Technical realization elements of picking arm structure for library book picking robot

Technical implementation elements:

6. The purpose of this utility model is to provide a pick-up arm structure for a library book pick-up robot to solve the problems raised in the above background technology.

7. In order to achieve the above purpose, the present utility model provides the following technical solutions: a pickup arm structure for a library book picking robot, comprising an arm rod assembly, the end of the arm rod assembly is fixedly connected to one end of the rotating assembly, and the rotating assembly is another. One end of the gripper assembly is fixedly connected, and the arm rod assembly includes a telescopic main rod, one end of the telescopic main rod is slidably sleeved with the telescopic slave rod, and one end of the telescopic main rod away from the telescopic slave rod is fixedly connected to the motor, and the motor shaft is connected to the motor. A first screw rod is fixedly connected, one end of the telescopic slave rod close to the telescopic main rod is fixedly sleeved with a first threaded sleeve, and the first screw rod is engaged with the first threaded sleeve.

8. Preferably, the gripper assembly includes a fixed bin fixed on the rotating assembly, the fixed bin is provided with two first chutes on the side away from the rotating assembly, and the two first chutes are respectively slidably connected. Two first sliders, a first clamp plate and a second clamp plate are respectively fixed to the two first clamp plates, the bottom end of the first clamp plate is fixed to the side close to the second clamp plate, and the fixed support bottom plate is fixed, and the second clamp plate is fixed to the base plate. The bottom end of the splint is slidably connected to the sliding support bottom plate, and the fixed bin is located between the two first chute and is fixed in position.

Fixed embedded ccd camera.

9. Preferably, two second sliding grooves are provided on the top surface of the sliding support base plate, the bottom ends of the second clamping plates are fixedly connected with two second sliding blocks, and the two second sliding blocks are slidably connected to the two second sliding blocks. In the second sliding slot, a sliding rod is fixed inside the second sliding slot, a sliding hole is formed on the second sliding block, the sliding hole is slidably sleeved with the sliding rod, the sliding rod is sleeved with a spring, and the spring One end is fixedly connected to the second sliding block, and the other end is fixedly connected to the inner end of the second chute.

10. Preferably, the gripper assembly is provided with a gripper transmission assembly, and the gripper transmission assembly includes a biaxial motor fixed at the inner center of the fixed compartment, and the two first chutes are respectively rotatably connected. Two second screw rods, two second threaded sleeves are fixedly sleeved in the two first sliding blocks, respectively, and the two second screw rods are respectively engaged with the two second threaded sleeves, and the two The threads on the second screw rod are in opposite directions, and the two rotating shafts of the biaxial motor are respectively fixed to the ends of the two second screw rods.

11. Preferably, the rotating assembly includes a fixed cylinder fixed on the end of the arm assembly, the end of the fixed cylinder is rotatably connected to a rotating cylinder, the rotating cylinder is used to estimate the gripper assembly, and the fixed cylinder is fixed to reduce the speed. The motor, the rotating shaft of the deceleration motor is fixedly connected to the center of the rotating cylinder.

12. Compared with the prior art, the beneficial effects of the present utility model are:

13. A sliding support base plate and a fixed support base plate are arranged at the gripper assembly of the present invention. When clamping multiple vertical books, the sliding support base plate at the bottom of the second splint will always stick to the bottom of the first splint under the action of the spring. The fixed support bottom plate at the end, the sliding support bottom plate and the fixed support bottom plate are in contact with the bottom end of the book, so as to avoid the phenomenon of books falling in the middle.

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