CN205405735U - Self -service books are borrowed and are still installed - Google Patents

Self -service books are borrowed and are still installed Download PDF

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Publication number
CN205405735U
CN205405735U CN201620107161.5U CN201620107161U CN205405735U CN 205405735 U CN205405735 U CN 205405735U CN 201620107161 U CN201620107161 U CN 201620107161U CN 205405735 U CN205405735 U CN 205405735U
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CN
China
Prior art keywords
books
bookshelf
provided
direction
arm
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CN201620107161.5U
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Chinese (zh)
Inventor
汤红霞
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安徽工程大学
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Priority to CN201620107161.5U priority Critical patent/CN205405735U/en
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Publication of CN205405735U publication Critical patent/CN205405735U/en

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Abstract

The utility model provides a self -service books are borrowed and are still installed comprises by means of going back book case platform, gadget hand, rectangular coordinate manipulator, conveyer, bookshelf, books collecting box and control system the outside jointly. It ajusts device, books ejecting device and books closing device still to be equipped with books on the bookshelf. Required books on the books ejecting device release bookshelf, rectangular coordinate manipulator, gadget hand use with the conveyer cooperation to realize the process of lending of books, gadget hand, books collecting box, conveyer cooperate the use, have realized the still income process of books. An user's plenty of time has been saved to speed, has also saved manpower and materials that self -service books are borrowed and are still installed adopts manipulator and control system cooperation, has improved the book process of getting greatly to through the automatic access of big stock, the stock is big, convenient quick realization self -service borrowing go back books.

Description

A kind of self-service books borrowing and returning device

Technical field

This utility model relates to books management domain, particularly relates to a kind of self-service books borrowing and returning device.

Background technology

Most library borrows books now needs to enter library search books position, then arrive relevant position and take out books, arrive the place's of borrowing registration again to borrow, take book process loaded down with trivial details, take book process to also need to manually look for book to delay user's substantial amounts of time, and many times also can not find the situation of books because confusion placed by books, considerably increase the operation complexity checked out, reduce work efficiency.

It is self-service by means of book return machine that application notification number is that CN200910190292 patent of invention disclose, displays bookshelf, the mechanical, electrical control device of self-help operation, Book-returned box mechanism, Qu Shu mechanism including casing, books;Many mechanisms coordinate and achieve and take book process, and this is self-service can not realize big stock by means of book return machine and quickly access books, and this location mode is in conjunction with robot work, can not well take out books.

Summary of the invention

For above-mentioned the deficiencies in the prior art, the utility model proposes a kind of new self-service books borrowing and returning device, it is possible to convenience and high-efficiency realize the checking out of books, also book flow process, save a large amount of human and material resources, financial resources, it is provided that work efficiency.

The technical scheme that this utility model is taked is:

A kind of self-service books borrowing and returning device, including: outside circulation book cabinet platform 1, gadget hands 6, right angle coordinate manipulator 7, transporter 8, bookshelf 4, books collecting box 9 and control system are common, bookshelf 4 is provided with books straightening device 10, books ejecting device 11 and books hold down gag 12, books 5 required on bookshelf 4 released by books ejecting device 11, right angle coordinate manipulator 7, gadget hands 6 and transporter 8 are with the use of the process of lending of, it is achieved books 5 and reversely give back process.

Preferably, described outside circulation book cabinet platform 1 is placed in the space outerpace being prone to take book, inside is a large book management storehouse, described gadget hands 6, right angle coordinate manipulator 7, transporter 8, bookshelf 4, books collecting box 9, barcode scanning detecting device and control system are arranged in large book management storehouse, outside circulation book cabinet platform 1 is arranged above with message input device 2 and goes back fore-edge 3 with taking, message input device 2 is arranged above with input keyboard and display screen, outside circulation book cabinet platform 1 bottom is provided with to take goes back fore-edge 3, outside books 5 within circulation book cabinet platform 1 arrive to take goes back fore-edge 3 place, control system controls to take to go back fore-edge 3 and open, realize taking out books 5.

Preferably, described gadget hands 6 is disposed adjacent to outside circulation book cabinet platform 1 place, gadget hands 6 installation position needs to ensure at gadget hands 6 by the books 5 taking away in transporter 8 that move, and it is internal that books 5 can be put into outside circulation book cabinet platform 1, transporter 8 is applied in whole bookshelf 4 and lays district, transporter 8 side is bookshelf 4, described bookshelf 4 side arranges and deposits books 5, opposite side disposes books ejecting device 11, between two bookshelves 4, the big I of Existential Space ensures that right angle coordinate manipulator 7 carries out not interfering after multifreedom motion reaches the limit of position, right angle coordinate manipulator 7 coordinates books ejecting device can be effectively realized the access quickly and easily of books 5.

nullPreferably,Described for the books 5 on transporter 8 being delivered to the gadget hands 6 within outside circulation book cabinet platform 1,Including gadget hands fixed station 13、Horizontal arm 14、Telescopic arm 15、Positioning shooting head A16、Pallet A17 and vertical arm 43,Gadget hands fixed station 13 lower end adopts fixing mode to be fixed on ground or fixing device,Upper end is provided with round platform,Vertical arm 43 lower end is provided with the matched installation of round platform,Gadget hands fixed station 13 is internally installed after coordinating with vertical arm 43 rotating mechanism realizing the round platform rotation of vertical arm 43 lower end,Vertical arm 43 can realize the rotation along lower end round platform axis under the effect of rotating mechanism,Vertical arm 43 upper end is provided with horizontal arm 14,Steadily of centre of gravity when vertical arm 43 and horizontal arm 14 keep right angle setting and ensure work,Horizontal arm 14 is hollow legn,Telescopic arm 15 is arranged in horizontal arm 14 by coordinating with horizontal arm 14 internal cavity,Telescopic arm 15 can meet the distance of job requirement in horizontal arm 14 cavity along the axis telescopic slide that telescopic arm 15 and horizontal arm 14 are common,Telescopic arm 15 front end is provided with tray support frame B44,Matched pallet A17 is connected with tray support frame B44 by hinge 3 45,Pallet A17 can move along hinge 3 45 center steering,Pallet A17 front end is provided with opening and can pour out books 5 from opening part,Telescopic arm 15 front end is provided with positioning shooting head A16,Control system is by borrowing the information of also book、The position of rfid interrogator and positioning shooting head A16 positioning capturing books 5.

Preferably, described transporter 8 includes conveyer belt 20, cylinder 18 and fixed mount 19, transporter 8 two ends are provided with fixed mount 19, cylinder 18 is placed on fixed mount 19, cylinder 18 can be freely rotatable on fixed mount 19, installing conveyer belt 20 on two ends cylinder 18, the rotation of cylinder 18 drives conveyer belt 20 to slide, and books 5 can slide along with conveyer belt 20 moves along with conveyer belt 20.Transporter 8 front end is provided with books collecting box 9.

Preferably, the described right angle coordinate manipulator 7 that books 5 crawl on bookshelf 4 can be delivered to transporter 8, can realize making the slip in tri-directions of X, Y, Z, arrive each position on bookshelf 4, and right angle coordinate manipulator 7 can realize the revolution of z axis direction, to realize catching when books 5 released by books ejecting device 11 books 5, described right angle coordinate manipulator 7 is made up of the slide mechanism in tri-directions of X, Y, Z and z axis direction slew gear.

nullPreferably,Described X-direction slide mechanism by X to line slideway 33、Leading screw A30、Motor C34 and X forms to sliding stand 28,X is placed on ground or fixing device to line slideway 33 by fixing mode,X is between two bookshelves 4 to line slideway 33 installation position,Ensure that right angle coordinate manipulator 7 can conveniently catch the books 5 that on both sides bookshelf 4, books ejecting device 11 is released after motion,X is provided with leading screw A30 to line slideway 33 center,Side is provided with motor C34,Drive mechanism is had inside side,X is provided with leading screw A30 matching mechanism to sliding stand 28 bottom,X is installed together by ball screw assembly, to sliding stand 28 with leading screw A30,And it is arranged on X on line slideway 33 by slot fit,Motor C34 rotates and drives leading screw A30 to rotate,X slides to line slideway 33 to sliding stand 28 at X.

nullPreferably,Described Z-direction slide mechanism is by Z-direction line slideway 21、Z-direction sliding stand 25、Motor A22 and leading screw B37 composition,X is provided with round platform to sliding stand 28 upper end,Z-direction line slideway 21 lower end is provided with round platform and coordinates installation with X to sliding stand 28 upper end round platform,Ensure two round platforms on the same axis,Z-direction line slideway 21 is Z-direction after installing,With X to the perpendicular shape of line slideway 33,Z-direction line slideway 21 center is provided with leading screw B37,Upside is provided with motor A22,Upper interior has drive mechanism,Z-direction sliding stand 25 is internal is provided with leading screw B37 matching mechanism,Z-direction sliding stand 25 and leading screw B37 are installed together by ball screw assembly,,And the vertical side of Z-direction sliding stand 25 is arranged on Z-direction line slideway 21 by slot fit,Motor A22 rotates and drives leading screw B37 to rotate,Z-direction sliding stand 25 slides at Z-direction line slideway 21.

nullPreferably,Described Y-direction slide mechanism is by Y-direction travelling arm 23、Pallet B35、Motor B26、Positioning shooting head B27 and gear 36 form,Y-direction travelling arm 23 is arranged in Z-direction sliding stand 25 horizontal side by slot fit,Y-direction travelling arm 23 is provided with tooth bar 24,Can be horizontally slipped with gear 36 assemblage zone carry-over bar 24 by the motor B26 being arranged on Z-direction sliding stand 25,Y-direction travelling arm 23 front end is provided with tray support frame A31,Matched pallet B35 is connected with tray support frame A31 by hinge 1,Pallet B35 can move along hinge 3 45 center steering,Pallet B35 front end is provided with opening,Upper end section such as letter " u "-shaped,Pallet B35 can along with tilting to pour out books 5 from opening part,Y-direction travelling arm 23 front end is provided with positioning shooting head B27,Control to make pallet B35 arrive relevant position by control system,Wait that books 5 slide in pallet,Described z axis direction slew gear be by be arranged on X on sliding stand 28 motor C29 drive be positioned at X to sliding stand 28 within rotating mechanism motion.

nullPreferably,Each row of described bookshelf 4 is equipped with books straightening device 10、Books ejecting device 11 and books hold down gag 12,Books ejecting device 11 is by rfid interrogator 38、Ejecting device main body 39 and push rod 40 form,Ejecting device main body 39 is arranged in bookshelf 4 dorsal part guide ledges 42 by slot fit,Ejecting device main body 39 can be slided in guide ledges 42 along with the control controlling system,Push rod 40 is arranged in ejecting device main body 39,Push rod 40 can in ejecting device main body 39 sliding extension,And ejecting device main body 39 is provided with rfid interrogator 38,Each book nationality 5 is designed with RFID tag,Record the relevant information of respective books,Ejecting device main body 39 is provided with rfid interrogator 38 for searching books 5,Books straightening device 10 is fixed on bookshelf both sides by hinge 2 41,Books straightening device 10 can turn round along hinge 2 41 central axis,The books 5 taken out of when books ejecting device 11 is pushed away book are ajusted,Described books hold down gag 12 is also mounted in bookshelf 4 dorsal part guide ledges 42,Control to horizontally slip by control system,Realize the compression of books 5.

The beneficial effects of the utility model: a kind of self-service books borrowing and returning device can take out books fast and accurately from stock, work efficiency is high, also book mode and access mode are all very convenient, save the time of a lot of user, and a kind of self-service books borrowing and returning device is more accurate to books location, and equal big small shelf nationality of submitting a written statement to a higher authority is placed more, has saved space, and a kind of self-service books borrowing and returning device can realize big stock access books.

Accompanying drawing explanation

This specification includes the following drawings, it is shown that content respectively:

Fig. 1 is the front integral layout structural representation of a kind of self-service books borrowing and returning device of this utility model;

Fig. 2 is the side integral layout structural representation of a kind of self-service books borrowing and returning device of this utility model;

Fig. 3 is the right side structure schematic diagram of a kind of self-service books borrowing and returning device of this utility model;

Fig. 4 is the side structure schematic diagram of bowing of a kind of self-service books borrowing and returning device of this utility model;

Fig. 5 is the main TV structure schematic diagram of a kind of self-service books borrowing and returning device device of this utility model;

Fig. 6 is operating mechanism's schematic diagram of a kind of self-service books borrowing and returning device of this utility model;

Fig. 7 be a kind of self-service books borrowing and returning device of this utility model operating mechanism motion after schematic diagram;

Fig. 8 is the Facad structure schematic diagram of the right angle coordinate manipulator in a kind of self-service books borrowing and returning device of this utility model;

Fig. 9 is the structure schematic diagram of the right angle coordinate manipulator in a kind of self-service books borrowing and returning device of this utility model;

Figure 10 is bookshelf left view structural representation in a kind of self-service books borrowing and returning device of this utility model;

Figure 11 is bookshelf Facad structure schematic diagram in a kind of self-service books borrowing and returning device of this utility model;

Figure 12 is bookshelf side structure schematic diagram in a kind of self-service books borrowing and returning device of this utility model;

Figure is labeled as:

1, outside circulation book cabinet platform;2, message input device;3, take and go back fore-edge;4, bookshelf;5, books;6, gadget hands;7, right angle coordinate manipulator;8, transporter;9, books collecting box;10, books straightening device;11, books ejecting device;12, books hold down gag;13, gadget hands fixed station;14, horizontal arm;15, telescopic arm;16, positioning shooting head A;17, pallet A;18, cylinder;19, fixed mount;20, conveyer belt;21, Z-direction line slideway;22, motor A;23, Y-direction travelling arm;24, tooth bar;25, Z-direction sliding stand;26, motor B;27, positioning shooting head B;28, X is to sliding stand;29, motor C;30, leading screw A;31, tray support frame A;32, hinge one;33, X is to line slideway;34, motor D;35, pallet B;36, gear;37, leading screw B;38, rfid interrogator;39, ejecting device main body;40, push rod;41, hinge two;42, guide ledges;43, vertical arm;44, tray support frame B;45, hinge three.

Detailed description of the invention

Below against accompanying drawing, by the description to embodiment, detailed description of the invention of the present utility model is described in further detail, it is therefore an objective to help those skilled in the art that design of the present utility model, technical scheme are had more complete, accurate and deep understanding, and contribute to its enforcement.

As it can be seen, as shown in Figures 1 and 2, a kind of self-service books borrowing and returning device is collectively constituted by outside circulation book cabinet platform 1, gadget hands 6, right angle coordinate manipulator 7, transporter 8, bookshelf 4, books collecting box 9 and control system.Bookshelf 4 is additionally provided with books straightening device 10, books ejecting device 11 and books hold down gag 12.Required books 5 released on bookshelf 4 by books ejecting device 11, right angle coordinate manipulator 7, gadget hands 6 and transporter 8 with the use of, to realize the process of lending of books 5 and reversely to give back process.

Wherein, outside circulation book cabinet platform 1 is placed in the space outerpace being prone to take book, and inside is a large book management storehouse, and gadget hands 6, right angle coordinate manipulator 7, transporter 8, bookshelf 4, books collecting box 9 and control system manage in storehouse at large book.Outside circulation book cabinet platform 1 is arranged above with message input device 2 and goes back fore-edge 3 with taking, and message input device 2 is arranged above with input keyboard and display screen, and keyboard preferences adopts digital 9 keyboards, it is easy to the input of user, improves work efficiency.User can preengage required books at library online in advance in advance, preengages after successfully, and control system can mail to user and move on equipment one and take book code.Input in book code keyboard in message input device 2 is taken according to what control system sent to the mobile equipment of oneself.Books 5 are transported in outside circulation book cabinet platform 1 inside by gadget hands 6, corresponding, outside circulation book cabinet platform 1 bottom is provided with to take goes back fore-edge 3, and outside books 5 within circulation book cabinet platform 1 arrive to take goes back fore-edge 3 place, control system controls to take to go back fore-edge 3 and open, it is achieved take out books 5.Needing as being stored in books 5, internally installed have barcode scanning detecting device, it is preferred that barcode scanning detecting device can be rfid interrogator, it is achieved that the process that is initially stored in of books 5.

With reference to shown in Fig. 3 to Fig. 5, gadget hands 6 is disposed adjacent to outside circulation book cabinet platform 1 place, gadget hands 6 installation position needs to ensure at the books 5 that gadget hands 6 is taken away in transporter 8 by range of motion, it is possible to put into inside outside circulation book cabinet platform 1 by books 5 by range of motion.Transporter 8 is applied in whole bookshelf 4 and lays district, transporter 8 side is bookshelf 4, bookshelf 4 puts book bookshelf such as library, there is a lot of group bookshelf 4, and bookshelf 4 is that books 5 are deposited in side setting, and side disposes books ejecting device 11, and bookshelf 4 is divided into multiple field, these all considerably increase the amount of storage of books 5, also save space.The arrangement of bookshelf 4 simultaneously belongs to arrangement and disposes, and between two bookshelves 4, Existential Space is owing to installing right angle coordinate manipulator 7, and space size can ensure that right angle coordinate manipulator 7 carries out not interfering after multifreedom motion reaches the limit of position.Books 5 are neatly closely spaced on bookshelf 4, and right angle coordinate manipulator 7 coordinates books ejecting device can be effectively realized the access quickly and easily of books 5.Books 5 can be placed again through range of motion and carry out further work on transporter 8 after needing guarantee to take off books 5 by the range of motion of right angle coordinate manipulator 7 by bookshelf 4 and transporter 8 installation site.

As shown in Figure 5 and Figure 6, for the books 5 on transporter 8 are delivered to the gadget hands 6 within outside circulation book cabinet platform 1, gadget hands 6 is collectively constituted by gadget hands fixed station 13, horizontal arm 14, telescopic arm 15, positioning shooting head A16, pallet A17, vertical arm 43.Gadget hands fixed station 13 lower end adopts fixing mode to be fixed on ground or fixing device, and upper end is provided with round platform, and vertical arm 43 lower end is provided with the matched installation of round platform.Gadget hands fixed station 13 is internally installed after coordinating with vertical arm 43 rotating mechanism realizing the round platform rotation of vertical arm 43 lower end, and vertical arm 43 can realize the rotation along lower end round platform axis under the effect of rotating mechanism, and type of drive preferentially adopts motor to drive.Vertical arm 43 upper end is provided with horizontal arm 14, and vertical arm 43 and horizontal arm 14 keep right angle setting, installs and ensures operationally steadily of centre of gravity.Horizontal arm 14 is hollow legn, telescopic arm 15 is arranged in horizontal arm 14 by coordinating with horizontal arm 14 internal cavity, telescopic arm 15 can meet the distance of job requirement in horizontal arm 14 cavity along the axis telescopic slide that telescopic arm 15 and horizontal arm 14 are common, and the type of drive of slip preferentially adopts hydraulic-driven.Telescopic arm 15 front end is provided with tray support frame B44, matched, pallet A17 is connected with tray support frame B44 by hinge 3 45, pallet A17 can move along hinge 3 45 center steering, pallet A17 front end is provided with opening, upper end section such as letter " u "-shaped, pallet A17 can along with tilting to pour out books 5 from opening part, telescopic arm 15 front end is provided with positioning shooting head A16, control system is by borrowing the information of also book, the position of rfid interrogator and positioning shooting head A16 positioning capturing books 5, preferably, the image recognition algorithm that in control system, books are positioned by built-in cooperation positioning shooting head A16, pallet A17 arrives on the downside of transporter 8, wait that books 5 slide in pallet.

As shown in Figure 7, transporter 8 is made up of with fixed mount 19 conveyer belt 20, cylinder 18, transporter 8 two ends are provided with fixed mount 19, cylinder 18 is placed on fixed mount 19, cylinder 18 can be freely rotatable on fixed mount 19, and two ends cylinder 18 is installed conveyer belt 20, the rotation of cylinder 18, driving conveyer belt 20 to slide, books 5 can slide along with conveyer belt 20 moves along with conveyer belt 20.Transporter 8 front end is provided with books collecting box 9, and when being stored in books 5, unified collection by books 5 enters books collecting box 9, then carries out the arrangement of artificial collective.

As shown in Fig. 8 and Fig. 9, for the books 5 on bookshelf 4 being captured the right angle coordinate manipulator 7 delivering to transporter 8, right angle coordinate manipulator 7 can realize making the slip in tri-directions of X, Y, Z, each position on bookshelf 4 can be arrived, and right angle coordinate manipulator 7 can realize the revolution of z axis direction, to realize catching books 5 when books 5 released by books ejecting device 11.Right angle coordinate manipulator 7 is also made up of the slide mechanism in tri-directions of X, Y, Z and z axis direction slew gear.

X-direction slide mechanism is made up of to sliding stand 28 to line slideway 33, leading screw A30, motor C34 and X X.X is placed on ground or fixing device to line slideway 33 by fixing mode, X is between two bookshelves 4 to line slideway 33 installation position, it is necessary to ensure that right angle coordinate manipulator 7 can conveniently catch the books 5 that on both sides bookshelf 4, books ejecting device 11 is released after range of motion.X is provided with leading screw A30 to line slideway 33 center, and side is provided with motor C34, has drive mechanism inside side, arrives the rotational motion of leading screw A30 for transmitting motor C34.X is provided with leading screw A30 matching mechanism to sliding stand 28 bottom, X is installed together by ball screw assembly, to sliding stand 28 with leading screw A30, and it is arranged on X on line slideway 33 by slot fit, motor C34 rotates and drives leading screw A30 to rotate, X slides to line slideway 33 to sliding stand 28 at X, and namely X-direction motion realizes.

Z-direction slide mechanism is made up of Z-direction line slideway 21, Z-direction sliding stand 25, motor A22 and leading screw B37.X is provided with round platform to sliding stand 28 upper end, and Z-direction line slideway 21 lower end is provided with round platform and coordinates installation with X to sliding stand 28 upper end round platform, installs and ensures two round platforms on the same axis.Z-direction line slideway 21 install after in Z-direction, with X to the perpendicular shape of line slideway 33.Z-direction line slideway 21 center is provided with leading screw B37, and upside is provided with motor A22, and upper interior has drive mechanism, arrives the rotational motion of leading screw B37 for transmitting motor A22.Z-direction sliding stand 25 is internal is provided with leading screw B37 matching mechanism, Z-direction sliding stand 25 and leading screw B37 are installed together by ball screw assembly, and the vertical side of Z-direction sliding stand 25 is arranged on Z-direction line slideway 21 by slot fit, motor A22 rotates and drives leading screw B37 to rotate, Z-direction sliding stand 25 slides at Z-direction line slideway 21, and namely Z-direction motion realizes.

Y-direction slide mechanism is made up of with gear 36 Y-direction travelling arm 23, pallet B35, motor B26, positioning shooting head B27, Y-direction travelling arm 23 is arranged in Z-direction sliding stand 25 horizontal side by slot fit, Y-direction travelling arm 23 is provided with tooth bar 24, can be horizontally slipped with gear 36 assemblage zone carry-over bar 24 by the motor B26 being arranged on Z-direction sliding stand 25.Y-direction travelling arm 23 front end is provided with tray support frame A31, matched, pallet B35 is connected with tray support frame A31 by hinge 1, pallet B35 can move along hinge 3 45 center steering, and pallet B35 front end is provided with opening, upper end section such as letter " u "-shaped, pallet B35 can along with tilting to pour out books 5 from opening part, Y-direction travelling arm 23 front end is provided with positioning shooting head B27, controls to make pallet B35 arrive relevant position by control system, waits that books 5 slide in pallet.Z axis direction slew gear namely by be arranged on X on sliding stand 28 motor C29 drive be positioned at X to sliding stand 28 within rotating mechanism move, it is achieved that z axis direction revolution.

nullIf Figure 10 is to shown in 12,Each row of bookshelf 4 is equipped with books straightening device 10、Books ejecting device 11 and books hold down gag 12,Books ejecting device 11 is by rfid interrogator 38、Ejecting device main body 39 and push rod 40 form,Ejecting device main body 39 is arranged in bookshelf 4 dorsal part guide ledges 42 by slot fit,Ejecting device main body 39 can be slided in guide ledges 42 along with the control controlling system,Push rod 40 is arranged in ejecting device main body 39,Push rod 40 can in ejecting device main body 39 sliding extension,And ejecting device main body 39 is provided with rfid interrogator 38,For the RFID tag on positioning book 5,Each book nationality 5 is designed with RFID tag,Record the relevant information of respective books,Books 5 are searched for the rfid interrogator 38 in ejecting device main body 39.Books straightening device 10 is fixed on bookshelf both sides by hinge 2 41, and books straightening device 10 can turn round along hinge 2 41 central axis, and the books 5 taken out of when books ejecting device 11 is pushed away book are ajusted.Books hold down gag 12 is also mounted in bookshelf 4 dorsal part guide ledges 42, controls to horizontally slip by control system, realizes the compression of books 5, solve the problem leaving space after books 5 are pushed out.

The operation principle of a kind of self-service books borrowing and returning device of this utility model is:

nullCheck out process: user can preengage the books needing to borrow in advance on website,Afterwards user receive the control system of a kind of self-service books borrowing and returning device move to oneself equipment mails to take book code,User goes to and takes book point,Message input device 2 input on outside circulation book cabinet platform 1 takes book code,Control system obtains personal code work instruction,Control systematic search to put to the shelf ranking of books 5 place,Control that row's books ejecting device 11 and search for books 5,Books ejecting device 11 searches books 5 by the rfid interrogator being mounted above,Books ejecting device 11 works,Push rod 40 forward slip,Release corresponding books 5,According to system rapid feedback,The right angle coordinate manipulator 7 now controlled between system control bookshelf 4 has arrived books 5 position,Wait that books fall in pallet 35,Books straightening device 10 moves and is ajusted by the books 5 on bookshelf 4,Books hold down gag 12 works and is undertaken compressing operation by those row's books.Books B is transported on transporter 8 again through range of motion by right angle coordinate manipulator 7 afterwards, control system controls actuating device 8 and moves, when books 5 arrive ad-hoc location, control system controls gadget hands 6 and works, and gadget hands 6 also arrives at relevant position and waits that books 5 fall in pallet A17.Books 5 are delivered in outside circulation book cabinet platform 1 inside by gadget hands 6.Control system controls to deposit access section 3 and opens, and user takes out books 5, and wherein, the motor process of gadget hands 6 and right angle coordinate manipulator 7 is with reference to Fig. 6 to Fig. 7.

Also during book, before user arrives outside circulation book cabinet platform 1, message input device 2 inputs books in stock specific instruction, control system controls to open to take also book 3, it is internal that outside circulation book cabinet platform 1 put into by packaged books 5 by user, it is outside that circulation book cabinet platform 1 is internally installed barcode scanning detecting device, preferably, barcode scanning detecting device can be rfid interrogator, to also entering after books 5 carry out a series of process, books 5 fall in the pallet A17 of gadget hands 6 front end, when gadget hands 6 arrives relevant position, pallet A17 moves, books 5 are put in transporter 8, transporter 8 moves, until books 5 fall in books collecting box 9.Added by manually books being carried out sorting again.

Above in association with accompanying drawing, this utility model is exemplarily described.Obviously, this utility model implements and is not subject to the restrictions described above.As long as have employed the improvement of the various unsubstantialities that method of the present utility model design carries out with technical scheme;Or not improved, above-mentioned design of the present utility model and technical scheme are directly applied to other occasion, all within protection domain of the present utility model.

Claims (10)

1. a self-service books borrowing and returning device, it is characterized in that including: outside circulation book cabinet platform (1), gadget hands (6), right angle coordinate manipulator (7), transporter (8), bookshelf (4), books collecting box (9) and control system, bookshelf (4) is provided with books straightening device (10), books ejecting device (11) and books hold down gag (12), the upper required books (5) of bookshelf (4) released by books ejecting device (11), right angle coordinate manipulator (7), gadget hands (6) and transporter (8) with the use of, realize the process of lending of books (5) and reversely give back process.
2. self-service books borrowing and returning device according to claim 1, it is characterized in that: described outside circulation book cabinet platform (1) is placed in the space outerpace being prone to take book, described gadget hands (6), right angle coordinate manipulator (7), transporter (8), bookshelf (4), books collecting box (9), barcode scanning detecting device and control system are arranged in a large book management storehouse, outside circulation book cabinet platform (1) is arranged above with message input device (2) and goes back fore-edge (3) with taking, message input device (2) is arranged above with input keyboard and display screen, outside circulation book cabinet platform (1) bottom is provided with to take goes back fore-edge (3), the books (5) that outside circulation book cabinet platform (1) is internal arrive to take goes back fore-edge (3) place, control system controls to take to go back fore-edge (3) and open, realize taking out books (5).
null3. self-service books borrowing and returning device according to claim 2,It is characterized in that: described gadget hands (6) is disposed adjacent to outside circulation book cabinet platform (1) place,Gadget hands (6) installation position needs to ensure at the books (5) that gadget hands (6) is taken away in transporter (8) by motion,And it is internal that books (5) can be put into outside circulation book cabinet platform (1),Transporter (8) is applied in whole bookshelf (4) and lays district,Transporter (8) side is bookshelf (4),Described bookshelf (4) side arranges and deposits books (5),Opposite side disposes books ejecting device (11),Between two bookshelves (4), the big I of Existential Space ensures that right angle coordinate manipulator (7) carries out not interfering after multifreedom motion reaches the limit of position,Right angle coordinate manipulator (7) coordinates books ejecting device can be effectively realized the access quickly and easily of books (5).
null4. self-service books borrowing and returning device according to claim 3,It is characterized in that: the described gadget hands (6) internal for the books (5) on transporter (8) being delivered to outside circulation book cabinet platform (1),Including gadget hands fixed station (13)、Horizontal arm (14)、Telescopic arm (15)、Positioning shooting head A (16)、Pallet A (17) and vertical arm (43),Gadget hands fixed station (13) lower end adopts fixing mode to be fixed on ground or fixing device,Upper end is provided with round platform,Vertical arm (43) lower end is provided with the matched installation of round platform,Gadget hands fixed station (13) is internally installed after coordinating with vertical arm (43) the rotating mechanism realizing the round platform rotation of vertical arm (43) lower end,Vertical arm (43) can realize the rotation along lower end round platform axis under the effect of rotating mechanism,Vertical arm (43) upper end is provided with horizontal arm (14),Steadily of centre of gravity when vertical arm (43) and horizontal arm (14) keep right angle setting and ensure work,Horizontal arm (14) is hollow legn,Telescopic arm (15) is arranged in horizontal arm (14) by coordinating with horizontal arm (14) internal cavity,Telescopic arm (15) can meet the distance of job requirement in horizontal arm (14) cavity along the axis telescopic slide that telescopic arm (15) and horizontal arm (14) are common,Telescopic arm (15) front end is provided with tray support frame B (44),Matched pallet A (17) is connected with tray support frame B (44) by hinge three (45),Pallet A (17) can move along hinge three (45) center steering,Pallet A (17) front end is provided with opening and can pour out books (5) from opening part,Telescopic arm (15) front end is provided with positioning shooting head A (16),Control system is by borrowing the information of also book、The position of rfid interrogator and positioning shooting head A (16) positioning capturing books (5).
5. self-service books borrowing and returning device according to claim 4, it is characterized in that: described transporter (8) includes conveyer belt (20), cylinder (18) and fixed mount (19), transporter (8) two ends are provided with fixed mount (19), cylinder (18) is placed on fixed mount (19), cylinder (18) can be upper freely rotatable at fixed mount (19), two ends cylinder (18) is installed conveyer belt (20), the rotation of cylinder (18) drives conveyer belt (20) to slide, books (5) can slide along with conveyer belt (20) moves along with conveyer belt (20), transporter (8) front end is provided with books collecting box (9).
6. the self-service books borrowing and returning device according to claim 1-5 any one, it is characterized in that: the described right angle coordinate manipulator (7) that books (5) crawl on bookshelf (4) can be delivered to transporter (8), can realize making X, Y, the slip in tri-directions of Z, arrive bookshelf (4) each position upper, and right angle coordinate manipulator (7) can realize the revolution of z axis direction, to realize catching books (5) when books (5) released by books ejecting device (11), described right angle coordinate manipulator (7) is by X, Y, the slide mechanism in tri-directions of Z and z axis direction slew gear composition.
null7. self-service books borrowing and returning device according to claim 6,It is characterized in that: described X-direction slide mechanism by X to line slideway (33)、Leading screw A (30)、Motor D (34) and X forms to sliding stand (28),X is placed on ground or fixing device to line slideway (33) by fixing mode,X is between two bookshelves (4) to line slideway (33) installation position,Ensure that right angle coordinate manipulator (7) can conveniently catch the books (5) that the upper books ejecting device (11) of both sides bookshelf (4) is released after motion,X is provided with leading screw A (30) to line slideway (33) center,Side is provided with motor D (34),Drive mechanism is had inside side,X is provided with leading screw A (30) matching mechanism to sliding stand (28) bottom,X is installed together by ball screw assembly, to sliding stand (28) with leading screw A (30),And it is arranged on X on line slideway (33) by slot fit,Motor D (34) rotates and drives leading screw A (30) to rotate,X slides to line slideway (33) to sliding stand (28) at X.
null8. self-service books borrowing and returning device according to claim 6,It is characterized in that: described Z-direction slide mechanism is by Z-direction line slideway (21)、Z-direction sliding stand (25)、Motor A (22) and leading screw B (37) composition,X is provided with round platform to sliding stand (28) upper end,Z-direction line slideway (21) lower end is provided with round platform and coordinates installation with X to sliding stand (28) upper end round platform,Ensure two round platforms on the same axis,Z-direction line slideway (21) is Z-direction after installing,With X to line slideway (33) perpendicular shape,Z-direction line slideway (21) center is provided with leading screw B (37),Upside is provided with motor A (22),Upper interior has drive mechanism,Z-direction sliding stand (25) is internal is provided with leading screw B (37) matching mechanism,Z-direction sliding stand (25) and leading screw B (37) are installed together by ball screw assembly,,And Z-direction sliding stand (25) is vertically arranged on Z-direction line slideway (21) by slot fit side,Motor A (22) rotates and drives leading screw B (37) to rotate,Z-direction sliding stand (25) slides at Z-direction line slideway (21).
null9. self-service books borrowing and returning device according to claim 6,It is characterized in that: described Y-direction slide mechanism is by Y-direction travelling arm (23)、Pallet B (35)、Motor B (26)、Positioning shooting head B (27) and gear (36) composition,Y-direction travelling arm (23) is arranged in Z-direction sliding stand (25) horizontal side by slot fit,Y-direction travelling arm (23) is provided with tooth bar (24),Can be horizontally slipped with gear (36) assemblage zone carry-over bar (24) by the motor B (26) being arranged on Z-direction sliding stand (25),Y-direction travelling arm (23) front end is provided with tray support frame A (31),Matched pallet B (35) is connected with tray support frame A (31) by hinge one (32),Pallet B (35) can move along hinge three (45) center steering,Pallet B (35) front end is provided with opening,Upper end section such as letter " u "-shaped,Pallet B (35) can along with tilting to pour out books (5) from opening part,Y-direction travelling arm (23) front end is provided with positioning shooting head B (27),Control to make pallet B (35) arrive relevant position by control system,Wait that books (5) slide in pallet,Described z axis direction slew gear is positioned at the X rotating mechanism motion to sliding stand (28) inside by being arranged on X to motor C (29) drive on sliding stand (28).
null10. the self-service books borrowing and returning device according to claim 7-9 any one,It is characterized in that: each row of described bookshelf (4) is equipped with books straightening device (10)、Books ejecting device (11) and books hold down gag (12),Books ejecting device (11) is by rfid interrogator (38)、Ejecting device main body (39) and push rod (40) composition,Ejecting device main body (39) is arranged in bookshelf (4) dorsal part guide ledges (42) by slot fit,Ejecting device main body (39) can be slided in guide ledges (42) along with the control controlling system,Push rod (40) is arranged in ejecting device main body (39),Push rod (40) can in ejecting device main body (39) sliding extension,Ejecting device main body (39) is provided with rfid interrogator (38),Each book nationality (5) is designed with RFID tag,Record the relevant information of respective books,Books straightening device (10) is fixed on bookshelf both sides by hinge two (41),Can turn round along hinge two (41) central axis,The books (5) taken out of when books ejecting device (11) is pushed away book are ajusted,Described books hold down gag (12) is also mounted in bookshelf (4) dorsal part guide ledges (42),Control to horizontally slip by control system,Realize the compression of books (5).
CN201620107161.5U 2016-01-29 2016-01-29 Self -service books are borrowed and are still installed CN205405735U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105513226A (en) * 2016-01-29 2016-04-20 安徽工程大学 Self-service book borrowing and returning device
CN106781110A (en) * 2016-12-07 2017-05-31 江苏大学 The automatic borrowing and returning device of books

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105513226A (en) * 2016-01-29 2016-04-20 安徽工程大学 Self-service book borrowing and returning device
CN106781110A (en) * 2016-12-07 2017-05-31 江苏大学 The automatic borrowing and returning device of books
CN106781110B (en) * 2016-12-07 2019-03-05 江苏大学 The automatic borrowing and returning device of books

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