Mechanical structure for automatic book lending and returning in a library

Abstract

This utility model provides a mechanical structure for automatic book borrowing and returning in a library, including an upper finger component, a lower finger component, and a base plate. The base plate is an L-shaped plate, with the end of its vertical section flush with and close to the outer edge of the bookshelf. An upper finger component for gripping books is provided on the inner surface of the horizontal section of the L-shaped plate near the end of the horizontal section. A lower finger component for spreading the books on both sides is provided on the inner surface of the horizontal section away from the end of the horizontal section. This structure improves the efficiency of automatic book borrowing and returning and reduces the likelihood of books getting stuck.

Description

Technical Field

[0001] This utility model belongs to the field of book lending and returning, and specifically relates to a mechanical structure for automatic book lending and returning in a library. Background Technology

[0002] Contemporary traditional libraries have diverse collections and abundant resources, including various books, newspapers, periodicals, yearbooks, etc. Although each independent reading room has different classification guides or convenient facilities for finding the location of specific books, there are still problems such as complicated reading processes for readers, difficulty in finding the corresponding bookshelves, and inconvenience in reaching books on higher shelves.

[0003] While current library robots on the market can replace some of the repetitive and tedious daily tasks of librarians and can perform simple book grabbing and returning, they suffer from instability. They are prone to jamming books, being unable to insert or remove books from piles, and may even damage books, causing irreparable losses. Robots that can efficiently complete the book borrowing and returning process are very rare on the market, and the robotic arm on the robot is a crucial device for completing this task. The advantages of this robotic arm device lie in its consideration of the potential damage to library collections caused by directly grasping books. It employs a "support-pull-grab" approach for book retrieval and a "support-push" approach for book return, significantly reducing damage to the books during the process, improving stability, and minimizing the time and costs incurred by library staff for repairs and assisting the robotic arm. It boasts advantages such as speed, precision, stability, and efficiency. Its disadvantage is the high requirement for the strength and durability of the materials. This robotic arm aims to address the difficulty of prying open the books on either side of a target book on a shelf during borrowing and returning, making it difficult to grasp and return the book in the middle. The designed mechanical structure has two layers of hands. The outer hand maintains the position of pushing open the books on both sides during borrowing and returning, and retracts after completing all operations. The inner hand is mainly responsible for grasping the target book to complete the borrowing and returning process. Therefore, this designed robotic arm device can easily complete the borrowing and returning of books. Summary of the Invention

[0004] The purpose of this utility model is to provide a mechanical structure for automatic book borrowing and returning in a library, which solves the problem of unstable operation of existing automatic book borrowing and returning robotic arms in libraries, which are prone to jamming books or being unable to insert or retrieve books from the stack.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] This utility model provides a mechanical structure for automatic book borrowing and returning in a library, comprising an upper finger component, a lower finger component, and a base plate, wherein:

[0007] The base plate is an L-shaped plate, and the end of the vertical section of the L-shaped plate is flush with and close to the outer edge of the bookshelf;

[0008] The horizontal section of the L-shaped plate is equipped with a finger for aligning with the upper edge of the spine and flicking the target book backward, which, together with the upper finger, removes the target book.

[0009] The inner surface of the horizontal section of the L-shaped plate is provided with upper finger parts for gripping books near the end of the horizontal section.

[0010] The inner surface of the horizontal section, away from the end of the horizontal section, is provided with a secondary finger for opening the books on both sides.

[0011] Preferably, the upper finger component includes a first servo motor, a second servo motor, a telescopic component, a base, an incomplete gear, a connecting arm, an upper finger, and a second connecting rod, wherein:

[0012] The first servo motor is mounted on the outer wall of the horizontal section of the L-shaped plate. The output end of the first servo motor passes through the L-shaped plate and is fixedly connected to the telescopic component. The free end of the telescopic component is fixedly connected to a base.

[0013] Two second servo motors are installed on the lower surface of the base. The output shaft of each second servo motor passes through the base plate and is fixedly connected to the rotating shaft arranged on the upper surface of the base. There are four protruding cylindrical limiters on the upper surface to limit the angle of rotation of the incomplete gear.

[0014] Each shaft is fitted with an incomplete gear, and two incomplete gears mesh together.

[0015] A connecting arm is fixedly connected to the free end of the rotating shaft, and the rotating shaft and the connecting arm form an L-shaped structure.

[0016] Each of the connecting arms has an upper finger hinged to its free end;

[0017] Two second connecting rods are also rotatably mounted on the base. The free ends of the two second connecting rods are respectively hinged to two upper fingers and close to the connecting arm.

[0018] Preferably, the free end of each of the upper fingers is a hook structure, and the hook structures of two upper fingers are arranged opposite each other to form a clamp.

[0019] Preferably, the lower finger component includes a slide groove, a rocker arm, a fixed base, a sleeve-shaped slider, a first connecting rod, and a lower finger, wherein:

[0020] A groove is provided on the inner surface of the base plate, and two swing rods are slidably connected in the groove. A lower finger is fixedly installed at the free end of each swing rod.

[0021] A fixed base is fixedly installed on the inner surface of the base plate near the vertical section of the L-shaped plate. Two third servo motors are installed on the lower surface of the fixed base. The output of each third servo motor passes through the fixed base and is connected to the first connecting rod placed on the upper surface of the fixed base.

[0022] A sleeve-shaped slider is fixedly connected to the free end of each of the first links, and two sleeve-shaped sliders are slidably mounted on each swing arm.

[0023] Preferably, limiters are installed at both ends of each lever.

[0024] Preferably, the shift finger is installed at the middle position of the end of the horizontal section of the base plate.

[0025] Preferably, the shift finger includes a first rotating arm, a second rotating arm, and a third rotating arm, wherein one end of the first rotating arm is hinged to the horizontal end of the L-shaped plate, the free end of the first rotating arm is hinged to one end of the second rotating arm, the free end of the second rotating arm is fixedly connected to the third rotating arm, and the free end of the third rotating arm has a hook structure.

[0026] The connection between the first and second rotating arms forms a bent structure facing the vertical section of the L-shaped plate;

[0027] The hook structure of the third rotating arm faces the vertical section of the L-shaped plate.

[0028] Preferably, the first rotating arm has a first shaft hole at one end connected to the L-shaped plate, and a fourth servo motor is installed at that end, with the output shaft of the fourth servo motor fixedly installed in the first shaft hole;

[0029] The second rotating arm is hinged to the first rotating arm at one end, and a second shaft hole is provided at that end, and a fifth servo motor is installed thereon. The output shaft of the fifth servo motor is fixedly installed in the second shaft hole.

[0030] The third rotating arm is hinged to the second rotating arm at one end, which has a third shaft hole, and a sixth servo motor is installed at that end. The output shaft of the sixth servo motor is fixedly installed in the third shaft hole.

[0031] Preferably, the upper finger component includes a first servo motor, a second servo motor, a telescopic component, a base, an incomplete gear, a connecting arm, an upper finger, and a second connecting rod, wherein:

[0032] The first servo motor is mounted on the outer wall of the horizontal section of the L-shaped plate. The output end of the first servo motor passes through the L-shaped plate and is fixedly connected to the telescopic component. The free end of the telescopic component is fixedly connected to a base.

[0033] Two second servo motors are installed on the lower surface of the base. The output shaft of each second servo motor passes through the base plate and is fixedly connected to the rotating shaft arranged on the upper surface of the base. There are four protruding cylindrical limiters on the upper surface to limit the angle of rotation of the incomplete gear.

[0034] Each shaft is fitted with an incomplete gear, and two incomplete gears mesh together.

[0035] A connecting arm is fixedly connected to the free end of the rotating shaft, and the rotating shaft and the connecting arm form an L-shaped structure.

[0036] Each of the connecting arms has an upper finger hinged to its free end;

[0037] Two second connecting rods are also rotatably mounted on the base. The free ends of the two second connecting rods are respectively hinged to two upper fingers and close to the connecting arm.

[0038] The lower finger component includes a slide groove, a rocker arm, a fixed base, a sleeve-shaped slider, a first connecting rod, and a lower finger, wherein:

[0039] A groove is provided on the inner surface of the base plate, and two swing rods are slidably connected in the groove. A lower finger is fixedly installed at the free end of each swing rod.

[0040] A fixed base is fixedly installed on the inner surface of the base plate near the vertical section of the L-shaped plate. Two third servo motors are installed on the lower surface of the fixed base. The output of each third servo motor passes through the fixed base and is connected to the first connecting rod placed on the upper surface of the fixed base.

[0041] A sleeve-shaped slider is fixedly connected to the free end of each of the first links, and two sleeve-shaped sliders are slidably mounted on each swing arm respectively;

[0042] A mounting groove is provided on one side wall of the horizontal section of the base plate, and a shift finger is installed in the mounting groove; the shift finger is installed at the middle position of the end of the horizontal section of the base plate.

[0043] Preferably, the outer side of the horizontal section of the base plate is connected to the robot arm via a connector.

[0044] Compared with the prior art, the beneficial effects of this utility model are:

[0045] This utility model provides a mechanical structure for automatic book borrowing and returning in a library. When borrowing or returning books, the lower finger component first pushes the books on both sides of the target book apart, and then the upper finger component grabs or returns the target book. This structure improves the efficiency of automatic book borrowing and returning and is less likely to cause unexpected book jams. Attached Figure Description

[0046] Figure 1 This is a three-dimensional schematic diagram of the structure;

[0047] Figure 2 This is a structural diagram of the upper finger component;

[0048] Figure 3 This is a structural diagram of the lower-level finger component. Detailed Implementation

[0049] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0050] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0051] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0052] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0053] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0055] Example 1

[0056] like Figure 1 As shown in the figure, this embodiment provides a mechanical structure for automatic book borrowing and returning in a library, including a dial 1, an upper finger component, a lower finger component, and a base plate 10, wherein:

[0057] The base plate 10 is an L-shaped plate, and the end of the vertical section of the L-shaped plate is flush with and close to the outer edge of the bookshelf.

[0058] The horizontal section of the L-shaped plate is equipped with a lever 1 for aligning with the upper edge of the spine and flicking the target book backward, which, in conjunction with the upper finger, removes the target book.

[0059] The inner surface of this horizontal section is equipped with upper finger components for gripping books, located near the finger.

[0060] The inner surface of this horizontal section is provided with a lower layer of fingers for opening the books on both sides, away from the finger.

[0061] Example 2

[0062] Based on Embodiment 1, this embodiment provides a mechanical structure for automatic book borrowing and returning in a library. The dial 1 includes a first rotating arm, a second rotating arm, and a third rotating arm. One end of the first rotating arm is hinged to the horizontal end of the L-shaped plate. The free end of the first rotating arm is hinged to one end of the second rotating arm. The free end of the second rotating arm is hinged to the third rotating arm. The free end of the third rotating arm has a hook structure.

[0063] The connection between the first and second rotating arms forms a bent structure facing the vertical section of the L-shaped plate.

[0064] The hook structure of the third rotating arm faces the vertical section of the L-shaped plate.

[0065] The first rotating arm has a first shaft hole at one end connected to the L-shaped plate, and a fourth servo motor is installed at that end. The output shaft of the fourth servo motor is fixedly installed in the first shaft hole.

[0066] The first rotating arm is driven to rotate by the fourth servo motor, thereby raising and lowering the first rotating arm.

[0067] The second rotating arm has a second shaft hole at one end that is hinged to the first rotating arm, and a fifth servo motor is installed at that end. The output shaft of the fifth servo motor is fixedly installed in the second shaft hole.

[0068] The second rotating arm is rotated by the fifth servo motor, thereby raising and lowering the second rotating arm.

[0069] The third rotating arm is hinged to the second rotating arm at one end, which has a third shaft hole, and a sixth servo motor is installed at that end. The output shaft of the sixth servo motor is fixedly installed in the third shaft hole.

[0070] The third rotating arm is rotated by the sixth servo motor, thereby raising and lowering the third rotating arm.

[0071] The shift finger 1 is positioned at the middle of the horizontal section end of the base plate 10.

[0072] During operation, the fourth servo motor drives the first rotating arm to rotate, and the rotation of the first rotating arm causes the second rotating arm to rise or fall. The fifth servo motor drives the second rotating arm to rotate, further realizing the swing of the lever 1. When borrowing a book, the tip of the lever 1 is aligned with the spine to tilt the book at a certain angle for easy gripping.

[0073] Example 3

[0074] like Figure 2 As shown, based on Embodiment 1, this embodiment provides a mechanical structure for automatic book borrowing and returning in a library. The upper-level finger component includes a first servo motor, a second servo motor, a telescopic component 7, a base 6, an incomplete gear 5, a connecting arm 3, an upper-level finger 2, and a second connecting rod 18, wherein:

[0075] The first servo motor is installed on the outer wall of the horizontal section of the L-shaped plate. The output end of the first servo motor passes through the L-shaped plate and is fixedly connected to the telescopic member 7 located on the inner side of the horizontal section of the L-shaped plate. The free end of the telescopic member 7 is fixedly connected to the base 6.

[0076] Two second servo motors are mounted on the lower surface of the base 6, and the output shaft of each second servo motor passes through the base 6 and is fixedly connected to the rotating shaft 4 arranged on the upper surface of the base 6.

[0077] Each shaft 4 is fitted with an incomplete gear 5, and two incomplete gears 5 are meshed together.

[0078] The free end of the rotating shaft 4 is fixedly connected to the connecting arm 3, and the rotating shaft 4 and the connecting arm 3 form an L-shaped structure.

[0079] Each of the connecting arms 3 has an upper finger 2 hinged to its free end.

[0080] The free end of each of the upper fingers 2 is a hook structure, and the hook structures of two upper fingers 2 are arranged opposite each other to form a clamp.

[0081] Two second connecting rods 18 are also rotatably mounted on the base 6. The free ends of the two second connecting rods 18 are respectively hinged to the two upper fingers 2 and are close to the connecting arm 3.

[0082] Example 4

[0083] like Figure 3 As shown, based on Embodiment 1, this embodiment provides a mechanical structure for automatic book borrowing and returning in a library. The lower finger component includes a slide groove 9, a swing rod 11, a fixed base 12, a sleeve-shaped slider 13, a limiter 14, a first connecting rod 15, and a lower finger 16, wherein:

[0084] A groove 9 is provided on the inner surface of the base plate 10. Two swing rods 11 are slidably connected in the groove 9, and a lower finger 16 is fixedly installed at the free end of each swing rod 11.

[0085] A fixed base 12 is fixedly installed on the inner surface of the base plate 10 near the vertical section of the L-shaped plate. Two third servo motors are installed on the lower surface of the fixed base 12. The output shaft of each third servo motor passes through the fixed base 12 and is connected to the first connecting rod 15 placed on the upper surface of the fixed base 12.

[0086] Each of the first connecting rods 15 has a sleeve-shaped slider 13 fixedly connected to its free end, and the two sleeve-shaped sliders 13 are slidably mounted on each swing rod 11.

[0087] Limiters 14 are installed at both ends of each swing arm 11, and the limiters 14 are connected to a controller.

[0088] The output of the controller 8 is connected to a servo motor.

[0089] The working ends of the upper finger 2 and the lower finger 3 are fitted with anti-slip material 17.

[0090] The working process of this application:

[0091] This application provides a mechanical structure for automated book borrowing and returning in a library. This mechanical structure is installed on the robotic arm of a library smart robot car via a connector. The robotic arm of the library smart robot car can grab books from the bookshelf and move them to a specific location or return them to their original position on the bookshelf. Potential applications can be extended to fully automating the entire process of unmanned book borrowing and returning in the library by combining with a mechanical car, and with slight modifications to its structure, it can be used to perform specific tasks in other office settings, such as grabbing files or other specific items from specific locations in an office.

[0092] This mechanical structure boasts high efficiency in grabbing and returning books, minimizing the risk of accidental book jams. While automated book-borrowing and returning mechanisms are not yet widely adopted in libraries nationwide, this design could advance the development and production of fully automated robotic vehicles or other mechanical devices.

[0093] The two implementation processes are described in detail below:

[0094] The first method: borrowing books

[0095] When borrowing a book, the robotic arm needs to be aligned with the horizontal position of the corresponding book. In terms of vertical position, the upper edge of the base plate of the mechanical device must be aligned with and close to the outer edge of the bookshelf. This process is used to ensure that the book can be smoothly taken out when it is grabbed, and will not fall because the friction provided by the gripping force cannot offset the weight of the book, especially the thicker and heavier books. This avoids endangering the safety of the book and the reader below, and greatly improves the success rate of the work.

[0096] The two lower fingers (16) are inserted into the book seams at the target location on the bookshelf;

[0097] Next, the lower finger 16 is used to open the books on both sides of the target book on the bookshelf to facilitate the removal of the book. Specifically, two third servo motors rotate in opposite directions, that is, one servo motor rotates clockwise and the other servo motor rotates counterclockwise. The rotation of the servo motor drives the first connecting rod 15 to rotate. The first connecting rod 15 drives the sleeve-shaped slider 13 from the side of the swing rod 11 near the slide groove to the side near the lower finger 13. At this time, the first connecting rod 15 rotates from the position closed with the swing rod 11 to the position perpendicular to the swing rod 11, and the swing rod 11 opens outward.

[0098] When the lower finger 11 is spread out, the prying finger 11 pushes the target book outward along the spine of the target book, and the upper finger immediately begins to grasp it.

[0099] When the upper finger grasps, the two second servo motors drive the two incomplete gears 5 to rotate in opposite directions. At this time, the two connecting arms 3 and the two second connecting rods 18 merge, thereby driving the front ends of the two upper fingers 2 to open.

[0100] Next, the first servo motor drives the telescopic rod 7 to extend to a suitable position towards one side of the bookshelf, and then the front part of the fingers closes to clamp the book. That is, one of the second servo motors drives the corresponding incomplete gear to rotate counterclockwise, and the other second servo motor drives the corresponding incomplete gear to rotate clockwise in the opposite direction. At this time, the connecting arm 3 directly connected to the two incomplete gears 5 will open outward, and the rear ends of the two upper fingers 2 will also move outward. The second connecting rod 18 will pull the middle part of the upper fingers, so the upper fingers close to clamp the book. Conversely, the front end of the upper fingers will open outward due to the rigidity of the second connecting rod, releasing the book or preparing to grab it.

[0101] The arrangement of two incomplete gears 5 can limit the opening and closing angle of the upper fingers.

[0102] The second option: Returning the book

[0103] The robotic arm needs to be aligned as when borrowing a book. When the alignment is tight, the lower fingers should be pressed to the maximum. The lever 11 on the slide rail should be moved to the corresponding position to insert the fingers. Repeat the above operation, with the lever opening outward, the lower fingers gripping the book and pushing it in before withdrawing. The upper fingers should withdraw last.

[0104] This application also includes multiple angle sensors, which are used to acquire the rotation angle of the incomplete gear, the rotation angle of the first rotating arm, the rotation angle of the second rotating arm, and the rotation angle of the third rotating arm, respectively.

[0105] The output terminals of multiple angle sensors are connected to controller 8.

[0106] The controller 8 is used to compare the received angle with a preset threshold and control the movement of the servo motor based on the comparison result.

[0107] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A mechanical structure for automatic book borrowing and returning in a library, characterized in that, It includes an upper finger component, a lower finger component, and a base plate, wherein: The base plate is an L-shaped plate, and the end of the vertical section of the L-shaped plate is flush with and close to the outer edge of the bookshelf; The horizontal section of the L-shaped plate is equipped with a finger for aligning with the upper edge of the spine and flicking the target book backward, which, together with the upper finger, removes the target book. The inner surface of the horizontal section of the L-shaped plate is provided with upper finger parts for gripping books near the end of the horizontal section. The inner surface of the horizontal section, away from the end of the horizontal section, is provided with a secondary finger component for opening the books on both sides; the upper finger component includes a first servo motor, a second servo motor, a telescopic component, a base, an incomplete gear, a connecting arm, an upper finger, and a second connecting rod, wherein: The first servo motor is mounted on the outer wall of the horizontal section of the L-shaped plate. The output end of the first servo motor passes through the L-shaped plate and is fixedly connected to the telescopic component. The free end of the telescopic component is fixedly connected to a base. Two second servo motors are installed on the lower surface of the base. The output shaft of each second servo motor passes through the base plate and is fixedly connected to the rotating shaft arranged on the upper surface of the base. There are four protruding cylindrical limiters on the upper surface to limit the angle of rotation of the incomplete gear. Each shaft is fitted with an incomplete gear, and two incomplete gears mesh together. A connecting arm is fixedly connected to the free end of the rotating shaft, and the rotating shaft and the connecting arm form an L-shaped structure. Each of the connecting arms has an upper finger hinged to its free end; Two second connecting rods are also rotatably mounted on the base. The free ends of the two second connecting rods are respectively hinged to two upper fingers and close to the connecting arm. The lower finger component includes a slide groove, a rocker arm, a fixed base, a sleeve-shaped slider, a first connecting rod, and a lower finger, wherein: A groove is provided on the inner surface of the base plate, and two swing rods are slidably connected in the groove. A lower finger is fixedly installed at the free end of each swing rod. A fixed base is fixedly installed on the inner surface of the base plate near the vertical section of the L-shaped plate. Two third servo motors are installed on the lower surface of the fixed base. The output of each third servo motor passes through the fixed base and is connected to the first connecting rod placed on the upper surface of the fixed base. A sleeve-shaped slider is fixedly connected to the free end of each of the first links, and two sleeve-shaped sliders are slidably mounted on each swing arm respectively; The lever includes a first rotating arm, a second rotating arm, and a third rotating arm. One end of the first rotating arm is hinged to the horizontal end of the L-shaped plate. The free end of the first rotating arm is hinged to one end of the second rotating arm. The free end of the second rotating arm is fixedly connected to the third rotating arm. The free end of the third rotating arm has a hook structure. The connection between the first and second rotating arms forms a bent structure facing the vertical section of the L-shaped plate; The hook structure of the third rotating arm faces the vertical section of the L-shaped plate.

2. The mechanical structure for automatic book borrowing and returning in a library according to claim 1, characterized in that, The free end of each of the upper fingers is a hook structure, and the hook structures of two upper fingers are arranged opposite each other to form a clamp.

3. The mechanical structure for automatic book borrowing and returning in a library according to claim 1, characterized in that, Limiters are installed at both ends of each lever.

4. The mechanical structure for automatic book borrowing and returning in a library according to claim 1, characterized in that, The shift finger is installed at the middle position of the end of the horizontal section of the base plate.

5. The mechanical structure for automatic book borrowing and returning in a library according to claim 1, characterized in that, The first rotating arm has a first shaft hole at one end connected to the L-shaped plate, and a fourth servo motor is installed at that end. The output shaft of the fourth servo motor is fixedly installed in the first shaft hole. The second rotating arm is hinged to the first rotating arm at one end, and a second shaft hole is provided at that end, and a fifth servo motor is installed thereon. The output shaft of the fifth servo motor is fixedly installed in the second shaft hole. The third rotating arm is hinged to the second rotating arm at one end, which has a third shaft hole, and a sixth servo motor is installed at that end. The output shaft of the sixth servo motor is fixedly installed in the third shaft hole.

6. The mechanical structure for automatic book borrowing and returning in a library according to claim 1, characterized in that, The outer side of the horizontal section of the base plate is connected to the robot arm via a connector.

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