CN104924307B - Books catching robot Second Positioning System and method thereof in book ATM - Google Patents

Books catching robot Second Positioning System and method thereof in book ATM Download PDF

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Publication number
CN104924307B
CN104924307B CN201510310645.XA CN201510310645A CN104924307B CN 104924307 B CN104924307 B CN 104924307B CN 201510310645 A CN201510310645 A CN 201510310645A CN 104924307 B CN104924307 B CN 104924307B
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books
horizontal
described
secondary
catching robot
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CN201510310645.XA
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Chinese (zh)
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CN104924307A (en
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向宇
向风帆
伍松
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向风帆
向宇
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Abstract

The Second Positioning System of books catching robot and method thereof in a kind of book ATM, relate to a kind of alignment system and method thereof, system includes that bookshelf, books capture car, vehicle frame, control system, bookshelf is provided with location grating and calibration grating, books capture and are separately installed with books catching robot, location laser head, calibration laser head, horizontal secondary motion assembly on car, location laser head, calibration laser head are connected with control system respectively, and the output of control system is connected with the input of horizontal secondary motion assembly etc..Method includes: S1 system initialization: S11 sampling lateral attitude data, S12 sampling vertical position data, S13 sampling calibration stop position data, the position data of the quasi-optical grid of S14 high-ranking officers carry out interpolation arithmetic;The operation etc. of S2 system.The present invention can realize the quick location of books catching robot, and efficiency, positioning precision, reliability are the highest, low cost of manufacture, and method is easy, it is easy to operate with.

Description

Books catching robot Second Positioning System and method thereof in book ATM

Technical field

The present invention relates to a kind of manipulator alignment system and method thereof, particularly relate to books in a kind of book ATM and grab Take Second Positioning System and the method thereof of manipulator.

Background technology

Along with the development of science and technology, book ATM has obtained quick development, wherein library AMT machine most critical Technology is being accurately positioned of manipulator.Owing to being accurately positioned of manipulator is a two-dimentional motion, in existing book ATM The alignment system of books catching robot, in order to ensure to reach the location of certain precision, typically utilize moving track calculation X with Y-direction uses the method for interpolation to advance location simultaneously, and this method is the highest to mechanical system design requirement, and cost is the most very Height, and the error caused by mechanically deform and abrasion cannot be overcome;Some system, in order to reduce cost, utilizes respective algorithms handle Two dimensional motion is decomposed into motion in one dimension, such as the Y-direction that gets ahead, after walk X-direction motion, but the time required for this method is relatively Long.

Summary of the invention

The technical problem to be solved in the present invention is: provides one can realize quickly and positions and lower-cost books ATM Books catching robot Second Positioning System and method thereof in machine.

The technical scheme solving above-mentioned technical problem is: the secondary location of books catching robot in a kind of book ATM System, captures car, vehicle frame, control system including bookshelf, books, and described bookshelf is made up of bookshelf laminate, bookshelf frame, vehicle frame Capturing car with books to be transversely slidably matched, described books capture and are separately installed with books catching robot, manipulator on car Vertical motion drives motor, manipulator vertical motion transmission device, manipulator transverse movement to drive motor, manipulator transverse movement Transmission device, described bookshelf laminate is respectively arranged with location grating and calibration grating, and described books capture and also divide on car Horizontal sliding table, location laser head for Scan orientation grating, described horizontal sliding table and manipulator vertical motion are not installed Transmission device is slidably matched, and horizontal sliding table is provided with manipulator and seesaws assembly, manipulator seesaw on assembly across It is provided with horizontal secondary motion assembly, coordinates with horizontal secondary motion component slippage bottom described books catching robot, and The calibration laser head for scan calibration grating, described horizontal secondary motion assembly it is also equipped with on this books catching robot The component slippage that seesaws with manipulator coordinates;Described location laser head, calibration laser head are connected with control system respectively, control Before and after the output of system processed drives motor, manipulator transverse movement to drive motor, manipulator respectively with manipulator vertical motion The input of moving parts and laterally secondary motion assembly connects.

The further technical scheme of the present invention is: the described manipulator assembly that seesaws includes seesawing guide rail, front Rear movement lead screw, front and back drive motor, described before and after motion guide rail, the screw mandrel that seesaws, front and back drive motor to fix respectively On horizontal sliding table, the output shaft of motor is front and back driven directly to be connected with the screw mandrel that seesaws, described horizontal secondary motion group Part is connected on by slide block set and seesaws on guide rail, and laterally secondary motion assembly also by the feed screw nut that seesaws with front and back Movement lead screw is connected.

The further technical scheme of the present invention is: described horizontal secondary motion assembly includes that horizontal secondary motion is led Rail, horizontal secondary motion screw mandrel, horizontal secondary drive motor, described horizontal secondary motion guide rail, horizontal secondary motion screw mandrel, Laterally secondary driving motor is connected on by slide block set respectively and seesaws on guide rail, and the output shaft of horizontal secondary driving motor is direct It is connected with horizontal secondary motion screw mandrel, bottom described books catching robot, is connected on horizontal secondary motion guide rail by slide block set On, and be connected with horizontal secondary motion screw mandrel also by horizontal secondary motion feed screw nut bottom books catching robot.

The further technical scheme of the present invention is: described location grating is arranged on below the bookshelf laminate of the bottom, Described calibration grating is uniformly arranged on two ends and the centre of every layer of bookshelf laminate;Described location laser head is arranged on books and grabs Pick up the car bottom with location grating opposite position on.

The present invention another solution is that the secondary localization method of books catching robot in a kind of book ATM, should Method comprises the steps:

S1, system initialization:

S11, sampling lateral attitude data:

By being arranged on the location light below the location laser head scanning bottom bookshelf laminate that books capture on underbody end Grid, sample to bookshelf laterally each position data, and the lateral attitude packet of sampling contains optical data and pulse data, Each frame item that the lateral attitude data of each sampling are horizontal with bookshelf is corresponding, and these lateral attitude data are as the first time The foundation of located lateral;

S12, sampling vertical position data:

Using position algorithm to complete vertical position data sampling accurately bookshelf vertical direction, these vertical position data are made For the most vertically oriented foundation;

S13, sampling calibration stop position data:

It is uniformly arranged three calibration gratings, by calibration laser head under the driving of Second Positioning System bookshelf laminate every layer The position data of these three calibration gratings is carried out rescan sampling, obtains calibrating the position data of grating;

S14, the position data of the quasi-optical grid of high-ranking officers carry out interpolation arithmetic:

The position data of the quasi-optical grid of high-ranking officers carries out interpolation arithmetic, draws the secondary position pulse number of each each position of layer According to;

S2. the operation of system:

S21, for the first time location:

After system is properly functioning, control system takes out corresponding lateral attitude data, vertical position according to the frame item provided Put data, and drive manipulator vertical motion to drive motor, manipulator transverse movement to drive motor belt motor with certain actuating speed Cardon book catching robot arrives corresponding frame item, the first location of completion system;

S22, secondary position:

Control system further takes out secondary position pulse data, drives horizontal secondary motion assembly to drive books catching robot It is accurately positioned, to eliminate deviation, completes secondary location;

S23, realize taking book or also book action:

Last seesawed by the control system assembly that controls to seesaw the most again, drive books catching robot advance or Retreat, to realize taking book or also book action.

The further technical scheme of the present invention is: the lateral attitude data acquisition closed-loop control of described first located lateral, Optical data is i.e. utilized to carry out FEEDBACK CONTROL.

The further technical scheme of the present invention is: in step S14, described interpolation arithmetic be linear interpolation arithmetic or Quadratic interpolation computing or cubic interpolation computing.

Owing to using said structure, books catching robot Second Positioning System and side thereof in the book ATM of the present invention Method compared with prior art, has the advantages that

1. can realize the quick location of books catching robot, efficiency is higher:

Owing to the present invention is respectively arranged with location grating and calibration grating on bookshelf laminate, capture at books and also divide on car Not being provided with horizontal sliding table, location laser head for Scan orientation grating, horizontal sliding table fills with manipulator vertical motion transmission Put and be slidably matched, horizontal sliding table is provided with horizontal secondary motion assembly, with horizontal secondary motion bottom books catching robot Component slippage coordinates, and is also equipped with the calibration laser head for scan calibration grating on books catching robot, calibrates laser Head, location laser head is connected with control system respectively, the output of control system respectively with manipulator vertical motion driving motor, Manipulator transverse movement drives motor, the input of horizontal secondary motion assembly connects.Therefore, the present invention can simultaneously drive machinery Hand vertical motion drives motor, manipulator transverse movement to drive driven by motor books catching robot to advance along X, Y-direction respectively Arrive corresponding frame item, the first location of completion system;Then control system drives horizontal secondary motion assembly band cardon again Book catching robot is accurately positioned, and to eliminate deviation, completes secondary location;Therefore, the present invention can realize books gripper The quick location of tool hand, its efficiency is the highest.

2. positioning precision is high:

The application uses two-dimensional directional i.e. X, the mode that Y moves simultaneously at motion mode, is increasing substantially system effectiveness While, owing to the traveling of movement in vertical direction is to use screw mandrel to advance, its movement locus is completed by the algorithm fixed, So precision can be ensured well;And the coarse positioning of each position of horizontal direction is combined location laser head by positioning grating Completing, but be positioned at the lower section of the bookshelf laminate of the bottom due to location grating, it cannot ensure that manipulator is at each layer of bookshelf Positioning precision, even if mechanical erection precision is the highest, but owing to system machinery in long-term running can deform and grind Damage, also cannot ensure the positioning precision of multilayer above ground floor, so after coarse positioning, each layer is used by the application more again The secondary accurate positioning of little scope.Add the first located lateral of the present invention and use closed-loop control, i.e. utilize optical data to enter Row FEEDBACK CONTROL, so the positioning precision of the present invention is the highest, can make the position error of books catching robot be less than 1mm, complete Entirely overcome the error caused by mechanically deform and abrasion.

3. reliability is high:

Owing to present invention employs the accurate control of secondary location, it is to avoid laser ranging, moving track calculation and bar code The various errors that scanning and mechanically deform and abrasion are caused, its reliability is higher.

4. low cost of manufacture, method is easy, it is easy to operate with:

The device that the present invention includes is the most fairly simple, it is not necessary to complicated element, and only arranges one layer of location light in X-direction Grid, remainder layer only arranges three calibration gratings, and Y-axis is without arranging grating, and therefore, the cost of the present invention is relatively low, and method is simple Just, it is easy to operate with.

Below, in conjunction with the accompanying drawings and embodiments to books catching robot Second Positioning System in the book ATM of the present invention And the technical characteristic of method is further described.

Accompanying drawing explanation

In the book ATM of the present invention described in Fig. 1: embodiment one, the structure of books catching robot Second Positioning System is shown It is intended to,

Books described in Fig. 2~Fig. 3: embodiment one capture the structural representation of car,

Horizontal sliding table (after removing partial shell) described in Fig. 4: embodiment one and books catching robot mounted thereto, Manipulator seesaws assembly, the structural representation of 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, and 202-manipulator vertical motion drives motor,

203-manipulator vertical motion transmission device, 2031-upright guide rail, the vertical screw mandrel of 2032-,

204-manipulator transverse movement drives motor,

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-positions laser head,

208-calibrates laser head, and 209-manipulator seesaws assembly, 210-horizontal secondary motion assembly,

2091-seesaws guide rail, and 2092-seesaws screw mandrel, drives motor before and after 2093-,

2101-horizontal secondary motion guide rail, 2102-horizontal secondary motion screw mandrel, the horizontal secondary of 2103-drives motor,

3-positions 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, captures car 2, car including bookshelf 1, books Frame, control system, described bookshelf 1 is made up of bookshelf laminate 101, bookshelf frame 102, below the bookshelf laminate 101 of the bottom Being provided with one group of location grating 3, 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, this vehicle frame lower end be 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;

Described books capture and are separately installed with books catching robot 201 on car 2, manipulator vertical motion drives motor 202, manipulator vertical motion transmission device 203, manipulator transverse movement drive motor 204, manipulator transverse movement transmission dress Put 205, horizontal sliding table 206, location laser head 207 for Scan orientation grating, wherein:

Described manipulator vertical motion transmission device 203 includes upright guide rail 2031, vertical screw mandrel 2032, and described is perpendicular Straight guide 2031, vertical screw mandrel 2032 are separately fixed between top and the bottom that books capture car 2, described horizontal sliding table 206 are slidably matched with upright guide rail 2031 by slide block, and horizontal sliding table 206 is also by slide block and feed screw nut and vertical screw mandrel 2032 connect, and vertical screw mandrel 2032 drives motor 202 to be connected with manipulator vertical motion;

Described manipulator transverse movement transmission device 205 includes directive wheel 2051, lower directive wheel 2052, upper Timing Belt Wheel 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 books and captures The bottom of car 2, on this, directive wheel 2051, lower directive wheel 2052 upper rail, lower guideway with vehicle frame respectively is transversely slidably matched;

Described upper synchronous pulley 2053 is positioned at books and captures the top of car 2, and on this, synchronous pulley 2053 is fixedly connected on The top of synchronizing bar 2055, described lower synchronous pulley 2054 is positioned at books and captures the bottom of car 2, and this lower synchronous pulley 2054 is solid Surely being connected to the bottom of synchronizing bar 2055, described manipulator transverse movement drives the output shaft of motor 204 and lower synchronous pulley 2054 connect, and this lower synchronous pulley 2054 also engages with the lower Timing Belt of vehicle frame, described upper synchronous pulley 2053 and vehicle frame Upper Timing Belt engages.

Described location laser head 207 is arranged on books and captures on the position corresponding with location grating of underbody end;

The described quadrangle box structure that horizontal sliding table 206 is the front openings combined by housing 2061, level is sliding Being provided with manipulator in platform 206 to seesaw assembly 209, manipulator seesaws on assembly 209 across being provided with horizontal secondary Moving parts 210, is slidably matched with horizontal secondary motion assembly 210 bottom described books catching robot 201, and these books The calibration laser head 208 for scan calibration grating, described horizontal secondary motion assembly it is also equipped with on catching robot 201 210 are slidably matched with the manipulator assembly 209 that seesaws;

Described location laser head 207, calibration laser head 208 are connected with control system respectively, and control system is (in Fig. 1 not Illustrate) output respectively with manipulator vertical motion drive motor 202, manipulator transverse movement drive motor 204, manipulator The input of assembly 209 and horizontal secondary motion assembly 210 of seesawing connects.

The described manipulator assembly 209 that seesaws includes seesawing guide rail 2091, the screw mandrel 2092 that seesaws, front and back Drive motor 2093, described before and after motion guide rail 2091, the screw mandrel 2092 that seesaws, front and back drive motor 2093 fix respectively On horizontal sliding table 206, front and back driving the output shaft of motor 2093 to be directly connected with the screw mandrel 2092 that seesaws, described is 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 by front Rear movement lead screw nut is connected with the screw mandrel 2092 that seesaws.

Described horizontal secondary motion assembly 210 includes horizontal secondary motion guide rail 2101, horizontal secondary motion screw mandrel 2102, horizontal secondary drives motor 2103, described horizontal secondary motion guide rail 2101, horizontal secondary motion screw mandrel 2102, horizontal stroke Driving motor 2103 to be connected on by slide block set respectively to secondary and seesaw on guide rail 2091, horizontal secondary drives motor 2103 Output shaft is directly connected with horizontal secondary motion screw mandrel 2102, is socketed by slide block bottom described books catching robot 201 On horizontal secondary motion guide rail 2101, and bottom books catching robot 201 also by horizontal secondary motion feed screw nut with Laterally secondary motion screw mandrel 2102 is connected.

Embodiment two

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 light below the location laser head scanning bottom bookshelf laminate that books capture on underbody end Grid, sample to bookshelf laterally each position data, and the lateral attitude packet of sampling contains optical data and pulse data, The lateral attitude data of each sampling record each frame item that bookshelf is horizontal, and these lateral attitude data are as first horizontal Foundation to location;

S12, sampling vertical position data:

Using position algorithm to complete vertical position data sampling accurately bookshelf vertical direction, these vertical position data are made For the most vertically oriented foundation;

S13, sampling calibration stop position data:

Every layer of same position of bookshelf laminate of remainder layer arranges three calibration gratings, by calibration laser head to these three The position data of calibration grating is sampled, and must calibrate stop position data;

S14, the position data of the quasi-optical grid of high-ranking officers carry out interpolation arithmetic:

The position data of the quasi-optical grid of high-ranking officers carries out interpolation arithmetic, draws the secondary position pulse number of each each position of layer According to;

S2. the operation of system:

S21, for the first time location:

After system is properly functioning, control system takes out corresponding lateral attitude data, vertical position according to the frame item provided Put data, and drive manipulator vertical motion to drive motor, manipulator transverse movement to drive motor belt motor with certain actuating speed Cardon book catching robot arrives corresponding frame item, the first location of completion system;

S22, secondary position:

Control system further takes out secondary position pulse data, drives horizontal secondary motion assembly to drive books catching robot It is accurately positioned, to eliminate deviation, completes secondary location;

S23, realize taking book or also book action:

Last seesawed by the control system assembly that controls to seesaw the most again, drive books catching robot advance or Retreat, to realize taking book or also book action.

Described first located lateral uses closed-loop control, i.e. utilizes position data to carry out FEEDBACK CONTROL.

As a kind of conversion of embodiment one, two, described in the calibration grating 4 that is arranged on every layer of bookshelf laminate 101 permissible It it is 3, it is also possible to be 5 or 7 etc..

As a kind of conversion of embodiment two, the interpolation arithmetic in described step S14 can also be quadratic interpolation computing or Cubic interpolation computing or the interpolation arithmetic of higher order.

Claims (7)

1. a Second Positioning System for books catching robot in book ATM, including bookshelf (1), books capture car (2), Vehicle frame, control system, described bookshelf (1) is made up of bookshelf laminate (101), bookshelf frame (102), and vehicle frame captures car with books (2) being transversely slidably matched, described books capture and are separately installed with books catching robot (201) on car (2), manipulator erects To motion drive motor (202), manipulator vertical motion transmission device (203), manipulator transverse movement drive motor (204), Manipulator transverse movement transmission device (205), it is characterised in that: it is respectively arranged with location light on described bookshelf laminate (101) Grid (3) and calibration grating (4), described books capture and are also separately installed with horizontal sliding table (206) on car (2), are used for scanning and determine The location laser head (207) of position grating, described horizontal sliding table (206) slides with manipulator vertical motion transmission device (203) Coordinating, horizontal sliding table (206) is provided with manipulator and seesaws assembly (209), manipulator seesaws the upper horizontal stroke of assembly (209) Across being provided with horizontal secondary motion assembly (210), described books catching robot (201) bottom and horizontal secondary motion assembly (210) it is slidably matched, and is also equipped with the calibration laser head for scan calibration grating on this books catching robot (201) (208), described horizontal secondary motion assembly (210) and the manipulator assembly (209) that seesaws is slidably matched;Described location Laser head (207), calibration laser head (208) are connected with control system respectively, and the output of control system erects with manipulator respectively Motor (202), manipulator transverse movement is driven to drive motor (204), manipulator to seesaw assembly (209) and horizontal stroke to motion Connect to the input of secondary motion assembly (210).
The Second Positioning System of books catching robot in book ATM the most according to claim 1, it is characterised in that: Described manipulator seesaw assembly (209) include seesawing guide rail (2091), the screw mandrel that seesaws (2092), front and back drive Dynamic motor (2093), described before and after motion guide rail (2091), the screw mandrel that seesaws (2092), front and back drive motor (2093) point It is not fixed on horizontal sliding table (206), front and back drives the output shaft of motor (2093) directly to connect with the screw mandrel (2092) that seesaws Connecing, described horizontal secondary motion assembly (210) is connected on by slide block set on the guide rail that seesaws (2091), and laterally secondary fortune Dynamic assembly (210) is connected with the screw mandrel that seesaws (2092) also by seesawing feed screw nut.
The Second Positioning System of books catching robot in book ATM the most according to claim 2, it is characterised in that: Described horizontal secondary motion assembly (210) include horizontal secondary motion guide rail (2101), horizontal secondary motion screw mandrel (2102), Laterally secondary drives motor (2103), described horizontal secondary motion guide rail (2101), horizontal secondary motion screw mandrel (2102), horizontal Driving motor (2103) to be connected on by slide block set respectively on the guide rail that seesaws (2091) to secondary, horizontal secondary drives motor (2103) output shaft is directly connected with horizontal secondary motion screw mandrel (2102), described books catching robot (201) bottom It is connected on horizontal secondary motion guide rail (2101) by slide block set, and books catching robot (201) bottom is also by horizontal two Secondary movement lead screw nut is connected with horizontal secondary motion screw mandrel (2102).
The Second Positioning System of books catching robot in book ATM the most according to claim 1, it is characterised in that: Described location grating (3) is arranged on bookshelf laminate (101) lower section of the bottom, and described calibration grating (4) is uniformly arranged on The two ends of every layer of bookshelf laminate (101) and centre;Described location laser head (207) be arranged on books capture underbody end with fixed On the grating opposite position of position.
5. the secondary localization method of books catching robot in a book ATM, it is characterised in that: the method includes walking as follows Rapid:
S1, system initialization:
S11, sampling lateral attitude data:
By being arranged on the location grating below the location laser head scanning bottom bookshelf laminate that books capture on underbody end, right Bookshelf laterally each position data is sampled, and the lateral attitude packet of sampling contains optical data and pulse data, each Each frame item that the lateral attitude data of individual sampling are horizontal with bookshelf is corresponding, and these lateral attitude data are as first horizontal The foundation of location;
S12, sampling vertical position data:
Using position algorithm to complete vertical position data sampling accurately bookshelf vertical direction, these vertical position data are as just Secondary vertically oriented foundation;
S13, sampling calibration stop position data:
It is uniformly arranged three calibration gratings, by calibrating laser head under the driving of Second Positioning System to this bookshelf laminate every layer Article three, the position data of calibration grating carries out rescan sampling, obtains calibrating the position data of grating;
S14, the position data of the quasi-optical grid of high-ranking officers carry out interpolation arithmetic:
The position data of the quasi-optical grid of high-ranking officers carries out interpolation arithmetic, draws the secondary position pulse data of each each position of layer;
S2. the operation of system:
S21, for the first time location:
After system is properly functioning, control system takes out corresponding lateral attitude data, vertical position number according to the frame item provided According to, and drive manipulator vertical motion to drive motor, manipulator transverse movement to drive motor belt motor cardon with certain actuating speed Book catching robot arrives corresponding frame item, the first location of completion system;
S22, secondary position:
Control system further takes out secondary position pulse data, drives horizontal secondary motion assembly to drive books catching robot to carry out It is accurately positioned, to eliminate deviation, completes secondary location;
S23, realize taking book or also book action:
Last seesawed by the control system assembly that controls to seesaw the most again, drive books catching robot advance or after Move back, to realize taking book or also book action.
The secondary localization method of books catching robot in book ATM the most according to claim 5, it is characterised in that: The lateral attitude data acquisition closed-loop control of described first located lateral, i.e. utilizes optical data to carry out FEEDBACK CONTROL.
The secondary localization method of books catching robot in book ATM the most according to claim 5, it is characterised in that: In step S14, described interpolation arithmetic is linear interpolation arithmetic or quadratic interpolation computing or cubic interpolation computing.
CN201510310645.XA 2015-06-08 2015-06-08 Books catching robot Second Positioning System and method thereof in book ATM CN104924307B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Family Cites Families (7)

* Cited by examiner, † Cited by third party
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
JP3395061B2 (en) * 2000-02-21 2003-04-07 学校法人金沢工業大学 Library collection automatic teller system and the library collection teller robot as well as the library collection teller robot hand mechanism
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
CN103440708B (en) * 2013-08-19 2015-10-21 向风帆 One kind of machine Books Books atm gripping robot positioning system
CN103538057B (en) * 2013-10-22 2017-01-25 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 snatch manipulator secondary positioning system in books ATM

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