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 PDFInfo
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- 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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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
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.
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| CN201510310645.XA CN104924307B (en) | 2015-06-08 | 2015-06-08 | Books catching robot Second Positioning System and method thereof in book ATM |
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| CN201510310645.XA CN104924307B (en) | 2015-06-08 | 2015-06-08 | Books catching robot Second Positioning System and method thereof in book ATM |
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| 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 |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 library automatic teller system, library library robot and hand mechanism of library library 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 |
| CN103440708B (en) * | 2013-08-19 | 2015-10-21 | 向风帆 | The positioning system of books catching robot in a kind of book ATM |
| 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 catching robot Second Positioning System in book ATM |
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