CN106781110B - The automatic borrowing and returning device of books - Google Patents

The automatic borrowing and returning device of books Download PDF

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Publication number
CN106781110B
CN106781110B CN201611113296.3A CN201611113296A CN106781110B CN 106781110 B CN106781110 B CN 106781110B CN 201611113296 A CN201611113296 A CN 201611113296A CN 106781110 B CN106781110 B CN 106781110B
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CN
China
Prior art keywords
connecting rod
finger
pneumatic
end
cylinder
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Application number
CN201611113296.3A
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Chinese (zh)
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CN106781110A (en
Inventor
顾寄南
姜晓丹
高国伟
刘守
孙涛
Original Assignee
江苏大学
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Priority to CN201611113296.3A priority Critical patent/CN106781110B/en
Publication of CN106781110A publication Critical patent/CN106781110A/en
Application granted granted Critical
Publication of CN106781110B publication Critical patent/CN106781110B/en

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Abstract

The invention discloses a kind of automatic borrowing and returning devices of books, including automatic book return machine structure, lifting support and lifting linking member group;Lifting linking member group one end is mounted on lifting support, and the other end is mounted on the second guide rail by the second sliding block;It is slidably fitted with rotary cylinder bracket on second guide rail, rotary cylinder is installed on rotary cylinder bracket;Support plate is installed on the rotary cylinder, automatic book return machine structure is installed in support plate;The automatic book return machine structure includes array pneumatic-finger and straight line cylinder, and pneumatic-finger is driven by straight line cylinder;The purpose of the present invention is improving a kind of automatic borrowing and returning device of books, using the layout of double straight line cylinder, is realized in a lifting process using rotary cylinder, also book and the work to check out can be completed at the same time.

Description

The automatic borrowing and returning device of books

Technical field

The present invention relates to a kind of autonomous fetching device more particularly to a kind of automatic borrowing and returning devices of books for library.

Background technique

With being continuously increased for Modern Library book capacity, the daily Book Loan Quantity in library is big, and taking care of books will be One increasingly laborious task.Traditional taking care of books relies on manual operation, and librarian is mostly women, for height It is extremely inconvenient that the placement of layer bookshelf books arranges, and need to spend a large amount of manpower and time, arrange low efficiency, can also be inevitable The mistake that appearance position misplaces brings unnecessary trouble.Although had many libraries using joint strip shape code now or RFID technique assists the identification and management of books, but this only improves efficiency slightly and does not tackle the problem at its root.

Summary of the invention

In order to overcome the above shortcoming, the purpose of the present invention is improving a kind of automatic borrowing and returning device of books, use is double The layout of straight line cylinder is realized in a lifting process using rotary cylinder, can be completed at the same time also book and the work to check out.

The present invention is achieved by following technical solution: the automatic borrowing and returning device of books, including automatic book return machine structure, Lifting support and lifting linking member group;Lifting linking member group one end is mounted on lifting support, and the other end is pacified by the second sliding block On the second guide rail;It is slidably fitted with rotary cylinder bracket on second guide rail, rotation is installed on rotary cylinder bracket Cylinder;Support plate is installed on the rotary cylinder, automatic book return machine structure is installed in support plate;The automatic book return machine structure packet Array pneumatic-finger and straight line cylinder are included, pneumatic-finger is driven by straight line cylinder;

The lifting linking member group includes first connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod, the 6th company Bar, seven-link assembly and the 8th connecting rod;The first connecting rod and second connecting rod one end pass through third sliding block respectively and are slidably mounted on On two guide rails, the other end passes through the tenth connecting rod respectively and is connected with six-bar linkage and the 5th connecting rod one end hinge;The six-bar linkage It is connected respectively with the second sliding block with the 5th connecting rod other end by hinge;The third connecting rod and fourth link one end lead to respectively Hinge is crossed to be fixed on lifting support upper surface;The other end passes through the 11st connecting rod and the 8th connecting rod one end hinge phase of seven-link assembly Connection;The 8th connecting rod other end of seven-link assembly passes through the tenth three-link respectively and connect with the second guide rail hinge;

The first connecting rod, second connecting rod, third connecting rod, fourth link centre connect by the way that hinge is vertical with the 9th connecting rod It connects;It is connect among 5th connecting rod, six-bar linkage, seven-link assembly and the 8th connecting rod by the way that hinge is vertical with the 12nd connecting rod;

The first sliding block is provided on the lifting support lower surface, first sliding block is slidably mounted on the first guide rail; First guide rail is mounted on upgrading support, is upgraded and is equipped with belt wheel on support, and belt is parallel to upgrading support and is arranged in band On wheel, belt wheel is driven by motor;Cylinder is also equipped with by first hinge seat on the lifting support upper surface, cylinder is another End is mounted in the lift connection plate being installed vertically on third connecting rod and fourth link.

Further, the array pneumatic-finger and straight line cylinder are 3 groups.

Further, every group of pneumatic-finger and straight line cylinder include that first row straight line cylinder is started with first exhaust Refer to, second straight line cylinder and second row pneumatic-finger;The first row pneumatic-finger and second row pneumatic-finger opposite direction cloth It sets.

Further, which further includes book conveyor;The book conveyor is placed in the side of lifting linking member group.

Further, NFC chip detection device is installed in the pneumatic-finger.

The invention has the benefit that

The automatic borrowing and returning device of books makes the double straight line cylinder being arranged symmetrically drive pneumatic-finger using double-station mechanism Books are grabbed, using rotary cylinder, are realized in a lifting process, also book and the work to check out can be completed at the same time, and every time It can borrow simultaneously and take three books, give back three books, to improve the speed and efficiency of borrowing also book, realize the function of automatically borrowing-returning books Energy.In the device, by using NFC communication technology, so that pneumatic-finger can obtain books storage position when close to books Corresponding information, positioning quickly, it is accurate, greatly reduce and manually borrow returning book the time it takes, while alleviating taking care of books The working strength of personnel reduces the probability of storage position error, improves the automatization level of taking care of books, can promote on a large scale It uses.

Detailed description of the invention

Fig. 1 is the structural schematic diagram that the automatic borrowing and returning device crawl of books of the present invention need to give back books;

Fig. 2 is main view in Fig. 1;

Fig. 3 conceals conveyer belt for the present invention while grabbing and need to give back books and need to borrow the structural schematic diagram for taking books;

Fig. 4 is main view in Fig. 3;

Fig. 5 is the enlarged drawing of automatically borrowing-returning books mechanism in the present apparatus;

Fig. 6 is main view in Fig. 5.

Appended drawing reference is as follows:

1- books;2- book conveyor;The first rack of 3-;4- automatically borrowing-returning books mechanism;5- bookshelf;6- motor;7- belt wheel; 8- belt;The first guide rail of 9-;The second rack of 10-;The first sliding block of 11-;12- third rack;13- lifting support;14- lifting linking member Group;15- support plate;16- first row straight line cylinder;17- second row straight line cylinder;18- rotary cylinder;The second sliding block of 19-;20- Second guide rail;21- lift connection plate;22- third sliding block;23- third guide rail;24- cylinder;25- first hinge seat;26- first Connecting rod;27- second connecting rod;28- third connecting rod;29- fourth link;30- second hinge seat;The 5th connecting rod of 31-;32- the 6th connects Bar;33- seven-link assembly;The 8th connecting rod of 34-;The 9th connecting rod of 35-;The tenth connecting rod of 36-;The 11st connecting rod of 37-;38- the 12nd connects Bar;The tenth three-link of 39-;40- third hinge seat;41- rotary cylinder bracket;42- first row pneumatic-finger;43- second exhaust It starts to refer to.

To be understood the present invention is further, the present invention is described in detail now in conjunction with drawings and examples:

In conjunction with attached drawing 1,2,3 and 4, the automatic borrowing and returning device of books, including automatic book return machine structure 4, lifting support 13 and lifting Connection rod set 14;Described 14 one end of lifting linking member group is mounted on lifting support 13, and the other end is mounted on the by the second sliding block 19 On two guide rails 20;It is slidably fitted with rotary cylinder bracket 41 on second guide rail 20, rotation is installed on rotary cylinder bracket 41 Rotaring cylinder 18;Support plate 15 is installed on the rotary cylinder 18, automatic book return machine structure 4 is installed in support plate 15;It is described from Dynamic book return machine structure 4 includes array pneumatic-finger and straight line cylinder, and pneumatic-finger is driven by straight line cylinder;The lifting linking member group 14 Connect including first connecting rod 26, second connecting rod 27, third connecting rod 28, fourth link 29, the 5th connecting rod 31, six-bar linkage the 32, the 7th Bar 33 and the 8th connecting rod 34;The first connecting rod 26 and 27 one end of second connecting rod pass through third sliding block 22 respectively and are slidably mounted on On two guide rails 23, the other end passes through the tenth connecting rod 36 respectively and is connected with six-bar linkage 32 and 31 one end hinge of the 5th connecting rod;Institute Six-bar linkage 32 and 31 other end of the 5th connecting rod is stated to be connected with the second sliding block 19 respectively by hinge;The third connecting rod 28 and 29 one end of double leval jib passes through hinge respectively and is fixed on 13 upper surface of lifting support;The other end passes through the 11st connecting rod 37 and the 7th 34 one end hinge of the 8th connecting rod of connecting rod 32 is connected;34 other end of the 8th connecting rod of the seven-link assembly 32 passes through the 13rd company respectively Bar 39 is connect with 20 hinge of the second guide rail;The first connecting rod 26, second connecting rod 27, third connecting rod 28, among fourth link 29 It is connect by the way that hinge is vertical with the 9th connecting rod 35;5th connecting rod 31, six-bar linkage 32, seven-link assembly 33 and the 8th connecting rod 34 Centre is connect by the way that hinge is vertical with the 12nd connecting rod 38;The first sliding block 11, institute are provided on 13 lower surface of lifting support The first sliding block 11 is stated to be slidably mounted on the first guide rail 9;First guide rail 9 is mounted on upgrading support 13, upgrades support 13 On belt wheel 7 is installed, belt 8 is parallel to upgrading support 13 and is arranged on belt wheel 7, and belt wheel 7 is driven by motor 6;The lifting Cylinder 24 is also equipped with by first hinge seat 25 on 13 upper surface of support, 24 other end of cylinder, which is mounted on, is installed vertically on third In lift connection plate 21 on connecting rod 28 and fourth link 29.

In conjunction with attached Figures 5 and 6, the array pneumatic-finger and straight line cylinder are 3 groups.Every group of pneumatic-finger and straight line gas Cylinder includes first row straight line cylinder 16 and first row pneumatic-finger 42, second straight line cylinder 17 and second row pneumatic-finger 43;Institute It states first row pneumatic-finger 42 and 43 opposite direction of second row pneumatic-finger is arranged.The device further includes book conveyor 2;It is described Book conveyor 2 is placed in the side of lifting linking member group 14.NFC chip detection device is installed in the pneumatic-finger.

The course of work:

Before books 1 to be given back are transported to bookshelf 5 by book conveyor 2, at this point, the driving of first row straight line cylinder 16 first It arranges pneumatic-finger 42 and grabs books 1 to be given back on conveyer belt, when first row pneumatic-finger 42 is close to books 1, first exhaust It starts to refer to that the NFC chip detection device on 42 reads the NFC information carried on books 1, quickly determines that books 1 to be given back should be put The accurate location set.Mobile mechanism and elevating mechanism work at the same time at this time, and 6 rotary shaft of motor band movable belt pulley 7 and belt 8 rotate, So that the elevating mechanism being connected with belt 8 moves left and right under the action of the first sliding block 11 along the first guide rail 9;Meanwhile the company of lifting For bar group under the promotion of cylinder 24, first connecting rod 26 and second connecting rod 27 are sliding along third guide rail 23 under the action of third sliding block 22 It is dynamic, third connecting rod 28 and the rotation of 29 around hinge seat of fourth link are driven, the 5th connecting rod 31 and six-bar linkage 32 are in the second sliding block 19 Under the action of along the second guide rail 20 slide, i.e., realization connection rod set elevating movement.Under the cooperation of mobile mechanism and elevating mechanism, from It is dynamic that the arrival band of book return machine structure 4 is borrowed to give back the position that books 1 should be placed, at this point, second row pneumatic-finger 43 can grab on bookshelf The books 1 taken, rotating mechanism work can be borrowed, rotary cylinder 18 rotates 180 °, the first exhaust for grabbing books 1 to be given back is started Before finger 42 turns to bookshelf, first row pneumatic-finger 42 unclamps, and gives back books 1.The crawl of second row pneumatic-finger 43 at this time, which is borrowed, to be taken Books 1, books 1 are placed on book conveyor 2 by elevating mechanism, the books 1 that take will be borrowed to transport by book conveyor 2 Out.

The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement Or modification all belongs to the scope of protection of the present invention.

Claims (5)

1. the automatic borrowing and returning device of books, which is characterized in that including automatic book return machine structure (4), lifting support (13) and lifting linking member Group (14);
Described lifting linking member group (14) one end is mounted on lifting support (13), and the other end is mounted on the by the second sliding block (19) On two guide rails (20);It is slidably fitted with rotary cylinder bracket (41) on second guide rail (20), on rotary cylinder bracket (41) Rotary cylinder (18) are installed;It is equipped with support plate (15), is equipped in support plate (15) automatic on the rotary cylinder (18) Book return machine structure (4);
The automatic book return machine structure (4) includes array pneumatic-finger and straight line cylinder, and pneumatic-finger is driven by straight line cylinder;
The lifting linking member group (14) includes first connecting rod (26), second connecting rod (27), third connecting rod (28), fourth link (29), the 5th connecting rod (31), six-bar linkage (32), seven-link assembly (33) and the 8th connecting rod (34);The first connecting rod (26) and Second connecting rod (27) one end passes through third sliding block (22) respectively and is slidably mounted on the second guide rail (23), and the other end passes through respectively Ten connecting rods (36) are connected with six-bar linkage (32) and the 5th connecting rod (31) one end hinge;The six-bar linkage (32) and the 5th connects Bar (31) other end is connected with the second sliding block (19) respectively by hinge;The third connecting rod (28) and fourth link (29) one End is fixed on lifting support (13) upper surface by hinge respectively;The other end passes through the 11st connecting rod (37) and seven-link assembly (33), the 8th connecting rod (34) one end hinge is connected;The seven-link assembly (33) passes through respectively with the 8th connecting rod (34) other end Tenth three-link (39) is connect with the second guide rail (20) hinge;
The first connecting rod (26), second connecting rod (27), third connecting rod (28), fourth link (29) center pass through hinge and the 9th Connecting rod (35) vertically connects;5th connecting rod (31), six-bar linkage (32), seven-link assembly (33) and the 8th connecting rod (34) center It is connect by the way that hinge is vertical with the 12nd connecting rod (38);
It is provided with the first sliding block (11) on lifting support (13) lower surface, first sliding block (11) is slidably mounted on first On guide rail (9);First guide rail (9) is mounted in upgrading support (13), is equipped with belt wheel (7), skin in upgrading support (13) Band (8) is parallel to upgrading support (13) and is arranged on belt wheel (7), and belt wheel (7) is driven by motor (6);The lifting support (13) it is also equipped with cylinder (24) by first hinge seat (25) on upper surface, cylinder (24) other end, which is mounted on, to be installed vertically on In lift connection plate (21) on third connecting rod (28) and fourth link (29).
2. the automatic borrowing and returning device of books according to claim 1, which is characterized in that the array pneumatic-finger and straight line gas Cylinder is 3 groups.
3. the automatic borrowing and returning device of books according to claim 2, which is characterized in that every group of pneumatic-finger and straight line gas Cylinder includes first row straight line cylinder (16) and first row pneumatic-finger (42), second straight line cylinder (17) and second row pneumatic-finger (43);The first row pneumatic-finger (42) and second row pneumatic-finger (43) opposite direction are arranged.
4. the automatic borrowing and returning device of books according to claim 1, which is characterized in that the device further includes book conveyor (2);The book conveyor (2) is placed in the side of lifting linking member group (14).
5. the automatic borrowing and returning device of books according to any one of claims 1 to 4, which is characterized in that in the pneumatic-finger NFC chip detection device is installed.
CN201611113296.3A 2016-12-07 2016-12-07 The automatic borrowing and returning device of books CN106781110B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611113296.3A CN106781110B (en) 2016-12-07 2016-12-07 The automatic borrowing and returning device of books

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611113296.3A CN106781110B (en) 2016-12-07 2016-12-07 The automatic borrowing and returning device of books

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CN106781110A CN106781110A (en) 2017-05-31
CN106781110B true CN106781110B (en) 2019-03-05

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105127991A (en) * 2015-09-07 2015-12-09 上海交通大学 Automatic book taking and placing mechanism
CN205068635U (en) * 2015-09-25 2016-03-02 吉林农业大学 Book inquiry unit is got to library's serial number
CN205184804U (en) * 2015-08-25 2016-04-27 深圳市卓翼科技股份有限公司 Robot hand file
CN205405735U (en) * 2016-01-29 2016-07-27 安徽工程大学 Self -service books are borrowed and are still installed
CN205565261U (en) * 2016-04-26 2016-09-07 深圳市顺科线束设备有限公司 Automatic location centre gripping terminal arrangement
CN205572407U (en) * 2016-04-12 2016-09-14 长安大学 Robot of library access arrangement

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3395061B2 (en) * 2000-02-21 2003-04-07 学校法人金沢工業大学 Library collection automatic teller system and the library collection teller robot as well as the library collection teller robot hand mechanism

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205184804U (en) * 2015-08-25 2016-04-27 深圳市卓翼科技股份有限公司 Robot hand file
CN105127991A (en) * 2015-09-07 2015-12-09 上海交通大学 Automatic book taking and placing mechanism
CN205068635U (en) * 2015-09-25 2016-03-02 吉林农业大学 Book inquiry unit is got to library's serial number
CN205405735U (en) * 2016-01-29 2016-07-27 安徽工程大学 Self -service books are borrowed and are still installed
CN205572407U (en) * 2016-04-12 2016-09-14 长安大学 Robot of library access arrangement
CN205565261U (en) * 2016-04-26 2016-09-07 深圳市顺科线束设备有限公司 Automatic location centre gripping terminal arrangement

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