CN105513226A - Self-service book borrowing and returning device - Google Patents
Self-service book borrowing and returning device Download PDFInfo
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- CN105513226A CN105513226A CN201610074379.XA CN201610074379A CN105513226A CN 105513226 A CN105513226 A CN 105513226A CN 201610074379 A CN201610074379 A CN 201610074379A CN 105513226 A CN105513226 A CN 105513226A
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- China
- Prior art keywords
- books
- bookshelf
- book
- arm
- borrowing
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07G—REGISTERING THE RECEIPT OF CASH, VALUABLES, OR TOKENS
- G07G1/00—Cash registers
- G07G1/0036—Checkout procedures
- G07G1/0045—Checkout procedures with a code reader for reading of an identifying code of the article to be registered, e.g. barcode reader or radio-frequency identity [RFID] reader
- G07G1/009—Checkout procedures with a code reader for reading of an identifying code of the article to be registered, e.g. barcode reader or radio-frequency identity [RFID] reader the reader being an RFID reader
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07G—REGISTERING THE RECEIPT OF CASH, VALUABLES, OR TOKENS
- G07G1/00—Cash registers
- G07G1/12—Cash registers electronically operated
Abstract
A self-service book borrowing and returning device is composed of an external borrowing and returning book counter, a small mechanical hand, a rectangular coordinate mechanical hand, a conveying device, a bookshelf, a book collection box and a control system. A book alignment device, a book pushing-out device and a book compressing device are further arranged on the bookshelf. The book pushing-out device pushes out needed books on the bookshelf. The rectangular coordinate mechanical hand, the small mechanical hand and the conveying device are used in a cooperated mode so that the book borrowing process can be achieved. The small mechanical hand, the book collection box and the conveying device are used in a cooperated mode so that the book returning process can be achieved. According to the self-service book borrowing and returning device, the mechanical hands and the control system are adopted in a cooperated mode, the speed of the book taking process is greatly increased, a large amount of time of a user is saved, manpower and material resources are saved, automatic storing and taking of large inventory are achieved, the inventory is large, and self-service book borrowing and returning are achieved conveniently and rapidly.
Description
Technical field
The present invention relates to books management domain, particularly relate to a kind of self-service books borrowing and returning device.
Background technology
Most library borrows books now needs to enter search books position, library, then arrive relevant position and take out books, borrow to the place's of borrowing registration again, get book process loaded down with trivial details, get book process also to need manually to look for book to delay user's a large amount of time, and many times also can not find the situation of books because confusion placed by books, considerably increase the operation complexity checked out, reduce work efficiency.
Application notification number be CN200910190292 patent of invention disclose self-service borrow book return machine, comprise casing, books display bookshelf, the mechanical, electrical control device of self-help operation, Book-returned box mechanism, Qu Shu mechanism; Multimachine structure coordinates to achieve gets book process, and this self-service book return machine of borrowing can not realize large stock's quick access books, and this locator meams is in conjunction with robot work, well can not take out books.
Summary of the invention
For above-mentioned the deficiencies in the prior art, the present invention proposes a kind of self-service books borrowing and returning device newly, can convenience and high-efficiency realize the checking out of books, also book flow process, save a large amount of human and material resources, financial resources, provide work efficiency.
The technical scheme that the present invention takes is:
A kind of self-service books borrowing and returning device, comprise: outside circulation book cabinet platform 1, gadget hand 6, right angle coordinate manipulator 7, conveyer 8, bookshelf 4, books collecting box 9 and control system are common, bookshelf 4 is provided with books straightening device 10, books ejecting device 11 and books hold down gag 12, books 5 required on bookshelf 4 released by books ejecting device 11, right angle coordinate manipulator 7, gadget hand 6 and conveyer 8 with the use of, realize the process of lending of books 5 and oppositely give back process.
Preferably, described outside circulation book cabinet platform 1 is placed in the space outerpace being easy to get book, inside is a large book management holder, described gadget hand 6, right angle coordinate manipulator 7, conveyer 8, bookshelf 4, books collecting box 9, barcode scanning pick-up unit and control system are all arranged in large book management holder, outside circulation book cabinet platform 1 is provided with message input device 2 above and gets goes back fore-edge 3, message input device 2 is provided with input keyboard and display screen above, outside circulation book cabinet platform 1 bottom is provided with to get goes back fore-edge 3, the books 5 of outside circulation book cabinet platform 1 inside arrive to get goes back fore-edge 3 place, control system controls to get to go back fore-edge 3 and open, realize taking out books 5.
Preferably, described gadget hand 6 is placed near outside circulation book cabinet platform 1 place, gadget hand 6 installation position needs to ensure at gadget hand 6 by the books 5 taken away in conveyer 8 that move, and it is inner books 5 can be put into outside circulation book cabinet platform 1, conveyer 8 is applied in whole bookshelf 4 and lays district, conveyer 8 side is bookshelf 4, described bookshelf 4 side arranges and deposits books 5, opposite side settles books ejecting device 11, between two bookshelves 4, the large I of Existential Space ensures that right angle coordinate manipulator 7 carries out not interfering after multifreedom motion reaches the limit of position, right angle coordinate manipulator 7 coordinates books ejecting device effectively can realize the access quickly and easily of books 5.
Preferably, the described gadget hand 6 for the books 5 on conveyer 8 being delivered to outside circulation book cabinet platform 1 inside, comprise gadget hand fixed station 13, horizontal arm 14, telescopic arm 15, positioning shooting head A16, pallet A17 and vertical arm 43, gadget hand fixed station 13 lower end adopts fixing mode to be fixed in ground or stationary installation, upper end is provided with round platform, vertical arm 43 lower end is provided with round platform and coordinates installation with it, the rotating mechanism that gadget hand fixed station 13 coordinates rear inside to be provided with vertical arm 43 to realize vertical arm 43 lower end round platform to rotate, vertical arm 43 can realize the rotation along lower end round platform axis under the effect of rotating mechanism, vertical arm 43 upper end is provided with horizontal arm 14, steadily of centre of gravity when vertical arm 43 and horizontal arm 14 keep at right angle setting and ensure work, horizontal arm 14 is hollow legn, telescopic arm 15 is arranged in horizontal arm 14 by coordinating with horizontal arm 14 internal cavity, telescopic arm 15 can meet the distance of job requirement in horizontal arm 14 cavity along the axis telescopic slide that telescopic arm 15 and horizontal arm 14 are common, telescopic arm 15 front end is provided with tray support frame B44, the pallet A17 coordinated with it is connected with tray support frame B44 by hinge 45, pallet A17 can move along hinge 45 center steering, pallet A17 front end is provided with opening and can pours out books 5 from opening part, telescopic arm 15 front end is provided with positioning shooting head A16, control system is by borrowing the information of also book, the position of rfid interrogator and positioning shooting head A16 positioning capturing books 5.
Preferably, described conveyer 8 comprises travelling belt 20, cylinder 18 and fixed mount 19, conveyer 8 two ends are provided with fixed mount 19, cylinder 18 is placed on fixed mount 19, cylinder 18 freely can rotate on fixed mount 19, two ends cylinder 18 is installed travelling belt 20, the rotation of cylinder 18 drives travelling belt 20 to slide, and books 5 can slide along with travelling belt 20 moves along with travelling belt 20.Conveyer 8 front end is provided with books collecting box 9.
Preferably, the described right angle coordinate manipulator 7 books 5 crawl on bookshelf 4 can being delivered to conveyer 8, the slip making X, Y, Z tri-directions can be realized, arrive each position on bookshelf 4, and right angle coordinate manipulator 7 can realize the revolution of z axis direction, to realize catching books 5 when books 5 released by books ejecting device 11, described right angle coordinate manipulator 7 is made up of the slide mechanism in X, Y, Z tri-directions and z axis direction slew gear.
Preferably, described X-direction slide mechanism by X to line slideway 33, screw mandrel A30, stepper motor C34 and X forms to sliding stand 28, X is placed in ground or stationary installation to line slideway 33 by fixing mode, X is between two bookshelves 4 to line slideway 33 installation position, ensure that right angle coordinate manipulator 7 conveniently can catch the books 5 that on both sides bookshelf 4, books ejecting device 11 is released after motion, X is provided with leading screw A30 to line slideway 33 center, side is provided with stepper motor C34, there is gear train side inside, X is provided with leading screw A30 matching mechanism to sliding stand 28 bottom, X is installed together by ball screw assembly, to sliding stand 28 with leading screw A30, and be arranged on X on line slideway 33 by slot fit, stepper motor C34 rotating band movable wire thick stick A30 rotates, X slides to line slideway 33 to sliding stand 28 at X.
Preferably, described Z-direction slide mechanism is by Z-direction line slideway 21, Z-direction sliding stand 25, stepper motor A22 and leading screw B37 forms, X is provided with round platform to sliding stand 28 upper end, Z-direction line slideway 21 lower end is provided with round platform and X and coordinates to sliding stand 28 upper end round platform and install, ensure two round platforms on the same axis, Z-direction line slideway 21 is Z-direction after installing, with X to line slideway 33 in vertical configuration, Z-direction line slideway 21 center is provided with leading screw B37, upside is provided with stepper motor A22, upper interior has gear train, Z-direction sliding stand 25 inside is provided with leading screw B37 matching mechanism, Z-direction sliding stand 25 and leading screw B37 are installed together by ball screw assembly, and Z-direction sliding stand 25 is vertically arranged on Z-direction line slideway 21 by slot fit in side, stepper motor A22 rotating band movable wire thick stick B37 rotates, Z-direction sliding stand 25 slides at Z-direction line slideway 21.
Preferably, described Y-direction slide mechanism is by Y-direction travelling arm 23, pallet B35, stepper motor B26, positioning shooting head B27 and gear 36 form, Y-direction travelling arm 23 is arranged in Z-direction sliding stand 25 horizontal side by slot fit, Y-direction travelling arm 23 is provided with tooth bar 24, by being arranged on stepper motor B26 on Z-direction sliding stand 25 and gear 36 assemblage zone carry-over bar 24 can horizontally slip, Y-direction travelling arm 23 front end is provided with tray support frame A31, the pallet B35 coordinated with it is connected with tray support frame A31 by hinge 32, pallet B35 can move along hinge 45 center steering, pallet B35 front end is provided with opening, upper end section is as letter " U " shape, pallet B35 can pour out books 5 along with inclination from opening part, Y-direction travelling arm 23 front end is provided with positioning shooting head B27, control to make pallet B35 arrive relevant position by control system, wait for that books 5 slide in pallet, described z axis direction slew gear to drive to the stepper motor C29 on sliding stand 28 and be positioned at X by being arranged on X and move to the rotating mechanism of sliding stand 28 inside.
Preferably, each row of described bookshelf 4 is equipped with books straightening device 10, books ejecting device 11 and books hold down gag 12, books ejecting device 11 is by rfid interrogator 38, ejecting device main body 39 and push rod 40 form, ejecting device main body 39 is arranged in bookshelf 4 dorsal part guide ledges 42 by slot fit, ejecting device main body 39 can be slided in guide ledges 42 along with the control of control system, push rod 40 is arranged in ejecting device main body 39, push rod 40 can in ejecting device main body 39 sliding extension, and ejecting device main body 39 is provided with rfid interrogator 38, each book nationality 5 is all provided with RFID label tag, record the relevant information of respective books, ejecting device main body 39 is provided with rfid interrogator 38 for searching books 5, books straightening device 10 is fixed on bookshelf both sides by hinge 41, books straightening device 10 can turn round along hinge 41 central axis, the books 5 taken out of when books ejecting device 11 is pushed away book are ajusted, described books hold down gag 12 is also arranged in bookshelf 4 dorsal part guide ledges 42, control to horizontally slip by control system, realize the compression of books 5.
Beneficial effect of the present invention: a kind of self-service books borrowing and returning device can take out books fast and accurately from stock, work efficiency is high, also book mode and access mode are all very convenient, save the time of a lot of user, and a kind of self-service books borrowing and returning device is more accurate to books location, and equal large small shelf is submitted a written statement to a higher authority, nationality is placed more, has saved space, and a kind of self-service books borrowing and returning device can realize large stock access books.
Accompanying drawing explanation
This instructions comprises the following drawings, shown content respectively:
Fig. 1 is the front integral layout structural representation of a kind of self-service books borrowing and returning device of the present invention;
Fig. 2 is the side integral layout structural representation of a kind of self-service books borrowing and returning device of the present invention;
Fig. 3 is the right side structure schematic diagram of a kind of self-service books borrowing and returning device of the present invention;
Fig. 4 is the side structure schematic diagram of bowing of a kind of self-service books borrowing and returning device of the present invention;
Fig. 5 is the main TV structure schematic diagram of a kind of self-service books borrowing and returning device device of the present invention;
Fig. 6 is working mechanism's schematic diagram of a kind of self-service books borrowing and returning device of the present invention;
Fig. 7 is schematic diagram after working mechanism's motion of a kind of self-service books borrowing and returning device of the present invention;
Fig. 8 is the Facad structure schematic diagram of the right angle coordinate manipulator in a kind of self-service books borrowing and returning device of the present invention;
Fig. 9 is the structure schematic diagram of the right angle coordinate manipulator in a kind of self-service books borrowing and returning device of the present invention;
Figure 10 is the left TV structure schematic diagram of bookshelf in a kind of self-service books borrowing and returning device of the present invention;
Figure 11 is bookshelf Facad structure schematic diagram in a kind of self-service books borrowing and returning device of the present invention;
Figure 12 is bookshelf side structure schematic diagram in a kind of self-service books borrowing and returning device of the present invention;
Be labeled as in figure:
1, outside circulation book cabinet platform; 2, message input device; 3, get and go back fore-edge; 4, bookshelf; 5, books; 6, gadget hand; 7, right angle coordinate manipulator; 8, conveyer; 9, books collecting box; 10, books straightening device; 11, books ejecting device; 12, books hold down gag; 13, gadget hand fixed station; 14, horizontal arm; 15, telescopic arm; 16, positioning shooting head A; 17, pallet A; 18, cylinder; 19, fixed mount; 20, travelling belt; 21, Z-direction line slideway; 22, stepper motor A; 23, Y-direction travelling arm; 24, tooth bar; 25, Z-direction sliding stand; 26, stepper motor B; 27, positioning shooting head B; 28, X is to sliding stand; 29, stepper motor C; 30, screw mandrel A; 31, tray support frame A; 32, hinge A; 33, X is to line slideway; 34, stepper motor C; 35, pallet B; 36, gear; 37, leading screw B; 38, rfid interrogator; 39, ejecting device main body; 40, push rod; 41, hinge B; 42, guide ledges; 43, vertical arm; 44, tray support frame B; 45, hinge C.
Embodiment
Contrast accompanying drawing below, by the description to embodiment, be described in further detail the specific embodiment of the present invention, object helps those skilled in the art to have more complete, accurate and deep understanding to design of the present invention, technical scheme, and contribute to its enforcement.
As shown in the figure, as shown in Figures 1 and 2, a kind of self-service books borrowing and returning device is made up of jointly outside circulation book cabinet platform 1, gadget hand 6, right angle coordinate manipulator 7, conveyer 8, bookshelf 4, books collecting box 9 and control system.Bookshelf 4 is also provided with books straightening device 10, books ejecting device 11 and books hold down gag 12.Required books 5 to be released on bookshelf 4 by books ejecting device 11, right angle coordinate manipulator 7, gadget hand 6 and conveyer 8 with the use of, to realize the process of lending of books 5 and oppositely to give back process.
Wherein, outside circulation book cabinet platform 1 is placed in the space outerpace being easy to get book, and inside is a large book management holder, and gadget hand 6, right angle coordinate manipulator 7, conveyer 8, bookshelf 4, books collecting box 9 and control system are in large book management holder.Outside circulation book cabinet platform 1 is provided with message input device 2 above and gets goes back fore-edge 3, and message input device 2 is provided with input keyboard and display screen above, and keyboard preferences adopts digital 9 keyboards, is easy to the input of user, increases work efficiency.User can preengage required books at library online in advance in advance, preengages successfully, and control system to mail on user's mobile device one gets book code.Be sent to getting in the keyboard of book code in message input device 2 on oneself mobile device to input according to control system.Books 5 are transported in outside circulation book cabinet platform 1 inside by gadget hand 6, corresponding with it, outside circulation book cabinet platform 1 bottom is provided with to get goes back fore-edge 3, and the books 5 of outside circulation book cabinet platform 1 inside arrive to get goes back fore-edge 3 place, control system controls to get to go back fore-edge 3 and open, and realizes taking out books 5.Need as stored in books 5, inside is provided with barcode scanning pick-up unit, and preferably, barcode scanning pick-up unit can be rfid interrogator, achieves the initial stored in process of books 5.
With reference to shown in Fig. 3 to Fig. 5, gadget hand 6 is placed near outside circulation book cabinet platform 1 place, gadget hand 6 installation position needs the books 5 ensureing to be taken away by range of motion at gadget hand 6 in conveyer 8, and it is inner books 5 can be put into outside circulation book cabinet platform 1 by range of motion.Conveyer 8 is applied in whole bookshelf 4 and lays district, conveyer 8 side is bookshelf 4, bookshelf 4 is as library's pendulum book bookshelf, there is a lot of group bookshelf 4, and bookshelf 4 is side settings deposits books 5, and books ejecting device 11 is settled in side, and bookshelf 4 is divided into multiple field, these all considerably increase the amount of storage of books 5, also save space.The arrangement of bookshelf 4 simultaneously belongs to arrangement and settles, and between two bookshelves 4, Existential Space is owing to installing right angle coordinate manipulator 7, and space size can ensure that right angle coordinate manipulator 7 carries out not interfering after multifreedom motion reaches the limit of position.Books 5 are neatly arranged on bookshelf 4 closely, and right angle coordinate manipulator 7 coordinates books ejecting device effectively can realize the access quickly and easily of books 5.After bookshelf 4 and conveyer 8 installation site need to ensure to take off books 5 by the range of motion of right angle coordinate manipulator 7, then books 5 can be placed on conveyer 8 by range of motion and carry out further work.
As shown in Figure 5 and Figure 6, for the books 5 on conveyer 8 being delivered to the gadget hand 6 of outside circulation book cabinet platform 1 inside, gadget hand 6 is made up of jointly gadget hand fixed station 13, horizontal arm 14, telescopic arm 15, positioning shooting head A16, pallet A17, vertical arm 43.Gadget hand fixed station 13 lower end adopts fixing mode to be fixed in ground or stationary installation, and upper end is provided with round platform, and vertical arm 43 lower end is provided with round platform and coordinates installation with it.The rotating mechanism that gadget hand fixed station 13 coordinates rear inside to be provided with vertical arm 43 to realize vertical arm 43 lower end round platform to rotate, vertical arm 43 can realize the rotation along lower end round platform axis under the effect of rotating mechanism, and type of drive preferentially adopts motor to drive.Vertical arm 43 upper end is provided with horizontal arm 14, and vertical arm 43 and horizontal arm 14 keep at right angle setting, installs and ensures operationally steadily of centre of gravity.Horizontal arm 14 is hollow legn, telescopic arm 15 is arranged in horizontal arm 14 by coordinating with horizontal arm 14 internal cavity, telescopic arm 15 can meet the distance of job requirement in horizontal arm 14 cavity along the axis telescopic slide that telescopic arm 15 and horizontal arm 14 are common, the type of drive of slip preferentially adopts hydraulic-driven.Telescopic arm 15 front end is provided with tray support frame B44, coordinate with it, pallet A17 is connected with tray support frame B44 by hinge 45, pallet A17 can move along hinge 45 center steering, pallet A17 front end is provided with opening, upper end section is as letter " U " shape, pallet A17 can pour out books 5 along with inclination from opening part, telescopic arm 15 front end is provided with positioning shooting head A16, control system is by borrowing the information of also book, the position of rfid interrogator and positioning shooting head A16 positioning capturing books 5, preferably, the image recognition algorithm that in control system, built-in cooperation positioning shooting head A16 positions books, pallet A17 arrives on the downside of conveyer 8, wait for that books 5 slide in pallet.
As shown in Figure 7, conveyer 8 is made up of with fixed mount 19 travelling belt 20, cylinder 18, conveyer 8 two ends are provided with fixed mount 19, cylinder 18 is placed on fixed mount 19, cylinder 18 freely can rotate on fixed mount 19, two ends cylinder 18 is installed travelling belt 20, the rotation of cylinder 18, drive travelling belt 20 to slide, books 5 can slide along with travelling belt 20 moves along with travelling belt 20.Conveyer 8 front end is provided with books collecting box 9, and during stored in books 5, unified collection by books 5 enters books collecting box 9, then carries out the arrangement of artificial collective.
As shown in Fig. 8 and Fig. 9, for the books 5 on bookshelf 4 being captured the right angle coordinate manipulator 7 delivering to conveyer 8, right angle coordinate manipulator 7 can realize the slip making X, Y, Z tri-directions, each position on bookshelf 4 can be arrived, and right angle coordinate manipulator 7 can realize the revolution of z axis direction, to realize catching books 5 when books 5 released by books ejecting device 11.Right angle coordinate manipulator 7 is also made up of the slide mechanism in X, Y, Z tri-directions and z axis direction slew gear.
X-direction slide mechanism is made up of to sliding stand 28 to line slideway 33, screw mandrel A30, stepper motor C34 and X X.X is placed in ground or stationary installation to line slideway 33 by fixing mode, X is between two bookshelves 4 to line slideway 33 installation position, needs to ensure that right angle coordinate manipulator 7 conveniently can catch the books 5 that on both sides bookshelf 4, books ejecting device 11 is released after range of motion.X is provided with leading screw A30 to line slideway 33 center, and side is provided with stepper motor C34, and there is gear train side inside, arrives the rotational motion of leading screw A30 for transmitting stepper motor C34.X is provided with leading screw A30 matching mechanism to sliding stand 28 bottom, X is installed together by ball screw assembly, to sliding stand 28 with leading screw A30, and be arranged on X on line slideway 33 by slot fit, stepper motor C34 rotating band movable wire thick stick A30 rotates, X slides to line slideway 33 to sliding stand 28 at X, and namely X-direction motion realizes.
Z-direction slide mechanism is made up of Z-direction line slideway 21, Z-direction sliding stand 25, stepper motor A22 and leading screw B37.X is provided with round platform to sliding stand 28 upper end, and Z-direction line slideway 21 lower end is provided with round platform and X and coordinates to sliding stand 28 upper end round platform and install, and installs guarantee two round platform on the same axis.Z-direction line slideway 21 install after in Z-direction, with X to line slideway 33 in vertical configuration.Z-direction line slideway 21 center is provided with leading screw B37, and upside is provided with stepper motor A22, and upper interior has gear train, arrives the rotational motion of leading screw B37 for transmitting stepper motor A22.Z-direction sliding stand 25 inside is provided with leading screw B37 matching mechanism, Z-direction sliding stand 25 and leading screw B37 are installed together by ball screw assembly, and Z-direction sliding stand 25 is vertically arranged on Z-direction line slideway 21 by slot fit in side, stepper motor A22 rotating band movable wire thick stick B37 rotates, Z-direction sliding stand 25 slides at Z-direction line slideway 21, and namely Z-direction motion realizes.
Y-direction slide mechanism is made up of Y-direction travelling arm 23, pallet B35, stepper motor B26, positioning shooting head B27 and gear 36, Y-direction travelling arm 23 is arranged in Z-direction sliding stand 25 horizontal side by slot fit, Y-direction travelling arm 23 is provided with tooth bar 24, by being arranged on stepper motor B26 on Z-direction sliding stand 25 and gear 36 assemblage zone carry-over bar 24 can horizontally slip.Y-direction travelling arm 23 front end is provided with tray support frame A31, coordinate with it, pallet B35 is connected with tray support frame A31 by hinge 32, pallet B35 can move along hinge 45 center steering, and pallet B35 front end is provided with opening, and upper end section is as letter " U " shape, pallet B35 can pour out books 5 along with inclination from opening part, Y-direction travelling arm 23 front end is provided with positioning shooting head B27, controls to make pallet B35 arrive relevant position, wait for that books 5 slide in pallet by control system.Namely z axis direction slew gear to drive to the stepper motor C29 on sliding stand 28 and is positioned at X by being arranged on X and move to the rotating mechanism of sliding stand 28 inside, achieves z axis direction and turns round.
As shown in Figure 10 to 12, each row of bookshelf 4 is equipped with books straightening device 10, books ejecting device 11 and books hold down gag 12, books ejecting device 11 is by rfid interrogator 38, ejecting device main body 39 and push rod 40 form, ejecting device main body 39 is arranged in bookshelf 4 dorsal part guide ledges 42 by slot fit, ejecting device main body 39 can be slided in guide ledges 42 along with the control of control system, push rod 40 is arranged in ejecting device main body 39, push rod 40 can in ejecting device main body 39 sliding extension, and ejecting device main body 39 is provided with rfid interrogator 38, for the RFID label tag on positioning book 5, each book nationality 5 is all provided with RFID label tag, record the relevant information of respective books, books 5 are searched for the rfid interrogator 38 in ejecting device main body 39.Books straightening device 10 is fixed on bookshelf both sides by hinge 41, and books straightening device 10 can turn round along hinge 41 central axis, and the books 5 taken out of when books ejecting device 11 is pushed away book are ajusted.Books hold down gag 12 is also arranged in bookshelf 4 dorsal part guide ledges 42, controls to horizontally slip, realize the compression of books 5, solve the problem leaving space after books 5 are pushed out by control system.
The principle of work of a kind of self-service books borrowing and returning device of the present invention is:
Check out process: user can preengage the books needing to borrow in advance on website, what user received that a kind of control system of self-service books borrowing and returning device mails on oneself mobile device afterwards gets book code, user goes to and gets book point, book code is got in message input device 2 input on outside circulation book cabinet platform 1, control system obtains personal code work instruction, control system searches the shelf ranking of books 5 place and puts, control that row's books ejecting device 11 and search for books 5, books ejecting device 11 searches books 5 by installing superincumbent rfid interrogator, books ejecting device 11 works, push rod 40 forward slip, release corresponding books 5, according to system rapid feedback, the right angle coordinate manipulator 7 that now control system controls between bookshelf 4 has arrived books 5 position, wait for that books fall into pallet 35, books straightening device 10 moves and to be ajusted by the books 5 on bookshelf 4, books hold down gag 12 work by that row books carry out compression operation.Books B is transported on conveyer 8 by range of motion by right angle coordinate manipulator 7 more afterwards, control system controls gearing 8 and moves, when books 5 arrive ad-hoc location, control system controls gadget hand 6 and works, and gadget hand 6 also arrives relevant position and waits for that books 5 fall into pallet A17.Books 5 are delivered in outside circulation book cabinet platform 1 inside by gadget hand 6.Control system controls to deposit access section 3 and opens, and user takes out books 5, and wherein, the motion process of gadget hand 6 and right angle coordinate manipulator 7 is with reference to Fig. 6 to Fig. 7.
Also during book, before user arrives outside circulation book cabinet platform 1, books in stock specific instruction is inputted in message input device 2, control system controls to open to get also book 3, it is inner that outside circulation book cabinet platform 1 put into by packaged books 5 by user, outside circulation book cabinet platform 1 inside is provided with barcode scanning pick-up unit, preferably, barcode scanning pick-up unit can be rfid interrogator, to also entering after books 5 carry out a series of process, books 5 fall into the pallet A17 of gadget hand 6 front end, when gadget hand 6 arrives relevant position, pallet A17 moves, books 5 are put into conveyer 8, conveyer 8 moves, until books 5 fall into books collecting box 9.Added by manually carrying out sorting to books again.
Below by reference to the accompanying drawings to invention has been exemplary description.Obviously, specific implementation of the present invention is not subject to the restrictions described above.As long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; Or without improvement, above-mentioned design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention.
Claims (10)
1. a self-service books borrowing and returning device, it is characterized in that comprising: outside circulation book cabinet platform (1), gadget hand (6), right angle coordinate manipulator (7), conveyer (8), bookshelf (4), books collecting box (9) and control system, bookshelf (4) is provided with books straightening device (10), books ejecting device (11) and books hold down gag (12), the upper required books (5) of bookshelf (4) released by books ejecting device (11), right angle coordinate manipulator (7), gadget hand (6) and conveyer (8) with the use of, realize the process of lending of books (5) and oppositely give back process.
2. self-service books borrowing and returning device according to claim 1, it is characterized in that: described outside circulation book cabinet platform (1) is placed in the space outerpace being easy to get book, described gadget hand (6), right angle coordinate manipulator (7), conveyer (8), bookshelf (4), books collecting box (9), barcode scanning pick-up unit and control system are all arranged in a large book management holder, outside circulation book cabinet platform (1) is provided with message input device (2) above and gets goes back fore-edge (3), message input device (2) is provided with input keyboard and display screen above, outside circulation book cabinet platform (1) bottom is provided with to get goes back fore-edge (3), the books (5) that outside circulation book cabinet platform (1) is inner arrive to get goes back fore-edge (3) place, control system controls to get to go back fore-edge (3) and open, realize taking out books (5).
3. self-service books borrowing and returning device according to claim 2, it is characterized in that: described gadget hand (6) is placed near outside circulation book cabinet platform (1) place, gadget hand (6) installation position needs the books (5) ensureing to be taken away by motion at gadget hand (6) in conveyer (8), and books (5) can be put into outside circulation book cabinet platform (1) inside, conveyer (8) is applied in whole bookshelf (4) and lays district, conveyer (8) side is bookshelf (4), described bookshelf (4) side arranges and deposits books (5), opposite side settles books ejecting device (11), between two bookshelves (4), the large I of Existential Space ensures that right angle coordinate manipulator (7) carries out not interfering after multifreedom motion reaches the limit of position, right angle coordinate manipulator (7) coordinates books ejecting device effectively can realize the access quickly and easily of books (5).
4. self-service books borrowing and returning device according to claim 3, it is characterized in that: described for the books (5) on conveyer (8) being delivered to the inner gadget hand (6) of outside circulation book cabinet platform (1), comprise gadget hand fixed station (13), horizontal arm (14), telescopic arm (15), positioning shooting head A (16), pallet A (17) and vertical arm (43), gadget hand fixed station (13) lower end adopts fixing mode to be fixed in ground or stationary installation, upper end is provided with round platform, vertical arm (43) lower end is provided with round platform and coordinates installation with it, after gadget hand fixed station (13) coordinates with vertical arm (43), inside is provided with the rotating mechanism realizing vertical arm (43) lower end round platform and rotate, vertical arm (43) can realize the rotation along lower end round platform axis under the effect of rotating mechanism, vertical arm (43) upper end is provided with horizontal arm (14), steadily of centre of gravity when vertical arm (43) and horizontal arm (14) keep at right angle setting and ensure work, horizontal arm (14) is hollow legn, telescopic arm (15) is arranged in horizontal arm (14) by coordinating with horizontal arm (14) internal cavity, telescopic arm (15) can meet the distance of job requirement in horizontal arm (14) cavity along the axis telescopic slide that telescopic arm (15) and horizontal arm (14) are common, telescopic arm (15) front end is provided with tray support frame B (44), the pallet A (17) coordinated with it is connected with tray support frame B (44) by hinge (45), pallet A (17) can move along hinge (45) center steering, pallet A (17) front end is provided with opening and can pours out books (5) from opening part, telescopic arm (15) front end is provided with positioning shooting head A (16), control system is by borrowing the information of also book, the position of rfid interrogator and positioning shooting head A (16) positioning capturing books (5).
5. self-service books borrowing and returning device according to claim 4, it is characterized in that: described conveyer (8) comprises travelling belt (20), cylinder (18) and fixed mount (19), conveyer (8) two ends are provided with fixed mount (19), cylinder (18) is placed on fixed mount (19), cylinder (18) above freely can rotate at fixed mount (19), two ends cylinder (18) is installed travelling belt (20), the rotation of cylinder (18) drives travelling belt (20) to slide, books (5) can slide along with travelling belt (20) motion along with travelling belt (20), conveyer (8) front end is provided with books collecting box (9).
6. the self-service books borrowing and returning device according to claim 1-5 any one, it is characterized in that: the described right angle coordinate manipulator (7) books (5) crawl on bookshelf (4) can being delivered to conveyer (8), can realize making X, Y, the slip in Z tri-directions, arrive bookshelf (4) each position upper, and right angle coordinate manipulator 7 can realize the revolution of z axis direction, to realize catching books (5) when books ejecting device (11) releases books (5), described right angle coordinate manipulator (7) is by X, Y, slide mechanism and the z axis direction slew gear in Z tri-directions form.
7. self-service books borrowing and returning device according to claim 6, it is characterized in that: described X-direction slide mechanism by X to line slideway (33), screw mandrel A (30), stepper motor C (34) and X form to sliding stand (28), X is placed in ground or stationary installation to line slideway (33) by fixing mode, X is between two bookshelves (4) to line slideway (33) installation position, ensure that right angle coordinate manipulator (7) conveniently can catch the books (5) that on both sides bookshelf (4), books ejecting device (11) is released after motion, X is provided with leading screw A (30) to line slideway (33) center, side is provided with stepper motor C (34), there is gear train side inside, X is provided with leading screw A (30) matching mechanism to sliding stand (28) bottom, X is installed together by ball screw assembly, to sliding stand (28) with leading screw A (30), and be arranged on X on line slideway (33) by slot fit, stepper motor C (34) rotating band movable wire thick stick A (30) rotates, X slides to line slideway (33) to sliding stand (28) at X.
8. self-service books borrowing and returning device according to claim 6, it is characterized in that: described Z-direction slide mechanism is by Z-direction line slideway (21), Z-direction sliding stand (25), stepper motor A (22) and leading screw B (37) form, X is provided with round platform to sliding stand (28) upper end, Z-direction line slideway (21) lower end is provided with round platform and X and coordinates to sliding stand (28) upper end round platform and install, ensure two round platforms on the same axis, Z-direction line slideway (21) is Z-direction after installing, with X to line slideway (33) in vertical configuration, Z-direction line slideway (21) center is provided with leading screw B (37), upside is provided with stepper motor A (22), upper interior has gear train, Z-direction sliding stand (25) inside is provided with leading screw B (37) matching mechanism, Z-direction sliding stand (25) and leading screw B (37) are installed together by ball screw assembly, and Z-direction sliding stand (25) is vertically arranged on Z-direction line slideway (21) by slot fit in side, stepper motor A (22) rotating band movable wire thick stick B (37) rotates, Z-direction sliding stand (25) slides at Z-direction line slideway (21).
9. self-service books borrowing and returning device according to claim 6, it is characterized in that: described Y-direction slide mechanism is by Y-direction travelling arm (23), pallet B (35), stepper motor B (26), positioning shooting head B (27) and gear (36) form, Y-direction travelling arm (23) is arranged in Z-direction sliding stand (25) horizontal side by slot fit, Y-direction travelling arm (23) is provided with tooth bar (24), can be horizontally slipped with gear (36) assemblage zone carry-over bar (24) by the stepper motor B (26) be arranged on Z-direction sliding stand (25), Y-direction travelling arm (23) front end is provided with tray support frame A (31), the pallet B (35) coordinated with it is connected with tray support frame A (31) by hinge (32), pallet B (35) can move along hinge (45) center steering, pallet B (35) front end is provided with opening, upper end section is as letter " U " shape, pallet B (35) can pour out books (5) along with inclination from opening part, Y-direction travelling arm (23) front end is provided with positioning shooting head B (27), control to make pallet B (35) arrive relevant position by control system, wait for that books (5) slide in pallet, described z axis direction slew gear is positioned at the rotating mechanism motion of X to sliding stand (28) inside by being arranged on X to stepper motor C (29) drive on sliding stand (28).
10. the self-service books borrowing and returning device according to claim 7-9 any one, it is characterized in that: each row of described bookshelf (4) is equipped with books straightening device (10), books ejecting device (11) and books hold down gag (12), books ejecting device (11) is by rfid interrogator (38), ejecting device main body (39) and push rod (40) form, ejecting device main body (39) is arranged in bookshelf (4) dorsal part guide ledges (42) by slot fit, ejecting device main body (39) can be slided in guide ledges (42) along with the control of control system, push rod (40) is arranged in ejecting device main body (39), push rod (40) can at sliding extension in ejecting device main body (39), ejecting device main body (39) is provided with rfid interrogator (38), each book nationality (5) is all provided with RFID label tag, record the relevant information of respective books, books straightening device (10) is fixed on bookshelf both sides by hinge (41), can turn round along hinge (41) central axis, the books (5) taken out of when books ejecting device (11) is pushed away book are ajusted, described books hold down gag (12) is also arranged in bookshelf (4) dorsal part guide ledges (42), control to horizontally slip by control system, realize the compression of books (5).
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| CN201610074379.XA CN105513226B (en) | 2016-01-29 | 2016-01-29 | A kind of self-service books borrowing and returning device |
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| CN201610074379.XA CN105513226B (en) | 2016-01-29 | 2016-01-29 | A kind of self-service books borrowing and returning device |
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| CN105513226A true CN105513226A (en) | 2016-04-20 |
| CN105513226B CN105513226B (en) | 2018-04-03 |
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| CN105858041A (en) * | 2016-05-09 | 2016-08-17 | 西安合力汽车配件有限公司 | Tooling transfer system for production line |
| CN105883281A (en) * | 2016-05-31 | 2016-08-24 | 浙江汉丰风机有限公司 | Automatic feeding and discharging hardware warehouse |
| CN106056799A (en) * | 2016-06-07 | 2016-10-26 | 浙江立芯信息科技股份有限公司 | Automatic book returning machine |
| CN106175163A (en) * | 2016-07-28 | 2016-12-07 | 国网山东省电力公司莱芜供电公司 | Electric power contract management device |
| CN107274582A (en) * | 2017-08-09 | 2017-10-20 | 深圳市欧唯科技有限公司 | A kind of courier packages post automatically take machine and post automatically, pickup method |
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| CN107545284A (en) * | 2016-06-28 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | A kind of books in libraries automatic information collecting device and system |
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| CN105858041A (en) * | 2016-05-09 | 2016-08-17 | 西安合力汽车配件有限公司 | Tooling transfer system for production line |
| CN105883281A (en) * | 2016-05-31 | 2016-08-24 | 浙江汉丰风机有限公司 | Automatic feeding and discharging hardware warehouse |
| CN106056799A (en) * | 2016-06-07 | 2016-10-26 | 浙江立芯信息科技股份有限公司 | Automatic book returning machine |
| CN107545284A (en) * | 2016-06-28 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | A kind of books in libraries automatic information collecting device and system |
| CN106175163A (en) * | 2016-07-28 | 2016-12-07 | 国网山东省电力公司莱芜供电公司 | Electric power contract management device |
| CN106175163B (en) * | 2016-07-28 | 2018-05-08 | 国网山东省电力公司莱芜供电公司 | Electric power contract management device |
| CN107274582A (en) * | 2017-08-09 | 2017-10-20 | 深圳市欧唯科技有限公司 | A kind of courier packages post automatically take machine and post automatically, pickup method |
| CN107993381A (en) * | 2017-08-10 | 2018-05-04 | 大连民族大学 | A kind of book self-help distribution method |
| CN107464380A (en) * | 2017-09-14 | 2017-12-12 | 王泉 | A kind of intelligence, which is borrowed, goes back books device and application method |
| CN107811424A (en) * | 2017-11-27 | 2018-03-20 | 三峡大学 | Self-help library book returning and method |
| CN108608756A (en) * | 2018-04-28 | 2018-10-02 | 浙江机电职业技术学院 | Aid reading method |
| CN109300264B (en) * | 2018-09-11 | 2020-12-11 | 燕山大学 | Automatic book returning mechanism and self-service book returning system comprising same |
| CN109300264A (en) * | 2018-09-11 | 2019-02-01 | 燕山大学 | Automatic book return machine structure and the self-help book returning system including it |
| CN109674232A (en) * | 2018-12-29 | 2019-04-26 | 华南农业大学 | A kind of intelligent bookshelf and books access method with automatic access function |
| CN109533334A (en) * | 2018-12-29 | 2019-03-29 | 成都紫瑞青云航空宇航技术有限公司 | Launch sensor conveying device and application method in high-altitude |
| CN109744751A (en) * | 2019-01-22 | 2019-05-14 | 万兆祥 | A kind of Intelligent bookshelf and intelligent book room |
| CN109744751B (en) * | 2019-01-22 | 2021-01-15 | 万兆祥 | Intelligent bookshelf and intelligent library |
| CN109987372B (en) * | 2019-04-01 | 2020-11-10 | 万兆祥 | Full-automatic intelligent book library system and operation method |
| CN109987372A (en) * | 2019-04-01 | 2019-07-09 | 万兆祥 | A kind of fully-automatic intelligent stack room system and operation method |
| CN110859420A (en) * | 2019-12-02 | 2020-03-06 | 辽宁科技学院 | Bookshelf with automatic book taking and placing functions |
| CN110859420B (en) * | 2019-12-02 | 2021-07-30 | 辽宁科技学院 | Bookshelf with automatic book taking and placing functions |
| CN111401494A (en) * | 2020-03-27 | 2020-07-10 | 徐州丰沛网络科技股份有限公司 | Internet of things multi-store management system |
| CN111429657A (en) * | 2020-03-31 | 2020-07-17 | 李奇 | Intelligent book management system |
| CN111515135A (en) * | 2020-04-21 | 2020-08-11 | 南通大学 | Intelligent self-help book returning, sorting, arranging and sequencing system for books and working method thereof |
| CN111515135B (en) * | 2020-04-21 | 2022-03-15 | 南通大学 | Intelligent self-help book returning, sorting, arranging and sequencing system for books and working method thereof |
| CN112273886A (en) * | 2020-10-28 | 2021-01-29 | 江苏长诚档案设备有限公司 | Archive storage cabinet based on RFID |
| CN115281457A (en) * | 2022-08-04 | 2022-11-04 | 山西财经大学 | Automatic clothes storing and taking method and intelligent wardrobe |
| CN115497235A (en) * | 2022-09-13 | 2022-12-20 | 广州大学 | Automatic self-help book borrowing and returning cabinet and use method thereof |
| CN115497235B (en) * | 2022-09-13 | 2023-05-26 | 广州大学 | Automatic change self-service book cabinet of borrowing and returning |
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Inventor after: Liang Guangjun Inventor after: Xin Jianfang Inventor after: Wang Chunting Inventor after: Tang Hongxia Inventor after: Zhang Xiaodong Inventor after: Tang Lin Inventor after: Huang Weinan Inventor before: Tang Hongxia |
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