CN112591355A - Automatic clamping device for books - Google Patents
Automatic clamping device for books Download PDFInfo
- Publication number
- CN112591355A CN112591355A CN202011253350.0A CN202011253350A CN112591355A CN 112591355 A CN112591355 A CN 112591355A CN 202011253350 A CN202011253350 A CN 202011253350A CN 112591355 A CN112591355 A CN 112591355A
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- CN
- China
- Prior art keywords
- book
- rod
- book clamping
- poking
- slide
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
Abstract
The automatic book clamping device comprises an XYZ three-degree-of-freedom rack and is characterized in that a book poking mechanism and a book clamping mechanical arm are arranged at the executing tail end of the XYZ three-degree-of-freedom rack, the book poking mechanism comprises a flexible rectangular track generating mechanism, a book poking rod extending outwards is arranged at the executing end of the flexible rectangular track generating mechanism, the flexible rectangular track generating mechanism enables the book poking rod to move in a rectangular track under the driving of a motor, books are pressed and poked outwards in a direction parallel to the book surface, and the book clamping mechanical arm synchronously clamps the books. The book poking mechanism and the book clamping mechanical arm simulate the book poking action of a hand in the book taking and placing process, and the book poking mechanism and the book clamping mechanical arm are combined with the identification of transverse stripe codes pasted on book spines of books to carry out accurate operation on the books.
Description
Technical Field
The invention belongs to the technical field of book management, and particularly relates to an automatic book clamping device.
Background
Libraries are located as the most basic infrastructure in every city and school, but as is now common, the organization, sorting, borrowing, and returning of books in these libraries still remains without manpower. Especially for some large book storage warehouses, these processes are extremely cumbersome. To date, no instrument for realizing automatic book taking by effectively combining with the current library facilities appears in the market.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an automatic book clamping device, which can realize stable clamping of books, can realize control by combining a control system with a book database, automatically identifies and positions by using bar codes, and realizes automatic clamping according to the bar codes, thereby realizing highly automatic management of libraries.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automatic book clamping device comprises an XYZ three-degree-of-freedom rack 1 and is characterized in that a book poking mechanism 3 and a book clamping manipulator 2 are arranged at the executing tail end of the XYZ three-degree-of-freedom rack 1, the book poking mechanism 3 comprises a flexible rectangular track generating mechanism, a book poking rod 22 extending outwards is arranged at the executing end of the flexible rectangular track generating mechanism, the flexible rectangular track generating mechanism enables the book poking rod 22 to move in a rectangular track under the driving of a motor, books are pressed and poked outwards in a direction parallel to books, and the book clamping manipulator 2 synchronously clamps the books.
The executing end of the XYZ three-degree-of-freedom rack 1 is a Z-direction bottom of the rack, a bottom plate is arranged at the Z-direction bottom, and the book poking mechanism 3 and the book clamping manipulator 2 are respectively arranged above and below the bottom plate.
The book poking mechanism 3 comprises a vertical book poking support frame 16, the book poking support frame 16 comprises a fixed right rod and a fixed middle rod, the top end of the right rod is connected with a transverse sliding rod 17, the top end of a longitudinal sliding rod 20 is connected with the transverse sliding rod 17 and can slide freely and transversely on the transverse sliding rod 17, the longitudinal sliding rod 20 is provided with a sliding block 23 and a limiting sliding cylinder 21 which can slide on the longitudinal sliding rod, one end of the book poking rod 22 is fixedly connected with the limiting sliding cylinder 21, the other end of the book poking rod is a suspended book poking head 26, a sliding cylinder spring 25 is arranged in the limiting sliding cylinder 21, the sliding block 23 is positioned in the limiting sliding cylinder 21 and is connected with the top of the sliding cylinder spring 25, the bottom of the sliding cylinder spring 25 is connected with the bottom of the limiting sliding cylinder 21, the side wall of the limiting sliding cylinder 21 is provided with a long groove, a connecting shaft of the sliding block 23 extends out of the long groove, the extending part is hinged with a rotating crank, one end of the crank spring 24 contacts the slide block 23, the other end contacts the slide block 18, the rotating shaft slide block 18 and the rotating crank 19 form a sliding pair and provide rotating torque for the rotating crank 19, and the rotating shaft slide block 18 and the book poking support frame form a rotating pair.
The XYZ three-degree-of-freedom rack 1 is powered by a stepping motor 4.
And a bar code scanning identifier 15 is arranged below the book clamping mechanical arm 2, a transverse stripe code 5 is pasted at the spine of the book, and the bar code scanning identifier 15 scans the transverse stripe code 5 to identify, position and clamp the book to be clamped.
The book clamping mechanical arm 2 adopts two parallelogram link mechanisms consisting of a book clamping mechanical arm shell 14, a connecting rod 10, a gear connecting rod 11 and a book clamping plate 9, wherein one end of the connecting rod 10 is connected to the book clamping mechanical arm shell 14 through a rotating shaft, the other end of the connecting rod is connected to the book clamping plate 9 through a rotating shaft, one end of the gear connecting rod 11 is connected to the book clamping mechanical arm shell 14 through a transmission shaft with a gear wheel 12, the other end of the gear connecting rod is connected to the book clamping plate 9 through a rotating shaft, the front ends of the two book clamping plates 9 extend out to be used as clamping ends, the gear wheel 12 is meshed with a pinion 13, and power is transmitted to the parallelogram.
The clamping ends are two vertical symmetrical wedge-shaped plates.
Compared with the prior art, the invention has the beneficial effects that:
(1) the XYZ three-degree-of-freedom rack is connected with a book clamping mechanical arm to realize book grabbing at any position.
(2) The parallelogram link mechanism of the book clamping mechanical arm realizes parallel clamping.
(3) The book poking mechanism simulates the process of taking books by hands through the rectangular track generation mechanism, and stable clamping of the books is realized.
(4) The transverse bar code at the spine of the book is scanned through the bar code scanning identifier, so that the book is quickly searched and positioned, and the book is conveniently positioned in the next step. The transverse sticking of the bar code on the spine of the book is beneficial to being suitable for books with various thicknesses.
(5) The automatic book clamping method is flexible and convenient, can effectively adapt to the existing library facilities, and is favorable for simplifying book borrowing operation.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic diagram of an XYZ three degree-of-freedom gantry.
Fig. 3 is a schematic structural view (plan view) of the book clamping robot.
Fig. 4 is a schematic structural view (shaft side) of the book clamping robot.
Fig. 5 is a schematic structural view (front view) of the dial mechanism.
Fig. 6 is a schematic structural view (axial side) of the dial mechanism.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the drawings and examples.
The invention discloses an automatic book clamping device, which mainly comprises an XYZ three-degree-of-freedom rack 1, a book poking mechanism 3 and a book clamping manipulator 2, and is shown in figure 1. The book picking mechanism 3 and the book clamping mechanical arm 2 are arranged at the executing tail end of the XYZ three-degree-of-freedom rack 1, the book clamping mechanical arm 2 and the book picking mechanism 3 are moved by the XYZ three-degree-of-freedom rack 1, the book picking mechanism 3 simulates the book picking action of a hand in the book taking and placing process, and the book clamping mechanical arm 2 is used for accurately clamping books and conveying the books to the designated position through the XYZ three-degree-of-freedom rack 1.
Referring to fig. 1 and 2, the executing end of the XYZ three-degree-of-freedom rack 1 is a Z-direction bottom of the XYZ three-degree-of-freedom rack, a bottom plate is arranged at the Z-direction bottom, and the book poking mechanism 3 and the book clamping manipulator 2 are respectively arranged above and below the bottom plate.
The XYZ three-degree-of-freedom rack 1 mainly comprises a top frame guide rail 6, a transverse linear module 7 and a longitudinal linear module 8, wherein the top frame guide rail 6 can be fixed above a bookshelf, the transverse linear module 7 can freely slide on the top frame guide rail 6, and the book clamping manipulator 2 is free in the X direction. The transverse linear module 7, in turn, allows the longitudinal linear module 8 to slide freely in the Y direction, while the book clamping robot 2 is free in the Y direction. The longitudinal linear module 8 allows the book clamping robot 2 to slide in the Z direction. The whole three-freedom-degree frame is driven by a plurality of stepping motors 4 to accurately control the movement of the book clamping mechanical arm 2.
Referring to fig. 1, 3 and 4, the book clamping manipulator 2 adopts two parallelogram linkage mechanisms consisting of a book clamping manipulator housing 14, a connecting rod 10, a gear connecting rod 11 and a book clamping plate 9. Wherein, one end of the connecting rod 10 is connected with a book clamping mechanical arm shell 14 through a rotating shaft, the other end is connected with a book clamping plate 9 through a rotating shaft, one end of the gear connecting rod 11 is connected with the book clamping mechanical arm shell 14 through a transmission shaft with a big gear 12, the other end is connected with the book clamping plate 9 through a rotating shaft, the front ends of the two book clamping plates 9 extend out to be used as clamping ends, the big gear 12 is meshed with a small gear 13, power is transmitted to a parallelogram connecting rod mechanism through the small gear 13 by a motor to drive the parallelogram connecting rod mechanism to move, the two book clamping plates 9 are synchronously and parallelly closed to clamp.
The book clamping mechanical arm 2 utilizes a parallelogram link mechanism and a gear mechanism consisting of a pinion 13 and a bull gear 12, wherein one link in the parallelogram link mechanism is differentiated into the book clamping plates 9, the parallelogram link mechanism enables the book clamping plates 9 to be always parallel in the process of clamping books, and the two meshed bull gears 12 enable the movement of the two book clamping plates 9 to be synchronously carried out.
In a more preferred embodiment of the present invention, a bar code scanning identifier 15 is disposed below the book clamping manipulator 2, and accordingly, a horizontal bar code 5 is pasted on the spine of the book, the bar code scanning identifier 15 scans the horizontal bar code 5 to identify and position the book to be clamped, the control system controls the end of the XYZ three-degree-of-freedom rack 1 to perform the action, and finally the book picking mechanism 3 and the book clamping manipulator 2 cooperate to clamp the book.
The transverse bar code 5 at the spine is different from the traditional longitudinal bar code, the bar code is not lost after being pasted, the book spine scanning device can adapt to books with various thicknesses, the bar code scanning probe 15 is connected with the book clamping mechanical arm 2, the bar code 5 at the spine of each book is rapidly scanned through the motion control of the book clamping mechanical arm 2 along with the motion of the XYZ three-degree-of-freedom rack 1, and the computer is used for rapidly comparing information to search books. When finding the appointed book, the computer analyzes the scanning information to carry out accurate positioning, and then the book is clamped by the book poking mechanism 3 and the book clamping mechanical arm 2.
Referring to fig. 1, 5 and 6, the book poking mechanism 3 includes a flexible rectangular track generating mechanism, an actuating end of the flexible rectangular track generating mechanism is provided with a book poking rod 22 extending outwards, the flexible rectangular track generating mechanism is driven by a motor to make the book poking rod 22 move in a rectangular track, the book is pressed along a direction parallel to the book and poked outwards, and at this time, the book clamping manipulator 2 synchronously clamps and clamps the book.
Specifically, the book dialing mechanism 3 comprises a vertical book dialing support frame 16, the book dialing support frame 16 comprises a fixed right rod and a fixed middle rod, the top end of the right rod is connected with the right end of a transverse sliding rod 17, the top end of a longitudinal sliding rod 20 is slidably arranged on the transverse sliding rod 17, a sliding block 23 and a limiting sliding cylinder 21 which can slide on the longitudinal sliding rod 20 are arranged on the longitudinal sliding rod 20, one end of the book dialing rod 22 is fixedly connected with the limiting sliding cylinder 21, the other end of the book dialing rod is a suspended book dialing head 26, a sliding cylinder spring 25 is arranged in the limiting sliding cylinder 21, the sliding block 23 is positioned in the limiting sliding cylinder 21 and is connected with the top of the sliding cylinder spring 25, the bottom of the sliding cylinder spring 25 is connected with the bottom of the limiting sliding cylinder 21, the side wall of the limiting sliding cylinder 21 is provided with a long groove, a connecting shaft of the sliding block 23 extends out of the long groove, the extending part is hinged with a rotating crank 19, the rotating, one end of the crank spring 24 contacts the slide block 23, the other end contacts the slide block 18, the rotating shaft slide block 18 and the rotating crank 19 form a sliding pair and provide rotating torque for the rotating crank 19, and the rotating shaft slide block 18 and the book poking support frame form a rotating pair. The limiting sliding barrel 21 and the sliding barrel spring 25 are used, so that the book poking mechanism can automatically adapt to books with different heights, the change of the height of a book poking point caused by the inclination of the books can be adapted to the book poking mechanism 3 in the poking process, and the flexibility of the mechanism is enhanced.
Specifically, when the XYZ three-degree-of-freedom rack 11 moves to a position of a designated book, the control system controls the motor of the book-dialing mechanism 3 to rotate, the rotating shaft of the rotating shaft slider 18 rotates counterclockwise, and a rectangular track starts to be generated: initially, the longitudinal slide bar 20 is located at the right end of the transverse slide bar 17, the limit slide cylinder 21 is located above the longitudinal slide bar 20, when the rotating shaft slide block 18 starts to rotate, the limit slide cylinder 21 is pushed against the upper part of the longitudinal slide bar 20 under the action of the crank spring 24 and moves leftwards along with the longitudinal slide bar 20, when the longitudinal slide bar 21 reaches the left end of the transverse slide bar 17, the book poking head 26 is located right above the book to be operated, then the limit slide cylinder 21 starts to move downwards along the longitudinal slide bar 20, and the slide block 23 pushes upwards against the limit slide cylinder 21 under the action of the slide cylinder spring 25. When the book poking head 26 moves downwards to touch the book, the longitudinal position of the limiting sliding barrel 21 is limited, the sliding block 23 starts to press the sliding barrel spring 25 downwards, when the length of the downward pressing of the sliding barrel spring 25 reaches a set value, the transverse sliding rod 20 starts to move rightwards, and the book is poked outwards by the book poking head 26 under the action of friction force.
When the book poking action pokes the book outwards, the motor of the book clamping mechanical arm 2 starts to rotate, and the book clamping action starts to be carried out: the motor drives the pinion 13 to rotate clockwise, the pinion 13 is meshed with the gearwheel 12 to rotate, the gearwheel 12 is fixedly connected with the connecting rod 11, so that the parallelogram link mechanisms rotate together, and the two gearwheel 12 are meshed with each other, so that the two link mechanisms rotate synchronously to drive the book clamping plates 9 to fold in parallel and clamp books.
After the book clamping robot 29 clamps the book, the XYZ three-degree-of-freedom gantry 1 starts to move to transport the book to a designated position.
Claims (8)
1. The automatic book clamping device comprises an XYZ three-degree-of-freedom rack (1) and is characterized in that a book poking mechanism (3) and a book clamping mechanical arm (2) are arranged at the executing end of the XYZ three-degree-of-freedom rack (1), the book poking mechanism (3) comprises a flexible rectangular track generating mechanism, a book poking rod (22) extending outwards is arranged at the executing end of the flexible rectangular track generating mechanism, the flexible rectangular track generating mechanism enables the book poking rod (22) to do rectangular track motion under the driving of a motor, books are pressed and pulled outwards along the direction parallel to the book surface, and the book clamping mechanical arm (2) synchronously clamps the books.
2. The automatic book clamping device as claimed in claim 1, wherein the executing end of the XYZ three-degree-of-freedom rack (1) is the Z-direction bottom of the rack, a bottom plate is arranged at the Z-direction bottom, and the book poking mechanism (3) and the book clamping manipulator (2) are respectively arranged above and below the bottom plate.
3. The automatic book clamping device as claimed in claim 1 or 2, characterized in that the book dialing mechanism (3) comprises a vertical book dialing support frame (16), the book dialing support frame (16) comprises a fixed right rod and a middle rod, the top end of the right rod is connected with a transverse slide rod (17), the top end of a longitudinal slide rod (20) is connected with the transverse slide rod (17) and can slide freely on the transverse slide rod (17), the longitudinal slide rod (20) is provided with a slide block (23) and a limiting slide cylinder (21) which can slide on the longitudinal slide rod, one end of the book dialing rod (22) is fixedly connected with the limiting slide cylinder (21), the other end is a suspended book dialing head (26), a slide cylinder spring (25) is arranged in the limiting slide cylinder (21), the slide block (23) is positioned in the limiting slide cylinder (21) and is connected with the top of the slide cylinder spring (25), the bottom of the slide cylinder spring (25) is connected with the bottom of the limiting slide cylinder (21), the side wall of the limiting sliding cylinder (21) is provided with an elongated slot, a connecting shaft of the sliding block (23) extends out of the elongated slot, the extending part is hinged with the rotating crank (19), the rotating crank (19) is provided with a crank spring (24) and a rotating shaft sliding block (18) forming a sliding pair with the rotating crank (19), one end of the crank spring (24) is contacted with the sliding block (23), the other end of the crank spring is contacted with the sliding block (18), the rotating shaft sliding block (18) and the rotating crank (19) form the sliding pair and provide the rotating moment of the rotating crank (19), and the rotating shaft sliding block (18) and the book poking support frame form a rotating pair.
4. The automatic book clamping device as claimed in claim 3, wherein the XYZ three-degree-of-freedom rack (1) is powered by a stepping motor (4).
5. The automatic book clamping device as claimed in claim 3, wherein a bar code scanning identifier (15) is arranged below the book clamping mechanical arm (2), a horizontal bar code (5) is pasted at the spine of the book, and the bar code scanning identifier (15) scans the horizontal bar code (5) to identify and position the book to be clamped.
6. The automatic book clamping device as claimed in claim 3, wherein the book clamping manipulator (2) adopts two parallelogram linkage mechanisms consisting of a book clamping manipulator housing (14), a connecting rod (10), a gear connecting rod (11) and a book clamping plate (9), wherein one end of the connecting rod (10) is connected to the book clamping manipulator housing (14) through a rotating shaft, the other end of the connecting rod is connected to the book clamping plate (9) through a rotating shaft, one end of the gear connecting rod (11) is connected to the book clamping manipulator housing (14) through a transmission shaft with a gear wheel (12), the other end of the gear connecting rod is connected to the book clamping plate (9) through a rotating shaft, the front ends of the two book clamping plates (9) extend out to be used as clamping ends, the gear wheel (12) is meshed with a pinion (13), and a motor transmits power to the parallelogram linkage mechanism through the pinion (13).
7. The automatic book clamping device as claimed in claim 6, wherein the clamping ends are two vertical symmetrical wedge-shaped plates.
8. The automatic book clamping device as claimed in claim 6, wherein two of said large gears (12) are engaged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011253350.0A CN112591355A (en) | 2020-11-11 | 2020-11-11 | Automatic clamping device for books |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011253350.0A CN112591355A (en) | 2020-11-11 | 2020-11-11 | Automatic clamping device for books |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112591355A true CN112591355A (en) | 2021-04-02 |
Family
ID=75183265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011253350.0A Pending CN112591355A (en) | 2020-11-11 | 2020-11-11 | Automatic clamping device for books |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112591355A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116002276A (en) * | 2023-01-05 | 2023-04-25 | 中国长江电力股份有限公司 | Open type intelligent goods shelf integrating RFID radio frequency technology |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09323281A (en) * | 1996-05-31 | 1997-12-16 | Shinko Electric Co Ltd | Robot hand for book fetching |
| 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 |
| KR20160032532A (en) * | 2014-09-16 | 2016-03-24 | 경상대학교산학협력단 | Arrangement robot |
| CN206173217U (en) * | 2016-09-28 | 2017-05-17 | 湘潭大学 | Rectangle glass -cutting device for glass curtain wall |
| CN107160256A (en) * | 2017-07-06 | 2017-09-15 | 严梓展 | It is a kind of to be used for the side sanding apparatus of accurate rectangular piece |
| CN107598931A (en) * | 2017-07-31 | 2018-01-19 | 青岛万祥如光机械技术研究有限公司 | A kind of books position automatic error correction system |
| CN110103243A (en) * | 2019-05-16 | 2019-08-09 | 江南大学 | A kind of clamp hand mechanism of library's access book robot |
| CN110270974A (en) * | 2019-04-29 | 2019-09-24 | 北京工业大学 | A kind of multipurpose tray load-engaging device |
| CN211306300U (en) * | 2019-11-20 | 2020-08-21 | 上海潭闻智能科技有限公司 | Automatic industrial mechanical arm |
-
2020
- 2020-11-11 CN CN202011253350.0A patent/CN112591355A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09323281A (en) * | 1996-05-31 | 1997-12-16 | Shinko Electric Co Ltd | Robot hand for book fetching |
| 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 |
| KR20160032532A (en) * | 2014-09-16 | 2016-03-24 | 경상대학교산학협력단 | Arrangement robot |
| CN206173217U (en) * | 2016-09-28 | 2017-05-17 | 湘潭大学 | Rectangle glass -cutting device for glass curtain wall |
| CN107160256A (en) * | 2017-07-06 | 2017-09-15 | 严梓展 | It is a kind of to be used for the side sanding apparatus of accurate rectangular piece |
| CN107598931A (en) * | 2017-07-31 | 2018-01-19 | 青岛万祥如光机械技术研究有限公司 | A kind of books position automatic error correction system |
| CN110270974A (en) * | 2019-04-29 | 2019-09-24 | 北京工业大学 | A kind of multipurpose tray load-engaging device |
| CN110103243A (en) * | 2019-05-16 | 2019-08-09 | 江南大学 | A kind of clamp hand mechanism of library's access book robot |
| CN211306300U (en) * | 2019-11-20 | 2020-08-21 | 上海潭闻智能科技有限公司 | Automatic industrial mechanical arm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116002276A (en) * | 2023-01-05 | 2023-04-25 | 中国长江电力股份有限公司 | Open type intelligent goods shelf integrating RFID radio frequency technology |
| CN116002276B (en) * | 2023-01-05 | 2023-08-15 | 中国长江电力股份有限公司 | Open type intelligent goods shelf integrating RFID radio frequency technology |
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Application publication date: 20210402 |