CN205928691U - Books ATM and books of taking thickness measuring function snatch manipulator thereof - Google Patents
Books ATM and books of taking thickness measuring function snatch manipulator thereof Download PDFInfo
- Publication number
- CN205928691U CN205928691U CN201620831406.9U CN201620831406U CN205928691U CN 205928691 U CN205928691 U CN 205928691U CN 201620831406 U CN201620831406 U CN 201620831406U CN 205928691 U CN205928691 U CN 205928691U
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- Prior art keywords
- books
- thickness
- book
- catching robot
- feed screw
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Abstract
The utility model provides a books ATM and books of taking thickness measuring function snatch manipulator thereof, relates to a books ATM and books snatch the manipulator, and the manipulator includes shell subassembly, motor, lead screw splint subassembly, drive assembly, and lead screw splint subassembly is including snatching the manipulator splint, rotating supporting shoe, spring, screw -nut, two -way lead screw, screw -nut stopper, thickness measuring device, the books ATM includes that bookshelf, books snatch car, frame, control system, is equipped with the book check on the bookshelf, and books snatch to be installed foretell books on the car and snatch the manipulator, and the width of book check is inhomogeneous setting according to different books thickness, books snatch the displacement sensor's of manipulator output and are connected with control system. The utility model discloses can rationally utilize the visible books in stock space of books ATM bookshelf fully, can realize precision measurement books thickness, its is rational in infrastructure reliable, with low costs, easily uses widely.
Description
Technical field
This utility model is related to a kind of book ATM and its books catching robot, particularly a kind of book ATM and its
Books catching robot with thickness measuring function.
Background technology
With the development of science and technology and society, people constantly expand to the demand of information.Book ATM is due to having 24
The superior functionality of hour self-help service, greatly facilitates borrowing and giving back of reader, progressively in some Modern Libraries
It is widely applied.In existing book ATM, books catching robot is submitted a written statement to a higher authority automatically for convenience, each on bookshelf
Book lattice width is typically all the even width setting pressing thicker books, no matter books thickness, and every books all take book lattice.
But it is as being on the increase of books in stock amount, the bookshelf position day of book ATM is becoming tight, the books for thinner thickness also will account for
For phenomenon with wider book lattice, visible books in stock space that is extremely unreasonable and wasting preciousness.
Content of the invention
The technical problems to be solved in the utility model is：A kind of book ATM and its books with thickness measuring function are provided to grab
Take mechanical hand, rationally fully to utilize the books in stock space of book ATM bookshelf.
Solve above-mentioned technical problem technical scheme be：A kind of books catching robot with thickness measuring function, including shell
Assembly, motor, screw mandrel cleat assembly, transmission component, described screw mandrel cleat assembly includes two pieces of catching robot clamping plate, rotations
Support block, spring, feed screw nut, Bidirectional-screw, feed screw nut's limited block；Also include and fill for the thickness measuring measuring books thickness
Put, this measuring thickness device includes displacement transducer and its attached linear movement guide mechanism, groove shifting block；Described feed screw nut's limit
Position block includes feed screw nut limited block A and feed screw nut limited block B, and feed screw nut limited block A is formed with L-shaped driving lever, L
Shape driving lever is provided with pin-and-hole in lateral attitude；Described groove shifting block is provided with vertical groove, this groove shifting block pass through vertical groove,
Pin in pin-and-hole is linked together with feed screw nut limited block A；Described groove shifting block also with displacement transducer and its attached
Linear movement guide mechanism connects；The tail end of catching robot clamping plate to rotational support block the distance between rotation center of circle O L1
Equal to rotation center of circle O to the distance between pin-and-hole center L2 or proportional relation.
Further technical scheme of the present utility model is：Described displacement transducer and its attached linear movement guide mechanism
In displacement transducer adopt striated pattern rule displacement sensor, this striated pattern rule displacement sensor include grating scale body and
Linear movement guide mechanism in optical reading head, displacement transducer and its attached linear movement guide mechanism includes line slideway
And guide runner, described grating scale body, line slideway be installed in parallel on casing assembly, and guide runner is arranged on straight line and leads
On rail, one end of this guide runner is connected with optical reading head by connection sheet, and the other end of guide runner is with groove shifting block even
Connect.
Another technical scheme of the present utility model is：A kind of book ATM, captures car, vehicle frame, control including bookshelf, books
System processed, bookshelf is provided with book lattice, and books crawl car is provided with books catching robot, and the width of described book lattice presses difference
Books thickness is in uneven setting；Described books catching robot is the books with thickness measuring function described in claim 1 or 2
Catching robot, the outfan of displacement transducer is connected with the input control end of control system.
Further technical scheme of the present utility model is：The width specifications of described book lattice include 0～10mm, 11～
20mm, 21～30mm, 31～40mm, 41～50mm.
Due to adopting said structure, the book ATM of this utility model and its books catching robot with thickness measuring function
Compared with prior art, have the advantages that：
1. rationally fully utilize the books in stock space of book ATM bookshelf
Width due to the book lattice on book ATM bookshelf of the present utility model is in uneven setting by different books thickness
Put, and by using the books catching robot with thickness measuring function, can while capturing books, this books of accurate measurement
Thickness, then books are automatically sent on bookshelf accordingly according to the THICKNESS CONTROL books catching robot of this books by control device
The book case of width is put.Therefore, thicker books can be left in the larger book lattice of width by this utility model, by relatively thin figure
Book leaves in width less book lattice, is rationally sufficiently used the books in stock space of book ATM bookshelf, substantially increases figure
The valuable visible books in stock amount of book ATM.
2. realize accurate measurement books thickness
Because books catching robot of the present utility model is using the books catching robot with thickness measuring function, this books is grabbed
Mechanical hand is taken to include measuring thickness device for measuring books thickness, this measuring thickness device includes displacement transducer and its attached straight line
Movement guide mechanism, groove shifting block；And L-shaped driving lever is formed with feed screw nut limited block A, L-shaped driving lever is in horizontal position
Install pin-and-hole；Groove shifting block is provided with vertical groove, and this groove shifting block is by the pin in vertical groove, pin-and-hole and silk
Stem nut limited block A links together；And groove shifting block is also by the optics of guide runner and connection sheet and displacement transducer
Read head connects.Therefore, the Bidirectional-screw in books catching robot drive feed screw nut, feed screw nut's limited block inwardly or to
While outer motion, the optical read that groove shifting block drives displacement transducer is stirred by the L-shaped driving lever on feed screw nut limited block A
Several along line slideway move back and forth, and due to catching robot clamping plate tail end to rotational support block the rotation center of circle it
Between apart from L1 with to rotate the center of circle equal or become certain proportionate relationship to the distance between pin-and-hole center L2, this design can make
Stroke that displacement transducer detects and monolateral catching robot clamping plate open or to clamp stroke equal or become certain ratio
Relation, thus realize accurate measurement books thickness.
3. reliability rational in infrastructure
Due to books catching robot two pieces of catching robot clamping plate tail ends open or clamping movement around O point is in
Arcuate movement, therefore, feed screw nut limited block A is designed with L-shaped deflector rod structure by this utility model, with two pieces of gripper
The opening or clamping movement of tool hand splint, the L-shaped driving lever being connected on feed screw nut limited block A is also that the arc being in is transported around O point
Dynamic；And L-shaped driving lever is provided with pin-and-hole in lateral attitude；And it is provided with vertical groove on groove shifting block, so that this groove shifting block is passed through
Pin in vertical groove, pin-and-hole and feed screw nut limited block A link together；This structure can be by the arc of L-shaped driving lever
Shape conversion of motion is the linear reciprocating motion of groove shifting block, thus driving the optical reading head of displacement transducer along line slideway
Move back and forth, reach the purpose of accurate measurement books thickness.Therefore, reliability rational in infrastructure of the present utility model.
4. low cost is it is easy to promote the use of
Measuring thickness device structure of the present utility model is simple, and the displacement transducer employing surveying book apparatus is also simple reality
With the striated pattern rule displacement sensor of, technology maturation, low cost, dependable performance, it is easy to be connected with TT＆C system.
Further, since this utility model rationally can fully utilize the visible books in stock space of book ATM bookshelf, need not increase
Plus the overall dimensions of bookshelf can meet the demand of the more visible books of Readers ' Borrowing Books, not only greatly reduce cost, also save
Occupied ground is it is easy to promote the use of.
Below, the book ATM to this utility model and its crawl of the books with thickness measuring function in conjunction with the accompanying drawings and embodiments
The technical characteristic of mechanical hand is further described.
Brief description
Fig. 1：The front view of the books catching robot with thickness measuring function of this utility model described in embodiment one（Gripper
Tool hand splint clamped condition）,
Fig. 2：The left view of Fig. 1,
Fig. 3：The right view of Fig. 1,
Fig. 4：The top view of Fig. 1,
Fig. 5：The books catching robot with thickness measuring function of this utility model described in embodiment one presss from both sides in catching robot
Schematic diagram when plate opens,
Fig. 6：The book ATM bookshelf of this utility model described in embodiment two is submitted a written statement to a higher authority the structural representation of lattice.
In above-mentioned accompanying drawing, each piece mark is described as follows：
1- casing assembly,
2- motor,
3- screw mandrel cleat assembly,
31- catching robot clamping plate, 32- rotational support block, 33- feed screw nut, 34- Bidirectional-screw,
35- feed screw nut's limited block, 351- feed screw nut limited block A, 3511-L shape driving lever, 35111- pin-and-hole,
352- feed screw nut limited block B,
36- measuring thickness device, 361- displacement transducer and its attached linear movement guide mechanism,
3611- line slideway, 3612- guide runner,
3613- optical reading head, 3614- grating scale body, 3615- connection sheet,
362- groove shifting block, the vertical groove of 3621-,
4- transmission component,
5- bookshelf, 51- book lattice.
Specific embodiment
Embodiment one
A kind of books catching robot with thickness measuring function（Referring to Fig. 1-Fig. 5）, including casing assembly 1, motor 2, screw mandrel
Cleat assembly 3, transmission component 4, described screw mandrel cleat assembly 3 include two pieces of catching robot clamping plate 31, rotational support block 32,
Spring, feed screw nut 33, Bidirectional-screw 34, feed screw nut's limited block 35, the measuring thickness device 36 for measuring books thickness, its
In：
Described feed screw nut's limited block 35 includes feed screw nut limited block A351 and feed screw nut limited block B352, screw mandrel
L-shaped driving lever 3511 is formed with nut limited block A351, L-shaped driving lever 3511 is provided with pin-and-hole 35111 in lateral attitude；Described
Measuring thickness device 36 include displacement transducer and its attached linear movement guide mechanism 361 and groove shifting block 362, groove shifting block
362 are provided with vertical groove 3621, and this groove shifting block 362 is by the pin in vertical groove 3621, pin-and-hole 35111 and screw mandrel spiral shell
Female limited block A 351 links together；Described groove shifting block 362 is also by guide runner 3621 and connection sheet 3615 and displacement
Sensor connects.And the tail end of catching robot clamping plate 31 to rotational support block 32 the distance between rotation center of circle O L1 with
Rotate the proportionate relationship that center of circle O to the distance between pin-and-hole 35111 center L2 is equal or one-tenth is certain, this setting can make displacement sensing
The stroke that device detects and monolateral catching robot clamping plate open or to clamp stroke equal or become certain proportionate relationship.
Displacement transducer in described displacement transducer and its attached linear movement guide mechanism 361 adopts striated pattern
Rule displacement sensor, this striated pattern rule displacement sensor includes grating scale body 3614 and optical reading head 3613, and displacement passes
Linear movement guide mechanism in sensor and its attached linear movement guide mechanism 361 includes line slideway 3611 and guide runner
3612, described grating scale body 3614, line slideway 3611 are installed in parallel on casing assembly 1, and guide runner 3612 is installed
On line slideway 3611, one end of this guide runner 3612 is connected with optical reading head 3613 by connection sheet 3615, guiding
The other end of slide block 3612 is connected with groove shifting block 362.
Books catching robot with thickness measuring function described in the present embodiment one is to be in the Authorization Notice No. of the applicant
CN103522299B's《Books catching robot device in a kind of book ATM》On the basis of the improvement made, therefore, above-mentioned outer
Shell component, motor, transmission component, and the catching robot clamping plate of screw mandrel cleat assembly, rotational support block, feed screw nut, bullet
Spring, Bidirectional-screw detailed disclosure in that patent, is already belonging to prior art, no longer its structure is described in detail one by one here.
As one kind conversion of the present embodiment one, described displacement transducer is except using striated pattern rule displacement sensor
Outward, can also be using other as displacement transducers such as digital laser displacement sensor, resistor type displacement sensors.
Described in the present embodiment one, the operation principle of the books catching robot with thickness measuring function is as follows：
Due to books catching robot two pieces of catching robot clamping plate tail ends open or clamping movement around O point is in
Arcuate movement, therefore, feed screw nut limited block A is designed with L-shaped deflector rod structure by this utility model, with two pieces of gripper
The opening or clamping movement of tool hand splint, the L-shaped driving lever being connected on feed screw nut limited block A is also that the arc being in is transported around O point
Dynamic；And L-shaped driving lever is provided with pin-and-hole in lateral attitude；And it is provided with vertical groove on groove shifting block, so that this groove shifting block is passed through
Pin in vertical groove, pin-and-hole and feed screw nut limited block A link together；This structure can be by the arc of L-shaped driving lever
Shape conversion of motion is the linear reciprocating motion of groove shifting block, thus driving the optical reading head of displacement transducer along line slideway
Move back and forth.Further, since the tail end of catching robot clamping plate to rotational support block the distance between rotation center of circle L1 with turn
To the proportionate relationship that the distance between pin-and-hole center L2 is equal or one-tenth is certain, this design can make displacement transducer detect in the dynamic center of circle
To stroke and monolateral catching robot clamping plate open or to clamp stroke equal or become certain proportionate relationship, thus realizing essence
The really thickness of books clamped by measurement.
Embodiment two
A kind of book ATM, captures car, vehicle frame, control system including bookshelf 5, books, bookshelf 5 is provided with book lattice 51, figure
Books catching robot is provided with book crawl car, it is in uneven setting that the width of described book lattice 51 presses different books thickness
（Referring to Fig. 6）；The width of this book lattice presses 0～10mm, 11～20mm, 21～30mm, the setting of 31～40mm specification respectively.Described
Books catching robot is the books catching robot with thickness measuring function described in embodiment one, the position of this books catching robot
The outfan of displacement sensor is connected with the input control end of control system.
Above-mentioned books crawl car, vehicle frame, control system are prior art, no longer its structure are explained in detail here
State.
Pressing different books thickness due to the book lattice width on book ATM bookshelf of the present utility model is in uneven setting,
And pass through using the books catching robot with thickness measuring function, can be while capturing books, the thickness of this books of accurate measurement
Degree, and the thickness data of this books is transmitted to control device, control device is through judging, analysis, controls books gripper tool
The book case that books are automatically sent to respective width on bookshelf is put by handss.Therefore, thicker books can be left in by this utility model
In the larger book lattice of width, relatively thin books are left in width less book lattice, is rationally sufficiently used book ATM
The books in stock space of bookshelf, substantially increases the visible books in stock amount of book ATM.
As one kind conversion of the present embodiment two, the width specifications of book lattice can arrange according to actual needs, can be 0～
10mm, 11～20mm, 21～30mm, 31～40mm, 41～50 mm, 51～60 mm, or other specification.
Claims (4)
1. a kind of books catching robot with thickness measuring function, including casing assembly（1）, motor（2）, screw mandrel cleat assembly（3）、
Transmission component（4）, described screw mandrel cleat assembly（3）Including two pieces of catching robot clamping plate（31）, rotational support block（32）, bullet
Spring, feed screw nut（33）, Bidirectional-screw（34）, feed screw nut's limited block（35）；It is characterized in that：Also include for measurement figure
The measuring thickness device of book thickness（36）, this measuring thickness device includes displacement transducer and its attached linear movement guide mechanism（361）, recessed
Groove shifting block（362）；Described feed screw nut's limited block（35）Including feed screw nut limited block A（351）With feed screw nut's limited block
B （352）, feed screw nut limited block A（ 351）On be formed with L-shaped driving lever（3511）, L-shaped driving lever（3511）In horizontal position
Install pin-and-hole（35111）；Described groove shifting block（362）It is provided with vertical groove（3621）, this groove shifting block（362）Pass through
Vertical groove（3621）, pin-and-hole（35111）Interior pin and feed screw nut limited block A（351）Link together；Described is recessed
Groove shifting block（362）Also with displacement transducer and its attached linear movement guide mechanism（361）Connect；Catching robot clamping plate（31）
Tail end to rotational support block（32）The distance between rotation center of circle O L1 with rotate center of circle O to pin-and-hole（35111）Between center
Apart from L2 is equal or proportional relation.
2. the books catching robot with thickness measuring function according to claim 1 it is characterised in that：Described displacement sensing
Device and its attached linear movement guide mechanism（361）In displacement transducer adopt striated pattern rule displacement sensor, this is linear
Grating rule displacement sensor includes grating scale body（3614）And optical reading head（3613）, displacement transducer and its attached straight line
Movement guide mechanism（361）In linear movement guide mechanism include line slideway（3611）And guide runner（3612）, described
Grating scale body（3614）, line slideway（3611）It is installed in parallel in casing assembly（1）On, guide runner（3612）It is arranged on
Line slideway（3611）On, this guide runner（3612）One end pass through connection sheet（3615）With optical reading head（3613）Even
Connect, guide runner（3612）The other end and groove shifting block（362）Connect.
3. a kind of book ATM, including bookshelf（5）, books crawl car, vehicle frame, control system, bookshelf（5）It is provided with book lattice
（51）, books crawl car on books catching robot is installed it is characterised in that：Described book lattice（51）Width press different figures
Book thickness is in uneven setting；Described books catching robot is that the books with thickness measuring function described in claim 1 or 2 are grabbed
Take mechanical hand, the outfan of displacement transducer is connected with the input control end of control system.
4. book ATM according to claim 3 it is characterised in that：Described book lattice（51）Width specifications include 0～
10mm, 11～20mm, 21～30mm, 31～40mm, 41～50mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620831406.9U CN205928691U (en) | 2016-07-29 | 2016-07-29 | Books ATM and books of taking thickness measuring function snatch manipulator thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620831406.9U CN205928691U (en) | 2016-07-29 | 2016-07-29 | Books ATM and books of taking thickness measuring function snatch manipulator thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205928691U true CN205928691U (en) | 2017-02-08 |
Family
ID=57924309
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620831406.9U Withdrawn - After Issue CN205928691U (en) | 2016-07-29 | 2016-07-29 | Books ATM and books of taking thickness measuring function snatch manipulator thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205928691U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142115A (en) * | 2016-07-29 | 2016-11-23 | 向风帆 | The books catching robot of book ATM and band thickness measuring function thereof |
| CN107443352A (en) * | 2017-08-16 | 2017-12-08 | 广西恒帆智能科技有限公司 | Books catching robot secondary accurate positioning system and method based on double grating |
-
2016
- 2016-07-29 CN CN201620831406.9U patent/CN205928691U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142115A (en) * | 2016-07-29 | 2016-11-23 | 向风帆 | The books catching robot of book ATM and band thickness measuring function thereof |
| CN106142115B (en) * | 2016-07-29 | 2018-07-31 | 广西科技大学 | Book ATM and its books catching robot with thickness measuring function |
| CN107443352A (en) * | 2017-08-16 | 2017-12-08 | 广西恒帆智能科技有限公司 | Books catching robot secondary accurate positioning system and method based on double grating |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170208 Effective date of abandoning: 20180731 |
|
| AV01 | Patent right actively abandoned |