can be adjusted, and a user can select the brightness of the annular light source 17 according to data such as ambient brightness and the like, so that the optimal lighting effect is achieved and the energy consumption is reduced.
In a preferred embodiment, as shown in fig. 2, 3 and 6, the book grabbing device further comprises a central processor, wherein the central processor is a PLC or a single chip microcomputer, and the central processor is connected to the suction module, the telescopic clamping module and the machine vision module. The user can prestore data such as book image recognition methods, control parameters of the rotary cylinder 4 and the thin cylinder 10 in the central processing unit, and the actions such as book grabbing, book returning and the like can be automatically completed by the device. The user can start the central processing unit, automatically operate the book grabbing device, and can also directly control the action of the book grabbing mechanism through real-time operation of the central processing unit. The central processing unit can be integrated in the book grabbing device and is directly connected with the absorbing module, the telescopic clamping module, the installing module and the machine vision module through wires, so that the control information transmission links are reduced, after the central processing unit sends out instructions, each module can respond in time, and the grabbing efficiency and accuracy of the device are improved.
In a preferred embodiment, the central processor further includes a wireless communication module, and the wireless communication module is connected to a cloud server, and the cloud server is provided with a database for storing book information. The books in the library are large in quantity, and the database is required to store a large amount of information such as cover images and bar codes of books, so that a cloud server can be arranged for storing book information, the structure of the book grabbing device is simplified, a plurality of book grabbing devices can use the same set of database, and the time cost and the labor cost for managing and maintaining the database by a user are reduced. The user can remotely modify the database, add, delete or update book information, and reduce maintenance cost.
A control method of a book grabbing apparatus using the book grabbing apparatus having the above characteristics, as shown in fig. 1,2, 3,5, 6,7 and 8, includes: step one: the book grabbing action 1.1 starts a machine vision module, a light source 17 is turned on to illuminate a target book, a digital camera 16 shoots the target book, the pictures are analyzed in a central processing unit, information of the target book in the pictures is obtained, book information stored in a database in a server is read, and the book position is determined; 1.2, starting an absorbing mechanism, starting a vacuum generator 2, generating vacuum negative pressure by a vacuum chuck 1, attaching and grasping a target book; 1.3, starting a telescopic clamping module, controlling the rotary cylinder 4 to move by the electromagnetic valve 12, opening the clamping plate 5, controlling the thin cylinder 10 to extend by the electromagnetic valve 12, driving the rotary cylinder mounting plate 21 to extend together by the floating joint 11, controlling the rotary cylinder 4 to close by the electromagnetic valve 12 after the extension is finished, and retracting the thin cylinder 10 after the closing is finished until the clamping plate 5 contacts with a target book and compresses the book; 1.4 moving the book to the book position; step two: the book placing back action 2.1 starts a telescopic clamping module, the electromagnetic valve 12 controls the thin type air cylinder 10 to extend to separate the compacting plate from the target book, the electromagnetic valve 12 controls the rotary air cylinder 4 to move to open the clamping plate 5, the electromagnetic valve 12 controls the thin type air cylinder 10 to retract, and the rotary air cylinder mounting plate 21 is driven to retract together through the floating joint 11; 2.2, starting the suction mechanism, closing the vacuum generator 2, and enabling the vacuum sucker 1 to be separated from the target book without generating vacuum negative pressure; 2.3, starting a machine vision module, judging whether the replacement is finished, if not, returning to the step 1.1; if yes, ending.
In step 1.2, parameters of vacuum negative pressure are determined according to data such as book weight, book cover materials, the number of the vacuum chucks 1, distribution positions of the vacuum chucks 1 and the like, and the vacuum generator 2 uniformly distributes the vacuum degree of each vacuum chuck 1, so that the damage to the surface of the book caused by overhigh vacuum degree of the partial vacuum chucks 1 is avoided. In step 1.3, the length of the floating joint 11 extending out depends on the thickness of the book, so that the clamping plate 5 is ensured to be positioned below the book after being closed, and the clamping plate 5 is prevented from damaging the book from the side. In step 1.4, after the clamping device clamps the book, the external device connected by the mounting flange 13 integrally moves the book grabbing device to move the book to the target position. The book grabbing device uses a vacuum chuck 1 and a clamping plate 5 to compress books in two clamping modes, and the books are moved after the fixing is finished. When the central processing unit calculates the clamping parameters by mistake, and the suction force of the vacuum chuck 1 is insufficient or the pressure of the clamping plate 5 is insufficient, the two clamping modes can be mutually supplemented, so that books are prevented from falling from the device due to unstable clamping, and the safety and reliability of the device are improved.
In the process of placing back the book, if the clamping plate 5 is retracted after the vacuum generator 2 is turned off, the clamping plate 5 is easy to move the book in the process of retraction because the clamping plate 5 is positioned below the book, so that the book falls from the bookshelf. In step two, the device firstly withdraws the clamping plate 5 and secondly turns off the vacuum generator 2. In step 2.2, after the vacuum generator 2 is closed, the vacuum chuck 1 is communicated with the vacuum generator 2 through an air pipe, so that the vacuum generator is communicated with the atmosphere, the air pressure in the vacuum chuck 1 is restored to the atmosphere, only small friction force is left between the vacuum chuck 1 and the book, the moving amplitude of the book by the device is reduced, and the accuracy of placing the book by the device is improved. In step 2.3, the device may collect images of the book, compare the placement positions in step 1.4 above, or collect images of the book and bookshelf, directly compare with information stored in the database, or correct the book position in other ways. If the book is placed at the wrong position or in the second step, the book is moved away from the target position by the vacuum chuck 1 or the clamping plate 5, the device automatically performs the first step and the second step again, and the book is replaced, so that the accuracy of placing the book by the device is further improved.
In a preferred embodiment, as shown in fig. 7, the book information includes: two-dimensional codes and/or bar codes, book names, book numbers, and book locations. The book covers collected by the machine vision module possibly contain one or more of two-dimensional codes, bar codes, book names, book numbers and other information, so that the range of book information stored in the database is wide, and the machine vision module collects the front cover, back cover or spine pictures of the books, so that the central processing unit can be assisted in identifying the books, the book identification requirement is reduced, the device universality is improved, and the book identification is more intelligent.
In a preferred embodiment, as shown in fig. 8, step 2.3 further includes shooting the target book, reading the book information in the database in the server, and checking whether the book information matches the book information in step 1.1. If the books are not matched, the first step is re-entered, so that the identification errors of the central processing unit on the books are corrected, and the reliability of the device is improved.
Although the terms of the vacuum chuck 1, the vacuum generator 2, the rotary cylinder 4, the fixing base 6, the guide shaft 7, the linear bearing 8, the reference plate 9, the slim cylinder 10, the floating joint 11, the solenoid valve 12, the mounting flange 13, the connection plate 14, the reinforcing rib 18, the wire holder 19, the bending member 15, the digital camera 16, the ring-shaped light source holder 20, the ring-shaped light source 17, etc. are used in this specification in a large amount, the possibility of using other terms is not excluded. These terms are only used to facilitate a more complete description of the nature of the invention and should be construed as requiring no additional limitations whatsoever.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A book gripping device, comprising: the device comprises a suction module, a telescopic clamping module, a mounting module and a machine vision module; wherein,
The suction module includes: a plurality of vacuum chucks, a vacuum generator and a positioning plate; the vacuum chuck is arranged and fixed on the positioning plate; the vacuum generator is connected to the vacuum chuck through an air pipe and provides negative pressure for the vacuum chuck; the positioning plate is provided with a through hole through which the power supply line and the air pipe pass;
The telescopic clamping module comprises: the device comprises a rotary cylinder, a clamping plate, a rotary cylinder mounting plate, a fixed seat, a guide shaft, a linear bearing, a reference plate, a thin cylinder, a floating joint and an electromagnetic valve; the clamping plates are arranged on the rotary cylinders, and when the rotary cylinders work, the rotary cylinders in pairs rotate in opposite directions to drive the clamping plates to open and close; the rotary cylinder is fixed on the fixed seat; the guide shaft penetrates through the center hole of the linear bearing and is fixedly connected with the fixed seat; the linear bearing is arranged on the reference plate; the thin cylinder is arranged on the reference plate; the floating joint is arranged between the thin air cylinder and the rotary air cylinder mounting plate; the electromagnetic valve is arranged on the reference plate and is connected with and controls the movements of the thin cylinder and the rotary cylinder; the reference plate is fixedly connected with the positioning plate;
The mounting module includes: the mounting flange and the connecting plate; the connecting plate is fixed on the mounting flange; the datum plate is connected to the connecting plate, so that the telescopic clamping module is fixedly connected with the mounting module;
the machine vision module includes: the device comprises a bending piece, a digital camera and a light source; the bending piece is connected to the mounting module; the digital camera is mounted on the bending piece, and the light source is connected to the digital camera.
2. The book grabbing apparatus as claimed in claim 1, wherein the vacuum chucks are uniformly distributed along the circumference, and the number of the vacuum chucks is 3 to 8.
3. The book gripping device of claim 2, wherein the mounting module further comprises: the wire support is mounted on the reinforcing rib.
4. A book gripping device according to claim 3, wherein the bending members are connected to the reinforcing bars.
5. The book grabbing apparatus of claim 4, wherein the light source is an annular light source, and the machine vision module further comprises an annular light source holder fixed to the digital camera.
6. The book grabbing apparatus of claim 5, further comprising a central processor, wherein the central processor is a PLC or a single chip microcomputer, and the central processor is connected to the suction module, the telescopic clamping module, and the machine vision module.
7. The book grabbing device of claim 6, wherein the central processor further comprises a wireless communication module, wherein the wireless communication module is connected to a cloud server, and the cloud server is provided with a database for storing book information.
8. The control method of the book gripping device according to claim 7, comprising:
Step one: book grabbing action
1.1, Starting the machine vision module, starting the light source to illuminate a target book, photographing the target book by the digital camera, analyzing the photo in the central processing unit, acquiring information of the target book in the picture, reading book information stored in the database in the cloud server, and determining the position of the book;
1.2, starting the suction module, starting the vacuum generator, and enabling the vacuum sucker to generate vacuum negative pressure to attach and grasp the target book;
1.3, starting the telescopic clamping module, controlling the rotary cylinder to move by the electromagnetic valve, opening the clamping plate, controlling the thin cylinder to extend by the electromagnetic valve, driving the rotary cylinder mounting plate to extend together by the floating joint, controlling the rotary cylinder to close by the electromagnetic valve after the extension is completed, and retracting the thin cylinder until the clamping plate contacts with the target book and compresses the book;
1.4 moving the book to the book position;
step two: book returning action
2.1, Starting the telescopic clamping module, wherein the electromagnetic valve controls the thin air cylinder to extend to separate the clamping plate from the target book, the electromagnetic valve controls the rotary air cylinder to move to open the clamping plate, the electromagnetic valve controls the thin air cylinder to retract, and the floating joint drives the rotary air cylinder mounting plate to retract together;
2.2, starting the suction module, closing the vacuum generator, and enabling the vacuum chuck not to generate vacuum negative pressure any more so as to separate the vacuum chuck from the target book;
2.3, starting the machine vision module, judging whether the replacement is finished, and if not, returning to the step 1.1; if yes, ending.
9. The method of controlling a book gripping apparatus according to claim 8, wherein the book information includes: two-dimensional codes and/or bar codes, book names, book numbers, and book locations.
10. The method according to claim 9, wherein the step 2.3 further comprises shooting the target book, reading the book information in the database in the cloud server, and checking whether the book information matches the book information in the step 1.1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910054584.3A CN109677825B (en) | 2019-01-21 | 2019-01-21 | Book grabbing device and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910054584.3A CN109677825B (en) | 2019-01-21 | 2019-01-21 | Book grabbing device and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109677825A CN109677825A (en) | 2019-04-26 |
| CN109677825B true CN109677825B (en) | 2024-05-14 |
Family
ID=66193538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910054584.3A Active CN109677825B (en) | 2019-01-21 | 2019-01-21 | Book grabbing device and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109677825B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110111503A (en) * | 2019-06-12 | 2019-08-09 | 深圳市文山湖科技有限公司 | Applied to the Angle of Book Floating cabinet of kindergarten, Angle of Book Floating management system and Angle of Book Floating management method |
| CN110148269A (en) * | 2019-06-12 | 2019-08-20 | 深圳市文山湖科技有限公司 | Books system for borrowing and returning and books applied to kindergarten borrow returning method |
| CN110654601A (en) * | 2019-09-29 | 2020-01-07 | 珠海格力智能装备有限公司 | Assembly equipment and electric rice cooker packaging production line |
| CN112806737B (en) * | 2021-01-19 | 2022-09-20 | 滨州学院 | An intelligent high-altitude book retrieval device for library |
| CN115159049B (en) * | 2022-06-16 | 2024-10-29 | 新乡市布瑞克斯机械有限公司 | Novel on-off gas mechanism |
| CN115303684B (en) * | 2022-07-06 | 2024-06-18 | 西南石油大学 | Automatic book taking and placing device and method using rigid-flexible combined design |
| CN116891136B (en) * | 2023-08-22 | 2025-08-22 | 中船绿洲环保(南京)有限公司 | A star-shaped discharge valve with weighing function |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5417543A (en) * | 1992-07-10 | 1995-05-23 | Focke & Co. (Gmbh & Co.) | Process and apparatus for handling blank stacks |
| US5564893A (en) * | 1993-06-16 | 1996-10-15 | G.D. Societa'per Azioni | Pickup and feed unit for stacks of blanks |
| CN102152293A (en) * | 2011-03-25 | 2011-08-17 | 北京联合大学生物化学工程学院 | Book shelving and unshelving robot |
| CN202558281U (en) * | 2012-04-24 | 2012-11-28 | 常州新区中策机械设备有限公司 | Robot palletizer |
| CN202742376U (en) * | 2012-06-12 | 2013-02-20 | 苏州雷嘉电子科技有限公司 | Clamp structure of manipulator for grabbing workpiece |
| CN203092562U (en) * | 2013-02-06 | 2013-07-31 | 李月芹 | Stacking robot |
| CN205398032U (en) * | 2016-03-18 | 2016-07-27 | 河南黄河旋风股份有限公司 | Transport fork truck of barreled material |
| CN205466272U (en) * | 2016-01-06 | 2016-08-17 | 昆明理工大学 | Vacuum suction cup device |
| CN206985147U (en) * | 2017-07-31 | 2018-02-09 | 歆坤智能装备（昆山）有限公司 | Clamp for stacking and Palletizer |
| CN207549349U (en) * | 2017-11-08 | 2018-06-29 | 广州市金翰机械有限公司 | A kind of injection taking mechanical hand |
| CN108341262A (en) * | 2018-03-23 | 2018-07-31 | 杭州景业智能科技有限公司 | Handgrip suitable for battery de-stacking stacking |
| CN209651118U (en) * | 2019-01-21 | 2019-11-19 | 上海飒智智能科技有限公司 | A kind of books grabbing device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3395061B2 (en) * | 2000-02-21 | 2003-04-07 | 学校法人金沢工業大学 | Library library automatic teller system, library library robot and hand mechanism of library library robot |
-
2019
- 2019-01-21 CN CN201910054584.3A patent/CN109677825B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5417543A (en) * | 1992-07-10 | 1995-05-23 | Focke & Co. (Gmbh & Co.) | Process and apparatus for handling blank stacks |
| US5564893A (en) * | 1993-06-16 | 1996-10-15 | G.D. Societa'per Azioni | Pickup and feed unit for stacks of blanks |
| CN102152293A (en) * | 2011-03-25 | 2011-08-17 | 北京联合大学生物化学工程学院 | Book shelving and unshelving robot |
| CN202558281U (en) * | 2012-04-24 | 2012-11-28 | 常州新区中策机械设备有限公司 | Robot palletizer |
| CN202742376U (en) * | 2012-06-12 | 2013-02-20 | 苏州雷嘉电子科技有限公司 | Clamp structure of manipulator for grabbing workpiece |
| CN203092562U (en) * | 2013-02-06 | 2013-07-31 | 李月芹 | Stacking robot |
| CN205466272U (en) * | 2016-01-06 | 2016-08-17 | 昆明理工大学 | Vacuum suction cup device |
| CN205398032U (en) * | 2016-03-18 | 2016-07-27 | 河南黄河旋风股份有限公司 | Transport fork truck of barreled material |
| CN206985147U (en) * | 2017-07-31 | 2018-02-09 | 歆坤智能装备（昆山）有限公司 | Clamp for stacking and Palletizer |
| CN207549349U (en) * | 2017-11-08 | 2018-06-29 | 广州市金翰机械有限公司 | A kind of injection taking mechanical hand |
| CN108341262A (en) * | 2018-03-23 | 2018-07-31 | 杭州景业智能科技有限公司 | Handgrip suitable for battery de-stacking stacking |
| CN209651118U (en) * | 2019-01-21 | 2019-11-19 | 上海飒智智能科技有限公司 | A kind of books grabbing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109677825A (en) | 2019-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109677825B (en) | Book grabbing device and control method thereof | |
| CN210102891U (en) | A loading attachment for assembly of battery module | |
| CN209651118U (en) | A kind of books grabbing device | |
| CN218101579U (en) | Lid assembly system for battery packs | |
| CN115856367A (en) | Integrated automatic electrode plate performance test system | |
| CN114560312B (en) | Fully automatic plating equipment and plating methods | |
| CN210500252U (en) | High-precision Z-axis module for taking and placing camera | |
| CN204868892U (en) | A pneumatic compound hand claw that is used for automatic layering sign indicating number of work piece to expect | |
| CN208880081U (en) | A rotating shaft shrapnel assembly mechanism | |
| CN207580856U (en) | A reclaiming device of a mobile phone camera module automatic assembly machine | |
| CN110039272B (en) | Automatic change equipment of disassembling cell-phone winding displacement | |
| CN108970906A (en) | A kind of calculator nameplate automatic assembling | |
| CN112743563A (en) | Assembly structure and assembly method for tail end of manipulator | |
| CN109263061A (en) | Loudspeaker assembly jig handling device and loudspeaker Intelligent assembly equipment | |
| CN108080789B (en) | A kind of method for laser welding | |
| CN115057065B (en) | Mobile phone assembling production equipment | |
| CN216180627U (en) | Clamping manipulator with recognition function | |
| CN216285923U (en) | Device for assembling prism and production equipment | |
| CN218856074U (en) | Laminating machine | |
| CN115431200B (en) | Positioning device and detection system | |
| CN216178265U (en) | Wireless earphone shell hinge assembling and adjusting equipment | |
| CN214732579U (en) | Transfer carrier, automatic feeding device and automatic discharging device | |
| CN214920198U (en) | Riveting machine | |
| CN210346853U (en) | Automatic calibration device for natural gas meter | |
| CN209753281U (en) | device special for automatic assembling and dispensing of LED lampshade |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |