CN103440708B - The positioning system of books catching robot in a kind of book ATM - Google Patents
The positioning system of books catching robot in a kind of book ATM Download PDFInfo
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- CN103440708B CN103440708B CN201310360924.8A CN201310360924A CN103440708B CN 103440708 B CN103440708 B CN 103440708B CN 201310360924 A CN201310360924 A CN 201310360924A CN 103440708 B CN103440708 B CN 103440708B
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Abstract
The positioning system of books catching robot in a kind of book ATM, relate to a kind of mechanical arm positioning system, comprise bookshelf, books capture car, vehicle frame and Laser emission and receiver module, bookshelf be provided with horizontal location gratings strips and vertically locate gratings strips, vehicle frame is positioned at the side of bookshelf, vehicle frame lower end is provided with lower guideway and lower Timing Belt, upper end is provided with upper rail and upper Timing Belt, books crawl car upper and lower side rolls with upper/lower guide respectively and coordinates, books capture the upper and lower two ends of car also respectively with upper, lower Timing Belt engagement, Laser emission and receiver module, books catching robot is arranged on books and captures on car.The present invention captures the motion of car on level, vertical direction by books, Laser emission and receiver module is driven to scan level and vertical location gratings strips, car motion is in the longitudinal direction captured again by books, realize the quick position of books catching robot, there is positioning precision high, reliability is high, low cost of manufacture, is easy to operate the feature used.
Description
Technical field
The present invention relates to a kind of mechanical arm positioning system, particularly relate to the positioning system of books catching robot in a kind of book ATM.
Background technology
Along with science and technology and social development, the demand of people to information constantly expands.Book ATM, owing to having the superior functionality of 24 hour self-help services, greatly facilitates borrowing and giving back of reader, is progressively widely applied in some Modern Libraries.In ATM, the location technology accurately and fast of books catching robot is most important, and mostly adopts the method such as RFID and moving track calculation in existing location technology, and ubiquity price is higher, positioning precision and the poor shortcoming of reliability.
Summary of the invention
The technical problem to be solved in the present invention is: provide a kind of positioning system realizing books catching robot in the book ATM of quick position, to solve high, the positioning precision of above-mentioned price that prior art exists and the poor weak point of reliability.
The technical scheme that the present invention solves the problems of the technologies described above is: the positioning system of books catching robot in a kind of book ATM, comprise by bookshelf laminate, the bookshelf that bookshelf frame is formed, also include books and capture car, vehicle frame and Laser emission and receiver module, the bookshelf laminate of described bookshelf is provided with horizontal location gratings strips, bookshelf frame is provided with and vertically locates gratings strips, described vehicle frame is positioned at the side of bookshelf, this vehicle frame lower end is respectively equipped with lower guideway and lower Timing Belt, the upper end of vehicle frame is respectively equipped with upper rail and upper Timing Belt, roll with lower guideway and coordinate in described books crawl car lower end, roll with upper rail and coordinate in the upper end of books crawl car, the two ends up and down that books capture car are also engaged with upper Timing Belt and lower Timing Belt respectively, described books capture and car are separately installed with described Laser emission and receiver module and books catching robot.
Further technical scheme of the present invention is: described horizontal location gratings strips, vertically location gratings strips are alternately arranged by region I and region II and form; Described region I is not light absorbing diffuse reflection region, and this region I is coated with the diffuse-reflective material with reflective function; Described region II is total reflection region or light absorbing diffuse reflection region, and total reflection region has good optics flatness; Described light absorbing diffuse reflection region is coated with the diffuse-reflective material with photo absorption performance.
Further technical scheme of the present invention is: described books capture car and comprise upright guide rail, seesaw assembly, vertical screw mandrel, upper angle sheave, lower angle sheave, horizontal drive motor, upper synchronous pulley, lower synchronous pulley, synchronizing bar, vertical drive motor and top board and base plate, described upright guide rail, vertical screw mandrel is separately fixed between top board and base plate, the described assembly two ends that seesaw are connected on upright guide rail respectively by slide block set, and the assembly that seesaws also is connected with vertical screw mandrel by feed screw nut, described Laser emission and receiver module are fixed on this and seesaw on assembly, described books catching robot is arranged on and seesaws on assembly, described upper angle sheave is fixed on top board, and horizontal drive motor, vertically drive motor are separately fixed on base plate, and lower angle sheave is arranged on the bottom of base plate, described upper synchronous pulley is positioned on top board, on this, synchronous pulley is fixedly connected on the top of synchronizing bar, described lower synchronous pulley is positioned on base plate, this lower synchronous pulley is fixedly connected on the bottom of synchronizing bar, the output shaft of described horizontal drive motor is connected with lower synchronous pulley, this lower synchronous pulley also engages with the lower Timing Belt of vehicle frame, and described upper synchronous pulley engages with the upper Timing Belt of vehicle frame, the output shaft of described vertical drive motor is connected with vertical screw mandrel by band wheels.
Further technical scheme more of the present invention is: described upper angle sheave comprises angle sheave, bearing, rotation axis, swing span, holddown spring, fixed bar, described angle sheave is arranged on swing span, swing span is arranged on bearing by rotation axis, bearing is also equipped with described fixed bar, and described holddown spring one end connection swing span, the other end are connected and fixed bar.
Further technical scheme more of the present invention is: the described assembly that seesaws comprises guide rail, horizontal lead screw, front and back drive motor, housing, described guide rail, horizontal lead screw are separately fixed in housing, front and back drive motor is arranged on the rear end of housing, Laser emission and receiver module are arranged on the front end of housing, the output shaft of described front and back drive motor is connected with horizontal lead screw by gear set, described books catching robot is connected on guide rail by slide block set, and books catching robot is also connected with horizontal lead screw by feed screw nut.
Further technical scheme of the present invention is: described Laser emission and receiver module comprise power module, FM module, voltage regulating module, control module, laser emitting module, laser pick-off module, logic judgment module, signal amplification module, signal output module, and described power module is used for providing power supply for each module, described FM module, voltage regulating module, control module, laser emitting module connects successively, described laser pick-off module, logic judgment module, signal amplification module, signal output module connects successively, described laser emitting module is through FM module, after voltage regulating module and control module effect, launch the laser beam horizontal scan location gratings strips of certain frequency and vertically locate gratings strips, the reflected light of horizontal location gratings strips and vertical location gratings strips is converted to corresponding level signal by laser pick-off module, again through logic judgment module, exported by signal output module after the process of signal amplification module, accurately to locate.
Described laser emitting module comprises at least one LASER Discharge Tube; Described laser pick-off module comprises at least two laser pick-off pipes.
Owing to adopting said structure, in a kind of book ATM of the present invention, the positioning system of books catching robot compared with prior art, has following beneficial effect:
1. can realize the quick position of books catching robot:
Because the positioning system of books catching robot in a kind of book ATM of the present invention comprises bookshelf, books crawl car, vehicle frame and Laser emission and receiver module, wherein on bookshelf laminate, horizontal location gratings strips is installed, bookshelf frame is provided with and vertically locates gratings strips; The motion of car on level, vertical direction is captured by books, Laser emission and receiver module can be driven to scan the horizontal location gratings strips on bookshelf and vertical location gratings strips respectively, capture car motion in the longitudinal direction by books again, thus the quick position of books catching robot can be realized.
2. positioning precision is high:
Owing to the present invention includes bookshelf, books capture car, vehicle frame and Laser emission and receiver module, during work, books capture car along frame movement, books capture car and move together with receiver module and books catching robot with Laser emission, Laser emission and receiver module are to horizontal location gratings strips and vertically locate gratings strips Emission Lasers, when the laser launched is radiated at horizontal location gratings strips and vertically locates on the region I of gratings strips, light beam returns through diffuse reflection and is received by the receiver module of Laser emission and receiver module, when the laser launched is radiated at horizontal location gratings strips and vertically locate on the region II of gratings strips, light absorbed fraction diffuse reflection or total reflection time laser pick-off module each laser pick-off pipe counting is once when all not receiving the reflects laser of sufficient intensity, books capture car and move forward with receiver module and together with books catching robot with Laser emission, when Emission Lasers when is next time radiated at horizontal location gratings strips and vertically locates on the region II of gratings strips, light absorbed part diffuse reflection or total reflection time laser pick-off module each laser pick-off pipe count again once when all not receiving the reflects laser of sufficient intensity, by that analogy, books capture car and move forward, continuation counts by system, also to have arrived when counting down to number of targets target location, thus the accurate positioning function of books catching robot can be realized.Therefore, present invention employs laser total reflection and diffuse reflection principle carries out the accurate positioning control of closed loop, the positioning error of books catching robot can be made to be less than 2mm, and its positioning precision is very high.
3. reliability is high:
Owing to present invention employs laser total reflection and diffuse reflection principle carries out the accurate positioning control of closed loop, avoid the error that the location technologies such as laser ranging, moving track calculation and bar code scan produce, its reliability is higher.
4. low cost of manufacture, is easy to operation and uses:
The device that the present invention includes is all fairly simple, and without the need to the element of complexity, its manufacturing cost is lower, and method is easy, is easy to operation and uses.
Below, in conjunction with the accompanying drawings and embodiments the technical characteristic of the positioning system of books catching robot in a kind of book ATM of the present invention is further described.
Accompanying drawing explanation
Fig. 1: the structural representation of the positioning system of books catching robot in a kind of book ATM of the present invention,
Fig. 2: the structural representation of bookshelf described in embodiment one,
Fig. 3 ~ Fig. 4: books described in embodiment one capture the structural representation of car,
Fig. 3: front view, the rear view of Fig. 4: Fig. 3,
Fig. 5: the structural representation of upper angle sheave described in embodiment one,
Fig. 6: the structured flowchart of Laser emission and receiver module described in embodiment one.
In above-mentioned accompanying drawing, each label declaration is as follows:
1-bookshelf,
1.1-bookshelf laminate, 1.2-bookshelf frame, 1.3-horizontal location gratings strips, 1.3.1-region I,
1.3.2-gratings strips is vertically located in region II, 1.4-,
2-books capture car,
2.1-upright guide rail,
2.2-seesaws assembly, 2.2.1-guide rail, 2.2.2-horizontal lead screw, drive motor before and after 2.2.3-, 2.2.4-housing,
The vertical screw mandrel of 2.3-,
The upper angle sheave of 2.4-, 2.4.1-angle sheave, 2.4.2-bearing, 2.4.3-rotation axis, 2.4. 4-moving frame, 2.4.5-holddown spring, 2.4.6-fixed bar,
Angle sheave under 2.5-, 2.6-horizontal drive motor, the upper synchronous pulley of 2.7-, synchronous pulley under 2.8-,
2.9-synchronizing bar, the vertical drive motor of 2.10-, 2.11-top board, 2.12-base plate,
3-vehicle frame, 3.1-lower guideway, 3.2-upper rail, Timing Belt under 3.3-, the upper Timing Belt of 3.4-,
4-Laser emission and receiver module, 4.1-power module, 4.2-FM module, 4.3-voltage regulating module, 4.4-control module, 4.5-laser emitting module, 4.6-laser pick-off module, 4.7-logic judgment module, 4.8-signal amplification module, 4.9-signal output module,
5-books catching robot.
Embodiment
Embodiment one:
The positioning system of books catching robot in a kind of book ATM, comprise by bookshelf laminate 1.1, the bookshelf 1 that bookshelf frame 1.2 is formed, also include books and capture car 2, vehicle frame 3 and Laser emission and receiver module 4(are see Fig. 1), the bookshelf laminate 1.1 of described bookshelf 1 is provided with horizontal location gratings strips 1.3, bookshelf frame 1.2 is provided with and vertically locates gratings strips 1.4(see Fig. 2), described vehicle frame 3 is positioned at the side of bookshelf 1, this vehicle frame 3 lower end is respectively equipped with lower guideway 3.1 and lower Timing Belt 3.3, the upper end of vehicle frame 3 is respectively equipped with upper rail 3.2 and upper Timing Belt 3.4, roll with lower guideway 3.1 and coordinate in described books crawl car 2 lower end, roll with upper rail 3.2 and coordinate in the upper end of books crawl car 2, the two ends up and down that books capture car 2 are also engaged with upper Timing Belt 3.4 and lower Timing Belt 3.3 respectively, described books capture and car 2 are separately installed with described Laser emission and receiver module 4 and books catching robot 5.
Described horizontal location gratings strips 1.3, vertically location gratings strips 1.4 are alternately arranged by region I 1.3.1 and region II 1.3.2 and form; Described region I 1.3.1 is not light absorbing diffuse reflection region, this region I 1.3.1 is coated with the diffuse-reflective material with reflective function, this diffuse-reflective material is white low luster coating, to ensure having enough laser reflection intensity at this region I 1.3.1, make each laser pick-off pipe can receive the reflected signal of sufficient intensity; Described region II 1.3.2 is total reflection region or light absorbing diffuse reflection region, described light absorbing total reflection region has good optics flatness, have good optical total-reflection performance when laser is incident on this region II, a branch of principal reflection light beam making it produce can not make multiple laser pick-off pipes of discrete distribution have signal to export simultaneously; Described light absorbing diffuse reflection region is coated with the diffuse-reflective material with better photo absorption performance, this diffuse-reflective material is black matte coating, so that ensure when laser incidence on the area time, the intensity of laser is absorbed in a large number, and a small amount of diffuse reflection laser is not enough to make each laser pick-off Guan Jun have signal to export.
Described books capture car 2 and comprise upright guide rail 2.1, seesaw assembly 2.2, vertical screw mandrel 2.3, upper angle sheave 2.4, lower angle sheave 2.5, horizontal drive motor 2.6, upper synchronous pulley 2.7, lower synchronous pulley 2.8, synchronizing bar 2.9, vertical drive motor 2.10 and top board 2.11 and base plate 2.12(are see Fig. 3 ~ Fig. 4), described upright guide rail 2.1, vertical screw mandrel 2.3 is separately fixed between top board 2.11 and base plate 2.12, described assembly 2.2 two ends that seesaw are connected on upright guide rail 2.1 respectively by slide block set, and the assembly 2.2 that seesaws also is connected with vertical screw mandrel 2.3 by feed screw nut, described Laser emission and receiver module 4 and books catching robot 5 are separately fixed at this and seesaw on assembly 2.2, described upper angle sheave 2.4 is fixed on top board 2.11, and horizontal drive motor 2.6, vertically drive motor 2.10 are separately fixed on base plate 2.12, and lower angle sheave 2.5 is arranged on the bottom of base plate 2.12, described upper synchronous pulley 2.7 is positioned on top board 2.11, on this, synchronous pulley 2.7 is fixedly connected on the top of synchronizing bar 2.9, described lower synchronous pulley 2.8 is positioned on base plate 2.12, this lower synchronous pulley 2.8 is fixedly connected on the bottom of synchronizing bar 2.9, the output shaft of described horizontal drive motor 2.6 is connected with lower synchronous pulley 2.8, this lower synchronous pulley 2.8 also engages with the lower Timing Belt 3.3 of vehicle frame, and described upper synchronous pulley 2.7 engages with the upper Timing Belt 3.4 of vehicle frame, the output shaft of described vertical drive motor 2.10 is connected with vertical screw mandrel 2.3 by band wheels.
Described upper angle sheave 2.4 comprises angle sheave 2.4.1, bearing 2.4.2, rotation axis 2.4.3, swing span 2.4.4, holddown spring 2.4.5, fixed bar 2.4.6(see Fig. 5), described angle sheave 2.4.1 is arranged on swing span 2.4.4, swing span 2.4.4 is arranged on bearing 2.4.2 by rotation axis 2.4.3, bearing 2.4.2 is also fixed with described fixed bar 2.4.6, described holddown spring 2.4.5 one end connects swing span 2.4.4, the other end is connected and fixed bar 2.4.6, and angle sheave 2.4.1 presses down in holddown spring 2.4.5 effect and is buckled on upper rail.
The described assembly 2.2 that seesaws comprises guide rail 2.2.1, horizontal lead screw 2.2.2, front and back drive motor 2.2.3, housing 2.2.4, described guide rail 2.2.1, horizontal lead screw 2.2.2 is separately fixed in housing 2.2.4, front and back drive motor 2.2.3 is arranged on the rear end of housing 2.2.4, Laser emission and receiver module 4 are arranged on the front end of housing 2.2.4, the output shaft of described front and back drive motor 2.2.3 is connected with horizontal lead screw 2.2.2 by band wheels, described books catching robot 5 is connected on guide rail 2.2.1 by slide block set, and books catching robot 5 is also connected with horizontal lead screw 2.2.2 by feed screw nut.
Described Laser emission and receiver module 4 comprise power module 4.1, FM module 4.2, voltage regulating module 4.3, control module 4.4, laser emitting module 4.5, laser pick-off module 4.6, logic judgment module 4.7, signal amplification module 4.8, signal output module 4.9(see Fig. 6), described power module 4.1 is for providing power supply for each module, described FM module 4.2, voltage regulating module 4.3, control module 4.4, laser emitting module 4.5 connect successively, and described laser emitting module 4.5 comprises two LASER Discharge Tube, and laser pick-off module 4.6 comprises four laser pick-off pipes, described laser pick-off module 4.6, logic judgment module 4.7, signal amplification module 4.8, signal output module 4.9 connects successively, described laser emitting module 4.5 is through FM module 4.2, after voltage regulating module 4.3 and control module 4.4 act on, launch the laser beam horizontal scan location gratings strips of certain frequency and vertically locate gratings strips, the reflected light of horizontal location gratings strips and vertical location gratings strips is converted to corresponding level signal by laser pick-off module 4.6, again through logic judgment module 4.7, exported by signal output module 4.9 after signal amplification module 4.8 processes, to control motor by known control system accurately to locate books catching robot.
One as the present embodiment one converts, and the quantity of described LASER Discharge Tube or laser pick-off pipe can increase or reduce, but described laser emitting module 4.5 comprises at least one LASER Discharge Tube; Described laser pick-off module 4.6 comprises at least two laser pick-off pipes, to improve reliability.
In a kind of book ATM of the present invention, the course of work of the positioning system of books catching robot is as follows:
A. the vertical location of books catching robot:
Vertical drive motor 2.10 drives vertical screw mandrel 2.3 to rotate, vertical screw mandrel 2.3 drives the assembly 2.2 that seesaws to do moving up and down on vertical direction, and Laser emission and the receiver module 4 vertical location gratings strips 1.4 scanned on bookshelf realizes the vertical location of books catching robot;
B. the horizontal location of books catching robot:
After the assembly 2.2 that seesaws vertically is located, books capture car 2 horizontal drive motor 2.6, lower Timing Belt 3.3, on Timing Belt 3.4, synchronizing bar 2.9, on synchronous pulley 2.7 and lower synchronous pulley 2.8 driving under, Laser emission and the receiver module 4 horizontal location gratings strips 1.3 scanned on bookshelf realizes the horizontal location of books catching robot;
C. the seesawing of books catching robot:
After books catching robot 5 completes level and vertical location, then drive realization seesawing along guide rail 2.2.1 by front and back drive motor 2.2.3 and horizontal lead screw 2.2.2;
D. location is completed:
Books catching robot 5 completes level, vertically and behind the location of front and back three degree of freedom, can carry out grasping manipulation to required books.
Claims (6)
1. the positioning system of books catching robot in a book ATM, comprise by bookshelf laminate (1.1), the bookshelf (1) that bookshelf frame (1.2) is formed, it is characterized in that: also include books and capture car (2), vehicle frame (3) and Laser emission and receiver module (4), the bookshelf laminate (1.1) of described bookshelf (1) is provided with horizontal location gratings strips (1.3), bookshelf frame (1.2) is provided with and vertically locates gratings strips (1.4), described vehicle frame (3) is positioned at the side of bookshelf (1), this vehicle frame (3) lower end is respectively equipped with lower guideway (3.1) and lower Timing Belt (3.3), the upper end of vehicle frame (3) is respectively equipped with upper rail (3.2) and upper Timing Belt (3.4), roll with lower guideway (3.1) and coordinate in described books crawl car (2) lower end, roll with upper rail (3.2) and coordinate in the upper end of books crawl car (2), the two ends up and down that books capture car (2) are also engaged with upper Timing Belt (3.4) and lower Timing Belt (3.3) respectively, described books capture and car (2) are separately installed with described Laser emission and receiver module (4) and books catching robot (5),
Described horizontal location gratings strips (1.3), vertically locate gratings strips (1.4) and be alternately arranged by region I (1.3.1) and region II (1.3.2) and form; Described region I (1.3.1) is not light absorbing diffuse reflection region, and this region I (1.3.1) is coated with the diffuse-reflective material with reflective function; Described region II (1.3.2) is total reflection region or light absorbing diffuse reflection region, and total reflection region has good optics flatness; Described light absorbing diffuse reflection region is coated with the diffuse-reflective material with photo absorption performance.
2. the positioning system of books catching robot in a kind of book ATM according to claim 1, it is characterized in that: described books capture car (2) and comprise upright guide rail (2.1), seesaw assembly (2.2), vertical screw mandrel (2.3), upper angle sheave (2.4), lower angle sheave (2.5), horizontal drive motor (2.6), upper synchronous pulley (2.7), lower synchronous pulley (2.8), synchronizing bar (2.9), vertical drive motor (2.10) and top board (2.11) and base plate (2.12), described upright guide rail (2.1), vertical screw mandrel (2.3) is separately fixed between top board (2.11) and base plate (2.12), the described assembly that seesaws (2.2) two ends are connected on upright guide rail (2.1) respectively by slide block set, and the assembly that seesaws (2.2) is also connected with vertical screw mandrel (2.3) by feed screw nut, described Laser emission and receiver module (4) are fixed on this assembly that seesaws (2.2), described books catching robot (5) is arranged on the assembly that seesaws (2.2), described upper angle sheave (2.4) is fixed on top board (2.11), and horizontal drive motor (2.6), vertically drive motor (2.10) are separately fixed on base plate (2.12), and lower angle sheave (2.5) is arranged on the bottom of base plate (2.12), described upper synchronous pulley (2.7) is positioned on top board (2.11), on this, synchronous pulley (2.7) is fixedly connected on the top of synchronizing bar (2.9), described lower synchronous pulley (2.8) is positioned on base plate (2.12), this lower synchronous pulley (2.8) is fixedly connected on the bottom of synchronizing bar (2.9), the output shaft of described horizontal drive motor (2.6) is connected with lower synchronous pulley (2.8), this lower synchronous pulley (2.8) also engages with the lower Timing Belt (3.3) of vehicle frame, and described upper synchronous pulley (2.7) engages with the upper Timing Belt (3.4) of vehicle frame, the output shaft of described vertical drive motor (2.10) is connected with vertical screw mandrel (2.3) by band wheels.
3. the positioning system of books catching robot in a kind of book ATM according to claim 2, it is characterized in that: described upper angle sheave (2.4) comprises angle sheave (2.4.1), bearing (2.4.2), rotation axis (2.4.3), swing span (2.4.4), holddown spring (2.4.5), fixed bar (2.4.6), described angle sheave (2.4.1) is arranged on swing span (2.4.4), swing span (2.4.4) is arranged on bearing (2.4.2) by rotation axis (2.4.3), described fixed bar (2.4.6) bearing (2.4.2) is also equipped with, described holddown spring (2.4.5) one end connects swing span (2.4.4), the other end is connected and fixed bar (2.4.6).
4. the positioning system of books catching robot in a kind of book ATM according to claim 2, it is characterized in that: the described assembly that seesaws (2.2) comprises guide rail (2.2.1), horizontal lead screw (2.2.2), front and back drive motor (2.2.3), housing (2.2.4), described guide rail (2.2.1), horizontal lead screw (2.2.2) is separately fixed in housing (2.2.4), front and back drive motor (2.2.3) are arranged on the rear end of housing (2.2.4), Laser emission and receiver module (4) are arranged on the front end of housing (2.2.4), the output shaft of described front and back drive motor (2.2.3) is connected with horizontal lead screw (2.2.2) by band wheels, described books catching robot (5) is connected on guide rail (2.2.1) by slide block set, and books catching robot (5) is also connected with horizontal lead screw (2.2.2) by feed screw nut.
5. the positioning system of books catching robot in a kind of book ATM according to claim 1 or 2 or 3 or 4, it is characterized in that: described Laser emission and receiver module (4) comprise power module (4.1), FM module (4.2), voltage regulating module (4.3), control module (4.4), laser emitting module (4.5), laser pick-off module (4.6), logic judgment module (4.7), signal amplification module (4.8), signal output module (4.9), described power module (4.1) is for providing power supply for each module, described FM module (4.2), voltage regulating module (4.3), control module (4.4), laser emitting module (4.5) connects successively, described laser pick-off module (4.6), logic judgment module (4.7), signal amplification module (4.8), signal output module (4.9) connects successively, described laser emitting module (4.5) is through FM module (4.2), after voltage regulating module (4.3) and control module (4.4) act on, launch the laser beam horizontal scan location gratings strips of certain frequency and vertically locate gratings strips, the reflected light of horizontal location gratings strips and vertical location gratings strips is converted to corresponding level signal by laser pick-off module (4.6), again through logic judgment module (4.7), exported by signal output module (4.9) after signal amplification module (4.8) process, accurately to locate.
6. the positioning system of books catching robot in a kind of book ATM according to claim 5, is characterized in that: described laser emitting module (4.5) comprises at least one LASER Discharge Tube; Described laser pick-off module (4.6) comprises at least two laser pick-off pipes.
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| CN201310360924.8A CN103440708B (en) | 2013-08-19 | 2013-08-19 | The positioning system of books catching robot in a kind of book ATM |
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| CN201310360924.8A CN103440708B (en) | 2013-08-19 | 2013-08-19 | The positioning system of books catching robot in a kind of book ATM |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924307B (en) * | 2015-06-08 | 2016-08-24 | 向风帆 | Books catching robot Second Positioning System and method thereof in book ATM |
| CN105059954B (en) * | 2015-09-22 | 2019-10-01 | 许昌学院 | A kind of book holder of laser positioning |
| CN106064736B (en) * | 2016-06-27 | 2018-07-06 | 重庆文理学院 | A kind of device for being used to grip books |
| CN106081452B (en) * | 2016-06-27 | 2018-11-16 | 重庆文理学院 | A kind of automatic book taking device |
| CN106064737B (en) * | 2016-06-27 | 2018-06-26 | 重庆文理学院 | A kind of device taken out and carry books |
| CN106781016A (en) * | 2016-11-18 | 2017-05-31 | 上海华屹数码科技有限公司 | Magnetic reads the automatic vending machine of positioning |
| 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 |
| CN107568948A (en) * | 2017-08-31 | 2018-01-12 | 中山市程博工业产品设计有限公司 | A kind of convenience takes the bookcase of book |
| CN109051478A (en) * | 2018-06-29 | 2018-12-21 | 泰山医学院 | Books in libraries automatic collating unit |
| CN109043883A (en) * | 2018-08-21 | 2018-12-21 | 梧州学院 | A kind of bookshelf of energy automatic homing books |
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