CN101515391A - Automatic book management system based on closed stacks - Google Patents
Automatic book management system based on closed stacks Download PDFInfo
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- CN101515391A CN101515391A CNA2009100801329A CN200910080132A CN101515391A CN 101515391 A CN101515391 A CN 101515391A CN A2009100801329 A CNA2009100801329 A CN A2009100801329A CN 200910080132 A CN200910080132 A CN 200910080132A CN 101515391 A CN101515391 A CN 101515391A
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Abstract
The invention discloses an automatic book management system based on closed stacks, which combines the original library management systems, realizes automatic borrowing and returning functions of books, lowers the labor intensity of the workers in the library and effectively improves the quality of the library in serving readers. The automatic library system adopts RFID technology, mechanical automation, network and computer technologies. The book management system of the invention comprises shelves, a library integrated management system, books with RFID chips, a self-service borrowing and returning terminal, a management system of closed stacks, a self-service borrowing system, a self-service returning system and an automatic transfer system which realizes that books automatically go in and out of the closed stacks; wherein, the management system of closed stacks operates the information of the database of the closed shelf system to realize information interaction between the library integrated management system and the automatic transfer system, thus finally realizing the automatic management functions of books.
Description
Technical field
The present invention relates to a kind of novel library system, it is in conjunction with original library management system, realized the automatic also function of borrowing of books, reduced the labour intensity of librarian, improved the quality of library effectively for reader's service, automated library system has adopted RFID REID, mechanical automation, network and computer technology etc., belongs to the library automation application.
Background technology
The library is the collecting center of entity data such as books, periodical, newspaper, CD, collection, arrangement, storage and use to these data are exactly the main function in library for a long time, the main flow of mode become library's book library management that open book shelves to borrowers in the library in recent years, but it also brings the wrong frame of books to lose and ties up the reading space problem, so the lot of domestic and international library begins that a large amount of books are transferred to closed stack room system and manages by accurate automated system.
The library automation system for borrowing and returning is that industrial automatic material flow and the application of storage technique in the field, library embody, developing history about 15 years has been arranged, at present in the North America, there have been a lot of application cases in Canada, Japan, as California, USA state university Bei Ling branch school, Cornell University, University of Louisville, Las Vegas University of Nevada, Canadian English Columbia University, Japan internationality Christian religion university and Japanese Waseda University etc.The HKSystem company of the U.S. and Japanese Nipponfiling company are the producers of library automation system for borrowing and returning.In its product and application case, all be that single books packing is stored in the big storage box, utilize the books bar code to grasp and discern.The problem of this mode need to be books to take out whole storage box, relies on human intervention to find required books, thereby can not accomplish unmanned operation; Because bar code needs alignment scanning, and accuracy of identification and accuracy rate are had certain influence; Rely on limited mechanical grabbing device to extract books, acquisition time is longer, is not suitable in the high environment of annual circulation.
In recent years, in robotization identification and industrial control field new technology and application have appearred.In robotization identification, radio frequency label (RFID) begins to replace bar code and is used for identification and tracking to Individual Items.Because the RFID label has waterproof, antimagnetic, high temperature resistant, long service life, read that distance is big, data can encrypt, store that data capacity is bigger, the canned data change waits advantage freely on the label, can realize the real automation and the intellectuality of library management.At present, the RFID technology has successful story in the U.S., Europe and Asia.The library of the whole America existing about 2% brings into use the RFID technology; Library's use RFID technology of 8% is arranged in the world approximately.Rfid system has been equipped by the existing 300 tame college library, university library, academic library that surpass, the whole America.All there is the library of a lot of employing RFID in each states of Europe such as Italy, Holland, France.In the Asia, the Singapore national library is the intelligent book shop of first overall application rfid system in the world.Library municipal such as domestic Shenzhen also brought into use the RFID technology in 2006, the Xin Guan of National Library has also disposed rfid system.Now, the speed of world's large-scale library applying RFID technology is just with annual 30% rate increase.But the current RFID of library uses and also is in the front end circulation that library automation uses and borrows the also stage, possesses functions such as the open-shelf circulation of books is borrowed also, collection is made an inventory, books are antitheft, does not reach robotization access and stack room management to single these books.
Summary of the invention
The goal of the invention that the present invention is based on the robotization book management system of closed shelves is: reach closed shelves, the unattended in library fully, finished self-service borrows and return, the new book of books by system and make an inventory.
The technical solution used in the present invention is:
A kind of robotization book management system based on closed shelves, include bookshelf and library's integrated management system, it is characterized in that: include books, self-service borrows and return terminating machine, closed shelves management system, the self-service system that checks out, the self-help book returning system of band RFID chip and realize that books pass in and out the robotization transfer system of closed shelves automatically;
The robotization transfer system is to be made of automation equipment and automation control system, and automation equipment includes intelligent track car and automatic conveying device; Automation control system comprises intelligent track vehicle control and automatic conveying device control system;
Whole closed shelves is made up of some row bookshelves, and every row bookshelf is arranged by some closed shelves bookshelves and form that bookshelf is a layer connected structure, and being pegged graft by some supporting plates forms, and forms the tunnel between every row bookshelf; Go out the buffer memory bookshelf that the fore-edge place is provided with interim placement reservation books, the buffer memory bookshelf is similarly a layer connected structure; The books of band RFID chip are positioned on the closed shelves bookshelf, and the books identifying information is stored in the collection database of library's integrated management system;
The intelligent track car passes through the drive unit to-and-fro movement on the track that sets in advance in the tunnel, intelligent track car owner support body is provided with gets also mechanism, this gets also, and mechanism moves up and down by the lifting gear that is provided with on the body frame body, get and mechanism is provided with the mechanical arm that can stretch, the intelligent track car is by the control of intelligent track vehicle control;
The automatic conveying device main body is a double-decker, the warehouse-in passage of books is given back on the upper strata, lower floor is borrowed the passage of books outbound, and this automatic conveying device comprises tunnel car interface, main transfer passage, cache interface, publish books interface and book interface channel also; Tunnel car interface carries body to form by basic conveying mechanism and belt; Main transfer passage is made up of feed belt group and passage lifting body; Cache interface is the single layer structure of only putting in storage for books, carries body to form by basic conveying mechanism and belt; The interface of publishing books includes basic conveying mechanism and transition pipeline; The transition pipeline is connected with the self-service borrows and return terminating machine; Also book interface channel one end is connected with the transition pipeline of the window of publishing books, and the other end is connected with upper strata master's transfer passage;
The self-service system of checking out comprise readership read module, reader check out information transfer module, check out with the bar print module, realize mutual with RFID read-write equipment and library card reading device that self-service borrows and return terminating machine place is provided with; This readership read module drives self-service borrows and return terminating machine and reads information reader, and reader's information transfer module that checks out is passed to the closed shelves management system with the self-service borrows and return terminating machine machine item at information reader and reader place; When books are transported to self-service borrows and return terminating machine place, check out to drive the information that the RFID read-write equipment is rewritten books, and print with bar with the bar print module;
The self-help book returning system comprise information reader read module, book information read module, reader also the book information transfer module, also the book position be provided with module and also book realize mutual with the bar print module with RFID read-write equipment and library card reading device that self-service borrows and return terminating machine place is provided with; The information reader read module drives self-service borrows and return terminating machine library card reading device and reads information reader, the book information read module reads the books identifying information in the RFID, reader also book information transfer module is passed to the closed shelves management system with information reader and books identifying information, distribute a closed shelves physical location number by the closed shelves management system, by book position also module drive RFID read-write equipment is set and rewrites the information of giving back books, finish books and give back action, finally print also book with bar with the bar print module by book also;
Library's integrated management system includes the book reservation module, this book reservation module is according to reader's reserve requests, confirm that books identifying information and reader that the reader borrows books get the book time, and books identifying information, information reader and reader are got the book time be sent to the closed shelves management system;
The closed shelves management system includes the closed shelves system database, the books identifying information is corresponding with the books identifying information in the collection database in the closed shelves system database, every books that are stored in the closed shelves bookshelf have been assigned with closed shelves bookshelf physical location number, and this closed shelves bookshelf physical location number is stored in the closed shelves system database; The closed shelves management system includes book borrowing and reading information writing module, buffer memory bookshelf position distribution module, gets the book module, buffer memory advances the book module, the module of publishing books, closed shelves position distribution module, book module also; The books identifying information that this book borrowing and reading information writing module comes according to the transmission of book reservation module is got corresponding information reader and reader in the closed shelves system database that the book time is passed to the closed shelves management system; Buffer memory bookshelf position distribution module is according to the identifying information of these books, for the books of being preengage distribute buffer memory bookshelf physical location number; Get the book module and will number be passed to the intelligent track vehicle control by the closed shelves bookshelf physical location of reservation books, finish by the intelligent track car and on the closed shelves bookshelf, to get the book task, and books are transported to tunnel car interface, basic conveying mechanism and belt via tunnel car interface carry body to be transported to main transfer passage, when books when main transfer passage is transported to cache interface, buffer memory advances the book module buffer memory bookshelf physical location number is passed to the intelligent track vehicle control that is positioned at buffer memory bookshelf tunnel, drives this intelligent track car books are transported on number corresponding position of buffer memory bookshelf and buffer memory bookshelf physical location; The book of getting that the module of publishing books receives from the self-service borrows and return terminating machine instructs, the module of publishing books number is passed to the intelligent track vehicle control that is positioned at the buffer memory bookshelf and publishes books interface with the buffer memory bookshelf physical location of getting books, driving intelligent track car is got book with books by the buffer memory bookshelf and is put into the interface of publishing books, and by publish books interface basis conveying mechanism and transition pipeline books is transported to the outlet of self-service borrows and return terminating machine; When the reader gives back books in self-service borrows and return terminating machine place, closed shelves position distribution module will be given back books for this and be distributed closed shelves physical location number, and also book module control system that this closed shelves physical location number is passed to automatic conveying device control system and intelligent track car is finished the action of giving back of books.
Adopt technique scheme, the present invention can thoroughly realize the unattended function in library, uses the RFID technology, has strengthened the security of taking care of books, better brings into play the intelligence in library.The reader can whole day realize the self-service borrows and return book in 24 hours, was the historical once historical change in library.
Description of drawings
Fig. 1 is the system's composition diagram that the present invention is based on the robotization book management system of closed shelves;
Fig. 2 is the general frame figure that the present invention is based on the robotization book management system of closed shelves;
Fig. 3 is the module composition diagram of library's integrated management system among the present invention;
Fig. 4 is the module composition diagram of closed shelves management system among the present invention;
Fig. 5 is the module composition diagram of the self-service system that checks out of the present invention;
Fig. 6 is the module composition diagram of self-help book returning of the present invention system;
Fig. 7 is the module composition diagram of frame system on the new book of the present invention;
Fig. 8 is the system works flow process figure of robotization book management system of the present invention;
Fig. 9 is the system of the present invention control mutual process flow diagram between each module that checks out in the process;
Figure 10 controls also in the book process mutual process flow diagram between each module for system of the present invention;
Figure 11 is the superstructure synoptic diagram that the present invention is based on the robotization book management system mechanical part general frame of closed shelves, and it has reflected the also book structure of robotization transfer system;
Figure 12 is the understructure synoptic diagram that the present invention is based on the robotization book management system mechanical part general frame of closed shelves, and it has reflected the structure that checks out of robotization transfer system;
Figure 13 is the structural representation of the monolateral bookshelf of mechanical part closed shelves bookshelf of the present invention;
Figure 14 is the structural representation of the bilateral bookshelf of mechanical part closed shelves bookshelf of the present invention;
Figure 15 is a mechanical part buffer memory book-house structure synoptic diagram of the present invention;
Figure 16 is one of structural representation of mechanical part intelligent track car of the present invention;
Figure 17 is two of the structural representation of mechanical part intelligent track car of the present invention;
Figure 18～Figure 20 uses the structural representation of getting book return machine tool hand for mechanical part closed shelves bookshelf of the present invention;
Figure 21～Figure 23 is the publish books structural representation of mechanical arm of mechanical part buffer memory bookshelf of the present invention;
Figure 24 advances the structural representation of book mechanical arm for mechanical part buffer memory bookshelf of the present invention;
Figure 25 is the structural representation of mechanical part of the present invention tunnel car interface;
Figure 26 carries the structural representation of body for mechanical part cylinder of the present invention;
Figure 27,28 for the structural representation of mechanical part roller unit of the present invention;
Figure 29 passes in and out the structural representation of book mechanism for mechanical part jacking of the present invention;
Figure 30 carries the structural representation of body for mechanical part belt of the present invention;
Figure 31～Figure 32 is the structural representation of mechanical part of the present invention tunnel car interface and main transfer passage coupling part;
Figure 33 is the structural representation of mechanical part passage lifting body of the present invention;
Figure 34 is the structural representation of mechanical part master transfer passage of the present invention and cache interface coupling part;
Figure 35～Figure 36 recognizes the one-piece construction synoptic diagram of limit mechanism and book leaf turner structure for whole book on the mechanical part master transfer passage of the present invention;
Figure 37 recognizes the structural representation on limit mechanism top for the whole book of mechanical part of the present invention;
Figure 38 recognizes the structural representation of limit mechanism bottom for the whole book of mechanical part of the present invention;
Figure 39 is the structural representation on mechanical part book leaf turner structure of the present invention top;
Figure 40 is the structural representation of mechanical part book leaf turner structure of the present invention bottom;
Figure 41～Figure 42 is the publish books structural representation of interface of mechanical part of the present invention;
Figure 43～Figure 44 figure is the also structural representation of book interface channel of mechanical part of the present invention;
Figure 45 uses the electrical equipment arrangenent diagram of getting book return machine tool hand for closed shelves bookshelf of the present invention;
Figure 46 is the electrical equipment arrangenent diagram of intelligent track car of the present invention;
Figure 47 advances the electrical equipment arrangenent diagram of book mechanical arm for buffer memory bookshelf of the present invention;
Figure 48 is the publish books electrical equipment arrangenent diagram of mechanical arm of buffer memory bookshelf of the present invention;
Figure 49 is the publish books electrical equipment arrangenent diagram of interface and main transfer passage coupling part of tunnel of the present invention car interface lower floor;
Figure 50 is car interface upper strata, the tunnel of the present invention electrical equipment arrangenent diagram of book interface and main transfer passage coupling part also;
Figure 51 is the publish books electrical equipment arrangenent diagram of interface of the present invention;
Figure 52 is the electrical equipment arrangenent diagram of cache interface of the present invention and main transfer passage coupling part;
Figure 53 is the electrical equipment arrangenent diagram of the whole book mechanism of the present invention.
Embodiment
The present invention is a kind of robotization book management system based on closed shelves, it is a kind of novel book management system, changed the storage mode of traditional libraries, be based on the basis in totally-enclosed stack room, realize finishing book borrowing and reading under the unattended situation, give back, new book is put on the shelf, the novel book management system of the function of making an inventory automatically, in order to describe technical scheme of the present invention clearly, now specifically describe as follows in conjunction with the accompanying drawings:
One, system constitutes:
See also Fig. 1 and Fig. 2, the robotization transfer system that includes frame system on library's physical construction, library's integrated management system, closed shelves management system, the self-service system that checks out, self-help book returning system, the new book and finally realize books turnover closed shelves based on the robotization book management system of closed shelves.Below in conjunction with accompanying drawing each system is introduced respectively in detail:
(1), library's integrated management system, comprise, the OPAC catalogue retrieval system, be based on the user interface part of the automated library system of closed shelves, its function and operation interface and the website of buying books are similar, the OPAC catalogue retrieval system be one possess that book information is inquired about, browses, borrowed, the software systems of reservation and personal identification and information management are the windows of reader and system interaction, belong to prior art.Library's integrated management system among the present invention, emphasis improves and is: library's integrated management system OPAC catalogue retrieval system has increased the book reservation module, the function of this book reservation module is the reserve requests according to the reader, books identifying information and reader that the affirmation reader borrows books get the book time, to be subscription state by the status indication of reservation books, and books identifying information, information reader and reader are got the book time be sent to following closed shelves management system.This book reservation module is made up of each functional module, and it is operated the collection database, finishes the interactive function of information.
The collection database is an existing library data base system, and present embodiment only is introduced at canned data relevant with technical solution of the present invention in the collection database, and the collection database information that other is conventional is not being given unnecessary details at this.Need to prove, below describe and non-limiting information composition of the present invention, comprise following information field in this collection database:
| Sequence number | Field name | Title and |
| 1 | BookID | Books identifying information: the unique identification information of books |
| 2 | ReaderID | Information reader: reader's |
| 3 | Time | The reader gets the book time: the concrete time that the storage reader gets |
| 4 | B_Status | Book borrowing and reading state: R-＞give back state, L-＞lend state, B-＞subscription state |
See also Fig. 3, the book reservation module comprises readership load module, reader check out time load module, first communication module and books setting state module.Wherein, the readership load module receives the reader by behind the books identifying information of OPAC catalogue retrieval system query-reservation books, information reader is imported in the corresponding field of collection database, reader's time load module that checks out concrete time of getting book writes the corresponding field of collection database with time or the reader that the reader submits the request of checking out, and first communication module is sent to the closed shelves management system with the BookID in the collection database, ReaderID and App_Time (perhaps T_Time).Books setting state module is subscription state with the book borrowing and reading setting state or lends state.In addition, books setting state module receives books give back the instruction that action finishes after, with the book borrowing and reading setting state for giving back state.
(2), closed shelves management system, belong to top service device system, it is the core of system of the present invention, its function is by the information of closed shelves system database being operated the information interaction between realization and library's integrated management system and the robotization transfer system, finally realizing the automatic management function of books.
The closed shelves system database is the physical location information of books in the record closed shelves, be placed on the physical location information of physical location information, self-service borrows and return terminating machine seat in the plane information and the books approach tunnel car interface or the cache interface of buffer memory bookshelf by the books preengage, (mechanical contents such as described closed shelves, buffer memory bookshelf, self-service borrows and return terminating machine and tunnel car interface see also the introduction of following robotization transfer system).
There is corresponding relation in the books identifying information of closed shelves system database and the record of collection database.During original state, the books that are stored in the collection database all can distribute a closed shelves bookshelf physical location to be stored in the closed shelves system database accordingly.
Closed shelves system data Kuku table and main field are as follows:
Table name claims: master meter
| Sequence number | Field name | Title and |
| 1 | BookID | Books identifying information: the unique identification information of books |
| 2 | ReaderID | Information reader: reader's |
| 3 | App_Time | Reader's application time: the reader submits the time of the request of checking out |
| 4 | T_Time | The reader gets the book time: the reader gets the concrete time of |
| 5 | Location_No | Closed shelves bookshelf physical location number: books are placed on the physical location numbering on the closed shelves bookshelf in the |
| 6 | Temp_Location_No | Buffer memory bookshelf physical location number: books are placed on the physical location numbering on the buffer memory bookshelf in the closed shelves |
| 7 | ATM_No | Self-service borrows and return terminating machine machine item |
| 8 | B_Status | Book borrowing and reading state: R-＞give back state, L-＞lend state, |
| B-＞subscription state |
Closed shelves bookshelf physical location number is the number in the tunnel at closed shelves bookshelf place, books place, the chord position number of books place bookshelf, the level number sign indicating number at books place and the Position Number of column number correspondence.And in the closed shelves books to be placed on buffer memory bookshelf physical location number corresponding with the level number sign indicating number and the column number at the chord position number of the number in the tunnel at the buffer memory bookshelf place at books place, books place bookshelf, books place equally.Corresponding database table is as follows:
Table name claims: closed shelves bookshelf location tables (Location table)
| Sequence number | Field name | Title and |
|
| 1 | Location_No | Closed shelves bookshelf physical location number: books are placed on the physical location numbering on the closed shelves bookshelf in the closed shelves | |
| 2 | Laneway_No | The lane Taoist |
|
| 3 | Bookshelf_No | The |
|
| 4 | | Level number | |
| 5 | | Row number | |
| 6 | Status | Closed shelves bookshelf location status: whether the record position is empty |
Table name claims: buffer memory bookshelf location tables (Temp_Location table)
| Sequence number | Field name | Title and |
| 1 | Temp_Location_No | Buffer memory bookshelf physical location number: books are placed on the physical location numbering on the buffer memory bookshelf in the closed shelves |
| 2 | T_Laneway_No | The lane Taoist |
| 3 | T_Bookshelf_No | The frame item |
| 4 | | Level number | |
| 5 | | Row number | |
| 6 | T_Status | Buffer memory bookshelf location status: whether the record position is empty |
See also Fig. 4, the closed shelves management system comprises book borrowing and reading information writing module, buffer memory bookshelf position distribution module, gets book order generation module, gets the book module, buffer memory order generation module, buffer memory advance the book module, the order generation module of publishing books, the module of publishing books, closed shelves position distribution module, also book order generation module, book module also.
The function of book borrowing and reading information writing module is: after the reader preengage books, books identifying information, information reader and the reader that library's integrated management system transmission is come got the book time and writes in the closed shelves system database.The operation of specific implementation is when first communication module is sent to the closed shelves management system with the BookID in the collection database, ReaderID, Time, book borrowing and reading information writing module receives this information, the master meter of visit closed shelves system database, it is capable to inquire the table with identical BookID, and ReaderID, Time are write in the corresponding field.
The function of buffer memory bookshelf position distribution module is: after reader request borrows or ask to preengage books, borrow or preengage books for this and open up physical location on the buffer memory bookshelf, promptly distribute a buffer memory bookshelf physical location number.The operation of specific implementation is after book borrowing and reading information writing module is finished its operation, this buffer memory bookshelf position distribution module visit Temp_Location table, record in the key successively, when retrieving buffer memory bookshelf location status for sky, corresponding Temp_Location_No is passed to master meter, write respective field, finish the position distribution function of buffer memory bookshelf.Certainly, can adopt certain distribution principle according to the actual operating position of buffer memory bookshelf in the assigning process of books position, for example: the principle that draws near is placed on the bookshelf unit far away the books of being preengage earlier.It should be noted that: this distribution principle, decide according to the closed shelves of actual design, be not limited thereto.
When getting the function of book order generation module, the request of borrowing or preengaging books according to the reader is got the book order for what the intelligent track car was generated to that the closed shelves bookshelf gets book.Get the physical location number that the book order comprises the closed shelves bookshelf of books.During the operation of specific implementation: get the book order at each intelligent track car, the reservation books that will have identical lane Taoist monastic name (Laneway_No), according to reader's application time or get the priority of book time and sort, will be borrowed books or number be write order by the closed shelves physical location of reservation books.Certainly, in the process that generates order, also can consider path optimum, principles such as load sharing.Following table is to get the Database field of book order:
Table name claims: get book order (Order)
| Sequence number | Field name | Title and |
|
| 1 | Order_No | Order number: | |
| 2 | Laneway_No | The lane Taoist |
|
| 3 | Bookshelf_No | The |
|
| 4 | | Level number | |
| 5 | Array_No | Row number |
Generating order is the several additional principle that must be noted that:
1, to guarantee: Bookshelf_No1＞=Bookshelf_No2＞=Bookshelf_No3＞=Bookshelf_No4＞=Bookshelf_No5＞=Bookshelf_No6.And when frame is number identical, the number of plies big preceding, if i.e. Bookshelf_No2=Bookshelf_No3, Level_No2＞Level_No3 so; If Bookshelf_No2=Bookshelf_No3=Bookshelf_No4, Level_No2＞Level_No3＞Level_No4 so.
2, will guarantee: can not have in same order more than three numbers of plies at high or minimum books, that is: each dolly can be got the books of three top or lowermost layer at most at every turn.
Following table is the order example of actual generation:
| Sequence number | Order_No | Laneway_No | | Level_No | Array_No | |
| 1 | 1 | 1 | 7 | 3 | 1 | |
| 2 | 1 | 1 | 6 | 5 | 2 | |
| 3 | 1 | 1 | 6 | 4 | 3 | |
| 4 | 1 | 1 | 4 | 6 | 4 | |
| 5 | 1 | 1 | 3 | 7 | 5 | |
| 6 | 1 | 1 | 2 | 8 | 6 |
The function of getting the book module is: the control system that the book order is passed to corresponding intelligent track car in the robotization transfer system of getting that will get that book order generation module forms is finished the action of getting book in the closed shelves bookshelf.
The function of buffer memory order generation module is: the request according to the reader borrows or preengage books generates at the automobile-used buffer memory order of buffer memory bookshelf place intelligent track.The content of buffer memory order comprises that books are positioned at the location number of cache interface and buffer memory bookshelf physical location number.The operation of specific implementation is: the reservation books that will have identical T_Laneway_No, according to reader's application time or get the priority of book time and sort, be to borrow or preengage buffer memory bookshelf physical location that books distribute number to write the buffer memory order with buffer memory bookshelf position distribution module.The cache interface location number is the information of dynamically transmitting, when the action of books through getting book module and robotization transfer system is delivered to the cache interface place, the robotization transfer system is passed to buffer memory order generation module with the positional information that books are positioned at cache interface, buffer memory order generation module writes the buffer memory order with the location number that books are positioned at cache interface, the intelligent track car is got the location number identification books of book return machine tool hand according to this cache interface, and then books are sent into correct buffer memory bookshelf position.The position of cache interface is distributed, and sees also the description of cache interface mechanical part.Following table is that the elementary field of buffer memory order in the database is formed:
Table name claims: buffer memory order (T_Order)
| Sequence number | Field name | Title and |
|
| 1 | Order_No | Order number: | |
| 2 | T_Laneway_No | The lane Taoist |
|
| 3 | T_Bookshelf_No | The |
|
| 4 | | Level number | |
| 5 | | Row number | |
| 6 | T_Port_No | The physical location span of cache interface: 1～6 |
The function that buffer memory advances the book module is: the buffer memory order is passed to the control system that the robotization transfer system is positioned at the intelligent track car at buffer memory bookshelf place finishes the action that enters the buffer memory bookshelf in books.
The function of order generation module of publishing books is: checking out according to the reader in the self-service system that checks out starts information reader and the self-service borrows and return terminating machine machine item that module is transmitted, and generates at being positioned at the publish books order of buffer memory bookshelf with the intelligent track car of the interface of publishing books.The operation of specific implementation is: checking out according to the reader starts the ReaderID retrieval master meter that module is transmitted, and writes the order of publishing books with having the books Temp_Location_No of identical ReaderID and the ATM_No at reader place in the master meter.Following table is that publish books in the database elementary field of order is formed:
Table name claims: the order of publishing books (O_Order)
| Sequence number | Field name | Title and |
|
| 1 | Order_No | Order number: | |
| 2 | T_Laneway_No | The lane Taoist |
|
| 3 | T_Bookshelf_No | The |
|
| 4 | | Level number | |
| 5 | | Row number | |
| 6 | ATM_No | Self-service borrows and return terminating machine machine item |
The function of the module of publishing books is: the above-mentioned order of publishing books is passed to the function of lending that the control system at the intelligent track car between interface and the buffer memory bookshelf of publishing books in the robotization transfer system is finally finished books.
The function that closed shelves position distribution module realizes is: after automatic book returning system returns also book requirement, according to the books identifying information that returns, open up the physical location of depositing books on the closed shelves bookshelf, be and return books and distribute closed shelves bookshelf physical location number.The operation of specific implementation is a visit Location table, record in the key successively, when Status be sky, with the pairing Location_No in this position write corresponding BookID capable in, finish the position distribution function of closed shelves bookshelf.Certainly, can adopt certain distribution principle according to the actual conditions of closed shelves in the assigning process of books position, for example: the principle that draws near is returned in self-service borrows and return terminating machine distance closed shelves bookshelf far away the books of giving back earlier.
Also book order generation module according to reader's also book request, generates the also book order at each intelligent track car.The operation of specific implementation is: when the self-service borrows and return terminating machine has received many books of giving back, closed shelves position distribution module is after every books distribute closed shelves bookshelf physical location number, the books that will have identical Laneway_No sort according to certain allocation rule.For example, by order far away and that advance, the physical location information of the books that will be borrowed writes gets the book order, also can consider path optimum, principles such as load sharing according to the frame item.Simultaneously, also book order generation module tunnel, books place car interface position that the robotization delivery system is returned number writes also book order, so that the intelligent track car can be according to this positional information identification books, and with books correct be transported to the corresponding physical locations of closed shelves.
Table name claims: book order (R_Order) also
| Sequence number | Field name | Title and |
|
| 1 | R_Order_No | Order number: | |
| 2 | R_T_Laneway_No | The lane Taoist |
|
| 3 | R_T_Bookshelf_No | The |
|
| 4 | | Level number | |
| 5 | | Row number | |
| 6 | Port_No | The physical location span of tunnel car interface: 1～6 |
Also the function of book module is the control system that above-mentioned also book order is passed to the intelligent track car that is positioned at each tunnel in the automatic book returning system.The intelligent track car is realized the operation that books enter closed shelves under the control of control system.
The function of book reservation time judgment module is, judge whether books are lent in the subscription time of appointment, if crossed subscription time, the state of borrowing of books still is subscription state, then the identifying information of these books, the physical location information of buffer memory bookshelf are sent automatic control system, enter also book operation.
(3), the self-service system that checks out, its function is to check out or start in the subscription time section of reservation behind the books the reader to get the book action.See also Fig. 5, it includes: readership read module, reader check out information transfer module, check out with the bar print module.
The function of readership read module is, requires the reader to import information reader, can read reader's information by the mode of identification library card in the embodiment of the invention.
Reader's function that starts module that checks out is, receive the information reader of reader in the input of self-service borrows and return terminating machine, and the self-service borrows and return terminating machine machine item at information reader, reader place is passed to the closed shelves management system, start the action that checks out by the closed shelves management system.
The function that checks out with the bar print module is, books arrive the self-service borrows and return terminating machine, write by the RFID read-write equipment and to borrow book information, revise the book RFID tag content, authority is borrowed in printing, finishes book borrowing and reading action, and will borrow the information of finishing and be passed to library's integrated management system, the information reader of books is borrowed in modification, and is revised the state of borrowing of books by books setting state module.
(4), the self-help book returning system, its function receives information reader and the books identifying information that self-help book returning terminal is read in, with information reader with give back the books identifying information and send library's integrated management system and closed shelves management system to; Library's integrated management system is revised the state of borrowing and the information reader of books; The closed shelves management system is that the books given back distribute closed shelves physical location number, and this information is sent to self-help book returning system and robotization transfer system; Also book position RFID read-write equipment that module controls self-help book returning terminal is set will be distributed to the RFID label that the closed shelves physical location of giving back books number writes books; At last, automatically also the book end print also book finish self-help book returning operation with bar.See also Fig. 6, the self-help book returning system includes: information reader read module, book information read module, reader also the book information transfer module, also the book position be provided with module and also book with the bar print module.
The information reader read module requires the reader to import information reader, can read ReadID by the mode of identification library card in the embodiment of the invention.
The book information read module reads the BookID of books by the RFID read-write equipment of self-service borrows and return terminating machine in the embodiment of the invention.
The reader is the book information transfer module also, the operation of its realization is the closed shelves position distribution module that BookID is passed to the closed shelves management system, ReaderID, BookID are passed to library's integrated management system, rewrite the state of borrowing of corresponding BookID in the collection database, and the ReaderID field is set to sky.
Also the book position is provided with module, the operation of its realization is after books to closed shelves bookshelf starts also book position that module is passed to the BookID in the master meter, Location_No automatic book returning system module is set, also the book position is provided with module notice RFID read-write equipment, rewrite the closed shelves bookshelf physical location number of books in the RFID, and will finish signal and return the closed shelves management system.
Also book is with the bar print module, and the operation of its realization is after book position also is provided with module and finishes its operation, prints also book and finishes also book action with bar.
(4), frame system on the new book, its function is to realize the warehouse-in of new book.See also Fig. 7, it comprises the new information read module, the new book position is provided with module, new book warehouse-in startup module.
The new information read module, the operation of its realization is as the librarian new book to be put into the terminal of submitting a written statement to a higher authority (self-service borrows and return terminating machine), the new information read module notifies the RFID read-write equipment of the terminal of submitting a written statement to a higher authority to read the RFID label information of books, obtain book information, and book information sent to library's integrated management system and closed shelves management system, library's integrated management system revise these books in shop information; The closed shelves position distribution module of closed shelves management system is distributed corresponding closed shelves physical location number for advancing the shop books, this information is sent to the new book position module is set, the new book position is provided with module notice RFID read-write equipment closed shelves bookshelf physical location number is write the RFID label.The new book warehouse-in starts module and starts also book order generation module and also book module subsequently, finishes the function of books warehouse-in.Behind the books warehouse-ins, the intelligent track car will finish signal return to library's integrated management system revise books at the shop state.
See also Fig. 8, it has represented the workflow between closed shelves management system and the library's integrated management system, and two systems are undertaken clog-free mutual by the SIP2 agreement.
Please be simultaneously referring to Fig. 9, Figure 10, it has represented the present invention is based on robotization book management system interactive relation and mode of action between each functional module of system in borrowing, give back the books process of closed shelves respectively.To introduce another pith of the present invention below: based on the mechanical composition and the robotization transfer system of the robotization book management system of closed shelves.
Two, library's physical construction and robotization transfer system:
(1), the mechanical composition of library's physical construction and robotization transfer system:
See also Figure 11, shown in Figure 12, library's physical construction includes closed shelves bookshelf 1, buffer memory bookshelf 4 and self-service borrows and return terminating machine 5, the robotization transfer system includes automation equipment and automation control system, wherein automation equipment includes intelligent track car 2 and automatic conveying device 3, and automation control system includes intelligent track vehicle control and automatic conveying device control system.
Be closed state in the course of work of whole stack room, maintenance manual recovery mouth is left in stack room, realizes putting on the shelf of the borrowing also of books, new book and makes an inventory function by the self-service borrows and return terminating machine.Arrange the ordered series of numbers bookshelf in the stack room, form tunnel between every row bookshelf with specific range.Every row bookshelf is made of some closed shelves bookshelves.Please refer to Figure 13～15, different purposes according to bookshelf, in embodiments of the present invention, the closed shelves bookshelf can be designed as two big forms: the closed shelves bookshelf books in stock frame that eases up, and the closed shelves bookshelf has comprised two kinds of forms by its function difference, Figure 13 has shown first kind of form of closed shelves bookshelf: monolateral bookshelf, be used in outermost two row bookshelves, bookshelf is a layer connected structure, and every layer height preestablishes, interconnect by web joint between the bookshelf, form the permutation bookshelf.Figure 14 has shown second kind of form of closed shelves bookshelf: bilateral bookshelf, be connected to form back-to-back by monolateral bookshelf, and be applicable to putting of centre position, stack room, the intelligent track car in adjacent two tunnels is got book from the both sides of bilateral bookshelf respectively.Monolateral bookshelf among the present invention and bilateral bookshelf are plugged on cambium layer structure on the bookshelf outside framework by a plurality of supporting plates 11, and interconnect by upper and lower end web joint 12, every row bookshelf, each layer of bookshelf are equipped with getting the also mechanism identification of telltale for the intelligent track car.Height between the height of every bookshelf, every layer and every layer length need design in advance and with database in the numerical value of access be complementary.Every books that are placed on the closed shelves bookshelf have the closed shelves bookshelf physical location number of unique home position, are stored in the closed shelves bookshelf location tables (Location table).Figure 15 has shown the structure of buffer memory bookshelf, and one group of groove 111 is set in the middle of every layer of supporting plate 11A, and the length of layer is then only placed for a book.The buffer memory bookshelf is placed on the outlet of closed shelves, and is relative with the self-service borrows and return terminating machine, places the books of subscription state.Equally, every books that are placed on the buffer memory bookshelf have unique buffer memory bookshelf physical location number, be stored in the buffer memory bookshelf location tables (Temp_Location table), it should be noted that, because it is the buffer memory bookshelf is single-row setting in the present embodiment,, certain so the row in the buffer memory bookshelf location tables number can be set to sky, the buffer memory bookshelf also can be set to multiple row, and present embodiment is not being enumerated.
See also Figure 16, Figure 17, it is the structural representation of intelligent track car of the present invention.Intelligent track car (also claiming the tunnel car) the 2nd realizes that books automatically by means of important plant equipment also, are core apparatus of the present invention, moves on the track that is installed in advance in the tunnel.Track of the present invention goes to upper and lower two-layer setting, be installed in the closed shelves by guide rail mounting bracket 21, the intelligent track car is connected with upper and lower layer track by walking guide piece 22, relies on drive unit 23 to drive, and drive unit is formed by driving wheels 231 and drive motor 232 in the present embodiment.The body frame body 24 of intelligent track car is to be connected in the framed structure of walking between the guide piece 22, and body frame body 24 inside are provided with six and get also 25, six in mechanism and get also mechanism 25 and be divided into two-layerly, can once finish getting also of six books.Getting line slideway 241 and the hoisting gear 242 by being arranged at body frame body 24 both sides of mechanism 25 also finishes and moves up and down.Hoisting gear 242 among the present invention comprises lifting motor 2421, promotes drive sprocket assembly 2422, elevator chain wheel assembly 2423 and counter weight device 2424.Promote motor 2421 and drive and promote drive sprocket assemblies 2422, promote the moving elevator chain wheel assembly 2423 of drive sprocket assembly 2422 associations, counter weight device 2424 imposes power-assisted and finishes and get also moving up and down of mechanism to getting also mechanism.
According to the different of the gentle books in stock shelf structure of closed shelves bookshelf and get the difference that book also requires, it is also different to get the concrete structure of going back mechanism, getting also among the present invention, mechanism roughly is divided into three kinds of forms, first kind is that the closed shelves that is used with the closed shelves bookshelf is with getting book return machine tool hand 25a, second kind is to be applied in buffer memory bookshelf that the buffer memory bookshelf enters the book place mechanical arm 26 of publishing books, and the third is that the buffer memory bookshelf that is applied in the buffer memory bookshelf place of publishing books advances book mechanical arm 27.Introduce the intelligent track car below in conjunction with accompanying drawing and get also three kinds of concrete structures of mechanism.
See also Figure 18～Figure 20, it uses the structural representation of getting book return machine tool hand for mechanical part closed shelves of the present invention, because each both sides, tunnel is provided with monolateral bookshelf or bilateral bookshelf, closed shelves can bidirectional-movement with getting book return machine tool hand 25, gets respectively, and the books on the bookshelf of both sides.Closed shelves is with getting the drive unit 253 that book return machine tool hand 25 comprises delivery vehicles 251, delivery vehicles fixed head 252 and drives the delivery vehicles action.Wherein delivery vehicles 251 comprises that jaw 2511, jaw drag body 2512, conveying belt carrier 2513, transport conveyer belt 2514, delivery vehicles body 2515, are arranged at line slideway 2516 and the delivery vehicles main body 2517 moved for jaw on the delivery vehicles body.Wherein, delivery vehicles body 2515 drives moving of tooth bar, gear 2532,2533 realization front and back by carrier drive motor 2531.Jaw drags body 2512 and is driven by drive motor (can referring to Figure 46), and jaw 2511 drives the clamping action that rack circles 2535 are realized jaws by the clamping motor 2534 that is arranged on the delivery vehicles main body.Carrier drive motor 2531 realizes that by bearing arrangement head roll device 2536 transport conveyer belt 2514 rolls.Be provided with delivery vehicles movement synchronous belt 2518 in the delivery vehicles, realize the same moved further of each structure.
See also Figure 21～Figure 23, it is realized by two-way the send book task of buffer memory bookshelf to the interface of publishing books for the publish books structural representation of mechanical arm of mechanical part buffer memory bookshelf of the present invention.The buffer memory bookshelf mechanical arm 26 of publishing books comprises delivery vehicles 261, and delivery vehicles 261 is provided with and a pair ofly thrusts out one's fingers 262, and the main body both sides are provided with conveying belt 263, are provided with pressing board 264 across the delivery vehicles upper end.Thrust out one's fingers and 262 be complementary with the groove structure of buffer memory bookshelf, realize the flexible of finger by the finger actuation motor 265 driving belt wheel assemblies 266 that are arranged at the delivery vehicles lower end, conveying belt 263 is realized rolling by electric drum 267, lifting motor 268 driven wheels, rack structure 269 are realized the lifting up and down that thrusts out one's fingers, and pressing board 264 is connected with lift cylinder 260.
See also Figure 24, its buffer memory bookshelf that enters the book place for the buffer memory bookshelf advances the structural representation of book mechanical arm; It is unidirectional stretching structure that the buffer memory bookshelf advances the book mechanical arm, the buffer memory bookshelf advances book mechanical arm 27 and comprises delivery vehicles 271, advances the scribe and refer to 272 and pressing board 273, advance the scribe and refer to that 272 have the finger structure that is complementary with buffer memory bookshelf groove structure, get flexible that the scribe refers to by flexible cylinder 274 controls, press the lifting of book cylinder 275 control pressing boards 273.
Can be provided with the RFID read-write equipment on the mechanical arm of above-mentioned three kinds of intelligent track cars, be positioned at the books of tunnel car interface or cache interface with differentiation, also can set in advance the RFID read-write equipment and discern books in advance at tunnel car interface or cache interface place, and reaching the purpose of identification by the positional information of system log (SYSLOG) books, the latter sees also subsequent descriptions.
Automatic conveying device 3 central transportation systems of the present invention can finish transportation of lending books and the transportation of being given back books simultaneously.Automatic conveying device 3 main bodys of the present invention are double-deckers, and lower floor is borrowed the passage of books outbound, and the warehouse-in passage of books is given back on the upper strata.This automatic conveying device 3 is divided according to function, mainly comprises tunnel car interface 31, main transfer passage 32, and cache interface 33, the interface 34 of publishing books reaches also five major parts such as book interface channel 35 grades.The body frame body of automatic conveying device 3 is the aluminium alloy extrusions bracing frame, and above-mentioned five part-structures all are arranged on the body frame body, introduces the structure of each concrete part below one by one and forms.
See also Figure 25, it is the structural representation of tunnel of the present invention car interface, and tunnel car interface 31 is the levels framework, and the warehousing interface of books is given back on the upper strata, and lower floor is borrowed books and goes out bank interface, and the levels structure is basic identical.Specifically, borrowed the warehousing interface that books go out bank interface and given back books and carried body 40 compositions by basic conveying mechanism 30 and belt.Wherein, this basis conveying mechanism 30 comprises the upper strata and receives conveying body 301 and lower floor's reception conveying body 302, this upper and lower layer receives carries body structure identical, drives lower slider on the whole by levels lift cylinder 303, carries body 40 to dock the transmitting effect of finishing books with belt respectively.Wherein, upper strata, lower floor receive and carry body to carry body 50 and jacking turnover book mechanism 60 to form by cylinder.In addition, each tunnel car interface has been defined 9 positions, wherein lower floor's reception conveying body lower floor is 1,2,3 from right to left, the upper strata receives and carries body is 4,5,6 from right to left, it is 7,8,9 from right to left that belt is carried body, belt carries body 40 near main transfer passage ends the RFID recognition device to be set, and when books are transported to each position of tunnel car interface, can give the closed shelves management system with the residing tunnel of books car interface position information feedback.
See also Figure 26, it is the structural representation of intermediate roll conveying body 50 of the present invention, the production line that cylinder carries body 50 to be made up of some roller units, and each roller unit is by motor-driven.See also Figure 27,28, it is the structural representation of roller unit, and roller unit is formed by being fixed between the cylinder side plate 502 some cylinders 501, and the length of roller unit is decided according to the actual requirements, and can be the length of a book.Cylinder side plate 502 a wherein side is equipped with power side plate 503 longitudinally, driving wheel 504, supporting roller 505 are installed on the power side plate 503, by driving belt 506 interlock driving wheel and supporting rollers, and the tightness by tensioning regulating block 507 adjusting driving belts 506.Drum drive motor 508 provides driving force for driving wheel 504, and then drives the rotation that each supporting roller 505 running realizes cylinder.
See also Figure 29, it passes in and out the structural representation of book mechanism 60 for mechanical part jacking of the present invention, jacking turnover book mechanism 60 interts and is installed on cylinders and carries between the body 50, and upper strata, lower floor receive and carry body to be provided with six groups of six groups of jackings turnover book mechanism 60 corresponding intelligent track cars to get also mechanism.Jacking turnover book mechanism 60 comprises one group of jacking belt side plate 602 that is fixed on the web joint, each jacking belt side plate 602 is provided with jacking belt dressing 601, jacking belt dressing 601 is made up of jacking belt 6011 and belt supporting roller 6012 and belt drives wheel 6013, and belt drives of this group jacking belt dressing 601 is taken turns 6013 and linked by coupling shaft.Jacking turnover book mechanism 60 drives the rotation that belt drives wheel 6013 is realized the jacking belt by jacking belt motor 603.Jacking cylinder 604 is realized the lifting of jacking turnover book mechanism by driving the cylinder raising plate 605 that is provided with in the middle of the jacking belt side plate 602.
See also Figure 30, it is the structural representation of belt conveying body 40 of the present invention, and belt is carried body 40 to comprise feed belt 401 and the power drum group 402 of rotational power is provided, and feed belt 401 is regulated elasticities by tensioning regulating block 403.Belt carries body 40 to be divided into into book transition belt conveying body 41 and the transition belt of publishing books conveying body 42 according to the function difference.
See also Figure 31, Figure 32, it is the structural representation of tunnel car interface and main transfer passage coupling part, and all books of being borrowed all will be pooled on the main transfer passage 32 by tunnel car interface, are further transmitted by main transfer passage 32.Equally, all books of giving back all will be carried to each tunnel car interface by main transfer passage 32.Main transfer passage 32 is made of plurality of sections feed belt group 70, and feed belt group 70 is the combinations by some belts of power drum group driving.Feed belt group 70 is provided with passage lifting body 80 with car interface corresponding section, tunnel, see also shown in Figure 33, passage lifting body 80 comprises some cylinders 801, head roll motor 802, driving wheel 803, travelling belt 804, supporting roller 805 and the cylinder lift cylinder 806 that is arranged between the side plate, head roll motor 802 drives driving wheel, and driving wheel is finished the rotation of cylinder by the belt-driven supporting roller.Cylinder lift cylinder 806 head rolls move upward.Each cylinder of passage lifting body 80 is inserted between feed belt group 70 each belts successively, to enter corresponding tunnel car interface as books, this passage lifting body 80 rises, and the book transition belt that advances that cylinder 801 rollings are sent books into the tunnel car is carried body 41.
See also Figure 34, it is the structural representation of mechanical part master transfer passage of the present invention and cache interface coupling part, and cache interface 33 is a single layer structure, only books is imported the buffer memory bookshelf, and the books of buffer memory bookshelf are not derived from cache interface.Cache interface 33 is by basic conveying mechanism 30 and advance book transition belt and carry body 41 to form.
See also Figure 35 and Figure 36, it is an one-piece construction synoptic diagram of putting in order book mechanism 90 and book leaf turner structure 95 on the main transfer passage, and whole book mechanism 90 further comprises walking positive mechanism 91, mechanism 92 placed in the middle, recognizes limit mechanism 93 and aligning gear 94.Recognize limit mechanism 90 and book leaf turner structure 95 and be arranged at upper strata master's transfer passage, its function be to the books of giving back ajust, between two parties, recognize limit, rotation and upset, it can be complementary with the rule of closed shelves storage.The process that following mask body introduction asks the structure of each mechanism to form and work.See also Figure 37, Figure 38, it has shown the concrete structure of whole book mechanism.The direction of arrow is represented the direction of travel of books, wherein, walking positive mechanism 91 front ends is made up of roller unit, the end of roller unit is provided with barrier plate 911, barrier plate 911 stretches out on the main transfer passage by the driving of barrier plate lift cylinder 912, and barrier plate lift cylinder 912 is arranged on the cylinder fixed head 913 that is connected with the body frame body.Mechanism 92 placed in the middle is installed on the support of main transfer passage top, include two pairs of jaw plates, a pair of broadside jaw plate 921 and a pair of narrow limit jaw plate 922, every pair of jaw plate connects by guide pillar assembly 923, be provided with rack circle 924 and gear (not indicating among the figure) between every pair of jaw plate, one of them broadside jaw plate is opened by 925 drivings of the first driving cylinder or regains, and one of them narrow limit jaw plate is opened by 926 drivings of the second driving cylinder or regains.The described first driving cylinder, second drives cylinder, the guide pillar assembly is installed on and installs on the base plate 927, and mechanism placed in the middle is by mechanism placed in the middle lift cylinder 928 liftings.Recognize limit mechanism 93 and be installed on main transfer passage top by support equally, recognize limit mechanism 93 and judge the direction of books by the weight of four jiaos of weighing books, recognizing limit mechanism 93 is made up of four groups of suckers 931 that are the cross layout, sucker 931 is connected with weight sensor 933 by sucker installation sleeve 932, wholely recognizes limit mechanism by recognizing lift cylinder 934 liftings of limit mechanism.Aligning gear 94 includes the runing rest jacking cylinder 942 that embeds main transfer passage runing rest 941 and be positioned at main transfer passage lower end, be provided with rotary encoder 943 in addition and reach the motor 944 that electric power is provided for rotary encoder, when books need rotate by runing rest drive motor 945 driven in rotation, in addition, also be provided with reinforcement axle sleeve 946 in this equipment.
The flow process of whole book mechanism is: when books are entered by the direction of arrow, barrier plate 911 has been stretched, books are under the stopping of cylinder 501 drivings and barrier plate 911, books just can walked, cylinder is out of service, and the resistance plate washer is fallen, the cylinder operation, books are transported to mechanism placed in the middle below, mechanism placed in the middle lift cylinder 928 descends, and 925 withdrawals of first cylinder drive the jaw plate at guide pillar assembly 923, under the interlock of rack circle 924 and gear, two jaw sheets fold up back and forth, bounce books, direction of books is placed in the middle, and second cylinder 926 is in like manner finished the placed in the middle of another direction then, mechanism placed in the middle resets, and stretches on the mechanism placed in the middle lift cylinder 928.After books are finished between two parties, be transported to and recognize limit mechanism 93 belows, recognizing limit mechanism lift cylinder 934 descends, the sucker 931 of four crossing distribution holds the homepage of books under the negative pressure that straight empty generator produces, recognizing limit mechanism lift cylinder 934 rises, can measure 4 weight with four weight sensors 933 that four suckers connect respectively, system will discern the position of the handle of publishing books, sucker is decontroled the books homepage, runing rest jacking cylinder 942 has been stretched, and runing rest drive motor 945 driven in rotation support 941 under the control of system rotates, with the book of books transferring to correct position, runing rest jacking cylinder 942 descends, and finishes whole book and recognizes the limit correcting process.
See also Figure 39, Figure 40, it is for the structural representation of book leaf turner structure of the present invention, book leaf turner structure 95 includes jacking claw-plate 951, the jacking claw-plate drives cylinder 952, upper and lower layer clamps calvus 953,954 and calvus clamps cylinder 955, the plate of jacking claw-plate 951 staggers mutually with the calvus that clamps calvus 953, can embed the other side's pawl seam mutually, each calvus and each plate are staggered as shown in the figure, jacking claw-plate 951 is positioned at main transfer passage 32 lower ends under the normal condition, is driven cylinder 952 drivings and is stretched out main transfer passage upper end by the jacking claw-plate when needing; Last clamping calvus 953 and the following calvus 954 that clamps can be realized clamping by calvus clamping cylinder 955, realize the rotation of whole clamping calvus by rotary cylinder 956, telescopic cylinder 957 is arranged at air cylinder fixed plate 950 upper ends of main transfer passage top support, and it is flexible and contact with the jacking claw-plate along main transfer passage direction that the flexible realization by telescopic cylinder 957 clamps calvus.
The flow process of book leaf turner structure is: books are entered by the direction of arrow, pass through optoelectronic switch, judge whether the books amount of crimp is excessive, surpass when limiting numerical value, books are transported to jacking claw-plate 951 tops, the jacking claw-plate drives cylinder 952 and has stretched, with books jack-up, telescopic cylinder 957 stretches out, and makes by jacking claw-plate 951, under clamp calvus 953,954 are positioned at each one of books pros and cons, the jacking claw-plate drives cylinder 952 withdrawals, on books can drop on down, under clamp calvus 953, between 954, calvus clamps cylinder 955 and firmly again books is clamped, unclamp, books are pressed, make amount of crimp a little less, calvus clamps cylinder 955 books is clamped, rotary cylinder 956 rotations are turned over turnback with books, and the jacking claw-plate drives cylinder 952 and stretched, calvus clamps cylinder 955 books is unclamped, books can drop on the jacking claw-plate 951, telescopic cylinder 956 withdrawals, and the jacking claw-plate drives cylinder 952 and descends, the books of arrangement upset are put back on the main conveyor line body, finish and turn over the book flow process.
See also Figure 41 and Figure 42, it is the structural representation of interface 34 of publishing books, the interface 34 of publishing books is that books go out the bindiny mechanism of buffer memory bookshelf to the self-service borrows and return terminating machine, comprises the first window transition pipeline 341, the second window transition pipeline 342 and the 3rd window transition pipeline 343.Wherein, be provided with basic conveying mechanism 30 between the first window transition pipeline 341 and the second window transition pipeline 342, belt is set between the second window transition pipeline 342 and the 3rd window transition pipeline 343 carries body 40, receive window and basic conveying mechanism or belt carry the body junction to be equiped with passage lifting body 80, this basis conveying mechanism 30 docks with the intelligent track car of publishing books between the interface with being arranged at the buffer memory bookshelf, finishes the function that books are borrowed in reception.And then with the defeated window of publishing books accordingly that transfers to of books.
See also Figure 43, Figure 44, it is the structural representation of book interface channel 35 also, also book interface channel 35 1 ends are connected with window transition pipeline, the other end is connected with upper strata master's transfer passage, the books of giving back enter first, second, third window transition pipeline, and import also book interface channel 35 through window transition pipeline through first window 51, second window 52, the 3rd window 53 of self-service borrows and return terminating machine 5.The window place of self-service borrows and return terminating machine 5 is provided with RFID read-write equipment and library card reading device, according to the difference of self-service borrows and return terminating machine function, increases the conveying window of special input new book.
Self-service borrows and return terminating machine of the present invention has increased RFID read-write equipment (books are not represented) on the basis of existing technology.
(2), based on the control system introduction of the mechanical hook-up of the book management system of closed shelves:
See also Figure 45, it is the electrical equipment arrangenent diagram of intelligent track car, and following table is the explanation of each electric switch.
See also Figure 46, it is the closed shelves bookshelf with the electrical equipment arrangenent diagram of getting book return machine tool hand, simultaneously in conjunction with the following table explanation, itemize get the control device of book return machine tool hand.
See also Figure 47, it advances the electrical equipment arrangenent diagram of book mechanical arm for the buffer memory bookshelf, simultaneously in conjunction with the following table explanation, itemize the buffer memory bookshelf advance the control device of book mechanical arm.
See also Figure 48, it is for the publish books electrical equipment arrangenent diagram of mechanical arm of buffer memory bookshelf, simultaneously in conjunction with the following table explanation, itemize the buffer memory bookshelf advance the control device of book mechanical arm.
See also the explanation of Figure 49 and following table, it need to prove that for the publish books electrical equipment arrangenent diagram of interface and main transfer passage coupling part of the lower floor of tunnel car interface electric switch shown in the figure is 2 groups of settings except that the power of main transfer passage.
See also the explanation of Figure 50 and following table, it is the upper strata electrical equipment arrangenent diagram of book interface and main transfer passage coupling part also of tunnel car interface, need to prove that electric switch shown in the figure is 2 groups of settings except that the power of main transfer passage.
See also the explanation of Figure 51 and following table, it is the electrical equipment arrangenent diagram of cache interface and main transfer passage coupling part.
See also the explanation of Figure 52 and following table, it is the electrical equipment arrangenent diagram of interface of publishing books.
See also the explanation of Figure 53 and following table, it is the electrical equipment arrangenent diagram of whole book mechanism.
See also the explanation of Figure 54 and following table, it be the self-service borrows and return terminating machine and the electrical equipment arrangenent diagram of book interface channel also.
(3), following introduce in detail wholely check out, the annexation of each plant equipment in the book process also:
1, get the book flow process:
The intelligent track car adopts PLC as controller, and the QPLC servomotor of the actual employing of the present invention Mitsubishi and induction motor are finished and got the also exercises of mechanism as the drive unit of machinery.The chief component of PLC is power module, CPU, base plate, load module, output module, positioning control module, communication module.It is servo controller and servomotor that servomotor is made up of two parts, and it is mainly used in the occasion of high speed/high precision/height response.PLC connects servo controller by locating module, and the control motor is finished various high-precision positions, speed, torque control.PLC controls auxiliary reclay by output module in addition, is controlled the rotating of induction motor by the adhesive of different relays.
PLC inserts wireless ethernet by ethernet module, receive the closed shelves management system and get the book order according to what reader's the request of checking out generated, get the frame number that the book order mainly comprises the books place, row number, level number, intelligent track car (hereinafter referred is a dolly) under the driving of control walking servomotor (servo) to the motion of books position direction (the servo velocity mode that is in this moment), PLC receives the signal near switch of intelligent track car, finish the frame number that dolly is passed by and calculate (increase and decrease counting), arrive the previous bookshelf at books place, the servo position control mode that switches to of walking, and to put with this be that benchmark is walked fixed length according to the columns of books.Then, the intelligent track car level signal that puts in place, then according to the number of plies at books place, PLC control servo rising of lifting or decline walk to export after fixed length is finished the mechanical arm signal that puts in place when servo.
Closed shelves is with after getting the book mechanical arm and putting in place, and the output closure of PLC appointment makes the pilot relay action of corresponding delivery vehicles induction motor, finishes protracting of delivery vehicles.Delivery vehicles protracts and puts in place, promptly the relevant position near switch output signal, PLC disconnects the output of appointment, the delivery vehicles drive motor stops, PLC control jaw drags the servo fixed length of walking of carrier jaw is sent into bookshelf then, and the rear clip-claw servo action that puts in place clamps books.
PLC receives the servo moment feedback output of jaw, and the control jaw drags the servo counter-rotating of carrier and drives the origin position that books are got back to setting, the servo books that unclamp of jaw, and the appropriate location of delivery vehicles is taken books in transport conveyer belt work then.(position control :) according to advancing the signal that fore-edge detects optoelectronic switch, the working time of control belt conveyor.The counter-rotating of delivery vehicles motor arrives accordingly near stopping (carrier centre position) behind the switch, finish getting the book flow process.
(2), car interface in tunnel arrives main transfer passage flow process:
The intelligent track car moves to main transfer passage after getting book and finishing, this moment the servo employing speed control of walking, drive dolly to main transfer passage high-speed cruising, PLC continues the frame number that dolly is passed by is counted simultaneously, when reaching last bookshelf, the tangential movement of dolly is finished in the servo operation that the position control model is finished designated length that switches to of walking.
After dolly stops, the action of delivery vehicles drive motor, the delivery vehicles drive motor stops after assigned address puts in place near switch motion, optoelectronic switch receives signal if dolly puts correlation in place, the fore-edge that goes out of expression tunnel car interface does not have book, the transport conveyer belt action is delivered to tunnel car interface jacking turnover book mechanism with books, go out the fore-edge Photoelectric Detection to books by after stop, delivery vehicles drive motor counter-rotating simultaneously, delivery vehicles is return the centre position of dolly, finish the book process of getting of dolly, dolly PLC will get book stroke complement mark position ON simultaneously, wait for the also book order of closed shelves management system or get the book order.
Accordingly, tunnel car interface goes out fore-edge does not have books, and PLC controls the light projector output (the output closure of PLC appointment infeeds 24 volts of direct supplys to light projector) of the correlation optoelectronic switch that puts in place.The jacking cylinder rises jacking turnover book mechanism, the jacking belt docks with the cart transport carrier, the action of jacking belt motor, with the cart transport travelling belt books are sent into jacking turnover book mechanism, when detecting books, PLC puts in place behind the signal, the action of jacking cylinder passes in and out book mechanism with jacking and puts down, and the jacking motor stops, and finishes the book process of getting from dolly.
Tunnel car interface controller detects the books signal that puts in place, cylinder carries body and belt to carry the body electric motor starting, books are delivered to belt to be carried on the body, after detecting books and leaving out fore-edge fully, belt carries the body motor to stop through suitable time-delay, adjusts the position of book, and cylinder carries body to stop immediately, on, lower floor's lift cylinder rises, with basic supply unit jack-up, finish lower floor and receive to carry body publish books action, the books situation on the interface controller detection main conveyor line then, there is book to pass through signal, belt carries the body motor to be failure to actuate, and books are temporarily stored, and no books pass through signal, the cylinder lift cylinder action of passage lifting body, rise interface, finish with belt and carry docking of body, after books put in place, the cylinder lift cylinder descends, and books are transported on the main transfer passage.
(3), books advance the cache interface flow process:
The cache interface place is equipped with the RFID recognition device, it directly is connected with the closed shelves management system, when books pass through this position, upper system is according to the information of books, generate with reader's corresponding cache warehouse compartment and put, because each reader can borrow 6 books at most, so everyone takies 3 * 2 buffer memory warehouse compartment and puts.
From RFID beginning, in 9 positions of definition, cache interface place, wherein tunnel car interface lower floor to receive and carry body be 1,2,3 from right to left, the upper strata receives and carries body is 4,5,6 from right to left, skin is with from right to left and is carried on the body 7,8,9
When receiving, levels carry body during the free time, the levels lift cylinder guarantees to receive the lower floor that carries body and carries body to dock with belt, if 7,8, there are books 9 positions, belt is carried the body motor, levels receives the action of mediation body Rolling motor, the books of correspondence are put into 1,2,3 positions, after detecting books and put in place according to the optoelectronic switch of each position, the action of levels lift cylinder, fall to receive and carry body, allow its upper strata and belt carry body to dock, enter 7 with follow-up simultaneously, 8, the books of 9 positions as above send into 4,5,6 positions are sent then to receive and are carried the body position to expire signal.
After belt carried the books on the body to send one, No. 9 the position was in idle condition immediately, and interface PLC detects put in place the state of optoelectronic switch of jacking interface books, if signal is arranged, the action of passage lifting body is sent books into the position No. 9, detect book information by RFID, do as preceding processing.
(4), books advance buffer memory stack room flow process:
The intelligent track car is finished the placement of books in the buffer memory storehouse, as the positioning control of front intelligent carriage, guarantees that dolly arrives the location of cache interface, after dolly is finished depositing of books at every turn, with the idle information of dolly for putting ON.
The top service device is according to the idle condition of dolly, the buffer memory order that when dolly is idle server is generated sends to dolly, after if dolly is finished depositing of books, server does not have order, dolly runs to the cache interface place automatically, wait for the generation of order, the light projector output (the output closure of PLC appointment infeeds 24 volts of direct supplys to light projector) of the correlation optoelectronic switch that puts in place this moment.
The buffer memory order will generate according to the definition in the cache interface of front, promptly generate in proper order according to 1,2,3,4,5,6 books, and its specifying information is storehouse number (buffer memory bookshelf physical location number), the location number (cache interface books location number) in buffer memory storehouse.
The closed shelves management system is ready to buffer memory order (also book order), server sends to dolly with order, controller PLC detects the dolly situation that puts in place, when the receiver of the correlation that promptly puts in place optoelectronic switch has the signal input, the cylinder action of jacking turnover book mechanism, with books jack-up, simultaneously PLC is with put in place the light projector output (the output closure of PLC appointment infeeds 24 volts of direct supplys to light projector) of correlation optoelectronic switch of cylinder, dolly receives the cylinder signal (receiver of the correlation of ascending the throne optoelectronic switch have signal input) that puts in place, the motor action that thrusts out one's fingers is stretched out finger, after putting in place, finger jacking motor-driven finger rises certain distance, books are positioned on the finger, meet the scribe and refer to the cylinder action, the finger withdrawal, dolly PLC detects the book information that has or not of each finger, book is arranged, press the action of book bar cylinder, books are compressed.
Dolly PLC will get book quantity and order books quantity compares, if equate, gets book and finishes; If levels receive to carry body to provide idle signal, and the dolly books are less than quantity on order, then for falling the book situation, provide warning message; If the dolly books are less than quantity on order, but receiving the conveying body, levels do not provide idle signal, promptly leak and get book, dolly will leak the scribe and refer to single movement according to the books detection case of each finger, finish and get the book action.
Dolly transports temporary books and gets the book unanimity to the motion control such as the front of buffer memory bookshelf, all adopt cartesian coordinate system, X-axis is defined as the tangential movement of dolly, Y-axis is defined as the elevating movement of dolly finger, the Z axle is defined as the stretching motion of finger, its X-axis and Y-axis all adopt industrial servocontrol, and its concrete control strategy has had description in front, just no longer describe in detail herein.
After dolly puts in place, press the action of book bar cylinder, books are unclamped, meet the scribe and refer to the cylinder action, books are sent in the carriage of assigned address in buffer memory storehouse, the descending certain distance of Y-axis servomotor is placed on books on the temporary library books supporting plate, the rebound valve of PLC control finger cylinder will be pointed withdrawal then.Finish the buffer memory of books and deposit, dolly is with idle signal position ON simultaneously.
(5), books go out the temporary library flow process:
The control of the machinery of dolly is similar to buffer memory storehouse dolly herein, just no longer describes in detail.
As the reader when getting fore-edge and get book, server sends to the machine item of the self-service borrows and return terminating machine at this reader place and meets fore-edge control PLC, the buffer memory bookshelf physical location at this reader's books place number sent to get the book dolly, dolly is got postscript to the interface operation of publishing books, provide the signal of publishing books that puts in place after putting in place, publishing books provides the dolly idle signal after finishing, and waits for that the next one gets the letter breath.
(6), books are to the window flow of publishing books:
After dolly arrives the interface position of publishing books, dolly provides the signal that puts in place, and books are sent in the finger cylinder action of dolly, window control PLC detects books and enters information, the basic conveying mechanism of interface of publishing books is finished the action that connects book, jacking air cylinder driven jacking turnover book mechanism action herein, the work of jacking belt motor, the appropriate location of books being taken to jacking turnover book mechanism stops, the while dolly meets the scribe and refers to the cylinder action, will point the withdrawal dolly, finishes the process of publishing books of dolly upper strata books.The lifting servo action of dolly rises lower floor's books then, repeats the action of front, all sends up to books.
Window control PLC receives after dolly puts in place, by detecting the placement situation of books, in an orderly manner according to the window information of the transmission of server, books is delivered to the window of appointment.
The information of buffer memory storehouse dolly, window delivery controller and reader place window is a man-to-man corresponding relation.
(7), books arrive also book interface flow process of tunnel car:
Books will be put books in order after entering also the book passage, mainly considered books position on tape, curl and the direction adjustment.
In system whole book mechanism and go out fore-edge, go back fore-edge, the control of cache interface all adopts the unified control of a PLC.
The flow process of specific implementation is formed and the workflow place describes in detail in the structure of above-mentioned whole book mechanism, is not describing at this.
(8), go back the fore-edge flow process
The reader is going back also postscript of fore-edge, and books are through the identification of RFID recognition device (directly access server), and after the information of affirmation books was accurate, server sent correct signal and controls PLC to window, and the conveying belt action is sent into also book passage through books.If books are wrong or the reader puts into many books simultaneously, PLC does not receive the books correct information, and conveying belt is failure to actuate, and server also showing on the book terminal, and one one of books are put in the incorrect or prompting of books.
Claims (26)
1, a kind of robotization book management system based on closed shelves, include bookshelf and library's integrated management system, it is characterized in that: include books, self-service borrows and return terminating machine, closed shelves management system, the self-service system that checks out, the self-help book returning system of band RFID chip and realize that books pass in and out the robotization transfer system of closed shelves automatically;
The robotization transfer system is to be made of automation equipment and automation control system, and automation equipment includes intelligent track car and automatic conveying device; Automation control system comprises intelligent track vehicle control and automatic conveying device control system;
Whole closed shelves is made up of some row bookshelves, and every row bookshelf is arranged by some closed shelves bookshelves and form that bookshelf is a layer connected structure, and being pegged graft by some supporting plates forms, and forms the tunnel between every row bookshelf; Go out the buffer memory bookshelf that the fore-edge place is provided with interim placement reservation books, the buffer memory bookshelf is similarly a layer connected structure; The books of band RFID chip are positioned on the closed shelves bookshelf, and the books identifying information is stored in the collection database of library's integrated management system;
The intelligent track car passes through the drive unit to-and-fro movement on the track that sets in advance in the tunnel, intelligent track car owner support body is provided with gets also mechanism, this gets also, and mechanism moves up and down by the lifting gear that is provided with on the body frame body, get and mechanism is provided with the mechanical arm that can stretch, the intelligent track car is by the control of intelligent track vehicle control;
The automatic conveying device main body is a double-decker, the warehouse-in passage of books is given back on the upper strata, lower floor is borrowed the passage of books outbound, and this automatic conveying device comprises tunnel car interface, main transfer passage, cache interface, publish books interface and book interface channel also; Tunnel car interface carries body to form by basic conveying mechanism and belt; Main transfer passage is made up of feed belt group and passage lifting body; Cache interface is the single layer structure of only putting in storage for books, carries body to form by basic conveying mechanism and belt; The interface of publishing books includes basic conveying mechanism and transition pipeline; The transition pipeline is connected with the self-service borrows and return terminating machine; Also book interface channel one end is connected with the transition pipeline of the window of publishing books, and the other end is connected with upper strata master's transfer passage;
The self-service system of checking out comprise readership read module, reader check out information transfer module, check out with the bar print module, realize mutual with RFID read-write equipment and library card reading device that self-service borrows and return terminating machine place is provided with; This readership read module drives self-service borrows and return terminating machine and reads information reader, and reader's information transfer module that checks out is passed to the closed shelves management system with the self-service borrows and return terminating machine machine item at information reader and reader place; When books are transported to self-service borrows and return terminating machine place, check out to drive the information that the RFID read-write equipment is rewritten books, and print with bar with the bar print module;
The self-help book returning system comprise information reader read module, book information read module, reader also the book information transfer module, also the book position be provided with module and also book realize mutual with the bar print module with RFID read-write equipment and library card reading device that self-service borrows and return terminating machine place is provided with; The information reader read module drives self-service borrows and return terminating machine library card reading device and reads information reader, the book information read module reads the books identifying information in the RFID, reader also book information transfer module is passed to the closed shelves management system with information reader and books identifying information, distribute a closed shelves physical location number by the closed shelves management system, by book position also module drive RFID read-write equipment is set and rewrites the information of giving back books, finish books and give back action, finally print also book with bar with the bar print module by book also;
Library's integrated management system includes the book reservation module, this book reservation module is according to reader's reserve requests, confirm that books identifying information and reader that the reader borrows books get the book time, and books identifying information, information reader and reader are got the book time be sent to the closed shelves management system;
The closed shelves management system includes the closed shelves system database, the books identifying information is corresponding with the books identifying information in the collection database in the closed shelves system database, every books that are stored in the closed shelves bookshelf have been assigned with closed shelves bookshelf physical location number, and this closed shelves bookshelf physical location number is stored in the closed shelves system database; The closed shelves management system includes book borrowing and reading information writing module, buffer memory bookshelf position distribution module, gets the book module, buffer memory advances the book module, the module of publishing books, closed shelves position distribution module, book module also; The books identifying information that this book borrowing and reading information writing module comes according to the transmission of book reservation module is got corresponding information reader and reader in the closed shelves system database that the book time is passed to the closed shelves management system; Buffer memory bookshelf position distribution module is according to the identifying information of these books, for the books of being preengage distribute buffer memory bookshelf physical location number; Get the book module and will number be passed to the intelligent track vehicle control by the closed shelves bookshelf physical location of reservation books, finish by the intelligent track car and on the closed shelves bookshelf, to get the book task, and books are transported to tunnel car interface, basic conveying mechanism and belt via tunnel car interface carry body to be transported to main transfer passage, when books when main transfer passage is transported to cache interface, buffer memory advances the book module buffer memory bookshelf physical location number is passed to the intelligent track vehicle control that is positioned at buffer memory bookshelf tunnel, drives this intelligent track car books are transported on number corresponding position of buffer memory bookshelf and buffer memory bookshelf physical location; The book of getting that the module of publishing books receives from the self-service borrows and return terminating machine instructs, the module of publishing books number is passed to the intelligent track vehicle control that is positioned at the buffer memory bookshelf and publishes books interface with the buffer memory bookshelf physical location of getting books, driving intelligent track car is got book with books by the buffer memory bookshelf and is put into the interface of publishing books, and by publish books interface basis conveying mechanism and transition pipeline books is transported to the outlet of self-service borrows and return terminating machine; When the reader gives back books in self-service borrows and return terminating machine place, closed shelves position distribution module will be given back books for this and be distributed closed shelves physical location number, and also book module control system that this closed shelves physical location number is passed to automatic conveying device control system and intelligent track car is finished the action of giving back of books.
2, the robotization book management system based on closed shelves as claimed in claim 1, it is characterized in that: the mechanical arm of intelligent track car is that closed shelves is with getting book return machine tool hand, closed shelves is with getting the drive unit that book return machine tool handbag contains delivery vehicles, delivery vehicles fixed head and drives the delivery vehicles action, and delivery vehicles comprises that jaw, jaw drag body, conveying belt carrier, transport conveyer belt, delivery vehicles body, are arranged at line slideway and the delivery vehicles main body moved for jaw on the delivery vehicles body; The delivery vehicles body drives moving of tooth bar, gear realization front and back by the carrier drive motor; Jaw drags body and is driven by drive motor, and jaw drives the clamping action that rack circle is realized jaw by the clamping motor that is arranged on the delivery vehicles main body; The carrier drive motor realizes that by bearing arrangement head roll device transport conveyer belt rolls; Be provided with the delivery vehicles movement synchronous belt in the delivery vehicles.
3, the robotization book management system based on closed shelves as claimed in claim 2, it is characterized in that: the buffer memory bookshelf is single-row structure, every layer of supporting plate setting is by groove.
4, the robotization book management system based on closed shelves as claimed in claim 3 is characterized in that: the mechanical arm of intelligent track car also comprises by the buffer memory bookshelf gentle books in stock frame of mechanical arm of publishing books and advances the book mechanical arm;
The buffer memory bookshelf mechanical arm of publishing books comprises delivery vehicles, and delivery vehicles is provided with a pair of thrusting out one's fingers, and the main body both sides are provided with conveying belt, is provided with pressing board across the delivery vehicles upper end; The groove structure that thrusts out one's fingers with the buffer memory bookshelf is complementary, realize the flexible of finger by the finger actuation motor-driven pulley assembly that is arranged at the delivery vehicles lower end, conveying belt is realized rolling by electric drum, lifting motor driven wheel, rack structure are realized the lifting up and down that thrusts out one's fingers, and pressing board is connected with lift cylinder;
It is unidirectional stretching structure that the buffer memory bookshelf advances the book mechanical arm, the buffer memory bookshelf advances the book mechanical arm and comprises delivery vehicles, advances that the scribe refers to and pressing board, advance the scribe and refer to have the finger structure that is complementary with buffer memory bookshelf groove structure, get flexible that the scribe refers to by flexible cylinder control, press the lifting of book cylinder control pressing board.
5, the robotization book management system based on closed shelves as claimed in claim 4, it is characterized in that: basic conveying mechanism comprises the upper strata and receives conveying body and lower floor's reception conveying body, this upper and lower layer receives carries body structure identical, drive lower slider on the whole by the levels lift cylinder, the upper strata receives carries body to carry body and jacking turnover book mechanism to form by cylinder.
6, robotization book management system based on closed shelves as claimed in claim 5, it is characterized in that: the production line that cylinder carries body to be made up of some roller units, each roller unit is by motor-driven, roller unit is formed by being fixed between the cylinder side plate some cylinders, a cylinder side plate wherein side is equipped with power side plate longitudinally, on the power side plate driving wheel is installed, supporting roller, by driving belt interlock driving wheel and supporting roller, and regulate the tightness of driving belt by the tensioning regulating block, drum drive motor provides driving force for driving wheel, and then drives the rotation that each supporting roller running realizes cylinder.
7, the robotization book management system based on closed shelves as claimed in claim 6, it is characterized in that: the interspersed cylinder that is installed on of jacking turnover book mechanism is carried between the body, and upper strata, lower floor receive and carry body to be provided with the jacking turnover book mechanism corresponding with intelligent track car mechanical arm; Jacking turnover book mechanism comprises one group of jacking belt side plate that is fixed on the web joint, each jacking belt side plate is provided with the jacking belt dressing, the jacking belt dressing is made up of jacking belt and belt supporting roller and belt drives wheel, and belt drives of this group jacking belt dressing is taken turns and linked by coupling shaft; Jacking turnover book mechanism drives the rotation that the belt drives wheel is realized the jacking belt by the jacking belt motor; The jacking cylinder is realized the lifting of jacking turnover book mechanism by driving the cylinder raising plate that is provided with in the middle of the jacking belt side plate.
8, the robotization book management system based on closed shelves as claimed in claim 7, it is characterized in that: belt is carried body to comprise feed belt and is provided the power drum group feed belt of rotational power to regulate elasticity by the tensioning regulating block, and belt carries body to be divided into into book transition belt conveying body and the transition belt of publishing books conveying body.
9, robotization book management system based on closed shelves as claimed in claim 8, it is characterized in that: main transfer passage lower floor is borrowed the passage of books outbound, the warehouse-in passage of books is given back on the upper strata, upper strata or the master of lower floor transfer passage are made of plurality of sections feed belt group, the feed belt group is the combination by some belts of power drum group driving, feed belt group and car interface corresponding section, tunnel are provided with the passage lifting body, this passage lifting body comprises the some cylinders that are arranged between the side plate, the head roll motor, driving wheel, travelling belt, supporting roller and cylinder lift cylinder, head roll motor-driven driving wheel, driving wheel are finished the rotation of cylinder by the belt-driven supporting roller; Cylinder lift cylinder head roll moves upward; Each cylinder of passage lifting body is inserted between each belt of feed belt group successively, will enter corresponding tunnel car interface as books, and this passage lifting body rises, and the book transition belt that advances that rollers roll is sent books into the tunnel car is carried body.
10, the robotization book management system based on closed shelves as claimed in claim 9 is characterized in that: cache interface is by basic conveying mechanism and advance book transition belt and carry body to form.
11, the robotization book management system based on closed shelves as claimed in claim 10, it is characterized in that: the warehouse-in passage place that books are given back on main transfer passage upper strata is provided with books and walks positive mechanism, this is walked positive mechanism front end and is made up of roller unit, the end of roller unit is provided with barrier plate, and barrier plate stretches out on the main transfer passage by the driving of barrier plate lift cylinder.
12, robotization book management system based on closed shelves as claimed in claim 11, it is characterized in that: the warehouse-in passage that books are given back on main transfer passage upper strata is walked positive mechanism and is connected with mechanism placed in the middle, this mechanism placed in the middle is installed on the support of main transfer passage top, include two pairs of jaw plates, a pair of broadside jaw plate and a pair of narrow limit jaw plate, every pair of jaw plate connects by the guide pillar assembly, be provided with rack circle and gear structure between every pair of jaw plate, one of them broadside jaw plate is opened by the first driving air cylinder driven or regains, and one of them narrow limit jaw plate is opened by the second driving air cylinder driven or regains; The described first driving cylinder, second drives cylinder, the guide pillar assembly is installed on and installs on the base plate, and mechanism placed in the middle is by mechanism placed in the middle lift cylinder lifting.
13, the robotization book management system based on closed shelves as claimed in claim 12, it is characterized in that: the warehouse-in passage mechanism placed in the middle that books are given back on main transfer passage upper strata is connected with recognizes limit mechanism, recognize limit mechanism and be installed on main transfer passage top by support, recognize limit mechanism and judge the direction of books by the weight of four jiaos of weighing books, recognizing limit mechanism is made up of four groups of suckers that are the cross layout, every group of sucker is connected with the weight sensor by the sucker installation sleeve, wholely recognizes limit mechanism by recognizing the lift cylinder lifting of limit mechanism.
14, the robotization book management system based on closed shelves as claimed in claim 13, it is characterized in that: the warehouse-in passage that books are given back on main transfer passage upper strata is recognized limit mechanism and is connected with aligning gear, aligning gear includes the runing rest jacking cylinder that embeds main transfer passage runing rest and be positioned at main transfer passage lower end, be provided with rotary encoder in addition and for rotary encoder provides the motor of electric power, when books need rotate by runing rest drive motor driven in rotation.
15, the robotization book management system based on closed shelves as claimed in claim 14, it is characterized in that: the warehouse-in channel correcting mechanism that books are given back on main transfer passage upper strata is connected with the book leaf turner structure, the book leaf turner structure includes the jacking claw-plate, the jacking claw-plate drives cylinder, upper and lower layer clamps calvus and calvus clamps cylinder, the plate of jacking claw-plate staggers mutually with the calvus that clamps calvus, embed the other side's pawl seam mutually, the jacking claw-plate is positioned at main transfer passage lower end, is driven air cylinder driven and is stretched out main transfer passage upper end by the jacking claw-plate; Last clamping calvus and the following calvus that clamps are realized clamping by calvus clamping cylinder, realize the rotation of whole clamping calvus by rotary cylinder, telescopic cylinder is arranged at the air cylinder fixed plate upper end of main transfer passage top support, and it is flexible and contact with the jacking claw-plate along main transfer passage direction that the flexible realization by telescopic cylinder clamps calvus.
16, the robotization book management system based on closed shelves as claimed in claim 15 is characterized in that: the intelligent track car is provided with a plurality of also mechanisms of getting, and each is got and mechanism includes the mechanical arm that can stretch, and mechanical arm is provided with the RFID read-write equipment; The closed shelves management system includes gets book order generation module, buffer memory order generation module, the order generation module of publishing books, book order generation module also at each intelligent track vehicle control;
Get book order generation module and borrow or preengage the request of books according to the reader, generate at each tunnel intelligent track car and get the book order to what the closed shelves bookshelf was got book; This book of getting order comprises the closed shelves bookshelf physical location number of some books with identical tunnel;
Buffer memory order generation module borrows or preengages the request of books according to the reader, generate the buffer memory order that advances book at the intelligent track car in the buffer memory bookshelf tunnel; This buffer memory order comprises the buffer memory bookshelf physical location number of some books with identical tunnel;
The order generation module of publishing books checks out according to the reader in the self-service system that checks out and starts information reader and the self-service borrows and return terminating machine machine item that module is transmitted, generation is at being positioned at the buffer memory bookshelf and publishing books the automobile-used order of publishing books of intelligent track of interface, and this order of publishing books comprises some buffer memory bookshelf physical locations number and self-service borrows and return terminating machine machine item;
Also book order generation module is according to reader's also book request, generates the also book order that send book at each each tunnel intelligent track Che Zhixiang closed shelves bookshelf, this also the book order comprise some closed shelves bookshelf physical locations number.
17, the robotization book management system based on closed shelves as claimed in claim 16 is characterized in that: the intelligent track car is provided with six and gets also mechanism.
18, the robotization book management system based on closed shelves as claimed in claim 15, it is characterized in that: tunnel car interface and main transfer passage junction are provided with the RFID read-write equipment, tunnel car interface is provided with a plurality of books position, be tunnel car interface position number, every books through tunnel car interface have been endowed a tunnel car interface position number;
In like manner, every books through cache interface have been endowed a cache interface location number;
The intelligent track car is provided with a plurality of also mechanisms of getting, and each is got and mechanism comprises the mechanical arm that can stretch; The closed shelves management system includes gets book order generation module, buffer memory order generation module, the order generation module of publishing books, book order generation module also;
Get book order generation module and borrow or preengage the request of books according to the reader, generate at each tunnel intelligent track car and get the book order to what the closed shelves bookshelf was got book; This book of getting order comprises the closed shelves bookshelf physical location number of some books with identical tunnel, gets in the book order books quantity and gets and the quantity of structure is identical;
Buffer memory order generation module borrows or preengages the request of books according to the reader, generate the buffer memory order that advances book at the intelligent track car in the buffer memory bookshelf tunnel; This buffer memory order comprises the buffer memory bookshelf physical location number of some books with identical tunnel and the cache interface location number of corresponding books, in the buffer memory order books quantity with get and the quantity of structure is identical;
The order generation module of publishing books checks out according to the reader in the self-service system that checks out and starts information reader and the self-service borrows and return terminating machine machine item that module is transmitted, generation is at being positioned at intelligent track automobile-used the publish books order of buffer memory bookshelf with the interface of publishing books, this order of publishing books comprises some buffer memory bookshelf physical locations number and self-service borrows and return terminating machine machine item, in the order of publishing books books quantity with get and the quantity of structure is identical;
Also book order generation module is according to reader's also book request, the also book order of book is sent in generation at each each tunnel intelligent track Che Zhixiang closed shelves bookshelf, this also the book order comprise some closed shelves bookshelf physical locations number and corresponding books and be positioned at tunnel car interface position number, also in the book order books quantity with get and the quantity of structure is identical.
19, the robotization book management system based on closed shelves as claimed in claim 18 is characterized in that: the intelligent track car is provided with six and gets also mechanism.
20, the robotization book management system based on closed shelves as claimed in claim 19, it is characterized in that: intelligent track car owner support body upper and lower side all is provided with by the walking guide piece, the drive unit of intelligent track car is formed by driving wheels and drive motor, drives wheels and is arranged on the intelligent track car owner support body.
21, the robotization book management system based on closed shelves as claimed in claim 20 is characterized in that: the hoisting gear of intelligent track car comprises the lifting motor, promotes drive sprocket assembly, elevator chain wheel assembly and counter weight device; Promote motor-driven and promote the drive sprocket assembly, promote the moving elevator chain wheel assembly of drive sprocket assembly association, counter weight device imposes power-assisted and finishes and get also moving up and down of mechanism to getting also mechanism.
22, the robotization book management system based on closed shelves as claimed in claim 21 is characterized in that: closed shelves bookshelf physical location number is the number in the tunnel at closed shelves bookshelf place, books place, the chord position number of books place bookshelf, the level number sign indicating number at books place and the Position Number of column number correspondence;
Buffer memory bookshelf physical location number is that the level number sign indicating number at chord position number, books place of number, books place bookshelf in tunnel at buffer memory bookshelf place at books place is corresponding with column number.
23, the robotization book management system based on closed shelves as claimed in claim 22 is characterized in that: buffer memory bookshelf physical location number row are number for empty.
24, the robotization book management system based on closed shelves as claimed in claim 23 is characterized in that: the intelligent track vehicle control adopts PLC as controller.
25, the robotization book management system based on closed shelves as claimed in claim 24, it is characterized in that: cache interface or 9 positions of tunnel car interface definition, wherein tunnel car interface lower floor reception conveying body is 1,2,3 from right to left, it is 4,5,6 from right to left that body receive is carried on the upper strata, and skin is with from right to left and is carried on the body 7,8,9.
26, robotization book management system based on closed shelves as claimed in claim 25, it is characterized in that: include frame system on the new book, frame system includes the new information read module on this new book, the new book position is provided with module, the new book warehouse-in starts module, the new information read module drives the books identifying information that self-service borrows and return terminating machine RFID read-write equipment reads new book, the new book position is provided with the RFID label that module receives closed shelves bookshelf physical location that the closed shelves management system distributes number and this information write new book, new book warehouse-in starts the warehouse-in action of module activation system, and the action of books warehouse-in is identical with the action of book also.
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| CN2009100801329A CN101515391B (en) | 2009-03-20 | 2009-03-20 | Automatic book management system based on closed stacks |
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| CN2009100801329A CN101515391B (en) | 2009-03-20 | 2009-03-20 | Automatic book management system based on closed stacks |
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Cited By (59)
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Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101064026B (en) * | 2006-04-28 | 2012-03-28 | 中国科学院自动化研究所 | Library automatically borrowing-returning books system based on radio frequency recognizing technology, method, book arranging method |
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| CN101131784A (en) * | 2007-09-14 | 2008-02-27 | 哈尔滨飞云实业有限公司 | Archive and storage article access method based on database administration |
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2009
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| CN101830334A (en) * | 2010-04-23 | 2010-09-15 | 北京理工大学 | Improved automatic conveying device for sealed book stack |
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| CN102982625A (en) * | 2012-11-27 | 2013-03-20 | 东北大学 | Device and method for returning books within 24 hours in self-help mode |
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