CN104924307A - Secondary positioning system and method for book grabbing manipulator of book ATM - Google Patents
Secondary positioning system and method for book grabbing manipulator of book ATM Download PDFInfo
- Publication number
- CN104924307A CN104924307A CN201510310645.XA CN201510310645A CN104924307A CN 104924307 A CN104924307 A CN 104924307A CN 201510310645 A CN201510310645 A CN 201510310645A CN 104924307 A CN104924307 A CN 104924307A
- Authority
- CN
- China
- Prior art keywords
- books
- manipulator
- catching robot
- horizontal
- book
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention provides a secondary positioning system and method for a book grabbing manipulator of a book ATM, and relates to a positioning system and method. The system comprises a bookshelf, a book grabbing trolley, a frame and a control system; a positioning grating and collecting grating are arranged on the bookshelf; a book grabbing manipulator, a positioning laser head, a collecting laser head and a transverse secondary moving assembly are respectively mounted on the book grabbing trolley, wherein the positioning laser head and the correcting laser head are respectively connected with the control system; the output end of the control system is connected with the input end of the transverse secondary moving assembly. The method comprises the steps of S1, initializing the system; S11, sampling transverse location data; S12, sampling vertical location data; S13, sampling location data of the collecting grating; S14, performing interpolation operation for the location data of the collecting grating; S2, operating the system. With the adoption of the system and the method, the book grabbing manipulator can be quickly positioned; the efficiency, positioning precision and reliability are high; the manufacturing cost is small; the method is simple and convenient; the operation and use are easy.
Description
Technical field
The present invention relates to a kind of manipulator navigation system and method thereof, particularly relate to Second Positioning System and the method thereof of books catching robot in a kind of book ATM.
Background technology
Along with the development of science and technology, book ATM obtains and develops fast, and wherein the technology of library AMT machine most critical is the accurate location of manipulator.Accurate location due to manipulator is a two-dimentional motion, the navigation system of books catching robot in existing book ATM, in order to ensure the location reaching certain precision, general moving track calculation adopts the method for interpolation to advance at X and Y-direction simultaneously and locates, this method requires very high to mechanical system design, cost is also very high, and cannot overcome mechanically deform and the error caused by wearing and tearing; Some system, in order to reduce costs, utilizes respective algorithms that two dimensional motion is decomposed into motion in one dimension, as the Y-direction that gets ahead, after walk X-direction motion, but the time required for this method is longer.
Summary of the invention
The technical problem to be solved in the present invention is: provide one can realize books catching robot Second Positioning System and method thereof in quick position and lower-cost book ATM.
The technical scheme solved the problems of the technologies described above is: the Second Positioning System of books catching robot in a kind of book ATM, comprise bookshelf, books capture car, vehicle frame, control system, described bookshelf is by bookshelf laminate, bookshelf frame is formed, vehicle frame and books capture car and are transversely slidably matched, described books capture on car and are separately installed with books catching robot, manipulator vertical motion drive motors, manipulator vertical motion transmission device, manipulator transverse movement drive motors, manipulator transverse movement transmission device, described bookshelf laminate is respectively arranged with location grating and calibration grating, described books capture on car and are also separately installed with horizontal sliding table, for the locating laser head of Scan orientation grating, described horizontal sliding table and manipulator vertical motion transmission device are slidably matched, horizontal sliding table is provided with manipulator to seesaw assembly, manipulator seesaws on assembly across being provided with horizontal secondary motion assembly, coordinate with horizontal secondary motion component slippage bottom described books catching robot, and the calibration laser head this books catching robot is also provided with for scan calibration grating, described horizontal secondary motion assembly and the manipulator component slippage that seesaws coordinates, described locating laser head, calibration laser head are connected with control system respectively, and seesaw with manipulator vertical motion drive motors, manipulator transverse movement drive motors, the manipulator respectively input of assembly and horizontal secondary motion assembly of the output of control system is connected.
Further technical scheme of the present invention is: described manipulator seesaws, and assembly comprises the guide rail that seesaws, the screw mandrel that seesaws, front and back drive motors, the described guide rail that seesaws, the screw mandrel that seesaws, front and back drive motors are separately fixed on horizontal sliding table, the output shaft of front and back drive motors is directly connected with the screw mandrel that seesaws, described horizontal secondary motion assembly is connected on by slide block set and seesaws on guide rail, and horizontal secondary motion assembly is also connected with the screw mandrel that seesaws by the feed screw nut that seesaws.
Further technical scheme more of the present invention is: described horizontal secondary motion assembly comprises horizontal secondary motion guide rail, horizontal secondary motion screw mandrel, horizontal secondary drive motors, described horizontal secondary motion guide rail, horizontal secondary motion screw mandrel, horizontal secondary drive motors is connected on respectively by slide block set and seesaws on guide rail, the output shaft of horizontal secondary drive motors is directly connected with horizontal secondary motion screw mandrel, be connected on horizontal secondary motion guide rail by slide block set bottom described books catching robot, and be also connected with horizontal secondary motion screw mandrel by horizontal secondary motion feed screw nut bottom books catching robot.
Further technical scheme more of the present invention is: described location grating is arranged on below the bookshelf laminate of the bottom, and described calibration grating is evenly arranged on two ends and the centre of every layer of bookshelf laminate; Described locating laser head be arranged on books capture car bottom with on the grating opposite position of location.
Another technical scheme of the present invention is: the secondary localization method of books catching robot in a kind of book ATM, the method comprises the steps:
S1, system initialization:
S11, sampling lateral attitude data:
By being arranged on the location grating below the locating laser head scanning bottom bookshelf laminate on books crawl car bottom, bookshelf each position data horizontal is sampled, the lateral attitude packet of sampling is containing optical data and pulse data, each chord position of lateral attitude data and the bookshelf transverse direction of each sampling is number corresponding, and these lateral attitude data are as the foundation of first located lateral;
S12, sampling vertical position data:
Adopt position algorithm to complete vertical position data sampling accurately to bookshelf vertical direction, these vertical position data are as the foundation of first vertically location;
S13, sampling calibration grating position data:
Three calibration gratings are evenly set bookshelf laminate every layer, under the driving of Second Positioning System, rescan sampling are carried out to the position data of these three calibration gratings by calibration laser head, obtain the position data of calibrating grating;
S14, the position data of alignment light grid is carried out interpolation arithmetic:
The position data of alignment light grid is carried out interpolation arithmetic, draws the secondary position pulse data of every each position of one deck;
S2. the operation of system:
s21, for the first time location:
after system is normally run, control system takes out corresponding lateral attitude data, vertical position data according to the chord position provided number, and drive books catching robot to arrive corresponding chord position number, the first location of completion system with certain actuating speed driving device hand vertical motion drive motors, manipulator transverse movement drive motors;
s22, secondary are located:
control system takes out secondary position pulse data again, drives horizontal secondary motion assembly to drive books catching robot accurately to locate, and to eliminate deviation, completes secondary location;
book or also book action are got in S23, realization:
Last to be seesawed by the control system assembly that controls to seesaw again, drive advance or the retrogressing of books catching robot, to realize getting book or also book action.
Further technical scheme of the present invention is: the lateral attitude data acquisition closed-loop control of described first located lateral, namely utilizes optical data to carry out FEEDBACK CONTROL.
Of the present invention more further technical scheme be: in step S14, described interpolation arithmetic is linear interpolation arithmetic or quadratic interpolation computing or cubic interpolation computing.
Owing to adopting said structure, in the book ATM of the present invention, books catching robot Second Positioning System and method thereof are compared with prior art, have following beneficial effect:
1. can realize the quick position of books catching robot, efficiency is higher:
Because the present invention is respectively arranged with location grating and calibration grating on bookshelf laminate, capture on car at books and be also separately installed with horizontal sliding table, for the locating laser head of Scan orientation grating, horizontal sliding table and manipulator vertical motion transmission device are slidably matched, horizontal sliding table is provided with horizontal secondary motion assembly, coordinate with horizontal secondary motion component slippage bottom books catching robot, and calibration laser head books catching robot is also provided with for scan calibration grating, calibration laser head, locating laser head is connected with control system respectively, the output of control system respectively with manipulator vertical motion drive motors, manipulator transverse movement drive motors, the input of horizontal secondary motion assembly connects.Therefore, the present invention can driving device hand vertical motion drive motors, manipulator transverse movement drive motors drive books catching robot to advance arrive corresponding chord position number, the first location of completion system along X, Y-direction respectively simultaneously; Then control system drives horizontal secondary motion assembly to drive books catching robot accurately to locate again, to eliminate deviation, completes secondary location; Therefore, the present invention can realize the quick position of books catching robot, and its efficiency is very high.
2. positioning precision is high:
The application adopts two-dimensional directional and X at motion mode, the mode that Y moves simultaneously, while increasing substantially system effectiveness, because advancing of movement in vertical direction adopts screw mandrel to advance, its movement locus has been come by the algorithm fixed, so can ensure precision well; And the coarse positioning of each position of horizontal direction has come by locating grating in conjunction with locating laser head, but because location grating is positioned at the below of the bookshelf laminate of the bottom, it cannot ensure the positioning precision of manipulator at every one deck bookshelf, even if mechanical erection precision is very high, but because system machinery in long-term running can deform and wear and tear, also the positioning precision of multilayer above ground floor cannot be ensured, so after coarse positioning, the application have employed secondary accurate positioning among a small circle again to every one deck again.Add the first located lateral of the present invention and adopt closed-loop control, namely optical data is utilized to carry out FEEDBACK CONTROL, so positioning precision of the present invention is very high, the position error of books catching robot can be made to be less than 1mm, overcome mechanically deform and the error caused by wearing and tearing completely.
3. reliability is high:
Owing to present invention employs the accurate control of secondary location, avoid the various errors that laser ranging, moving track calculation and bar code scan and mechanically deform and wearing and tearing cause, its reliability is higher.
4. low cost of manufacture, method is easy, is easy to operation and uses:
The device that the present invention includes is all fairly simple, without the need to the element of complexity, and only arranges one deck location grating in X-direction, remainder layer only arrange three calibration gratings, Y-axis without the need to arranging grating, therefore, cost of the present invention 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 books catching robot Second Positioning System and method thereof in the book ATM of the present invention is further described.
Accompanying drawing explanation
Fig. 1: the structural representation of books catching robot Second Positioning System in the book ATM of the present invention described in embodiment one,
Fig. 2 ~ Fig. 3: books described in embodiment one capture the structural representation of car,
Fig. 4: horizontal sliding table (after removing partial shell) described in embodiment one and books catching robot mounted thereto, manipulator seesaw the structural representation of assembly, horizontal secondary motion assembly.
In above-mentioned accompanying drawing, each label declaration is as follows:
1-bookshelf, 101-bookshelf laminate, 102-bookshelf frame,
2-books capture car, 201-books catching robot, 202-manipulator vertical motion drive motors,
203-manipulator vertical motion transmission device, 2031-upright guide rail, the vertical screw mandrel of 2032-,
204-manipulator transverse movement drive motors,
205-manipulator transverse movement transmission device, the upper directive wheel of 2051-, directive wheel under 2052-,
The upper synchronous pulley of 2053-, synchronous pulley under 2054-, 2055-synchronizing bar,
206-horizontal sliding table, the housing of 2061-horizontal sliding table, 207-locating laser head,
208-calibration laser head, 209-manipulator seesaws assembly, the horizontal secondary motion assembly of 210-,
2091-seesaws guide rail, and 2092-seesaws screw mandrel, drive motors before and after 2093-,
The horizontal secondary motion guide rail of 2101-, the horizontal secondary motion screw mandrel of 2102-, the horizontal secondary drive motors of 2103-,
3-locates grating, and 4-calibrates grating.
Detailed description of the invention
embodiment one:
The Second Positioning System of books catching robot in a kind of book ATM, comprise bookshelf 1, books capture car 2, vehicle frame, control system, described bookshelf 1 is made up of bookshelf laminate 101, bookshelf frame 102, be provided with one group of location grating 3 below the bookshelf laminate 101 of the bottom, every layer of bookshelf laminate 101 is provided with three calibration gratings 4 at two ends and centre;
Described vehicle frame is positioned at the horizontal side (not shown in figure 1) of bookshelf 1, and this vehicle frame lower end is respectively equipped with lower guideway and lower Timing Belt, and the upper end of vehicle frame is respectively equipped with upper rail and upper Timing Belt;
Described books capture and car 2 are separately installed with books catching robot 201, manipulator vertical motion drive motors 202, manipulator vertical motion transmission device 203, manipulator transverse movement drive motors 204, manipulator transverse movement transmission device 205, horizontal sliding table 206, locating laser head 207 for Scan orientation grating, wherein:
Described manipulator vertical motion transmission device 203 comprises upright guide rail 2031, vertically screw mandrel 2032, between the top that described upright guide rail 2031, vertically screw mandrel 2032 are separately fixed at books crawl car 2 and bottom, described horizontal sliding table 206 is slidably matched by slide block and upright guide rail 2031, and horizontal sliding table 206 is also connected with vertical screw mandrel 2032 with feed screw nut by slide block, vertical screw mandrel 2032 is connected with manipulator vertical motion drive motors 202;
Described manipulator transverse movement transmission device 205 comprises directive wheel 2051, lower directive wheel 2052, upper synchronous pulley 2053, lower synchronous pulley 2054, synchronizing bar 2055, wherein:
Described upper directive wheel 2051 is fixed on books and captures the top of car 2, and lower directive wheel 2052 is arranged on the bottom that books capture car 2, and on this, directive wheel 2051, lower directive wheel 2052 are transversely slidably matched with the upper rail of vehicle frame, lower guideway respectively;
Described upper synchronous pulley 2053 is positioned at the top that books capture car 2, on this, synchronous pulley 2053 is fixedly connected on the top of synchronizing bar 2055, described lower synchronous pulley 2054 is positioned at the bottom that books capture car 2, this lower synchronous pulley 2054 is fixedly connected on the bottom of synchronizing bar 2055, the output shaft of described manipulator transverse movement drive motors 204 is connected with lower synchronous pulley 2054, this lower synchronous pulley 2054 also engages with the lower Timing Belt of vehicle frame, and described upper synchronous pulley 2053 engages with the upper Timing Belt of vehicle frame.
Described locating laser head 207 is arranged on books and captures on the position corresponding with location grating of car bottom;
Described horizontal sliding table 206 is the quadrangle box structure of the front openings combined by housing 2061, manipulator is installed in horizontal sliding table 206 to seesaw assembly 209, manipulator seesaws on assembly 209 across being provided with horizontal secondary motion assembly 210, be slidably matched with horizontal secondary motion assembly 210 bottom described books catching robot 201, and the calibration laser head 208 this books catching robot 201 is also provided with for scan calibration grating, described horizontal secondary motion assembly 210 and the manipulator assembly 209 that seesaws is slidably matched;
Described locating laser head 207, calibration laser head 208 are connected with control system respectively, and seesaw with manipulator vertical motion drive motors 202, manipulator transverse movement drive motors 204, the manipulator respectively input of assembly 209 and horizontal secondary motion assembly 210 of the output of control system (not shown in figure 1) is connected.
Described manipulator seesaws, and assembly 209 comprises the guide rail 2091 that seesaws, the screw mandrel 2092 that seesaws, front and back drive motors 2093, the described guide rail 2091 that seesaws, the screw mandrel 2092 that seesaws, front and back drive motors 2093 are separately fixed on horizontal sliding table 206, the output shaft of front and back drive motors 2093 is directly connected with the screw mandrel 2092 that seesaws, described horizontal secondary motion assembly 210 is connected on by slide block set and seesaws on guide rail 2091, and horizontal secondary motion assembly 209 is also connected with the screw mandrel 2092 that seesaws by the feed screw nut that seesaws.
Described horizontal secondary motion assembly 210 comprises horizontal secondary motion guide rail 2101, horizontal secondary motion screw mandrel 2102, horizontal secondary drive motors 2103, described horizontal secondary motion guide rail 2101, horizontal secondary motion screw mandrel 2102, horizontal secondary drive motors 2103 is connected on respectively by slide block set and seesaws on guide rail 2091, the output shaft of horizontal secondary drive motors 2103 is directly connected with horizontal secondary motion screw mandrel 2102, be connected on horizontal secondary motion guide rail 2101 by slide block set bottom described books catching robot 201, and be also connected with horizontal secondary motion screw mandrel 2102 by horizontal secondary motion feed screw nut bottom books catching robot 201.
embodiment two
A secondary localization method for books catching robot in book ATM, the method comprises the steps:
S1, system initialization:
S11, sampling lateral attitude data:
By being arranged on the location grating below the locating laser head scanning bottom bookshelf laminate on books crawl car bottom, bookshelf each position data horizontal is sampled, the lateral attitude packet of sampling is containing optical data and pulse data, the lateral attitude data of each sampling record each chord position number of bookshelf transverse direction, and these lateral attitude data are as the foundation of first located lateral;
S12, sampling vertical position data:
Adopt position algorithm to complete vertical position data sampling accurately to bookshelf vertical direction, these vertical position data are as the foundation of first vertically location;
S13, sampling calibration grating position data:
Bookshelf laminate every layer of same position of remainder layer arranges three calibration gratings, is sampled by the position data of calibration laser head to these three calibration gratings, grating position data must be calibrated;
S14, the position data of alignment light grid is carried out interpolation arithmetic:
The position data of alignment light grid is carried out interpolation arithmetic, draws the secondary position pulse data of every each position of one deck;
S2. the operation of system:
s21, for the first time location:
After system is normally run, control system takes out corresponding lateral attitude data, vertical position data according to the chord position provided number, and drive books catching robot to arrive corresponding chord position number, the first location of completion system with certain actuating speed driving device hand vertical motion drive motors, manipulator transverse movement drive motors;
s22, secondary are located:
Control system takes out secondary position pulse data again, drives horizontal secondary motion assembly to drive books catching robot accurately to locate, and to eliminate deviation, completes secondary location;
Book or also book action are got in S23, realization:
Last to be seesawed by the control system assembly that controls to seesaw again, drive advance or the retrogressing of books catching robot, to realize getting book or also book action.
Described first located lateral adopts closed-loop control, namely utilizes position data to carry out FEEDBACK CONTROL.
One as embodiment one, two converts, described in the calibration grating 4 be arranged on every layer of bookshelf laminate 101 can be 3, also can be 5 or 7 etc.
One as embodiment two converts, and the interpolation arithmetic in described step S14 can also be the interpolation arithmetic of quadratic interpolation computing or cubic interpolation computing or more high-order.
Claims (7)
1. the Second Positioning System of books catching robot in a book ATM, comprise bookshelf (1), books capture car (2), vehicle frame, control system, described bookshelf (1) is by bookshelf laminate (101), bookshelf frame (102) is formed, vehicle frame and books capture car (2) and are transversely slidably matched, described books capture on car (2) and are separately installed with books catching robot (201), manipulator vertical motion drive motors (202), manipulator vertical motion transmission device (203), manipulator transverse movement drive motors (204), manipulator transverse movement transmission device (205), it is characterized in that: described bookshelf laminate (101) is respectively arranged with location grating (3) and calibration grating (4), described books capture on car (2) and are also separately installed with horizontal sliding table (206), for the locating laser head (207) of Scan orientation grating, described horizontal sliding table (206) and manipulator vertical motion transmission device (203) are slidably matched, horizontal sliding table (206) is provided with manipulator to seesaw assembly (209), manipulator seesaws on assembly (209) across being provided with horizontal secondary motion assembly (210), described books catching robot (201) bottom is slidably matched with horizontal secondary motion assembly (210), and the calibration laser head (208) this books catching robot (201) is also provided with for scan calibration grating, described horizontal secondary motion assembly (210) and the manipulator assembly (209) that seesaws is slidably matched, described locating laser head (207), calibration laser head (208) are connected with control system respectively, and seesaw with manipulator vertical motion drive motors (202), manipulator transverse movement drive motors (204), the manipulator respectively input of assembly (209) and horizontal secondary motion assembly (210) of the output of control system is connected.
2. the Second Positioning System of books catching robot in book ATM according to claim 1, it is characterized in that: the described manipulator assembly (209) that seesaws comprises the guide rail that seesaws (2091), seesaw screw mandrel (2092), front and back drive motors (2093), the described guide rail that seesaws (2091), seesaw screw mandrel (2092), front and back drive motors (2093) are separately fixed on horizontal sliding table (206), the output shaft of front and back drive motors (2093) is directly connected with the screw mandrel that seesaws (2092), described horizontal secondary motion assembly (210) is connected on the guide rail that seesaws (2091) by slide block set, and horizontal secondary motion assembly (210) is also connected with the screw mandrel that seesaws (2092) by the feed screw nut that seesaws.
3. the Second Positioning System of books catching robot in book ATM according to claim 2, it is characterized in that: described horizontal secondary motion assembly (210) comprises horizontal secondary motion guide rail (2101), horizontal secondary motion screw mandrel (2102), horizontal secondary drive motors (2103), described horizontal secondary motion guide rail (2101), horizontal secondary motion screw mandrel (2102), horizontal secondary drive motors (2103) is connected on the guide rail that seesaws (2091) respectively by slide block set, the output shaft of horizontal secondary drive motors (2103) is directly connected with horizontal secondary motion screw mandrel (2102), described books catching robot (201) bottom is connected on horizontal secondary motion guide rail (2101) by slide block set, and books catching robot (201) bottom is also connected with horizontal secondary motion screw mandrel (2102) by horizontal secondary motion feed screw nut.
4. the Second Positioning System of books catching robot in book ATM according to claim 1, it is characterized in that: described location grating (3) is arranged on bookshelf laminate (101) below of the bottom, and described calibration grating (4) is evenly arranged on two ends and the centre of every layer of bookshelf laminate (101); Described locating laser head (207) be arranged on books capture car bottom with on the grating opposite position of location.
5. the secondary localization method of books catching robot in book ATM, is characterized in that: the method comprises the steps:
S1, system initialization:
S11, sampling lateral attitude data:
By being arranged on the location grating below the locating laser head scanning bottom bookshelf laminate on books crawl car bottom, bookshelf each position data horizontal is sampled, the lateral attitude packet of sampling is containing optical data and pulse data, each chord position of lateral attitude data and the bookshelf transverse direction of each sampling is number corresponding, and these lateral attitude data are as the foundation of first located lateral;
S12, sampling vertical position data:
Adopt position algorithm to complete vertical position data sampling accurately to bookshelf vertical direction, these vertical position data are as the foundation of first vertically location;
S13, sampling calibration grating position data:
Three calibration gratings are evenly set bookshelf laminate every layer, under the driving of Second Positioning System, rescan sampling are carried out to the position data of these three calibration gratings by calibration laser head, obtain the position data of calibrating grating;
S14, the position data of alignment light grid is carried out interpolation arithmetic:
The position data of alignment light grid is carried out interpolation arithmetic, draws the secondary position pulse data of every each position of one deck;
S2. the operation of system:
S21, for the first time location:
After system is normally run, control system takes out corresponding lateral attitude data, vertical position data according to the chord position provided number, and drive books catching robot to arrive corresponding chord position number, the first location of completion system with certain actuating speed driving device hand vertical motion drive motors, manipulator transverse movement drive motors;
S22, secondary are located:
Control system takes out secondary position pulse data again, drives horizontal secondary motion assembly to drive books catching robot accurately to locate, and to eliminate deviation, completes secondary location;
Book or also book action are got in S23, realization:
Last to be seesawed by the control system assembly that controls to seesaw again, drive advance or the retrogressing of books catching robot, to realize getting book or also book action.
6. the secondary localization method of books catching robot in book ATM according to claim 5, is characterized in that: the lateral attitude data acquisition closed-loop control of described first located lateral, namely utilizes optical data to carry out FEEDBACK CONTROL.
7. the secondary localization method of books catching robot in book ATM according to claim 5, is characterized in that: in step S14, and described interpolation arithmetic is linear interpolation arithmetic or quadratic interpolation computing or cubic interpolation computing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510310645.XA CN104924307B (en) | 2015-06-08 | 2015-06-08 | Books catching robot Second Positioning System and method thereof in book ATM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510310645.XA CN104924307B (en) | 2015-06-08 | 2015-06-08 | Books catching robot Second Positioning System and method thereof in book ATM |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104924307A true CN104924307A (en) | 2015-09-23 |
| CN104924307B CN104924307B (en) | 2016-08-24 |
Family
ID=54111888
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510310645.XA Active CN104924307B (en) | 2015-06-08 | 2015-06-08 | Books catching robot Second Positioning System and method thereof in book ATM |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104924307B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109101851A (en) * | 2018-06-01 | 2018-12-28 | 广东数相智能科技有限公司 | A kind of books localization method, electronic equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0652611A (en) * | 1992-07-30 | 1994-02-25 | Hitachi Electron Eng Co Ltd | Control system for switching robot hand |
| US20010020197A1 (en) * | 2000-02-21 | 2001-09-06 | Yoshiyuki Nakano | Automated library system with retrieving and repositing robot |
| CN102020113A (en) * | 2010-11-17 | 2011-04-20 | 重庆大学 | Handling and calibrating manipulator |
| CN203179171U (en) * | 2013-03-22 | 2013-09-04 | 杭州艾沙科技有限公司 | Automatic book taking and storing system in large library |
| CN103440708A (en) * | 2013-08-19 | 2013-12-11 | 向风帆 | Locating system of book grabbing mechanical arm in book ATM |
| CN103538057A (en) * | 2013-10-22 | 2014-01-29 | 昆山中士设备工业有限公司 | Manipulator with accurate positioning ability and goods shelf capable of assisting same in accurate positioning |
| CN204712053U (en) * | 2015-06-08 | 2015-10-21 | 柳州三恒共创科技有限公司 | Books catching robot Second Positioning System in book ATM |
-
2015
- 2015-06-08 CN CN201510310645.XA patent/CN104924307B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0652611A (en) * | 1992-07-30 | 1994-02-25 | Hitachi Electron Eng Co Ltd | Control system for switching robot hand |
| US20010020197A1 (en) * | 2000-02-21 | 2001-09-06 | Yoshiyuki Nakano | Automated library system with retrieving and repositing robot |
| CN102020113A (en) * | 2010-11-17 | 2011-04-20 | 重庆大学 | Handling and calibrating manipulator |
| CN203179171U (en) * | 2013-03-22 | 2013-09-04 | 杭州艾沙科技有限公司 | Automatic book taking and storing system in large library |
| CN103440708A (en) * | 2013-08-19 | 2013-12-11 | 向风帆 | Locating system of book grabbing mechanical arm in book ATM |
| CN103538057A (en) * | 2013-10-22 | 2014-01-29 | 昆山中士设备工业有限公司 | Manipulator with accurate positioning ability and goods shelf capable of assisting same in accurate positioning |
| CN204712053U (en) * | 2015-06-08 | 2015-10-21 | 柳州三恒共创科技有限公司 | Books catching robot Second Positioning System in book ATM |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN109101851A (en) * | 2018-06-01 | 2018-12-28 | 广东数相智能科技有限公司 | A kind of books localization method, electronic equipment and storage medium |
| CN109101851B (en) * | 2018-06-01 | 2023-05-26 | 广东数相智能科技有限公司 | Book positioning method, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104924307B (en) | 2016-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106959697B (en) | Automatic indoor map construction system for long straight corridor environment | |
| CN109013204B (en) | Dispensing process and device based on laser tracking track movement | |
| CN102491091B (en) | Method of manipulator stacking system for glass | |
| CN103197599A (en) | System and method for numerical control (NC) workbench error self correction based on machine vision | |
| CN101356714A (en) | Three-dimensional motion using single-pathway based actuators | |
| CN103753519B (en) | Platform mechanism for the scaling method of the force feedback hand controlled device of Three Degree Of Freedom | |
| JP6650529B2 (en) | Position detecting device and linear conveyor device having the same | |
| CN111213225B (en) | Device and method for linearly moving first and second moving bodies with respect to object | |
| CN204348231U (en) | A kind of three-dimensional multi-functional training platform | |
| CN205111856U (en) | Taking care of books robot | |
| CN102501242A (en) | Three-degree-of-freedom flexible manipulator control device and method | |
| CN106092177B (en) | Environmentally sensitive is configured and test intelligent electric motor car testing stand | |
| US20160096637A1 (en) | Automated Non-Destructive Inspection of Surface Skins Using Transporter System | |
| CN105443930A (en) | XY precision positioning platform | |
| CN104924307A (en) | Secondary positioning system and method for book grabbing manipulator of book ATM | |
| CN103932790A (en) | Two-freedom-degree mechanism used for surgical operation robot and provided with connector quickly changing function | |
| CN105668166A (en) | Linear conveying module and conveying module set formed by linear conveying modules | |
| CN103017726A (en) | Robot pose error measuring system and method in Cartesian coordinate mode | |
| CN113733112B (en) | Library robot | |
| CN111448967A (en) | Movable rubber tapping robot | |
| CN202994132U (en) | Robot pose error measuring system based on rectangular coordinate mode | |
| CN204757940U (en) | Five three -dimensional scanning device | |
| CN107139193A (en) | The redundancy plane parallel mechanism control device and method of direct drive | |
| CN204712053U (en) | Books catching robot Second Positioning System in book ATM | |
| CN103246172B (en) | There is the device of multiple scanning elements of position-measurement device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160719 Address after: 545006 the Guangxi Zhuang Autonomous Region East Road, Liuzhou, No. 268 Applicant after: Xiang Fengfan Applicant after: Xiang Yu Address before: 545006, No. D, building D5-03, information industrial park, No. 15, Gaoxin hi tech Road, the Guangxi Zhuang Autonomous Region, Liuzhou Applicant before: Liuzhou three perseverances are created Science and Technology Ltd. |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180724 Address after: 545006 268 East Ring Road, Liuzhou, the Guangxi Zhuang Autonomous Region Patentee after: Guangxi University of Science and Technology Address before: 545006 268 East Ring Road, Liuzhou, the Guangxi Zhuang Autonomous Region Co-patentee before: Xiang Yu Patentee before: Xiang Fengfan |
|
| TR01 | Transfer of patent right |