CN110980087A - Intelligent automatic book fetching bookshelf based on electromagnetic adsorption and control method thereof - Google Patents
Intelligent automatic book fetching bookshelf based on electromagnetic adsorption and control method thereof Download PDFInfo
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- CN110980087A CN110980087A CN201911308914.3A CN201911308914A CN110980087A CN 110980087 A CN110980087 A CN 110980087A CN 201911308914 A CN201911308914 A CN 201911308914A CN 110980087 A CN110980087 A CN 110980087A
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- book
- book box
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B63/00—Cabinets, racks or shelf units, specially adapted for storing books, documents, forms, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B97/00—Furniture or accessories for furniture, not provided for in other groups of this subclass
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Abstract
The invention discloses an intelligent automatic book-taking bookshelf based on electromagnetic adsorption and a control method thereof, and belongs to the field of intelligent bookshelves. The invention discloses an intelligent automatic book-fetching bookshelf, which comprises a shelf body, wherein a plurality of layers of shelves formed by separating partition plates are arranged on the shelf body, a plurality of modularized book box assemblies are vertically arranged on the layers of shelves side by side, and a group of book box push-pull mechanisms are arranged at the top of each layer of shelves. The modularized book box assemblies are arranged on the shelves of the book shelf side by side, flexible assembly design can be performed according to the size and space requirements of the book shelf, the reasonable arrangement and manufacture of the book shelf are facilitated, and the bookshelf is particularly suitable for libraries with a plurality of books; and utilize the book box push-and-pull mechanism of magnetism mode to realize push-and-pull operation to corresponding book box, release the books that will look up the rear and conveniently read the ware or get the manipulator of returning books and take, the unified management of books of being convenient for and look up, simple structure is compact, and control is nimble convenient, and books push-and-pull action is reliable and stable, easy operation has very good practicality.
Description
Technical Field
The invention relates to a book shelf, in particular to an intelligent automatic book fetching book shelf based on electromagnetic adsorption and a control method thereof.
Background
In recent years, with the rapid development of the book industry, the types of books and documents are increasing, and in order to facilitate the reading of books, most of the existing books are stored on a bookshelf, so that the bookshelf also becomes an essential device in places such as a library. The space of a plurality of books of depositing is provided with usually on the support body of traditional bookshelf, conveniently insert and put all kinds of different books, in order to utilize the space in the bookshelf furthest, books generally adopt vertical mode side by side to place, look up for making things convenient for the reader, generally all place the books of the same kind together, because books of different kinds all are in the position of same row, generally press from both sides between the adjacent books tighter, do not have the space that can supply to take, it is very inconvenient to take, and after books are taken out, original space is taken up by other books easily, it is more difficult to lead to books to insert the normal position once more, just so lead to the reader can insert books in the position of placing easily when returning books, make the position of books change easily, be not convenient for looking up of the same management and the reader of a large amount of books.
In view of the above problems of the conventional bookshelves, the related art has also proposed many improvements. For example, the Chinese patent number ZL 201520242335.4, the granted announcement date is 2015, 8 and 19, and the invention creation name is as follows: the utility model provides a book case, this application relates to a book case, and the intelligent cabinet temperature adjusting device comprises a cabinet body, the internal book box that a plurality of set up side by side that is equipped with of cabinet, book box can be moved out by the internal of cabinet, and the bottom of every book box is equipped with can be with its ejecting device who moves out from the internal of cabinet, and ejecting device is including seting up the rectangle recess on the book box bottom surface, fixedly connected with rack in the recess, and the transmission is connected with drive gear on the rack, the slotted hole has been seted up on the baffle, drive gear rotates to be connected in the slotted hole, and the internal drive gear pivoted drive arrangement that can drive every book. This patent application adopts the shift fork to switch gear engagement position and realizes that motor drive book box releases, be equipped with a plurality of book boxes in one row, need adjust the shift fork to corresponding position earlier when getting the book and go out, then at the starter motor, make the book box released by the transmission, this kind of mode operation is comparatively loaded down with trivial details, and in bookshelf longer term, the distance that needs the reader to remove the shift fork is very long, it is more loaded down with trivial details to operate, lead to getting the book efficiency very low, and the blocking between the intermediate gear also can make the shift fork remove unsmoothly, the influence is got book operation and is normally gone on, the practicality is not strong.
As another example, chinese patent application No. 201710296774.7, published as 2017, 4 and 28, the name of the invention is: the utility model provides an intelligence propelling movement bookshelf, the intelligence propelling movement bookshelf of this application includes the bookshelf body, is provided with on the bookshelf body and puts the book groove, is equipped with the slide rail in the bottom of putting the book groove, is equipped with the bracket in putting the book inslot, and the bracket includes backplate and bottom plate, is provided with the pulley in the bottom of bottom plate, and the slide rail back-and-forth movement can be followed to the bottom plate, is provided with hydraulic pressure pusher at the backplate rear portion, and hydraulic pressure pusher is controlled by servo motor, is provided with the controller in this internal bookshelf, controller control servo motor. This application can realize the automatic propelling movement of books for books are taken more conveniently, but it all need set up servo motor and hydraulic pressure pusher at every book groove rear portion of putting, and structural design is comparatively complicated, and the cost of manufacture is very high, and is equally relatively poor in the practicality.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to overcome the defects of complex structural design, inconvenient book taking and returning operation, poor practicability and the like of the conventional book shelf, and provides an intelligent automatic book taking bookshelf based on electromagnetic adsorption and a control method thereof.A technical scheme of the invention is adopted, modular book box assemblies are arranged on shelves of the book shelf side by side, and each modular book box assembly is provided with a book box capable of extending outwards and can be flexibly assembled and designed according to the size and space requirements of the bookshelf, so that the bookshelf is more flexible and convenient to use, is convenient for reasonable arrangement and manufacture of the bookshelf, and is particularly suitable for libraries with numerous books; and utilize the book box push-and-pull mechanism of magnetism mode to realize push-and-pull operation to corresponding book box, release the books that will look up the rear and conveniently read and take or manipulator, the unified management and the looking up of books of being convenient for, simple structure is compact, and control is nimble convenient, and books push-and-pull action is reliable and stable, easy operation has very good practicality.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention discloses an intelligent automatic book-fetching bookshelf based on electromagnetic adsorption, which comprises a shelf body, wherein a plurality of layers of shelves partitioned by partition plates are arranged on the shelf body, a plurality of modularized book box assemblies are vertically arranged on the layers of shelves side by side, and a group of book box push-pull mechanisms are arranged at the top of each layer of shelves, wherein:
the modularized book box assembly comprises a base, a book box and a book box sliding mechanism, wherein the bottom of the book box is arranged on the base along the width direction through the book box sliding mechanism to form a modularized integral structure, and the modularized book box assembly is fixedly arranged on the partition plate through the base;
the book box push-pull mechanism comprises a transverse moving mechanism, a longitudinal moving mechanism and an electromagnet, wherein the transverse moving mechanism is installed on a frame body, the longitudinal moving mechanism is installed on a driving end of the transverse moving mechanism, the transverse moving mechanism drives the longitudinal moving mechanism to move transversely, the electromagnet is installed on a driving end of the longitudinal moving mechanism, the longitudinal moving mechanism drives the electromagnet to move longitudinally, the electromagnet is located at the rear part of a row of the book boxes of the modularized book box assembly, the transverse moving mechanism and the longitudinal moving mechanism can drive the electromagnet to move along the arrangement direction of the modularized book box assembly and the sliding direction of the book boxes on the base, the width of a pushing part of the electromagnet is smaller than or equal to the thickness of the book boxes, and the rear part of the book boxes is provided with ferromagnetic adsorption parts corresponding to the positions of the electromagnet.
Furthermore, the modular book box assemblies are arranged on the shelf of the shelf body in a row along a transverse single row or two rows in a reverse row.
Furthermore, notches facilitating taking of books are arranged on two sides of the book box.
Furthermore, elastic clamping plates for clamping books with different thicknesses are arranged on two sides of the book box.
Furthermore, the elastic clamping plates are of wide-angle V-shaped elastic metal sheet structures, and two ends of each elastic clamping plate are respectively inserted into corresponding side plate slots of the book box and protrude towards the inside of the book box.
Furthermore, the book box sliding mechanism comprises a book box sliding block and a book box sliding rail, the book box sliding block is installed at the bottom of the book box, the book box sliding rail is horizontally installed on the base, and the book box sliding block is in sliding fit with the book box sliding rail.
Furthermore, the transverse moving mechanism comprises a transverse moving support, a transverse moving slide rail, a transverse moving slide seat and a transverse moving driving motor, the transverse moving support is transversely fixed on the frame body, the transverse moving slide seat is slidably arranged on the transverse moving support through the transverse moving slide rail, the transverse moving driving motor is fixed at one end of the transverse moving support, an output shaft of the transverse moving driving motor is in transmission connection with a transverse moving lead screw arranged on the transverse moving support, and the transverse moving slide seat is in threaded fit with the transverse moving lead screw; the longitudinal moving mechanism comprises a longitudinal moving support, a longitudinal moving slide rail, a longitudinal moving push-pull seat and a longitudinal moving driving motor, the longitudinal moving support is fixedly arranged on the transverse moving slide seat, the upper end of the longitudinal moving push-pull seat is slidably arranged on the longitudinal moving support through the longitudinal moving slide rail, the longitudinal moving driving motor is fixed at one end of the longitudinal moving support, an output shaft of the longitudinal moving driving motor is in transmission connection with a longitudinal moving screw rod arranged on the longitudinal moving support, and the upper end of the longitudinal moving push-pull seat is in threaded fit with the longitudinal moving screw rod; the electromagnet is arranged at the lower end of the longitudinal moving push-pull seat.
Furthermore, the intelligent automatic book-picking bookshelf further comprises a control system, control keys corresponding to the positions of the modular book box assemblies are respectively arranged on each layer of shelf of the intelligent automatic book-picking bookshelf, each key is electrically connected with the control system, and the control system is respectively electrically connected with the control circuits of the transverse moving mechanism, the longitudinal moving mechanism and the electromagnet and is used for controlling the transverse moving mechanism, the longitudinal moving mechanism and the electromagnet to execute corresponding actions according to control signals of the control keys.
The invention discloses a control method of an intelligent automatic book-fetching bookshelf based on electromagnetic adsorption, which comprises the following steps:
s1, a reader finds out a book to be looked up, presses a control button below the modular book box assembly where the book is located, and a control system controls a transverse moving mechanism to work and drives an electromagnet to move to the rear of the corresponding modular book box assembly; then the control system controls the longitudinal moving mechanism to work to drive the electromagnet to move outwards to push out the book boxes of the corresponding modularized book box assemblies;
s2, the reader takes out the books in the pushed book boxes, then presses the corresponding control buttons again, the control system controls the electromagnets to be electrified, the electromagnets are electrified to generate magnetic attraction to be connected with the pushed book boxes, and then the control system controls the longitudinal moving mechanism to work to pull back the pushed book boxes inwards.
The invention discloses a control method of an intelligent automatic book fetching bookshelf based on electromagnetic adsorption, which is used for matching with an automatic book fetching and returning manipulator to automatically fetch and return books under the control of a control system, and comprises the following steps:
s1, when a user takes a book, the user indexes the corresponding book and sends a book taking command to the control system, the control system controls the transverse moving mechanism to work according to the book taking command, the electromagnet is driven to move to the rear of the modularized book box assembly where the corresponding book is located, then the control system controls the longitudinal moving mechanism to work, and the electromagnet is driven to move outwards to push out the book box of the corresponding modularized book box assembly; meanwhile, the control system controls the automatic book taking and returning manipulator to move to the front of the corresponding modularized book box assembly, and the pushed books are taken away; after the book is taken, the control system controls the electromagnet to be electrified, the electromagnet is electrified to generate magnetic attraction to be connected with the pushed book box, and then the control system controls the longitudinal moving mechanism to work to pull back the pushed book box inwards;
s2, when returning books, a user sends a book returning command to the control system, the control system finds the corresponding modular book box assembly according to the book returning information, controls the transverse moving mechanism to work, drives the electromagnet to move to the rear of the modular book box assembly to be returned, then controls the longitudinal moving mechanism to work, and drives the electromagnet to move outwards to push out the empty book box of the corresponding modular book box assembly; meanwhile, the control system controls the automatic book taking and returning manipulator to drive the books to be returned to move to the front of the corresponding modularized book box assembly, and the books are inserted into the extended book boxes; and then, the control system controls the electromagnet to be electrified, the electromagnet is electrified to generate magnetic attraction to be connected with the pushed book box, and then the control system controls the longitudinal moving mechanism to work, so that the pushed book box and the returned book are pulled back inwards.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:
(1) according to the intelligent automatic book fetching bookshelf based on electromagnetic adsorption and the control method thereof, the modularized book box assemblies are arranged on the shelves of the bookshelf side by side, the modularized book box assemblies are provided with the book boxes capable of extending outwards, flexible assembly design can be carried out according to the size and space requirements of the bookshelf, the bookshelf is more flexible and convenient to use, the bookshelf is convenient to reasonably arrange and manufacture, and the intelligent automatic book fetching bookshelf is particularly suitable for libraries with numerous books; the magnetic book box push-and-pull mechanism is used for realizing push-and-pull operation on the corresponding book box, after the book to be looked up is pushed out, a reader or an automatic book taking and returning manipulator can take the book conveniently, unified management and look-up of the book are facilitated, the structure is simple and compact, the control is flexible and convenient, the book push-and-pull action is stable and reliable, the operation is simple, and the practicability is very good;
(2) according to the intelligent automatic book-fetching bookshelf based on electromagnetic adsorption, the modularized book box assemblies are arranged in rows along a transverse single row or double rows in a back-to-back manner on the shelf of the shelf body, and the single-row or double-row book box push-pull control can be controlled by utilizing a group of book box push-pull mechanisms, so that the flexible layout of the bookshelf is facilitated;
(3) according to the intelligent automatic book fetching bookshelf based on electromagnetic adsorption, the notches facilitating book fetching are formed in the two sides of the book box, so that the books can be fetched and inserted conveniently, and the book fetching and returning operations are more flexible and convenient;
(4) according to the intelligent automatic book-taking bookshelf based on electromagnetic adsorption, the elastic clamping plates for clamping books with different thicknesses are arranged on the two sides of the book box, the books are clamped by the elastic clamping plates, the books with different thicknesses can be well fixed in the book box, and the applicability of the book box to the books with different thicknesses is improved; in addition, the elastic clamping plate is of a wide-angle V-shaped elastic metal sheet structure, two ends of the elastic clamping plate are respectively inserted into corresponding side plate slots of the book box and protrude towards the interior of the book box, and the elastic clamping plate with the structure is convenient for clamping books, simple to manufacture and small in damage to the books;
(5) according to the intelligent automatic book drawing taking bookshelf based on electromagnetic adsorption, the book box sliding mechanism comprises the book box sliding block and the book box sliding rail, the book box sliding block is installed at the bottom of the book box, the book box sliding rail is horizontally installed on the base, the book box sliding block is in sliding fit with the book box sliding rail, the book box sliding mechanism is utilized to improve the sliding smoothness of the book box, and the sliding stability of the book box is ensured;
(6) according to the intelligent automatic book-taking bookshelf based on electromagnetic adsorption, the transverse moving mechanism and the longitudinal moving mechanism adopt the lead screw nut transmission mechanisms, the action control is stable and reliable, the position control precision is high, the accuracy and the stability of book pushing are guaranteed, the intelligent control is adopted, the action efficiency is high, and the book-taking efficiency is improved;
(7) the invention relates to an intelligent automatic book-fetching bookshelf based on electromagnetic adsorption, which further comprises a control system, wherein control keys corresponding to the positions of all modularized book box assemblies are respectively arranged on each layer of shelf of the intelligent automatic book-fetching bookshelf, each key is electrically connected with the control system, the control system is respectively electrically connected with a transverse moving mechanism, a longitudinal moving mechanism and a control circuit of an electromagnet, and is used for controlling the transverse moving mechanism, the longitudinal moving mechanism and the electromagnet to execute corresponding actions according to control signals of the control keys, the corresponding control keys are arranged for each modularized book box assembly, and the corresponding book boxes can be pushed out when the control keys are pressed down, so that the operation is simpler and more convenient, and the book lookup is greatly facilitated.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent automatic book-picking bookshelf based on electromagnetic adsorption;
FIG. 2 is a schematic structural diagram of a book box push-pull mechanism in the intelligent automatic book-picking bookshelf based on electromagnetic adsorption;
fig. 3 is a schematic structural diagram of a modular book box assembly in the intelligent automatic book-picking bookshelf based on electromagnetic adsorption.
The reference numerals in the schematic drawings illustrate:
1. a frame body; 1-1, a partition board; 1-2, universal wheels; 2. a modular book case assembly; 2-1, a base; 2-2, book boxes; 2-2-1, elastic splints; 2-2-2, gap; 2-3, a book box sliding mechanism; 2-3-1, a book box slide block; 2-3-2, a book box slide rail; 3. a book case push-pull mechanism; 3-1, transversely moving the bracket; 3-2, transversely moving the sliding rail; 3-3, transversely moving the sliding seat; 3-4, a transverse moving driving motor; 3-5, longitudinally moving the bracket; 3-6, longitudinally moving a sliding rail; 3-7, longitudinally moving the push-pull seat; 3-8, longitudinally moving a driving motor; 3-9 and an electromagnet.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings.
Fig. 1 is a schematic structural diagram of an intelligent automatic book-fetching bookshelf based on electromagnetic adsorption, and the intelligent automatic book-fetching bookshelf comprises a shelf body 1, wherein a plurality of layers of shelves partitioned by partition plates 1-1 are arranged on the shelf body 1, a plurality of modularized book box assemblies 2 are vertically arranged on the layers of shelves side by side, and a group of book box push-pull mechanisms 3 are arranged at the top of each layer of shelves (only one layer of shelf structure is shown in fig. 1). In order to facilitate the movement of the book shelf, the bottom of the shelf body 1 is also provided with universal wheels 1-2, and the universal wheels 1-2 have a self-locking function and prevent the book shelf from moving after being fixed. Books are placed in the modularized book box assemblies 2, the modularized book box assemblies 2 are provided with book boxes 2-2 capable of extending outwards, the book box push-pull mechanism 3 can move along the arrangement direction of the modularized book box assemblies 2 and the sliding direction of the book boxes 2-2 and is provided with electromagnets 3-9, and the rear parts of the book boxes 2-2 are provided with ferromagnetic adsorption parts corresponding to the electromagnets 3-9. When books are taken, because the books are all arranged in the book boxes 2-2, a reader or a manipulator does not have a space for taking the books, the book box push-pull mechanism 3 is utilized to move to the rear part of the book box 2-2 needing to take the books, the corresponding book box 2-2 is pushed out by the book box push-pull mechanism 3, the books are exposed, and therefore the books can be taken out quickly; and after the books are taken out, the electromagnets 3-9 are electrified to adsorb the corresponding book boxes 2-2, and the empty book boxes 2-2 can be pulled back through the book box pushing and pulling mechanism 3.
FIG. 2 is a schematic structural diagram of a book box push-pull mechanism in the intelligent automatic book-picking bookshelf based on electromagnetic adsorption, the book box push-pull mechanism 3 comprises a transverse moving mechanism, a longitudinal moving mechanism and electromagnets 3-9, the transverse moving mechanism is mounted on a frame body 1, the longitudinal moving mechanism is mounted on a driving end of the transverse moving mechanism, the transverse moving mechanism drives the longitudinal moving mechanism to move transversely, the electromagnets 3-9 are mounted on a driving end of the longitudinal moving mechanism, the longitudinal moving mechanism drives the electromagnets 3-9 to move longitudinally, the electromagnets 3-9 are located at the rear parts of book boxes 2-2 of a row of modular book box assemblies 2, the transverse moving mechanism and the longitudinal moving mechanism can drive the electromagnets 3-9 to move along the arrangement direction of the modular book box assemblies 2 and the sliding direction of the book boxes 2-2 on a base 2-1, the width of the pushing part of the electromagnet 3-9 is smaller than or equal to the thickness of the book box 2-2, and the back part of the book box 2-2 is provided with a ferromagnetic adsorption part corresponding to the position of the electromagnet 3-9. Specifically, the transverse moving mechanism comprises a transverse moving support 3-1, a transverse moving slide rail 3-2, a transverse moving slide seat 3-3 and a transverse moving driving motor 3-4, the transverse moving support 3-1 is transversely fixed on the support body 1, the transverse moving slide seat 3-3 is slidably mounted on the transverse moving support 3-1 through the transverse moving slide rail 3-2, the transverse moving driving motor 3-4 is fixed at one end of the transverse moving support 3-1, an output shaft of the transverse moving driving motor 3-4 is in transmission connection with a transverse moving screw rod arranged on the transverse moving support 3-1, and the transverse moving slide seat 3-3 is in threaded fit with the transverse moving screw rod; the longitudinal moving mechanism comprises a longitudinal moving support 3-5, a longitudinal moving slide rail 3-6, a longitudinal moving push-pull seat 3-7 and a longitudinal moving driving motor 3-8, the longitudinal moving support 3-5 is fixedly arranged on the transverse moving slide seat 3-3, the upper end of the longitudinal moving push-pull seat 3-7 is slidably arranged on the longitudinal moving support 3-5 through the longitudinal moving slide rail 3-6, the longitudinal moving driving motor 3-8 is fixed at one end of the longitudinal moving support 3-5, an output shaft of the longitudinal moving driving motor 3-8 is in transmission connection with a longitudinal moving screw rod arranged on the longitudinal moving support 3-5, and the upper end of the longitudinal moving push-pull seat 3-7 is in threaded fit with the longitudinal moving screw rod; the electromagnets 3-9 are arranged at the lower ends of the longitudinal moving push-pull seats 3-7. By adopting the book box push-pull mechanism 3, the push-pull action is stable and reliable to control, the position control precision is high, the accuracy and the stability of book release are ensured, the intelligent control is adopted, the action efficiency is high, and the book taking efficiency is improved.
Fig. 3 is a schematic structural diagram of a modular book box assembly in the intelligent automatic book reading bookshelf based on electromagnetic adsorption, the modular book box assembly 2 comprises a base 2-1, book boxes 2-2 and a book box sliding mechanism 2-3, the bottom of the book box 2-2 is mounted on the base 2-1 through the book box sliding mechanism 2-3 along the width direction to form a modular integral structure, and the modular book box assembly 2 is fixedly mounted on a partition board 1-1 through the base 2-1. By adopting the modularized book box assembly 2, flexible assembly design can be carried out according to the size and space requirements of the bookshelf, so that the bookshelf is more flexible and convenient to use, the bookshelf can be conveniently and reasonably arranged and manufactured, and the bookshelf is particularly suitable for libraries with a plurality of books. Notches 2-2-2 convenient for taking books are arranged on two sides of the book box 2-2, and elastic clamping plates 2-2-1 used for clamping books with different thicknesses are further arranged on two sides of the book box 2-2, so that the book taking and returning operations are more flexible and convenient, the books with different thicknesses can be well fixed in the book box, and the applicability of the book box to the books with different thicknesses is improved.
The present invention will be further described with reference to the following examples.
Examples
As shown in fig. 1, 2 and 3, the intelligent automatic book reading bookshelf based on electromagnetic adsorption of the embodiment includes a shelf body 1, the shelf body 1 can be assembled into a frame structure by using sectional materials, a plurality of shelves formed by partitioning by partition plates 1-1 are arranged on the shelf body 1, each shelf can be used as a book placement position, a plurality of modularized book box assemblies 2 are vertically arranged on each shelf side by side, a book can be placed in each modularized book box assembly 2, and a set of book box push-pull mechanisms 3 is arranged at the top of each shelf.
As shown in fig. 3, the modular book box assembly 2 comprises a base 2-1, a book box 2-2 and a book box sliding mechanism 2-3, wherein the book box 2-2 is a cuboid structure with an opening at one side, the outer wall of the book box 2-2 can be made of thin plates, the height and the width of the book box are slightly larger than the size of a conventional book, for example, the height and the width of the book box are slightly larger than the size of A4 paper, the thickness of the book box 2-2 can be designed to be 2-5 cm, and books with most thickness can be placed; the bottom of the book box 2-2 is arranged on the base 2-1 along the width direction through a book box sliding mechanism 2-3 to form a modular integral structure, so that the book box 2-2 can slide back and forth on the base 2-1; the modularized book box component 2 is fixedly arranged on the clapboard 1-1 through the base 2-1. Adopt the modularized design, can carry out nimble equipment design according to bookshelf size and space demand, the quantity that sets up of modularization book box subassembly 2 can be adjusted as required, makes the use of bookshelf more nimble convenient, and the reasonable arrangement and the preparation of the bookshelf of being convenient for are particularly suitable for in the library that has numerous books. As shown in fig. 3, in this embodiment, two sides of the book box 2-2 are provided with notches 2-2-2 for facilitating taking of books, the notches 2-2-2 are disposed on the side wall near the opening side of the book box 2-2, and can be designed into a semi-circular shape or a rectangular shape, etc., so as to facilitate taking of books by a reader or an automatic book taking and returning manipulator when the book box 2-2 is extended out, and particularly, when taking books, after the book box 2-2 is extended out, the books can be directly taken or inserted into the book box 2-2 by using the notches 2-2-2, so as to facilitate taking and inserting of books, and the book taking and returning operations are more flexible and convenient. In addition, two groups of elastic clamping plates 2-2-1 for clamping books with different thicknesses are arranged on two sides of the book box 2-2 at intervals, the two groups of elastic clamping plates 2-2-1 are arranged in the height direction of the book box 2-2, and the books with different thicknesses can be well fixed in the book box by clamping the books by the elastic clamping plates 2-2-1, so that the applicability of the book box to the books with different thicknesses is improved. The elastic clamping plate 2-2-1 is preferably of a wide-angle V-shaped elastic metal sheet structure, two ends of the elastic clamping plate 2-2-1 are respectively inserted into corresponding side plate slots of the book box 2-2 and protrude towards the inside of the book box 2-2, when a book is inserted into the book box 2-2, the elastic clamping plate 2-2-1 elastically deforms to clamp the book, so that the thinner book can also be stably fixed in the book box 2-2, the book clamping is convenient, the manufacturing is simple, and the damage to the book is small. The book box sliding mechanism 2-3 comprises a book box sliding block 2-3-1 and a book box sliding rail 2-3-2, the book box sliding block 2-3-1 is installed at the bottom of the book box 2-2, the book box sliding rail 2-3-2 is horizontally installed on the base 2-1, the book box sliding block 2-3-1 is in sliding fit with the book box sliding rail 2-3-2, the sliding smoothness of the book box 2-2 is improved by utilizing the book box sliding mechanism 2-3, and the sliding stability of the book box 2-2 is ensured.
As shown in FIG. 2, the book box pushing and pulling mechanism 3 includes a transverse moving mechanism, a longitudinal moving mechanism and electromagnets 3-9, the transverse moving mechanism is installed on the frame 1, the longitudinal moving mechanism is installed on the driving end of the transverse moving mechanism, the transverse moving mechanism drives the longitudinal moving mechanism to move transversely, the electromagnets 3-9 are installed on the driving end of the longitudinal moving mechanism, the longitudinal moving mechanism drives the electromagnets 3-9 to move longitudinally, the electromagnets 3-9 are energized to generate magnetism and can adsorb ferromagnetic materials, the electromagnets 3-9 are driven by the transverse moving mechanism and the longitudinal moving mechanism to move in both transverse and longitudinal directions, the electromagnets 3-9 are located at the rear of the book boxes 2-2 of the row of modular book box assemblies 2, the transverse moving mechanism and the longitudinal moving mechanism can drive the electromagnets 3-9 to move along the arrangement direction of the modular book box assemblies 2 and the book boxes 2-2 are located on the base 2 1, the width of the pushing part of the electromagnet 3-9 is less than or equal to the thickness of the book box 2-2, and the back part of the book box 2-2 is provided with a ferromagnetic adsorption part corresponding to the position of the electromagnet 3-9. When a book is fetched, the transverse moving mechanism and the longitudinal moving mechanism drive the electromagnets 3-9 to move to the rear parts of the corresponding modularized book box assemblies 2 according to a control instruction, and outwards push out the corresponding book boxes 2-2, after a reader or an automatic book fetching and returning manipulator fetches the book, the electromagnets 3-9 are electrified and adsorbed together with the book boxes 2-2, the book boxes 2-2 can be pulled back to the original position through the transverse moving mechanism and the longitudinal moving mechanism, the magnetic book box pushing and pulling mechanism 3 is used for realizing pushing and pulling operation on the corresponding book boxes, the book to be looked up is pushed out, and then the reader or the manipulator is convenient to fetch, so that the book can be uniformly managed and looked up, the structure is simple and compact, the control is flexible and convenient, the book pushing and pulling action is stable and reliable, the operation is simple, and the practicability is very good. In the embodiment, the modular book box assemblies 2 are arranged in a row on the shelf of the shelf body 1 along a horizontal single row or two rows opposite to each other, and as shown in the design of the double-row modular book box assembly 2 shown in fig. 1, the single-row or double-row book box push-pull control can be controlled by using a group of book box push-pull mechanisms 3, which facilitates the flexible layout of the book shelf.
As shown in FIG. 2, in this embodiment, the above-mentioned traverse mechanism comprises a traverse support 3-1, a traverse slide 3-2, a traverse slide 3-3 and a traverse driving motor 3-4, the traverse support 3-1 is transversely fixed on the frame body 1, the traverse slide 3-3 is slidably mounted on the traverse support 3-1 via the traverse slide 3-2, the traverse driving motor 3-4 is fixed on one end of the traverse support 3-1, an output shaft of the traverse driving motor 3-4 is drivingly connected with a traverse screw rod arranged on the traverse support 3-1, the traverse slide 3-3 is in threaded engagement with the traverse screw rod, the traverse driving motor 3-4 is operated to drive the traverse screw rod to rotate, further driving the transverse sliding seat 3-3 on the transverse screw rod to horizontally and transversely move along the direction of the transverse sliding rail 3-2; the traverse screw is preferably a ball screw. The longitudinal moving mechanism comprises a longitudinal moving support 3-5, a longitudinal moving slide rail 3-6, a longitudinal moving push-pull seat 3-7 and a longitudinal moving driving motor 3-8, the longitudinal moving support 3-5 is fixedly arranged on the transverse moving slide seat 3-3, the upper end of the longitudinal moving push-pull seat 3-7 is slidably arranged on the longitudinal moving support 3-5 through the longitudinal moving slide rail 3-6, the longitudinal moving driving motor 3-8 is fixed at one end of the longitudinal moving support 3-5, an output shaft of the longitudinal moving driving motor 3-8 is in transmission connection with a longitudinal moving screw rod arranged on the longitudinal moving support 3-5, the upper end of the longitudinal moving push-pull seat 3-7 is in threaded fit with the longitudinal moving screw rod, and the longitudinal moving driving motor 3-8 works to drive the longitudinal moving screw rod to rotate, further driving the longitudinal moving push-pull seat 3-7 on the longitudinal moving screw rod to horizontally and longitudinally move along the direction of the longitudinal moving slide rail 3-6; the above-mentioned longitudinal movement screw is also preferably a ball screw. In addition, the traverse driving motor 3-4 and the longitudinal driving motor 3-8 are preferably servo motors. The electromagnets 3-9 are arranged at the lower ends of the longitudinal moving push-pull seats 3-7, generate magnetism after being electrified, and provide tension for the book box 2-2 by adsorbing the book box 2-2 through the electromagnets 3-9.
According to the intelligent automatic book and graph taking bookshelf based on electromagnetic adsorption, the universal wheels 1-2 with the self-locking function are further arranged at the bottom of the bookshelf body 1, so that the bookshelf can be conveniently moved and installed, and meanwhile, the bookshelf can be prevented from being moved after being fixed. The intelligent automatic book and picture taking bookshelf based on electromagnetic adsorption can be used for a reader to take and return books by self and can also be used for an automatic book taking and returning system of an intelligent library. When the intelligent automatic book-taking bookshelf is used for a reader to take and return books by self, the intelligent automatic book-taking bookshelf further comprises a control system, control keys corresponding to the positions of the modular book box assemblies 2 are arranged on each layer of shelf of the intelligent automatic book-taking bookshelf respectively, each key is electrically connected with the control system, and the control system is electrically connected with the control circuits of the transverse moving mechanism, the longitudinal moving mechanism and the electromagnets 3-9 respectively and is used for controlling the transverse moving mechanism, the longitudinal moving mechanism and the electromagnets 3-9 to execute corresponding actions according to control signals of the control keys. The control method of the intelligent automatic book and picture taking bookshelf based on electromagnetic adsorption comprises the following steps:
s1, a reader finds out a book to be looked up, presses a control button below the modular book box component 2 where the book is located, and a control system controls a transverse moving mechanism to work and drives the electromagnets 3-9 to move to the rear of the corresponding modular book box component 2; then the control system controls the longitudinal moving mechanism to work, and drives the electromagnets 3-9 to move outwards to push out the book boxes 2-2 of the corresponding modularized book box assemblies 2;
s2, the reader takes out the books in the pushed book box 2-2, then presses the corresponding control button again, the control system controls the electromagnets 3-9 to be electrified, the electromagnets 3-9 are electrified to generate magnetic attraction to be connected with the pushed book box 2-2, and then the control system controls the longitudinal moving mechanism to work to pull back the pushed book box 2-2 inwards.
The control buttons of each group of modular book box assemblies 2 can adopt a single-button or double-button design, and when the single button is adopted, the book box is controlled to be drawn back by pressing the control button to control the book preparing action; when the double buttons are adopted, one button is responsible for book taking action, and the other button is responsible for book box pulling action. The specific working process can be explained in detail as follows:
pressing a control button to send a book taking command, controlling a transverse moving driving motor 3-4 to work by a control system, driving electromagnets 3-9 to transversely move to the rear part of a target book box at the rear part of a row of modular book box assemblies 2, then stopping the transverse moving driving motor 3-4, controlling a longitudinal moving driving motor 3-8 to work by the control system, driving the electromagnets 3-9 to move forwards, pushing the target book box outwards, and facilitating a reader to take a book; then, a reader presses a control button to send a book box withdrawing command, the control system controls the electromagnet 3-9 to be electrified, at the moment, the electromagnet 3-9 is attracted with the rear part of the book box 2-2, and the control system controls the longitudinal movement driving motor 3-8 to work, so that the electromagnet 3-9 moves backwards, and the book box 2-2 is withdrawn.
When the automatic book taking and returning system is used for an intelligent library, the control method of the intelligent automatic book taking bookshelf based on electromagnetic adsorption is provided, the intelligent automatic book taking bookshelf based on electromagnetic adsorption is matched with an automatic book taking and returning manipulator to automatically take and return books under the control of the control system, and the control method comprises the following steps:
s1, when a user takes a book, the user indexes the corresponding book and sends a book taking command to the control system, the control system controls the transverse moving mechanism to work according to the book taking command to drive the electromagnets 3-9 to move to the rear of the modularized book box assembly 2 where the corresponding book is located, and then the control system controls the longitudinal moving mechanism to work to drive the electromagnets 3-9 to move outwards to push out the book boxes 2-2 of the corresponding modularized book box assembly 2; meanwhile, the control system controls the automatic book taking and returning manipulator to move to the front of the corresponding modularized book box assembly 2, and the pushed books are taken; after the book is taken, the control system controls the electromagnets 3-9 to be electrified, the electromagnets 3-9 are electrified to generate magnetic attraction to be connected with the pushed book box 2-2, and then the control system controls the longitudinal moving mechanism to work to pull back the pushed book box 2-2;
s2, when returning books, a user sends a book returning command to the control system, the control system finds the corresponding modular book box assembly 2 according to the book returning information, controls the transverse moving mechanism to work, drives the electromagnets 3-9 to move to the rear of the modular book box assembly 2 to be returned, then controls the longitudinal moving mechanism to work, and drives the electromagnets 3-9 to move outwards to push out the empty book boxes 2-2 of the corresponding modular book box assemblies 2; meanwhile, the control system controls the automatic book taking and returning manipulator to drive the books to be returned to move to the front of the corresponding modularized book box assembly 2, and the books are inserted into the extended book boxes 2-2; then, the control system controls the electromagnets 3-9 to be electrified, the electromagnets 3-9 are electrified to generate magnetic attraction to be connected with the pushed book box 2-2, and then the control system controls the longitudinal moving mechanism to work to pull back the pushed book box 2-2 and the returned books inwards.
The automatic book taking and returning manipulator can adopt a manipulator device in an existing intelligent library, such as a book clamping device described in patent application No. 201910062454.4. The control system can also adopt the control method in the existing intelligent library, a user searches for a corresponding book on a computer or other terminal display equipment, and the control system can automatically fetch the book according to the address of the book; when the books are returned, the original storage addresses of the books can be identified by scanning the bar codes on the books, so that the books can be automatically and accurately returned. Other principles of the manipulator device and the intelligent control system can adopt the prior art, and are not described in detail herein.
It is worth to be noted that in the intelligent automatic book drawing taking bookshelf, when the length of one row of shelves is long, in order to improve book taking efficiency, a plurality of groups of book box push-pull mechanisms 3 can be arranged on the upper portion of each layer of shelf, and each group of book box push-pull mechanisms 3 is responsible for pushing and pulling the book boxes 2-2 in one part of the modularized book box assemblies 2, so that reduction of book taking efficiency caused by long-distance transverse movement of the electromagnets 3-9 is avoided.
According to the intelligent automatic book fetching bookshelf based on electromagnetic adsorption and the control method thereof, the modularized book box assemblies are arranged on the shelves of the bookshelf side by side, the modularized book box assemblies are provided with the book boxes capable of extending outwards, flexible assembly design can be carried out according to the size and space requirements of the bookshelf, the bookshelf is more flexible and convenient to use, the bookshelf is convenient to reasonably arrange and manufacture, and the intelligent automatic book fetching bookshelf is particularly suitable for libraries with numerous books; and utilize the book box push-and-pull mechanism of magnetism mode to realize push-and-pull operation to corresponding book box, release the books that will look up the back and conveniently the reader or get automatically the mechanical hand of returning books and take, the unified management and the looking up of books of being convenient for, simple structure is compact, and control is nimble convenient, and books push-and-pull action is reliable and stable, easy operation has very good practicality.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (10)
1. The utility model provides an automatic book bookshelf of getting of intelligence based on electromagnetic adsorption, includes support body (1), support body (1) on be equipped with a plurality of layers of frame that form by partition board (1-1) partition, its characterized in that: the layer frame on vertically install a plurality of modularization book box subassemblies (2) side by side, a set of book box push-and-pull institution (3) is all installed at the top of every layer frame, wherein:
the modularized book box assembly (2) comprises a base (2-1), a book box (2-2) and a book box sliding mechanism (2-3), wherein the bottom of the book box (2-2) is installed on the base (2-1) through the book box sliding mechanism (2-3) along the width direction to form a modularized integral structure, and the modularized book box assembly (2) is fixedly installed on the partition plate (1-1) through the base (2-1);
the book box push-pull mechanism (3) comprises a transverse moving mechanism, a longitudinal moving mechanism and electromagnets (3-9), the transverse moving mechanism is installed on the frame body (1), the longitudinal moving mechanism is installed on the driving end of the transverse moving mechanism, the transverse moving mechanism drives the longitudinal moving mechanism to move transversely, the electromagnets (3-9) are installed on the driving end of the longitudinal moving mechanism, the longitudinal moving mechanism drives the electromagnets (3-9) to move longitudinally, the electromagnets (3-9) are located at the rear parts of the book boxes (2-2) of the modular book box assemblies (2) in rows, the transverse moving mechanism and the longitudinal moving mechanism can drive the electromagnets (3-9) to move along the arrangement direction of the modular book box assemblies (2) and the sliding direction of the book boxes (2-2) on the base (2-1), the width of the pushing part of the electromagnet (3-9) is less than or equal to the thickness of the book box (2-2), and the back part of the book box (2-2) is provided with a ferromagnetic adsorption part corresponding to the position of the electromagnet (3-9).
2. The intelligent automatic book and picture taking bookshelf based on the electromagnetic adsorption of claim 1, wherein: the modularized book box assemblies (2) are arranged in rows along a transverse single row or two rows back to back on the shelf of the shelf body (1).
3. The intelligent automatic book and graph taking bookshelf based on electromagnetic adsorption according to claim 1 or 2, wherein: notches (2-2-2) convenient for taking books are arranged on two sides of the book box (2-2).
4. The intelligent automatic book and picture taking bookshelf based on the electromagnetic adsorption according to claim 3, wherein: two sides of the book box (2-2) are also provided with elastic clamping plates (2-2-1) for clamping books with different thicknesses.
5. The intelligent automatic book and picture taking bookshelf based on the electromagnetic adsorption according to claim 4, wherein: the elastic clamping plates (2-2-1) are of wide-angle V-shaped elastic metal sheet structures, and two ends of each elastic clamping plate (2-2-1) are respectively inserted into corresponding side plate slots of the book boxes (2-2) and protrude towards the insides of the book boxes (2-2).
6. The intelligent automatic book and picture taking bookshelf based on the electromagnetic adsorption according to claim 4, wherein: the book box sliding mechanism (2-3) comprises a book box sliding block (2-3-1) and a book box sliding rail (2-3-2), the book box sliding block (2-3-1) is installed at the bottom of the book box (2-2), the book box sliding rail (2-3-2) is horizontally installed on the base (2-1), and the book box sliding block (2-3-1) is in sliding fit with the book box sliding rail (2-3-2).
7. The intelligent automatic book and picture taking bookshelf based on the electromagnetic adsorption of claim 6, wherein: the transverse moving mechanism comprises a transverse moving support (3-1), a transverse moving slide rail (3-2), a transverse moving slide seat (3-3) and a transverse moving driving motor (3-4), the transverse moving support (3-1) is transversely fixed on the frame body (1), the transverse moving slide seat (3-3) is slidably mounted on the transverse moving support (3-1) through the transverse moving slide rail (3-2), the transverse moving driving motor (3-4) is fixed at one end of the transverse moving support (3-1), an output shaft of the transverse moving driving motor (3-4) is in transmission connection with a transverse moving screw rod arranged on the transverse moving support (3-1), and the transverse moving slide seat (3-3) is in threaded fit with the transverse moving screw rod; the longitudinal moving mechanism comprises a longitudinal moving support (3-5), a longitudinal moving slide rail (3-6), a longitudinal moving push-pull seat (3-7) and a longitudinal moving driving motor (3-8), the longitudinal moving support (3-5) is fixedly arranged on the transverse moving slide rail (3-3), the upper end of the longitudinal moving push-pull seat (3-7) is slidably arranged on the longitudinal moving support (3-5) through the longitudinal moving slide rail (3-6), the longitudinal moving driving motor (3-8) is fixed at one end of the longitudinal moving support (3-5), an output shaft of the longitudinal moving driving motor (3-8) is in transmission connection with a longitudinal moving screw rod arranged on the longitudinal moving support (3-5), and the upper end of the longitudinal moving push-pull seat (3-7) is in threaded fit with the longitudinal moving screw rod; the electromagnets (3-9) are arranged at the lower ends of the longitudinal moving push-pull seats (3-7).
8. The intelligent automatic book and picture taking bookshelf based on the electromagnetic adsorption of claim 1, wherein: the intelligent automatic book-picking bookshelf is characterized by further comprising a control system, control keys corresponding to the positions of the modular book box assemblies (2) are arranged on each layer of shelf of the intelligent automatic book-picking bookshelf and are electrically connected with the control system, and the control system is electrically connected with control circuits of the transverse moving mechanism, the longitudinal moving mechanism and the electromagnets (3-9) and is used for controlling the transverse moving mechanism, the longitudinal moving mechanism and the electromagnets (3-9) to execute corresponding actions according to control signals of the control keys.
9. The control method of the intelligent automatic book and picture taking bookshelf based on the electromagnetic adsorption as claimed in claim 8, characterized by comprising the following steps:
s1, a reader finds out a book to be looked up, presses a control button below the modular book box assembly (2) where the book is located, and a control system controls a transverse moving mechanism to work and drives the electromagnets (3-9) to move to the rear of the corresponding modular book box assembly (2); then the control system controls the longitudinal moving mechanism to work to drive the electromagnets (3-9) to move outwards to push out the book boxes (2-2) of the corresponding modularized book box assemblies (2);
s2, a reader takes out the books in the pushed book boxes (2-2), then presses the corresponding control buttons again, the control system controls the electromagnets (3-9) to be electrified, the electromagnets (3-9) are electrified to generate magnetic attraction to be connected with the pushed book boxes (2-2), and then the control system controls the longitudinal moving mechanism to work to pull back the pushed book boxes (2-2) inwards.
10. The control method of the intelligent automatic book-taking bookshelf based on electromagnetic adsorption as claimed in claim 1, wherein the intelligent automatic book-taking bookshelf based on electromagnetic adsorption is matched with an automatic book-taking and returning manipulator to automatically take and return books under the control of a control system, and the control method is characterized by comprising the following steps:
s1, when a user takes a book, the user indexes the corresponding book and sends a book taking command to the control system, the control system controls the transverse moving mechanism to work according to the book taking command, the electromagnets (3-9) are driven to move to the rear of the modularized book box assembly (2) where the corresponding book is located, then the control system controls the longitudinal moving mechanism to work, and the electromagnets (3-9) are driven to move outwards to push out the book boxes (2-2) of the corresponding modularized book box assembly (2); meanwhile, the control system controls the automatic book taking and returning manipulator to move to the front of the corresponding modularized book box assembly (2) to take the pushed books; after the book is taken, the control system controls the electromagnets (3-9) to be electrified, the electromagnets (3-9) are electrified to generate magnetic adsorption to be connected with the pushed book box (2-2), and then the control system controls the longitudinal moving mechanism to work to pull back the pushed book box (2-2) inwards;
s2, when returning books, a user sends a book returning command to the control system, the control system finds the corresponding modular book box assembly (2) according to the book returning information, controls the transverse moving mechanism to work, drives the electromagnets (3-9) to move to the rear of the modular book box assembly (2) to be returned, then controls the longitudinal moving mechanism to work, and drives the electromagnets (3-9) to move outwards to push out the empty book boxes (2-2) of the corresponding modular book box assembly (2); meanwhile, the control system controls the automatic book taking and returning manipulator to drive the books to be returned to move to the front of the corresponding modularized book box assembly (2), and the books are inserted into the extended book boxes (2-2); then, the control system controls the electromagnets (3-9) to be electrified, the electromagnets (3-9) are electrified to generate magnetic attraction to be connected with the pushed book box (2-2), and then the control system controls the longitudinal moving mechanism to work to pull back the pushed book box (2-2) and the returned book inwards.
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| CN112190080A (en) * | 2020-11-17 | 2021-01-08 | 太仓吉盟商业设备有限公司 | Stationery display rack |
| CN112896887A (en) * | 2021-01-20 | 2021-06-04 | 宁波镇海昕龙网络科技有限公司 | Library gets book device with automatic getting |
| CN114348329A (en) * | 2021-04-28 | 2022-04-15 | 成都通德药业有限公司 | Aseptic production transfer system of potassium dehydroandrographolide succinate for injection |
| CN114130674A (en) * | 2021-11-26 | 2022-03-04 | 山东至辰信息科技股份有限公司 | Intelligent book sorting robot for smart library |
| CN114130674B (en) * | 2021-11-26 | 2023-06-09 | 山东至辰信息科技股份有限公司 | Intelligent library book sorting robot |
| CN114304922A (en) * | 2022-01-05 | 2022-04-12 | 重庆电子工程职业学院 | Intelligent file compact shelf |
| CN114304922B (en) * | 2022-01-05 | 2023-07-04 | 重庆电子工程职业学院 | Intelligent archives compact shelf |
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Application publication date: 20200410 |