CN107398907A - A kind of robot of library - Google Patents

A kind of robot of library Download PDF

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Publication number
CN107398907A
CN107398907A CN201710643140.4A CN201710643140A CN107398907A CN 107398907 A CN107398907 A CN 107398907A CN 201710643140 A CN201710643140 A CN 201710643140A CN 107398907 A CN107398907 A CN 107398907A
Authority
CN
China
Prior art keywords
books
mechanism
clamping jaw
plate
robot
Prior art date
Application number
CN201710643140.4A
Other languages
Chinese (zh)
Inventor
王尚
Original Assignee
青岛万祥如光机械技术研究有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 青岛万祥如光机械技术研究有限公司 filed Critical 青岛万祥如光机械技术研究有限公司
Priority to CN201710643140.4A priority Critical patent/CN107398907A/en
Publication of CN107398907A publication Critical patent/CN107398907A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/008Manipulators for service tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0213Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Abstract

The invention discloses a kind of robot of library, including dolly, elevating mechanism, clamping jaw, books identifier, slipping mechanism, support book device, elevating mechanism, slipping mechanism are arranged on dolly, elevating mechanism on lifter plate, lifter plate including being provided with rotating mechanism, rotating mechanism includes front electric rotating machine, pinboard, side electric rotating machine, and pinboard is L shaped plate;Slipping mechanism includes translation mechanism, inclined ramp, and inclined ramp is arranged on the movable plate of translation mechanism, and the bottom of inclined ramp is provided with multiple rollers, and inclined ramp is corresponding with clamping jaw;Supportting book device includes push rod, support book frame, connecting plate, and push rod is fixed on lifter plate by connecting plate.The present invention can recognize that problem books and take out problem books, overturn to correct direction, and put to correct position, effectively increases the service quality in library, facilitates reader and look for book, while reduce the work load of books administrative staff.

Description

A kind of robot of library

Technical field

The present invention relates to library automation equipment technical field, more particularly to a kind of robot of library.

Background technology

Book is searched in order to facilitate reader by various regions library at present, and generally all books are vertically disposed in bookshelf and by spine It is positive towards the word on reader, spine.And reader when placing books often by spine towards bookshelf, or often do not note , often there is situation about putting upside down in the words direction anticipated on spine;Book is looked for for convenience of reader, the books in library are all that classification is put , and reader often position of random Altered Graphs book during book is selected, look for book to bring inconvenience to other readers.

Existing library is all by manually arranging, wasting time and energy, prior art does not have also to the books on bookshelf There is the equipment that the books on library bookshelf can be carried out with automatic arranging.

The content of the invention

The present invention is directed to the deficiency of existing library book collator, develops a kind of robot of library, the device The books for putting mistake can be automatically identified, and are put after books are turned to correct position, effectively increase library Service quality, facilitate reader and look for book, while reduce the work load of books administrative staff.

The present invention solve technical problem technical scheme be:A kind of robot of library, is arranged in library, books Put on the shelf, the robot includes dolly, elevating mechanism, clamping jaw, books identifier, slipping mechanism, support book device, dolly On be provided with switch board, battery, elevating mechanism, slipping mechanism are arranged on dolly, and elevating mechanism includes lifter plate, lifter plate On rotating mechanism is installed, rotating mechanism includes front electric rotating machine, pinboard, side electric rotating machine, and pinboard is L shaped plate, Front electric rotating machine is arranged on lifter plate, and pinboard connects the output shaft of front electric rotating machine, and side electric rotating machine is arranged on On pinboard, clamping jaw connects the output shaft of side electric rotating machine, and books identifier is arranged on clamping jaw;Slipping mechanism includes translation Mechanism, inclined ramp, inclined ramp are arranged on the movable plate of translation mechanism, and the remote bookshelf end of inclined ramp is higher than nearly bookshelf end, tiltedly sliding The bottom in road is provided with multiple rollers, and inclined ramp is corresponding with clamping jaw;Supportting book device includes push rod, support book frame, connecting plate, and push rod passes through Connecting plate is fixed on lifter plate, and support book frame is arranged on the expansion link of push rod, and the remote push rod end of support book frame is the tip of opening, Slipping mechanism, support book device are located at the both sides of elevating mechanism respectively.

As optimization, the push rod is arranged on the side of lifter plate, between push rod axis and front electric rotating machine motor shaft Horizontal range be equal to the distance between the vertical median plane of clamping jaw and front electric rotating machine motor shaft.

As optimization, the control of the dolly, elevating mechanism, clamping jaw, books identifier, slipping mechanism, push rod, rotating mechanism Port processed or FPDP all connect the controller in switch board.

As optimization, the clamping jaw includes left claw, right pawl, rack, driving tooth, assist tooth, clamping jaw motor, left claw and right pawl It is symmetrical arranged, left claw and the rear end of right pawl are provided with the gear teeth, and rack is arranged between left claw and right pawl, left claw, right pawl, active Tooth, assist tooth engage with rack respectively, the rotary shaft of the output axis connection driving tooth of clamping jaw motor.

As optimization, code plate is additionally provided with the clamping jaw, code plate is perpendicular to clamping jaw, and the height of code plate is beyond folder Pawl peak.

As optimization, the books identifier includes bar code scanner, and the central cross of books spine is provided with bar shaped Code.

As optimization, the bar code scanner is arranged in guide sleeve, and spring, one end of spring are provided with guide sleeve Contact bar code scanner rear end, end thereof contacts guide sleeve inwall.

As optimization, the books identifier includes camera, and switch board is provided with image identification system.

As optimization, the wheel of the dolly is Mecanum wheel.

As optimization, the elevating mechanism also include column, timing belt synchronous pulley driving mechanism, guide rod, the two of guide rod End is arranged on column by installing plate, and lifter plate is arranged on guide rod, and timing belt synchronous pulley driving mechanism is same including two Belt wheel, a timing belt are walked, two synchronous pulleys are separately positioned on the both ends of guide rod, and timing belt engages with two synchronous pulleys, lifting Plate connects timing belt, wherein the rotating shaft connection motor of a synchronous pulley.

As optimization, the translation mechanism is the mobile platform that ball-screw drives.

Beneficial effects of the present invention:

1. books identifier is delivered to operating position by the dolly of the present invention, elevating mechanism, books identifier can recognize that Problem books, problem books can be taken out, overturn to correct direction by equipment automatically, and be put to correct position, be effectively increased The service quality in library, facilitate reader and look for book, while reduce the work load of books administrative staff.

2. slipping mechanism realizes the evolution of books by gravity, the side deflecting of books is realized, reduces design Difficulty, cost of manufacture is saved.

3. by setting support book device to strut the books on bookshelf, facilitate equipment that books are put back into bookshelf.

4. by setting code plate, after books are placed, rotation clamping jaw makes the spine of code plate face books, then Equipment is overall close to books, and the front and rear code of books can be achieved;By controlling dolly, elevating mechanism, code plate is inserted into books In top and the space of bookshelf, then elevating mechanism declines, and the code up and down of books can be achieved.

5. because effective identification of bar code scanner is apart from limited, clamping jaw is during books are gripped, bar code scanning Device is possible to collide with books, by setting guide sleeve, spring, moves forward and backward bar code scanner, avoids Collided the problem of causing with books, protect bar code scanner, ensured and taken being smoothed out for book.

6. by installing camera, judge whether books put back using image recognition technology, batch identification can be carried out, had Effect improves operating efficiency.

7. by the way that the wheel of dolly is arranged into Mecanum wheel, dolly is set easily all around to move freely, The flexibility ratio of equipment is added, improves operating efficiency.

Brief description of the drawings

Fig. 1 is the overall construction drawing of an embodiment of the present invention working condition.

Fig. 2 is the partial enlarged drawing in Figure 1B regions.

Fig. 3 is the overall construction drawing of an embodiment of the present invention.

Fig. 4 is the front view of an embodiment of the present invention.

Fig. 5 is the overall construction drawing that an embodiment of the present invention takes book-like state.

Fig. 6 is the overall construction drawing that an embodiment of the present invention puts book-like state.

Fig. 7 to Figure 10 is the workflow diagram that the present invention is handled the books of spine towards bookshelf.

Figure 11 is the overall construction drawing of clamping jaw.

Figure 12 is the cut-away view of clamping jaw.

Figure 13 is a kind of overall construction drawing of embodiment of books identifier.

Figure 14 is a kind of cut-away view of embodiment of books identifier.

Embodiment

For a better understanding of the present invention, embodiments of the present invention are explained in detail below in conjunction with the accompanying drawings.

Fig. 1 to Figure 14 is a kind of embodiment of the present invention, as shown in Figures 1 to 4, a kind of robot of library, is set In library, books 2 are placed on bookshelf 1, and the robot includes dolly 3, elevating mechanism 4, clamping jaw 5, books identifier 6th, slipping mechanism 7, switch board 301, battery are provided with dolly 3, and elevating mechanism 4, slipping mechanism 7 are arranged on dolly 3, risen Descending mechanism 4 includes lifter plate 401, rotating mechanism 9 is provided with lifter plate 401, rotating mechanism 9 include front electric rotating machine 901, Pinboard 902, side electric rotating machine 903, pinboard 902 are L shaped plate, and front electric rotating machine 901 is arranged on lifter plate 401, Pinboard 902 connects the output shaft of front electric rotating machine 901, and side electric rotating machine 903 is arranged on pinboard 902, and clamping jaw 5 connects The output shaft of side electric rotating machine 903 is connect, books identifier 6 is arranged on clamping jaw 5;Slipping mechanism 7 include translation mechanism 701, Inclined ramp 702, inclined ramp 702 are arranged on the movable plate of translation mechanism 701, and the end of remote bookshelf 1 of inclined ramp 702 is higher than nearly bookshelf 1 end, the bottom of inclined ramp 702 are provided with multiple rollers 703, and inclined ramp 702 is corresponding with clamping jaw 5;Dolly 3, elevating mechanism 4, folder Pawl 5, books identifier 6, slipping mechanism 7, the control port of rotating mechanism 9 or FPDP all connect the control in switch board 302 Device processed.Books identifier 6 is delivered to operating position by dolly 3, elevating mechanism 4, and books identifier 6 can recognize that problem books, Problem books can be taken out, overturn to correct direction by equipment automatically, and be put to correct position, effectively increase the clothes in library Business quality, facilitates reader and looks for book, while reduce the work load of books administrative staff.

As shown in figure 3, a kind of library is additionally provided with support book device 8 with robot, support book device 8 includes push rod 801, support Book frame 802, connecting plate 803, push rod 801 are fixed on lifter plate 401 by connecting plate 803, and push rod 801 is arranged on lifter plate 401 side, the horizontal range between the axis of push rod 801 and the motor shaft of front electric rotating machine 901 are equal to 5 vertical median plane of clamping jaw The distance between motor shaft of front electric rotating machine 901, support book frame 802 are arranged on the expansion link of push rod 801, support book frame 802 Main body be a horizontal U-frame, the end of remote push rod 801 of support book frame 802 is the tip of opening, and slipping mechanism 7, support book device 8 divide Not Wei Yu elevating mechanism 4 both sides.By setting support book device 8 to strut the books 2 on bookshelf 1, facilitate equipment by books 2 Put back to bookshelf 1.

The books identifier 6 includes bar code scanner 601, and the central cross of the spine of books 2 is provided with bar code 201.Bookshelf 1, the height of books 2 are all known, and mutually level books 2 are placed on into one layer as far as possible, bar code scanning Device 601 need to only scan the bar code 201 that can read one layer of books one by one, the bar code if books 2 are put back along certain height Also can be anti-.

The wheel of the dolly 3 is Mecanum wheel.By the way that the wheel of dolly 3 is arranged into Mecanum wheel, make dolly 3 It easily can all around move freely, add the flexibility ratio of equipment, improve operating efficiency.

The elevating mechanism 4 also includes column 402, timing belt synchronous pulley driving mechanism 403, guide rod 404, guide rod 404 Both ends by installing plate 405 be arranged on column 402 on, lifter plate 401 be arranged on guide rod 404 on, timing belt synchronous pulley pass Motivation structure 403 includes two synchronous pulleys, a timing belt, and two synchronous pulleys are separately positioned on the both ends of guide rod 404, timing belt Engaged with two synchronous pulleys, lifter plate 401 connects timing belt, wherein the rotating shaft connection motor of a synchronous pulley.

The translation mechanism 701 is the mobile platform that ball-screw drives.

Clamping jaw 5 goes to the side of support book device 8 to place the state of books 2, therefore when detecting that the placed angle of books 2 is correct but position When incorrect, books are gripped after clamping jaw 5 is gone into the side of support book device 8;When detecting spine towards the word side on reader but spine To the books 2 put back, books are gripped after clamping jaw 5 is gone into the opposite side of support book device 8;It is illustrated in figure 5 equipment and finds spine face The state being drawn off after the books 2 put back to the words direction on reader but spine, clamping jaw 5 divides with support book device 8 under the state Not Wei Yu lifter plate 401 both sides, and push rod 801 is in contraction state.It is illustrated in figure 6 after equipment becomes a full member books 2 and puts back to The state of bookshelf 1, clamping jaw 5 goes to the side of support book device 8 under the state, and push rod 801 be in stretching state, and books 2 are positioned at supportting book frame 802 Surface, and the front end tip for supportting book frame 802 is nearer apart from the distance of bookshelf 1 than to place books 2 in advance apart from the distance of bookshelf 1.

It is as follows that books 2 place step:1st, support book frame 802 first to strut the books 2 on bookshelf 1, while to place books 2 in advance Into the space;2nd, clamping jaw 5 is unclamped, and books 2 are fallen into support book frame 802;3rd, clamping books 2, push rod 801 shrink clamping jaw 5 again Support book frame 802 is hauled out;4th, clamping jaw 5 is taken out.

When equipment takes book, equipment alignment first prefetches books, and clamping jaw 5 is flared to thick slightly larger than book;Then equipment is integrally leaned on Nearly bookshelf to clamping jaw 5 inserts the segment distance of books gap one;The closure gripping books of clamping jaw 5, equipment is overall away from bookshelf, completes to take Book.

Books identifier 6 can recognize that position put mistake books, and put after by clamping jaw 5, books 2 are taken out to Correct position;As shown in Figure 5, Figure 6, the books put back for spine towards the words direction on reader but spine, clamping jaw 5 press from both sides After taking the books, front electric rotating machine 901 rotates 180 degree, is put after books 2 are turned to correct position;Such as Fig. 7 to Figure 10 institutes Show, be processing procedure of the spine towards the books of bookshelf 1, as shown in fig. 7, after clamping jaw 5 grips the books 2, side electric rotating machine 903 to the rollover of remote bookshelf 1, to go to books 2 parallel with inclined ramp 702;As shown in figure 8,4 times general who has surrendered's books 2 of elevating mechanism are placed tiltedly In slideway 702.As shown in figure 9, after clamping jaw 5 unclamps, books 2 slide to the bottom of inclined ramp 702 under gravity, then side To go to clamping jaw 5 parallel with books 2 to the rollover of nearly bookshelf 1 for electric rotating machine 903;As shown in Figure 10, translation mechanism 701 is acted books 2 move to the lower section of clamping jaw 5, and elevating mechanism 4 declines, and clamping jaw 5 grips books from new;Now if books direction correctly if will Books 2, to the side of support book device 8, the books 2 are placed into after bookshelf 1 according still further to word on spine through the rotation of front electric rotating machine 901 The books 2 that direction is put back are handled;If the direction of books is anti-, through the rotation of front electric rotating machine 901 to support book device 8 It is then correct direction behind side, the correct position of bookshelf 1 is placed into through supportting book device 8.

As shown in Figure 11, Figure 12, the clamping jaw 5 includes left claw 501, right pawl 502, rack 503, driving tooth 504, assist tooth 505th, clamping jaw motor 506, left claw 501 are symmetrical arranged with right pawl 502, and left claw 501 and the rear end of right pawl 502 are provided with the gear teeth, tooth Bar 503 is arranged between left claw 501 and right pawl 502, left claw 501, right pawl 502, driving tooth 504, assist tooth 505 respectively with rack 503 engagements, the rotary shaft of the output axis connection driving tooth 504 of clamping jaw motor 506.Code plate is additionally provided with the clamping jaw 5 507, code plate 507 exceeds the peak of clamping jaw 5 perpendicular to clamping jaw 5, the height of code plate 507.By setting code plate, work as books After placement, rotation clamping jaw makes the spine of code plate face books, and then equipment is overall before books, achievable books Code afterwards;By controlling dolly, elevating mechanism, code plate is inserted above books and in the space of bookshelf, then elevating mechanism Decline, the code up and down of books can be achieved

As shown in Figure 13, Figure 14, the bar code scanner 601 is arranged in guide sleeve 602, is set in guide sleeve 602 There are spring, the rear end of end thereof contacts bar code scanner 601 of spring, the inwall of end thereof contacts guide sleeve 602.Due to bar code scanning Effective identification of device 601 is apart from limited, and during books 2 are gripped, bar code scanner 601 is possible to send out with books 2 clamping jaw 5 Raw collision, by setting guide sleeve 602, spring, moves forward and backward bar code scanner 601, avoids and occur with books 2 The problem of collision causes, protects bar code scanner 601, has ensured and taken being smoothed out for book.

Although above-mentioned the embodiment of invention is described with reference to accompanying drawing, not to the scope of the present invention Limitation, on the basis of technical scheme, those skilled in the art need not pay creative work and can make Various modifications or deformation still within protection scope of the present invention.

Claims (10)

1. a kind of robot of library, is arranged in library, books (2) are placed on bookshelf (1), it is characterised in that:Institute Stating robot includes dolly (3), elevating mechanism (4), clamping jaw (5), books identifier (6), slipping mechanism (7), support book device (8), Switch board (301), battery are provided with dolly (3), elevating mechanism (4), slipping mechanism (7) are arranged on dolly (3), lifting Mechanism (4) includes front and rotated including being provided with rotating mechanism (9), rotating mechanism (9) on lifter plate (401), lifter plate (401) Motor (901), pinboard (902), side electric rotating machine (903), pinboard (902) are L shaped plate, front electric rotating machine (901) On lifter plate (401), the output shaft of pinboard (902) connection front electric rotating machine (901), side electric rotating machine (903) it is arranged on pinboard (902), the output shaft of clamping jaw (5) connection side electric rotating machine (903), books identifier (6) is set Put on clamping jaw (5);Slipping mechanism (7) includes translation mechanism (701), inclined ramp (702), and inclined ramp (702) is arranged on translation On the movable plate of mechanism (701), remote bookshelf (1) end of inclined ramp (702) is held higher than nearly bookshelf (1), the bottom of inclined ramp (702) Multiple rollers (703) are provided with, inclined ramp (702) is corresponding with clamping jaw (5);Supportting book device (8) includes push rod (801), support book frame (802), connecting plate (803), push rod (801) are fixed on lifter plate (401) by connecting plate (803), support book frame (802) installation On the expansion link of push rod (801), remote push rod (801) end of support book frame (802) is the tip of opening, slipping mechanism (7), supports book Device (8) is located at the both sides of elevating mechanism (4) respectively.
2. a kind of robot of library according to claim 1, it is characterized in that, the push rod (801) is arranged on lifting The side of plate (401), the horizontal range between push rod (801) axis and front electric rotating machine (901) motor shaft are equal to clamping jaw (5) Vertical the distance between median plane and front electric rotating machine (901) motor shaft.
3. a kind of robot of library according to claim 1, it is characterized in that, the clamping jaw (5) includes left claw (501), right pawl (502), rack (503), driving tooth (504), assist tooth (505), clamping jaw motor (506), left claw (501) and the right side Pawl (502) is symmetrical arranged, and left claw (501) and the rear end of right pawl (502) are provided with the gear teeth, and rack (503) is arranged on left claw (501) Between right pawl (502), left claw (501), right pawl (502), driving tooth (504), assist tooth (505) are nibbled with rack (503) respectively Close, the rotary shaft of the output axis connection driving tooth (504) of clamping jaw motor (506).
4. a kind of robot of library according to claim 2, it is characterized in that, it is additionally provided with code on the clamping jaw (5) Neat plate (507), code plate (507) exceed clamping jaw (5) peak perpendicular to clamping jaw (5), the height of code plate (507).
5. a kind of robot of library according to claim 1, it is characterized in that, the books identifier (6) includes bar Code scanner (601), the central cross of books (2) spine are provided with bar code (201).
6. a kind of robot of library according to claim 5, it is characterized in that, bar code scanner (601) peace Spring is provided with guide sleeve (602), in guide sleeve (602), after the end thereof contacts bar code scanner (601) of spring End, end thereof contacts guide sleeve (602) inwall.
7. a kind of robot of library according to claim 1, it is characterized in that, the books identifier (6) includes taking the photograph As head, switch board (302) is provided with image identification system.
8. a kind of robot of library according to claim 1, it is characterized in that, the wheel of the dolly (3) is Mike Na Mu takes turns.
9. a kind of robot of library according to claim 1, it is characterized in that, the elevating mechanism (4) also includes vertical Post (402), timing belt synchronous pulley driving mechanism (403), guide rod (404), the both ends of guide rod (404) pass through installing plate (405) On column (402), lifter plate (401) is arranged on guide rod (404), timing belt synchronous pulley driving mechanism (403) bag Two synchronous pulleys, a timing belt are included, two synchronous pulleys are separately positioned on the both ends of guide rod (404), and timing belt is synchronous with two Belt wheel engages, lifter plate (401) connection timing belt, wherein the rotating shaft connection motor of a synchronous pulley.
10. a kind of robot of library according to claim 1, it is characterized in that, the translation mechanism (701) is ball The mobile platform that leading screw drives.
CN201710643140.4A 2017-07-31 2017-07-31 A kind of robot of library CN107398907A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710643140.4A CN107398907A (en) 2017-07-31 2017-07-31 A kind of robot of library

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710643140.4A CN107398907A (en) 2017-07-31 2017-07-31 A kind of robot of library

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CN107398907A true CN107398907A (en) 2017-11-28

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Application Number Title Priority Date Filing Date
CN201710643140.4A CN107398907A (en) 2017-07-31 2017-07-31 A kind of robot of library

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108373006A (en) * 2018-04-08 2018-08-07 陈玮坚 Books in libraries intelligence fetching device

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10329121A (en) * 1997-06-04 1998-12-15 Tiger Mach Seisakusho:Kk Mold release device for concrete finished product
US20010020197A1 (en) * 2000-02-21 2001-09-06 Yoshiyuki Nakano Automated library system with retrieving and repositing robot
CN202400531U (en) * 2011-07-22 2012-08-29 张晔 An automatic fetch and return device for books in libraries
CN205068635U (en) * 2015-09-25 2016-03-02 吉林农业大学 Book inquiry unit is got to library's serial number
CN106426202A (en) * 2016-10-31 2017-02-22 宋奕潼 Automatic tidying device for books of library
CN106625696A (en) * 2016-10-31 2017-05-10 宋奕潼 Bookshelf capable of automatically arranging and classifying books
JP2017109271A (en) * 2015-12-17 2017-06-22 パナソニックIpマネジメント株式会社 Work device and work method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10329121A (en) * 1997-06-04 1998-12-15 Tiger Mach Seisakusho:Kk Mold release device for concrete finished product
US20010020197A1 (en) * 2000-02-21 2001-09-06 Yoshiyuki Nakano Automated library system with retrieving and repositing robot
CN202400531U (en) * 2011-07-22 2012-08-29 张晔 An automatic fetch and return device for books in libraries
CN205068635U (en) * 2015-09-25 2016-03-02 吉林农业大学 Book inquiry unit is got to library's serial number
JP2017109271A (en) * 2015-12-17 2017-06-22 パナソニックIpマネジメント株式会社 Work device and work method
CN106426202A (en) * 2016-10-31 2017-02-22 宋奕潼 Automatic tidying device for books of library
CN106625696A (en) * 2016-10-31 2017-05-10 宋奕潼 Bookshelf capable of automatically arranging and classifying books

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108373006A (en) * 2018-04-08 2018-08-07 陈玮坚 Books in libraries intelligence fetching device

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Application publication date: 20171128