CN106781110A - The automatic borrowing and returning device of books - Google Patents
The automatic borrowing and returning device of books Download PDFInfo
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- CN106781110A CN106781110A CN201611113296.3A CN201611113296A CN106781110A CN 106781110 A CN106781110 A CN 106781110A CN 201611113296 A CN201611113296 A CN 201611113296A CN 106781110 A CN106781110 A CN 106781110A
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- 238000001514 detection method Methods 0.000 claims description 4
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07G—REGISTERING THE RECEIPT OF CASH, VALUABLES, OR TOKENS
- G07G1/00—Cash registers
- G07G1/10—Cash registers mechanically operated
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
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Abstract
本发明公开了一种图书自动借还装置，包括自动还书机构、升降支座和升降连杆组；所述升降连杆组一端安装在升降支座上，另一端通过第二滑块安装在第二导轨上；所述第二导轨上滑动安装有旋转气缸支架，旋转气缸支架上安装有旋转气缸；所述旋转气缸上安装有支撑板，支撑板上安装有自动还书机构；所述自动还书机构包括数组气动手指和直线气缸，气动手指由直线气缸带动；本发明的目的是提高一种图书自动借还装置，采用双排直线气缸的布局，利用旋转气缸实现在一次升降过程中，可同时完成还书和借书的工作。
The invention discloses an automatic borrowing and returning device for books, which comprises an automatic book returning mechanism, a lifting support and a lifting connecting rod group; one end of the lifting connecting rod group is installed on the lifting support, and the other end is installed on the On the second guide rail; a rotating cylinder bracket is slidably installed on the second guide rail, and a rotating cylinder is installed on the rotating cylinder bracket; a supporting plate is installed on the rotating cylinder, and an automatic book return mechanism is installed on the supporting plate; the automatic The book returning mechanism includes a group of pneumatic fingers and a linear cylinder, and the pneumatic fingers are driven by the linear cylinder; the purpose of the present invention is to improve an automatic book borrowing and returning device, which adopts the layout of double-row linear cylinders, and uses the rotary cylinder to achieve a lifting process. It can complete the work of returning books and borrowing books at the same time.
Description
技术领域technical field
本发明涉及一种自主取放机构，尤其涉及一种用于图书馆的图书自动借还装置。The invention relates to an autonomous pick-and-place mechanism, in particular to an automatic borrowing and returning device for books in a library.
背景技术Background technique
随着现代图书馆藏书量的不断增加，图书馆每天的图书借阅量大，图书管理将是一项越来越艰辛的工作。传统的图书管理依靠人工操作，且图书管理员大多为女性，对于高层书架图书的放置整理极为不便，需花费大量的人力和时间，整理效率低，还会不可避免的出现位置放错的错误，带来不必要的麻烦。尽管现在已经有很多图书馆采用贴条形码或RFID技术辅助图书的识别与管理，但这只是稍稍提高了效率并没有从根本上解决问题。With the continuous increase of the amount of books in the modern library, the library borrows a large amount of books every day, and the library management will be an increasingly difficult job. Traditional book management relies on manual operations, and most of the librarians are women. It is extremely inconvenient to place and organize books on high-level bookshelves. It takes a lot of manpower and time, and the efficiency of sorting is low. Misplacement errors will inevitably occur. cause unnecessary trouble. Although there are already many libraries using barcode or RFID technology to assist the identification and management of books, this only slightly improves the efficiency and does not fundamentally solve the problem.
发明内容Contents of the invention
为了克服以上不足之处，本发明的目的是提高一种图书自动借还装置，采用双排直线气缸的布局，利用旋转气缸实现在一次升降过程中，可同时完成还书和借书的工作。In order to overcome the above shortcomings, the purpose of the present invention is to improve an automatic book borrowing and returning device, which adopts the layout of double-row linear cylinders, and uses the rotating cylinders to realize the work of returning books and borrowing books at the same time in one lifting process.
本发明是通过如下技术方案得以实现的：图书自动借还装置，包括自动还书机构、升降支座和升降连杆组；所述升降连杆组一端安装在升降支座上，另一端通过第二滑块安装在第二导轨上；所述第二导轨上滑动安装有旋转气缸支架，旋转气缸支架上安装有旋转气缸；所述旋转气缸上安装有支撑板，支撑板上安装有自动还书机构；所述自动还书机构包括数组气动手指和直线气缸，气动手指由直线气缸带动；The present invention is achieved through the following technical solutions: the automatic borrowing and returning device for books includes an automatic book return mechanism, a lifting support and a lifting link group; one end of the lifting link group is installed on the lifting support, and the other end passes through the The second slider is installed on the second guide rail; the second guide rail is slidably installed with a rotating cylinder bracket, and a rotating cylinder is installed on the rotating cylinder bracket; a supporting plate is installed on the rotating cylinder, and an automatic book return is installed on the supporting plate Mechanism; the automatic return mechanism includes an array of pneumatic fingers and a linear cylinder, and the pneumatic fingers are driven by the linear cylinder;
所述升降连杆组包括第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、第六连杆、第七连杆和第八连杆；所述第一连杆和第二连杆一端分别通过第三滑块滑动安装在第二导轨上，另一端分别通过第十连杆与第六连杆和第五连杆一端铰链相连接；所述六连杆和第五连杆另一端通过铰链分别与第二滑块相连接；所述第三连杆和第四连杆一端分别通过铰链固定在升降支座上表面上；另一端通过第十一连杆与第七连杆第八连杆一端铰链相连接；所述第七连杆第八连杆另一端分别通过第十三连杆与第二导轨铰链连接；The lifting link group includes a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a seventh link and an eighth link; One end of the first connecting rod and the second connecting rod are respectively slidably installed on the second guide rail through the third slider, and the other ends are hingedly connected with one end of the sixth connecting rod and the fifth connecting rod through the tenth connecting rod respectively; The other ends of the rod and the fifth connecting rod are respectively connected to the second slider through the hinge; the one ends of the third connecting rod and the fourth connecting rod are respectively fixed on the upper surface of the lifting support through the hinge; The rod is hingedly connected to one end of the seventh connecting rod and the eighth connecting rod; the other ends of the seventh connecting rod and the eighth connecting rod are respectively hingedly connected to the second guide rail through the thirteenth connecting rod;
所述第一连杆、第二连杆、第三连杆、第四连杆中间通过铰链与第九连杆垂直连接；所述第五连杆、第六连杆、第七连杆和第八连杆中间通过铰链与第十二连杆垂直连接；The middle of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are vertically connected with the ninth connecting rod through a hinge; the fifth connecting rod, the sixth connecting rod, the seventh connecting rod and the fifth connecting rod The middle of the eight connecting rods is vertically connected with the twelfth connecting rod through a hinge;
所述升降支座下表面上设置有第一滑块，所述第一滑块滑动安装在第一导轨上；所述第一导轨安装在升级支座上，升级支座上安装有带轮，皮带平行于升级支座设置在带轮上，带轮通过电机带动；所述升降支座上表面上还通过第一铰链座安装有气缸，气缸另一端安装在垂直安装于第三连杆和第四连杆上的升降连接板上。The lower surface of the lifting support is provided with a first slider, and the first sliding block is slidably installed on the first guide rail; the first guide rail is installed on the upgrade support, and a pulley is installed on the upgrade support. The belt is set on the pulley parallel to the upgrading support, and the pulley is driven by the motor; the upper surface of the lifting support is also equipped with a cylinder through the first hinge seat, and the other end of the cylinder is installed on the third connecting rod and the second connecting rod. The lifting connecting plate on the four-link.
进一步的，所述数组气动手指和直线气缸为3组。Further, the groups of pneumatic fingers and linear cylinders are 3 groups.
进一步的，所述每组气动手指和直线气缸包括第一排直线气缸与第一排气动手指，第二直线气缸与第二排气动手指；所述第一排气动手指与第二排气动手指相反方向布置。Further, each group of pneumatic fingers and linear cylinders includes the first row of linear cylinders and the first row of pneumatic fingers, the second linear cylinder and the second row of pneumatic fingers; the first row of pneumatic fingers and the second row of pneumatic fingers The pneumatic fingers are arranged in opposite directions.
进一步的，该装置还包括图书传送带；所述图书传送带置于升降连杆组的一侧。Further, the device also includes a book conveyor belt; the book conveyor belt is placed on one side of the lifting link group.
进一步的，所述气动手指内安装NFC芯片检测装置。Further, an NFC chip detection device is installed in the pneumatic finger.
本发明的有益效果为：The beneficial effects of the present invention are:
图书自动借还装置，采用双工位机构，使双排对称布置的直线气缸带动气动手指抓取图书，利用旋转气缸，实现在一次升降过程中，可同时完成还书和借书的工作，且每次能同时借取三本图书，归还三本图书，以提高借还书的速度及效率，实现自动借还书的功能。该装置中，通过采用NFC通信技术，使得气动手指在靠近图书时就可获取图书存放位置的相应信息，定位快速、准确，大大减少人工借还图书所花费的时间，同时减轻了图书管理人员的工作强度，降低存放位置出错的概率，提高图书管理的自动化水平，可大规模的推广使用。The automatic book borrowing and returning device adopts a double-station mechanism, so that the double-row symmetrically arranged linear cylinders drive the pneumatic fingers to grab books, and use the rotating cylinder to realize the work of returning books and borrowing books at the same time in one lifting process, and Three books can be borrowed and returned at the same time each time, so as to improve the speed and efficiency of borrowing and returning books, and realize the function of automatically borrowing and returning books. In this device, through the use of NFC communication technology, the pneumatic finger can obtain the corresponding information of the storage location of the book when it is close to the book. Work intensity, reduce the probability of wrong storage location, improve the automation level of library management, and can be widely used.
附图说明Description of drawings
图1为本发明图书自动借还装置抓取需归还图书的结构示意图；Fig. 1 is a structural schematic diagram of the book automatic borrowing and returning device of the present invention grabbing books to be returned;
图2为图1中主视图；Fig. 2 is a front view in Fig. 1;
图3为本发明隐去传送带同时抓取需归还图书和需借取图书的结构示意图；Fig. 3 is a structural schematic view of the present invention, which hides the conveyor belt and grabs the books to be returned and the books to be borrowed at the same time;
图4为图3中主视图；Fig. 4 is a front view among Fig. 3;
图5为本装置中自动借还书机构的放大图；Figure 5 is an enlarged view of the automatic borrowing and returning mechanism in the device;
图6为图5中主视图。Fig. 6 is a front view of Fig. 5 .
附图标记如下：The reference signs are as follows:
1-图书；2-图书传送带；3-第一机架；4-自动借还书机构；5-书架；6-电机；7-带轮；8-皮带；9-第一导轨；10-第二机架；11-第一滑块；12-第三机架；13-升降支座；14-升降连杆组；15-支撑板；16-第一排直线气缸；17-第二排直线气缸；18-旋转气缸；19-第二滑块；20-第二导轨；21-升降连接板；22-第三滑块；23-第三导轨；24-气缸；25-第一铰链座；26-第一连杆；27-第二连杆；28-第三连杆；29-第四连杆；30-第二铰链座；31-第五连杆；32-第六连杆；33-第七连杆；34-第八连杆；35-第九连杆；36-第十连杆；37-第十一连杆；38-第十二连杆；39-第十三连杆；40-第三铰链座；41-旋转气缸支架；42-第一排气动手指；43-第二排气动手指。1-books; 2-book conveyor belt; 3-first rack; 4-automatic borrowing and returning mechanism; 5-book shelf; 6-motor; 7-pulley; 8-belt; 9-first guide rail; 10-th Second frame; 11-first slider; 12-third frame; 13-lifting support; 14-lifting link group; 15-support plate; 16-first row of linear cylinder; 17-second row of straight line Cylinder; 18-rotary cylinder; 19-second slider; 20-second guide rail; 21-lifting connecting plate; 22-third slider; 23-third guide rail; 24-cylinder; 25-first hinge seat; 26-the first connecting rod; 27-the second connecting rod; 28-the third connecting rod; 29-the fourth connecting rod; 30-the second hinge seat; 31-the fifth connecting rod; 32-the sixth connecting rod; 33 - the seventh connecting rod; 34- the eighth connecting rod; 35- the ninth connecting rod; 36- the tenth connecting rod; 37- the eleventh connecting rod; 38- the twelfth connecting rod; 39- the thirteenth connecting rod ; 40-the third hinge seat; 41-rotary cylinder support; 42-the first row of dynamic fingers; 43-the second row of dynamic fingers.
为对本发明做进一步的了解，现结合附图和实施例对本发明进行详细的描述：For further understanding of the present invention, now in conjunction with accompanying drawing and embodiment the present invention is described in detail:
结合附图1、2、3和4，图书自动借还装置，包括自动还书机构4、升降支座13和升降连杆组14；所述升降连杆组14一端安装在升降支座13上，另一端通过第二滑块19安装在第二导轨20上；所述第二导轨20上滑动安装有旋转气缸支架41，旋转气缸支架41上安装有旋转气缸18；所述旋转气缸18上安装有支撑板15，支撑板15上安装有自动还书机构4；所述自动还书机构4包括数组气动手指和直线气缸，气动手指由直线气缸带动；所述升降连杆组14包括第一连杆26、第二连杆27、第三连杆28、第四连杆29、第五连杆31、第六连杆32、第七连杆33和第八连杆34；所述第一连杆26和第二连杆27一端分别通过第三滑块22滑动安装在第二导轨23上，另一端分别通过第十连杆36与第六连杆32和第五连杆31一端铰链相连接；所述六连杆32和第五连杆31另一端通过铰链分别与第二滑块19相连接；所述第三连杆28和第四连杆29一端分别通过铰链固定在升降支座13上表面上；另一端通过第十一连杆37与第七连杆32第八连杆34一端铰链相连接；所述第七连杆32第八连杆34另一端分别通过第十三连杆39与第二导轨20铰链连接；所述第一连杆26、第二连杆27、第三连杆28、第四连杆29中间通过铰链与第九连杆35垂直连接；所述第五连杆31、第六连杆32、第七连杆33和第八连杆34中间通过铰链与第十二连杆38垂直连接；所述升降支座13下表面上设置有第一滑块11，所述第一滑块11滑动安装在第一导轨9上；所述第一导轨9安装在升级支座13上，升级支座13上安装有带轮7，皮带8平行于升级支座13设置在带轮7上，带轮7通过电机6带动；所述升降支座13上表面上还通过第一铰链座25安装有气缸24，气缸24另一端安装在垂直安装于第三连杆28和第四连杆29上的升降连接板21上。In conjunction with accompanying drawings 1, 2, 3 and 4, the automatic book borrowing and returning device includes an automatic book returning mechanism 4, a lifting support 13 and a lifting link group 14; one end of the lifting link group 14 is installed on the lifting support 13 , the other end is installed on the second guide rail 20 through the second slider 19; a rotary cylinder bracket 41 is slidably installed on the second guide rail 20, and a rotary cylinder 18 is installed on the rotary cylinder bracket 41; There is a support plate 15 on which an automatic book return mechanism 4 is installed; the automatic book return mechanism 4 includes a group of pneumatic fingers and a linear cylinder, and the pneumatic fingers are driven by the linear cylinder; the lifting linkage group 14 includes a first connecting rod Rod 26, second connecting rod 27, third connecting rod 28, fourth connecting rod 29, fifth connecting rod 31, sixth connecting rod 32, seventh connecting rod 33 and eighth connecting rod 34; the first connecting rod One end of the rod 26 and the second connecting rod 27 are slidably installed on the second guide rail 23 through the third slide block 22 respectively, and the other ends are hingedly connected with the sixth connecting rod 32 and the fifth connecting rod 31 through the tenth connecting rod 36 respectively. The other ends of the six connecting rods 32 and the fifth connecting rod 31 are respectively connected to the second slider 19 through hinges; On the upper surface; the other end is hingedly connected with one end of the seventh connecting rod 32 and the eighth connecting rod 34 through the eleventh connecting rod 37; 39 is hingedly connected with the second guide rail 20; the middle of the first connecting rod 26, the second connecting rod 27, the third connecting rod 28, and the fourth connecting rod 29 are vertically connected with the ninth connecting rod 35 through a hinge; the fifth connecting rod The connecting rod 31, the sixth connecting rod 32, the seventh connecting rod 33 and the eighth connecting rod 34 are vertically connected to the twelfth connecting rod 38 through a hinge; the lower surface of the lifting support 13 is provided with a first slider 11 , the first slider 11 is slidingly installed on the first guide rail 9; the first guide rail 9 is installed on the upgrade support 13, the upgrade support 13 is equipped with a pulley 7, and the belt 8 is parallel to the upgrade support 13 Set on the pulley 7, the pulley 7 is driven by the motor 6; the upper surface of the lifting support 13 is also equipped with a cylinder 24 through the first hinge seat 25, and the other end of the cylinder 24 is installed on the third connecting rod 28 vertically And on the lifting connecting plate 21 on the fourth connecting rod 29.
结合附图5和6，所述数组气动手指和直线气缸为3组。所述每组气动手指和直线气缸包括第一排直线气缸16与第一排气动手指42，第二直线气缸17与第二排气动手指43；所述第一排气动手指42与第二排气动手指43相反方向布置。该装置还包括图书传送带2；所述图书传送带2置于升降连杆组14的一侧。所述气动手指内安装NFC芯片检测装置。With reference to accompanying drawings 5 and 6, the groups of pneumatic fingers and linear cylinders are 3 groups. Each group of pneumatic fingers and linear cylinders includes the first row of linear cylinders 16 and the first exhaust pneumatic fingers 42, the second linear cylinder 17 and the second exhaust pneumatic fingers 43; the first exhaust pneumatic fingers 42 and the second exhaust pneumatic fingers The two rows of actuating fingers 43 are arranged in opposite directions. The device also includes a book conveyor belt 2; An NFC chip detection device is installed in the pneumatic finger.
工作过程：work process:
图书传送带2将待归还的图书1运送到书架5前，此时，第一排直线气缸16驱动第一排气动手指42抓取传送带上待归还的图书1，当第一排气动手指42靠近图书1时，第一排气动手指42上的NFC芯片检测装置读取图书1上携带的NFC信息，快速确定出待归还图书1应放置的准确位置。此时移动机构和升降机构同时工作，电机6旋转轴带动带轮7和皮带8转动，使得与皮带8固连的升降机构在第一滑块11的作用下，沿第一导轨9左右移动；同时，升降连杆组在气缸24的推动下，第一连杆26和第二连杆27在第三滑块22的作用下沿第三导轨23滑动，带动第三连杆28和第四连杆29绕铰链座转动，第五连杆31和第六连杆32在第二滑块19的作用下沿第二导轨20滑动，即实现连杆组升降运动。在移动机构和升降机构的配合下，自动借还书机构4到达带归还图书1应放置的位置，此时，第二排气动手指43可以抓取书架上可借取的图书1，旋转机构工作，旋转气缸18转动180°，将抓取待归还图书1的第一排气动手指42转动到书架前，第一排气动手指42松开，归还图书1。此时第二排气动手指43抓取借取的图书1，通过升降机构将图书1放置到图书传送带2上，由图书传送带2将借取的图书1运出。The book conveyor belt 2 transports the books 1 to be returned to the front of the bookshelf 5. At this time, the first row of linear cylinders 16 drives the first row of actuated fingers 42 to grab the books 1 to be returned on the conveyor belt. When the first row of actuated fingers 42 When approaching the book 1, the NFC chip detection device on the first exhaust finger 42 reads the NFC information carried on the book 1, and quickly determines the exact location where the book 1 to be returned should be placed. At this time, the moving mechanism and the lifting mechanism work simultaneously, and the motor 6 rotating shaft drives the belt pulley 7 and the belt 8 to rotate, so that the lifting mechanism connected with the belt 8 moves left and right along the first guide rail 9 under the action of the first slide block 11; Simultaneously, under the promotion of the cylinder 24, the lifting link group slides along the third guide rail 23 under the action of the third slider 22 to drive the third link 28 and the fourth link The rod 29 rotates around the hinge seat, and the fifth connecting rod 31 and the sixth connecting rod 32 slide along the second guide rail 20 under the action of the second slider 19, that is, the lifting movement of the connecting rod group is realized. Under the cooperation of the moving mechanism and the lifting mechanism, the automatic borrowing and returning mechanism 4 reaches the position where the book 1 should be returned. Work, the rotary cylinder 18 rotates 180 °, the first row of dynamic fingers 42 that grab the books 1 to be returned are rotated to the front of the bookshelf, the first row of dynamic fingers 42 are released, and the books 1 are returned. At this time, the second row of moving fingers 43 grabs the borrowed books 1, puts the books 1 on the book conveyor belt 2 by the lifting mechanism, and transports the borrowed books 1 out by the book conveyor belt 2.
所述实施例为本发明的优选的实施方式，但本发明并不限于上述实施方式，在不背离本发明的实质内容的情况下，本领域技术人员能够做出的任何显而易见的改进、替换或变型均属于本发明的保护范围。The described embodiment is a preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation, without departing from the essence of the present invention, any obvious improvement, replacement or modification that those skilled in the art can make Modifications all belong to the protection scope of the present invention.
Claims (5)
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| CN110555959A (en) * | 2019-08-21 | 2019-12-10 | 厦门亲禾教育科技有限公司 | Book borrowing and returning method and intelligent bookcase system |
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