CN107433567A - A kind of automatic arranging machine people - Google Patents
A kind of automatic arranging machine people Download PDFInfo
- Publication number
- CN107433567A CN107433567A CN201710642571.9A CN201710642571A CN107433567A CN 107433567 A CN107433567 A CN 107433567A CN 201710642571 A CN201710642571 A CN 201710642571A CN 107433567 A CN107433567 A CN 107433567A
- Authority
- CN
- China
- Prior art keywords
- books
- clamping jaw
- mechanical arm
- machine people
- automatic arranging
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic arranging machine people, including dolly, mechanical arm, clamping jaw, books identifier, slipping mechanism, support book device, switch board is provided with dolly, mounting blocks are provided with mechanical arm, are provided with rotating mechanism on mounting blocks, clamping jaw is arranged on rotating mechanism, and books identifier is arranged on clamping jaw；Slipping mechanism includes translation mechanism, inclined ramp, and inclined ramp is arranged on the movable plate of translation mechanism；Supportting book device includes extension rod, support book frame, electric rotating machine, and on mounting blocks, other end mounting rotary electric machine, the motor shaft of support book frame connection electric rotating machine, support book frame is symmetrical arranged two in mechanical arm both sides for one end of extension rod.Problem books can be taken out, overturn to correct direction by the present invention automatically, and be put to correct position, effectively increased the service quality in library, facilitated reader and look for book, while reduce the work load of books administrative staff.
Description
Technical field
The present invention relates to library automation equipment technical field, more particularly to a kind of library are automatically whole with books position
Manage robot.
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 automatic arranging machine people, 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 automatic arranging machine people, is arranged in library, books
Books in shop are put on the shelf, and robot includes dolly, mechanical arm, clamping jaw, books identifier, slipping mechanism, support book device,
Switch board, battery are provided with dolly, mechanical arm, slipping mechanism are arranged on dolly, and mechanical arm is multiple motor drivens
Multi-freedom-degreemanipulator manipulator, mounting blocks are provided with mechanical arm, are provided with rotating mechanism on mounting blocks, clamping jaw is arranged on rotating mechanism
On, books identifier is arranged on clamping jaw；The clamping jaw is arranged on rotating mechanism by pinboard；Slipping mechanism includes translation
Mechanism, inclined ramp, inclined ramp are arranged on the movable plate of translation mechanism, and inclined ramp is corresponding with clamping jaw, and slipping mechanism is positioned at machinery
The side of arm；Supportting book device includes extension rod, support book frame, electric rotating machine, and one end of extension rod is on mounting blocks, other end peace
Electric rotating machine is filled, the remote mounting blocks end for supportting book frame and extension rod passes through activity axis connection, the motor of support book frame connection electric rotating machine
Axle, the remote extension rod end of support book frame is tip shape, and support book frame is symmetrical arranged two in mechanical arm both sides；Dolly, mechanical arm, folder
Pawl, books identifier, slipping mechanism, the control port of electric rotating machine or FPDP all connect the controller in switch board.
As optimization, the remote bookshelf end of inclined ramp is higher than nearly bookshelf end, and the bottom of inclined ramp is provided with multiple rollers.
As optimization, the horizontal range supportted between book frame center line and rotating mechanism rotary shaft is vertical equal to books identifier
The distance between median plane and rotating mechanism rotary shaft.
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 image identification system is provided with switch board.
As optimization, the wheel of the dolly is Mecanum wheel.
As optimization, the robot also includes holding tank, and holding tank is arranged on dolly.
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, mechanical arm, books identifier, which can recognize that, asks
Books are inscribed, problem books can be taken out, overturn to correct direction by equipment automatically, and be put to correct position, effectively increase figure
The service quality in book shop, facilitate reader and look for book, while reduce the work load of books administrative staff.
2. by setting support book device to strut the books on bookshelf, facilitate equipment that books are put back into bookshelf.
3. 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, mechanical arm, code plate is inserted on books
Side is with the space of bookshelf, then mechanical arm decline, can be achieved the code up and down of books.
4. by setting guide sleeve, spring, bar code scanner is moved forward and backward, avoids and is collided with books
The problem of causing, bar code scanner is protected, ensured and taken being smoothed out for book.
5. by installing camera, judge whether books put back using image recognition technology, batch identification can be carried out, had
Effect improves operating efficiency.
6. 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.
7. by setting translation mechanism to reduce the operating pressure of mechanical arm, reduce and mechanical arm sphere of action is wanted
Ask, reduce cost.
8. by setting holding tank, the problem of can temporarily depositing placement location mistake books, treat that robot is moved to pair
Answer and uniformly put again during bookshelf.
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, Fig. 4 be present invention discover that spine put back towards reader but spine direction books when, take the totality of book-like state
Structure chart.
Fig. 5 is the partial enlarged drawing in Fig. 4 C regions.
Fig. 6 is the partial enlarged drawing in Fig. 4 E regions.
Fig. 7 is present invention discover that modes of emplacement is correct but during the books of placement location mistake, takes the general structure of book-like state
Figure.
Fig. 8 is overall construction drawing when books to be moved into the present invention slipping mechanism.
Fig. 9, Figure 10 be the present invention from slipping mechanism take books when overall construction drawing.
Figure 11 is the overall construction drawing of the invention being placed into books when on bookshelf.
Figure 12 is the overall construction drawing of clamping jaw.
Figure 13 is the cut-away view of clamping jaw.
Figure 14 is a kind of overall construction drawing of embodiment of books identifier.
Figure 15 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 15 is a kind of embodiment of the present invention, as shown in Figures 1 to 6, a kind of automatic arranging machine people, is set
In library, the books 2 in library are placed on bookshelf 1, and robot, which includes dolly 3, mechanical arm 4, clamping jaw 5, books, to be known
Other device 6, slipping mechanism 7, book device 8 is supportted, be provided with switch board 301, battery on dolly 3, mechanical arm 4, slipping mechanism 7 are arranged on
On dolly 3, mechanical arm 4 is the Multi-freedom-degreemanipulator manipulator of multiple motor drivens, and mounting blocks 401, mounting blocks are provided with mechanical arm 4
Rotating mechanism 402 is provided with 401, clamping jaw 5 is arranged on rotating mechanism 402, and books identifier 6 is arranged on clamping jaw 5；It is described
Clamping jaw 5 is arranged on rotating mechanism 402 by pinboard 406；Slipping mechanism 7 includes translation mechanism 701, inclined ramp 702, tiltedly sliding
Road 702 is arranged on the movable plate of translation mechanism 701, and the end of remote bookshelf 1 of inclined ramp 702 is higher than the nearly end of bookshelf 1, inclined ramp 702
Bottom be provided with multiple rollers 703, inclined ramp 702 is corresponding with clamping jaw 5, and slipping mechanism 7 is located at the side of mechanical arm 4；Such as Fig. 5
Shown, support book device 8 includes extension rod 801, support book frame 803, electric rotating machine 802, and one end of extension rod 801 is arranged on mounting blocks
On 401, other end mounting rotary electric machine 802, the end of remote mounting blocks 401 of support book frame 803 and extension rod 801 is connected by movable axis
Connect, support book frame 803 connects the motor shaft of electric rotating machine 802, and the main body of support book frame 803 is a U-frame, and the remote of support book frame 803 is prolonged
The end of boom 801 is tip shape, and support book frame 803 is symmetrical arranged two in the both sides of mechanical arm 4, supports the center line of book frame 803 and whirler
Horizontal range between the rotary shaft of structure 402 be equal between 6 vertical median plane of books identifier and the rotary shaft of rotating mechanism 402 away from
From；Dolly 3, mechanical arm 4, clamping jaw 5, books identifier 6, slipping mechanism 7, the control port of electric rotating machine 802 or FPDP
All connect the controller in switch board 301.Books identifier 6 is delivered to operating position, books identifier 6 by dolly 3, mechanical arm 4
Problem books are can recognize that, problem books can be taken out, overturn to correct direction by equipment automatically, and be put to correct position,
The service quality in library is effectively increased, reader is facilitated and looks for book, while reduce the work load of books administrative staff.It is logical
The books on bookshelf can be strutted by crossing setting support book device 8, facilitate equipment that books are put back into bookshelf.
The wheel of the dolly 3 is Mecanum wheel.By the way that the wheel of dolly is arranged into Mecanum wheel, make dolly can
Easily all around to move freely, the flexibility ratio of equipment is added, improves operating efficiency.
The translation mechanism 701 is the mobile platform that ball-screw drives.By setting translation mechanism 701 to reduce machinery
The operating pressure of arm 4, the requirement to the sphere of action of mechanical arm 4 is reduced, reduces cost.
As shown in Figure 12 and Figure 13, 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, mechanical arm, code plate is inserted above books and in the space of bookshelf, then mechanical arm declines,
The code up and down of books can be achieved.
As shown in Figure 14, Figure 15, the books identifier 6 includes bar code scanner 601, and the center of the spine of books 2 is horizontal
To being 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 as far as possible
Layer, bar code scanner 601 need to only scan the bar code 201 that can read one layer of books one by one along certain height, if books 2
Put back, bar code also can be anti-.The bar code scanner 601 is arranged in guide sleeve 602, is provided with guide sleeve 602
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 scanner
Effective identification apart from limited, during books are gripped, bar code scanner is possible to collide with books clamping jaw, passes through
Guide sleeve, spring are set, move forward and backward bar code scanner, avoids and is collided the problem of causing with books, is protected
Bar code scanner has been protected, has ensured and has taken being smoothed out for book.
Mechanical arm 4 is the Multi-freedom-degreemanipulator manipulator of multiple motor drivens, as shown in figure 4, mechanical arm 4 is provided with first level
Rotary joint a, the second vertical rotary joint b, the 3rd vertical rotary joint c, the 4th rotary joint d, the 5th rotary joint e, rotation
Rotation mechanism 402, by the motion for controlling each joint, it is possible to achieve the lifting of clamping jaw 5.
Books process is taken, the rotation of electric rotating machine 802 first drives support book frame 803 to be flipped up；Equipment control clamping jaw 5 is aligned
The books prefetched, clamping jaw 5 are flared to thick slightly larger than book；Then clamping jaw 5 inserts the segment distance of books gap one；The closure gripping of clamping jaw 5
Books, control clamping jaw 5 take book away from bookshelf, completion.
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 3, Figure 4 for equipment pinpoint the problems books when, take the overall construction drawing of book-like state, supportted under the state
Book frame 803 is dug upwards.
The books put back for spine towards reader but spine direction, as shown in Figure 3, Figure 4, after clamping jaw 5 grips the books,
Moved after equipment entirety, then rotating mechanism 402 rotates 180 degree and turns to books 2, finally puts books to 1 correct position of bookshelf
Put.
Books for spine towards bookshelf 1, as shown in Fig. 8 to Figure 10, after clamping jaw 5 grips the books 2, mechanical arm 4 is dynamic
Work overturns books 2 to the remote direction of bookshelf 1 parallel with inclined ramp 702 to books 2；As shown in figure 8, mechanical arm 4 drives books 2 to turn over
Turn, move to it is parallel with inclined ramp 702.First level rotary joint a has rotated horizontally 180 degree, the spine of books 2 during being somebody's turn to do
It is changed into being located at the top end of inclined ramp 702 towards reader, books 2；Then clamping jaw 5, which unclamps, is put into books 2 in inclined ramp 702；
Books 2 slide to the bottom of inclined ramp 702 under gravity.Then mechanical arm 4 is acted to clamping jaw 5 and books 2 to the direction of bookshelf 1
Parallel, first level rotary joint a has rotated horizontally 180 degree again during this, and as shown in Figure 9, Figure 10, translation mechanism 701 is dynamic
Books 2 are moved to the lower section of clamping jaw 5 by work, and mechanical arm 4 drives clamping jaw 5 to books 2 to grip position, and clamping jaw 5 grips books 2 from new；This
Books 2 are correctly then directly placed into the correct position on bookshelf 1 by the direction of Shi Ruguo books 2；If books
Direction is anti-, then is then correct direction after rotated mechanism 402 rotates 180 degree, and 1 correct position of bookshelf is placed into through supportting book device 8
Put.
Fig. 7 is present invention discover that modes of emplacement is correct but during the books of placement location mistake, takes the general structure of book-like state
Figure, take the correct position that books 2 are directly placed into after book bookshelf 1.
Figure 11 is the state diagram that equipment puts back to books 2 on bookshelf 1, and the support book frame 803 of the side of books 2 is overturn to level
State, books 2 are directly over support book frame 803, and the front end tip for supportting book frame 803 will be placed apart from the distance of bookshelf 1 than in advance
Books 2 are near apart from the distance of bookshelf 1.
It is as follows that books 2 place step：1st, clamping jaw 5 moves to bookshelf 1, and support book frame 803 first struts the books 2 on bookshelf 1,
To place books 2 in advance simultaneously and enter the space；2nd, clamping jaw 5 is unclamped, and books 2 are dropped down onto on bookshelf 1；3rd, clamping jaw 5 is controlled together with support book
Frame 803 together rises until support book frame 803 departs from books 2, and 4, control code plate 507 by the code of books 2.
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)
- A kind of 1. automatic arranging machine people, it is characterised in that：Including dolly (3), mechanical arm (4), clamping jaw (5), books identifier (6), slipping mechanism (7), support book device (8), are provided with switch board (301), battery, mechanical arm (4), sliding plane on dolly (3) Structure (7) is arranged on dolly (3), and mechanical arm (4) is the Multi-freedom-degreemanipulator manipulator of multiple motor drivens, and mechanical arm is set on (4) There are mounting blocks (401), rotating mechanism (402) is provided with mounting blocks (401), clamping jaw (5) is arranged on rotating mechanism (402), Books identifier (6) is arranged on clamping jaw (5)；The clamping jaw (5) is arranged on rotating mechanism (402) by pinboard (406)； Slipping mechanism (7) includes translation mechanism (701), inclined ramp (702), and inclined ramp (702) is arranged on the movement of translation mechanism (701) On plate, inclined ramp (702) is corresponding with clamping jaw (5), and slipping mechanism (7) is located at the side of mechanical arm (4)；Support book device (8) includes prolonging Boom (801), support book frame (803), electric rotating machine (802), one end of extension rod (801) are arranged on mounting blocks (401), are another Mounting rotary electric machine (802) is held, remote mounting blocks (401) end of support book frame (803) and extension rod (801) passes through activity axis connection, The motor shaft of book frame (803) connection electric rotating machine (802) is supportted, remote extension rod (801) end of support book frame (803) is tip shape, support Book frame (803) is symmetrical arranged two in mechanical arm (4) both sides.
- 2. a kind of automatic arranging machine people according to claim 1, it is characterized in that, the remote bookshelf of the inclined ramp (702) (1) end is held higher than nearly bookshelf (1), and the bottom of inclined ramp (702) is provided with multiple rollers (703).
- 3. a kind of automatic arranging machine people according to claim 1, it is characterized in that, support book frame (803) center line with Horizontal range between rotating mechanism (402) rotary shaft is equal to the vertical median plane of books identifier (6) and revolved with rotating mechanism (402) The distance between rotating shaft.
- 4. a kind of automatic arranging machine people 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).
- 5. a kind of automatic arranging machine people according to claim 4, 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).
- 6. a kind of automatic arranging machine people 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).
- 7. a kind of automatic arranging machine people according to claim 6, 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.
- 8. a kind of automatic arranging machine people according to claim 1, it is characterized in that, the books identifier (6) includes taking the photograph As head, image identification system is provided with switch board (301).
- 9. a kind of automatic arranging machine people according to claim 1, it is characterized in that, the robot also includes holding tank, Holding tank is arranged on dolly (3).
- 10. a kind of automatic arranging machine people according to claim 1, it is characterized in that, the translation mechanism (701) is ball The mobile platform that leading screw drives.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642571.9A CN107433567A (en) | 2017-07-31 | 2017-07-31 | A kind of automatic arranging machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642571.9A CN107433567A (en) | 2017-07-31 | 2017-07-31 | A kind of automatic arranging machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107433567A true CN107433567A (en) | 2017-12-05 |
Family
ID=60460955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710642571.9A Withdrawn CN107433567A (en) | 2017-07-31 | 2017-07-31 | A kind of automatic arranging machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107433567A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249569A (en) * | 2020-10-10 | 2021-01-22 | 南华大学 | Intelligent taking and returning system for library books |
| CN112493682A (en) * | 2020-11-25 | 2021-03-16 | 唐山学院 | Portable library receives and arranges books device |
Citations (7)
| 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 | 方建军 | 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 |
-
2017
- 2017-07-31 CN CN201710642571.9A patent/CN107433567A/en not_active Withdrawn
Patent Citations (7)
| 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 | 方建军 | 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 (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249569A (en) * | 2020-10-10 | 2021-01-22 | 南华大学 | Intelligent taking and returning system for library books |
| CN112493682A (en) * | 2020-11-25 | 2021-03-16 | 唐山学院 | Portable library receives and arranges books device |
| CN112493682B (en) * | 2020-11-25 | 2023-02-24 | 唐山学院 | Portable library receives and arranges books device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106426202A (en) | Automatic tidying device for books of library | |
| CN106625696A (en) | Bookshelf capable of automatically arranging and classifying books | |
| CN107398907A (en) | A kind of robot of library | |
| CN107553500A (en) | A kind of automatic arranging machine people | |
| CN110270973B (en) | Warehouse logistics robot and working method thereof, and automatic battery replacement method | |
| EP3705356B1 (en) | Vehicle position adjustment system, vehicle position adjustment method and battery swap station | |
| CN107598932A (en) | A kind of books position adjustment robot | |
| CN107598930A (en) | A kind of book bidding system | |
| CN206200984U (en) | Books in libraries automatic collating unit | |
| CN107433567A (en) | A kind of automatic arranging machine people | |
| CN107443393A (en) | A kind of books position adjustment robot | |
| CN107457763A (en) | It is a kind of can adjust automatically books position robot | |
| CN107571234A (en) | A kind of automatic finisher | |
| CN107414850A (en) | It is a kind of can automatic neatening book robot | |
| CN107378985A (en) | A kind of Intelligent management device | |
| CN107627297A (en) | A kind of books position adjustment | |
| CN107627296A (en) | A kind of books automatic arranging system | |
| CN107598931A (en) | A kind of books position automatic error correction system | |
| CN206200985U (en) | It is a kind of can automatic arranging classify books bookshelf | |
| CN113619965A (en) | Automatic book taking and returning structure and using method thereof | |
| CN107351055A (en) | A kind of position error correction machine people | |
| CN107374084A (en) | A kind of books automatic arranging system | |
| CN107584495A (en) | A kind of position adjustment equipment | |
| CN210012312U (en) | Automatic cylinder feeding system | |
| CN111037351A (en) | Loading and unloading method, system, equipment and storage medium based on multi-axis robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171205 |
|
| WW01 | Invention patent application withdrawn after publication |