CN203102457U - Full-automatic storage and borrowing stack room - Google Patents
Full-automatic storage and borrowing stack room Download PDFInfo
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- CN203102457U CN203102457U CN 201320129014 CN201320129014U CN203102457U CN 203102457 U CN203102457 U CN 203102457U CN 201320129014 CN201320129014 CN 201320129014 CN 201320129014 U CN201320129014 U CN 201320129014U CN 203102457 U CN203102457 U CN 203102457U
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Abstract
The utility model discloses a full-automatic storage and borrowing stack room which comprises bookshelves and a laneway conveying mechanism, wherein the laneway conveying mechanism is provided with a horizontal track, the horizontal track is provided with a vertical track, the vertical track is provided with a manipulator track perpendicular to the horizontal track and the vertical track, and the manipulator track is provided with a manipulator. The key improvement of the utility model is as follows: the manipulator comprises a first motorized rotating platform, a second motorized rotating platform and a motorized clamping jaw; the first motorized rotating platform is arranged on the manipulator track, the second motorized rotating platform is perpendicularly arranged on the first motorized rotating platform, the first motorized rotating platform rotates along the horizontal direction, the second motorized rotating platform rotates perpendicularly, and the motorized clamping jaw is arranged on the second rotating platform. Through taking the improvement of the manipulator as a basic starting point, the stack room can run in horizontal, vertical and transverse three-dimensional directions, thereby implementing a flexible manipulator structure rotating in the horizontal direction and the vertical direction.
Description
Technical field
The utility model relates to a kind of full-automatic books storage and borrows stack room, it relates to intelligent storage equipment, multinomial intelligent parts such as intelligence tunnel transport establishment, puma manipulator, convenient connecting gear, Intelligent Measurement mechanism, can automatically finish borrowing and memory function of books, have extensive applicability, belong to the mechanical automation technical field.
Background technology
The intelligent book shop is a modern digital library's development direction, the radio frequency label broad application, make the identification and the location of books more accurate, derived successively large quantities of self-servicely check out, the self-help book returning terminal device, the librarian need not on dutyly manually to finish borrowing of books on the doorway, reading room and give back action, the reader only need be on the self-service borrows and return terminating machine self-service finishing.
This case designer had had before researched and developed the scheme of " based on the robotization book management system of closed shelves ", its granted patent number: 200910080132.9.This structure also reckons without the actual conditions of present most of open-shelf reading room, thus although this cover physical construction can realize the borrowing and giving back of books in library fully, be not useful in open access indoor.
The zone is read according to the storage of the classifying and dividing books of books by open library, as: social sciences books reading room, natural science books reading room, english literature reading room, historical summary reading room, reference book reading room etc.The reader can select different reading rooms to read or choose and borrow books, and finishes the action of borrowing or giving back by the self-service borrows and return terminal that is provided with in each reading room.
After existing open library has used the self-aided terminal machine, alleviated keeper's workload to a certain extent, but give back the back books arrangement, sort out, return frame; By the management of reservation books, borrow, return work such as frame still all to need the librarian manually to carry out.
The utility model content
The purpose of this utility model is to solve the existing existing open-shelf books practical problems that regional books give back, classify, transport of reading.
Automatically store in the utility model and borrow stack room and realize by following proposal: it includes bookshelf and tunnel transport establishment, this tunnel transport establishment has horizontal rail, horizontal rail is provided with vertical track, vertically be provided with on the track and described horizontal rail and the vertical all vertical mechanical arm track of track, the mechanical arm track is provided with mechanical arm, its emphasis improve in: described mechanical arm comprises first electric rotating platform, second electric rotating platform and electronic jaw; First electric rotating platform is provided with on the mechanical arm track, second electric rotating platform is vertically set on first electric rotating platform, the rotation of the first electric rotating platform horizontal direction, second electric rotating platform is vertically rotated, and electronic jaw is arranged on second rotation platform.
At first, stack room are automatically stored and borrowed to the utility model, with the basic point of departure that is improved to of mechanical arm, providing can level, vertically, laterally 3 D stereo direction operation, and can realize horizontally rotating and the robot manipulator structure flexibly of vertical direction rotation.Bookshelf cooperates tunnel transport establishment to reach robot manipulator structure flexibly, promptly can realize the outbound and the warehouse-in action of books.
Second: about the further interpolation and the qualification of books delivery platform.
Specifically, the utility model is automatically stored and is borrowed stack room and also comprises the books delivery platform that docks with tunnel transport establishment;
Wherein, this books delivery platform comprise the delivery platform that checks out, also the book delivery platform and the conditioning platform; Also book delivery platform one end is connected with outlet, and the other end is connected with the conditioning platform, and the conditioning platform docks with tunnel transport establishment; The delivery platform that checks out is arranged on also book delivery platform top, and the delivery platform outer end that checks out is longer than near endpiece in below also book delivery platform, and the other end of this delivery platform that checks out docks with tunnel transport establishment.
The qualification of this kind books delivery platform has effectively utilized limited space, will check out and also the book transfer passage integrated.
The the 3rd: about the setting of temporary storage platform.
Described full-automatic storage and borrow stack room and also comprise temporary storage platform, this temporary storage platform is arranged between books delivery platform and the tunnel transport establishment; Wherein, described temporary storage platform comprises first chain sprocket structure and second chain sprocket structure that is driven by motor synchronous, and is arranged in the some pallets between two chain sprocket structures;
Settings of staggering before and after described first chain sprocket structure and second chain sprocket structure, first chain sprocket structure be preceding, second chain sprocket structure after, the distance that staggers in front and back is first at interval, about the distance that staggers be second interval; Wherein, first is roughly the length of a pallet at interval, and second is slightly larger than the width of a pallet at interval, has the 3rd between each pallet at interval;
The left front end of each pallet is connected on first chain sprocket structure, and the right rear end of pallet is connected on second chain sprocket structure;
Wherein, described pallet has inlet end and endpiece, and inlet end is arranged on the adjacent side of conditioning platform, and endpiece is arranged at the adjacent side of tunnel transport establishment, and inlet end is higher than endpiece, and endpiece is provided with and blocks the edge; Described conditioning platform is higher than temporary delivery platform, between conditioning delivery platform and the temporary delivery platform tilting slide plate is set.
Technique scheme has been added temporary storage platform between tunnel transport establishment and books delivery platform, make many warehouse-in books and the operation simultaneously of outbound books to be temporarily stored in the pallet successively, improves system effectiveness.If there is not temporary storage platform, get book return machine tool hand and only can handle a warehouse-in or the action of outbound at every turn, increased temporary storage location after, get storage or outbound that book return machine tool hand can be finished many books successively.
The design of first chain sprocket structure and second chain sprocket structure makes pallet to rotate in limited space, mechanical arm can be on same vertical equity line to two-layer pallet up and down.If after the upper tray books put in place, mechanical arm is being handled the other system requirement, and mechanical arm still can be handled it and move to the lower floor position corresponding with mechanical arm in the very short time so, and the system that makes has more efficient.The pallet inlet end is higher than endpiece, has ensured the stability of books in rotary course.
The the 4th: about getting the further improvement of the moving jaw of book return machine tool torch.
Described electronic jaw has finger pressing plate and peg board, and peg board comprises two fingers that are provided with at interval; Described bookshelf has a layer dividing plate, at interval first breach is set on the layer dividing plate, forms back up pad between two the first adjacent breach, and the back up pad outer is provided with occlusion part; The endpiece of pallet is arranged at intervals with two second breach.
The utility model is got the mechanical arm of book return machine tool palmistry for full-automatic closed shelves, designs simplyr, operates more flexible.Get the electronic jaw folding up and down of book return machine tool hand, the finger pressing plate is last, and peg board has two fingers that are provided with at interval, and after the operation, books are middle by firm being fixed on up and down.The finger that is provided with can insert on the bookshelf layer dividing plate and pallet with design at interval smoothly at interval.
Five, about nursing one's health the qualification of platform and conditioning hand.
Wherein, described conditioning platform is travelling belt or drum conveying line, and it is provided with the conditioning hand.
Wherein, described conditioning hand is arranged on the conditioning bracing frame by vertical movement mechanism and horizontal rotary mechanism successively; This vertical movement mechanism comprises activity orientation frame and electric pushrod; This horizontal rotary mechanism is the 3rd electric rotating platform; The conditioning handbag contains substrate, and the lateral surface of substrate links to each other with above-mentioned horizontal rotary mechanism, and the machinery folding structure is set on the medial surface of substrate.
The interpolation of conditioning platform and conditioning hand, the interior books direction that can standard enters stack room is convenient to get book return machine tool hand and is grasped books.The conditioning platform is higher than temporary storage platform, and adds tilting slide plate between conditioning platform and temporary storage platform, more helps the transmission action of books.
Six, about transporting the qualification of book dolly.
Native system also includes fortune book dolly, and this fortune book dolly be that layer is arranged, each layer has two dolly dividing plates by the middle baffle plate separation, described dolly dividing plate from left to right or right-to-left be obliquely installed.
Wherein, this baffle plate is arranged at the central authorities of each layer dolly dividing plate, and the dolly dividing plate of baffle plate both sides is to centroclinal.
Fortune book dolly is the common tool in library, cooperates with it for the ease of getting book return machine tool hand, needs to consider the steadiness and the stability of books in handshaking of dolly in design.Two dolly dividing plates all tilt from outer row middle baffle plate direction, and each piece dolly dividing plate all tilts from a side direction opposite side.After books were placed on the dolly dividing plate, because inwardly and to the inclination of opposite side, books can comparatively firm placement, and artificial promote or the situation of machine traction under, still enough keep good steadiness.
Fortune book dolly is added in the stack room, can solve artificial book classification problem at all, pick-up unit is according to the classification of the identification label affirmation books of books, and system is that different classes of books distribute different fortune book dollies, and each fortune book dolly will directly be delivered to corresponding reading room.
Seven, about the qualification of cart transport platform.
Wherein, be provided with the cart transport platform between the transport establishment of adjacent tunnel, this cart transport platform has draw-gear, and this draw-gear is provided with the flexible pin that links to each other with dolly; Described fortune book dolly bottom is provided with and the corresponding pin-and-hole of flexible pin; This cart transport platform also includes register pin, and described fortune book dolly bottom is provided with and this register pin corresponding positioning hole.
The utility model has changed the notion in tunnel first, and by the tunnel between the original bookshelf, changing between the transport establishment of tunnel is the tunnel, and fortune book dolly or other books in stock devices can be set in this tunnel as bookshelf.Tunnel transport establishment forms as relatively-stationary function, and fortune book dolly and bookshelf add or increase and decrease according to the requirement in different libraries.
And the setting of described cart transport platform need not shutdown system, will transport the book dolly again and manually be pushed between the tunnel, gets book return machine tool hand and also need not to stop operation.Personnel's the safe operation and the continuity of system have been ensured.
Eight, about the qualification of fixed beam.
Wherein, described tunnel transport establishment comprises three-dimensional outside framework, and described horizontal rail is arranged on the levels of three-dimensional outside framework, is provided with fixed beam between the three-dimensional outside framework of adjacent tunnel fortune book mechanism.
Each tunnel transport establishment in the utility model can be connected to organic whole by fixed beam, each tunnel transport establishment and go up to be provided with get book return machine tool hand as the single operation unit, total system is more firm.And can increase or reduce the number of tunnel transport establishment according to the size of staging area, be that total system is according to adaptability.
In addition, be connected between the whole tunnel transport establishment and have more adaptability, bookshelf, fortune book dolly not only can be set between the tunnel, other memory devices can also be set.
Nine, about the qualification of residual book retracting device.
Full-automatic storage in the utility model and borrow stack room and also include residual book retracting device, it includes the thruster mechanical arm, described thruster mechanical arm is arranged on the delivery platform or also on the book delivery platform of checking out, and is arranged between the books testing agency and outlet on the delivery platform that checks out;
Described thruster mechanical arm below is provided with residual book pipeline or residual book collecting box.
Adopt residual book retracting device, can reclaim the impaired books of label.Being provided with on the basis that can ensure a plurality of also book delivery platforms and the delivery platform that checks out of residual book pipeline increases the scope that reclaims books, makes that the impaired books on a plurality of passages can finally be summed up in the point that in the residual book collecting box.
In sum, adopt this automatically to store and borrow stack room, have following comprehensive advantage.
1, automatically storing and borrow stack room can finish the storage of books, multi-functional such as borrow, give back, classify, keep in, with respect to the storage of full-automatic closed shelves, the basic function of borrowing, giving back, have more adaptability and flexible and changeable expansion widely.Automatically store and borrow stack room
2, the utility model is automatically stored and is borrowed stack room and has a plurality of fortune book dollies, and is that different fortune book dollies disposes the books kind that it is stored according to different classifications, realizes the taxonomic revision of books.
3, temporary storage platform is the design of chain wheel driving mechanism, simplified from bookshelf to window or the also transmission action of book window of publishing books, and temporary storage platform has the dual-use function of temporary and exchange of books, farthest the service efficiency of the system that improves.In like manner, also can store in the temporary storage platform and be about to removed books or just given back also be about to the books that connect away by next reader.
4, the Frame Design in the transport establishment of tunnel in the utility model makes track transport more firm.
Description of drawings
Fig. 1 automatically stores and borrows the complete layout in stack room for the utility model.
Fig. 2 A and Fig. 2 B are the structural representation of bookshelf.
Fig. 2 C and Fig. 2 D are the structural representation that bookshelf is deposited books.
Fig. 3 A to Fig. 3 C is the structural representation of tunnel transport establishment.
Fig. 4 A to Fig. 4 E is a structural representation of getting book return machine tool hand.
Fig. 5 A to 5D is the structural representation of temporary storage platform.
Fig. 6 is the structural representation of book delivery platform also.
Fig. 7 A and Fig. 7 B are the structural representation that checks out and cooperate between delivery platform, tunnel transport establishment and the bookshelf.
Fig. 7 C is the structural representation that checks out and cooperate between delivery platform, tunnel transport establishment, temporary storage mechanism and the bookshelf.
Fig. 8 A to Fig. 8 C is the structural scheme of mechanism of conditioning platform.
Fig. 9 A to Fig. 9 E is the structural representation of conditioning hand.
Fig. 9 F is the work synoptic diagram of books turnover conditioning platform.
The structural representation that Figure 10 A to Figure 10 C cooperatively interacts for book delivery platform also, conditioning platform, temporary storage platform and testing agency.
Figure 11 A to Figure 11 C is the structural representation of fortune book dolly.
The structural representation that is provided with between Figure 12 A to Figure 12 C dolly locating platform and the tunnel transport structure.
Figure 13 A to Figure 13 D is the structural representation of self-help book returning machine and the self-service machine that checks out.
Figure 14 A and Figure 14 B are the one-piece construction synoptic diagram that stack room were automatically stored and borrowed to the utility model.
Figure 15 integrates the synoptic diagram that is provided with of mechanism for books in the utility model transmit.
Figure 16 is three-dimensional outside framework of tunnel transport establishment and the structural representation that is provided with fixed beam.
Embodiment
The utility model is automatically stored and is borrowed stack room a kind of full-automatic mechanical structure of classifying, putting in order giving back books is provided.
See also shown in Figure 1, the utility model is automatically stored and is borrowed stack room and comprises bookshelf 1, tunnel transport establishment 2, get book return machine tool hand 3, temporary storage platform 4, also the book delivery platform 5, delivery platform 6 checks out, testing agency 7, conditioning platform 8, conditioning hand 9, fortune book dolly 11, dolly locating platform 12, residual book gathering-device 13, central authorities' control unit 14, self-help book returning window 15, the self-service book window 16 of getting, staffs only 17 ingredients such as grade, wherein arrow A is represented also book channel line, arrow B is represented books line to be repaired, arrow C is represented the subscription edition channel line, and arrow D represents the staff only line.Tunnel transport establishment 2 is arranged on the inboard, stack room, and bookshelf 1 is arranged in the both sides of tunnel transport establishment 2.A plurality of tunnel transport establishment 2 can one connect, also can the split setting, between two tunnel transport establishments 2 dolly locating platform 12 can also be set, fortune book dolly 11 moves between the two tunnel transport establishments 2 from this dolly locating platform 12, avoid personnel to enter the mechanical work zone, and help to transport the accurate location of book dolly.Get book return machine tool hand 3 and in tunnel transport establishment 2, move, finish books and take out or give back action on the book dolly 11 from bookshelf 1 or to transporting.Temporary storage platform 4 next-door neighbour tunnel transport establishments 2 are provided with, and also the book delivery platform 5 and the delivery platform 6 next-door neighbour's temporary storage platform 4 that check out are provided with.Temporary storage platform 4 is the intermediate flow rotation mechanism, and the books of outbound or warehouse-in can be taken turns commentaries on classics at this, increases the efficient of system.Also the book delivery platform 5 and the delivery platform 6 that checks out are passages of books warehouse-in or outbound.Conditioning platform 8 is arranged at also between the book delivery platform 5 and temporary storage platform 4, and the conditioning hand 9 that is provided with it on can be adjusted the direction of warehouse-in books, makes the regular state of its maintenance enter temporary storage platform 4.Testing agency 7 is arranged on the delivery platform 6 that checks out, and ensures that the outbound books are the discernible books of information.When the book labels that testing agency is detected can't be discerned, just reclaim by residual book retracting device 13.Also book delivery platform 5 will be provided with testing agency 7 equally, ensures that damaged books are processed before warehouse-in.The self-service external interface of getting book window 16 and self-help book returning window 15 as stack room, borrowing or giving back of books finished in the outside that is arranged at stack room.The structure and the operation logic thereof of each ingredient below make introductions all round.
At first, see also shown in Fig. 2 A and Fig. 2 B, it is the structural representation of bookshelf in the utility model, please be simultaneously in conjunction with shown in Figure 1, and the width of bookshelf 1 and height are with the width of tunnel transport establishment 2 and highly adapt.Bookshelf 1 is arranged on the both sides or a side of tunnel transport establishment 2.Wherein have several layers dividing plate 101 on the bookshelf 1, form accommodation space 102 between the layer dividing plate 101, be used to place books 17.Please consult simultaneously shown in Fig. 2 C and Fig. 2 D, books laterally are placed on layer dividing plate 101.Simultaneously, for making things convenient for the grasping movement that book return machine tool hand is finished books of getting in the utility model, the structure setting of bookshelf will be considered the structure of getting book return machine tool hand finger.Specifically: be laid with first breach 103 at interval on the layer dividing plate 101, form the back up pad 104 of placing books between two the first adjacent breach 103, back up pad 104 outers are provided with blocks along 105.This blocks along 105 the purpose that is provided with and is that preventing to get book return machine tool hand finger is with the books that fall in extraction.The below that book return machine tool hand finger extend into books can be conveniently got in the breach design of bookshelf layer dividing plate.The zone of back up pad will guarantee firm support books, so the spacing between the breach and getting when being complementary between the book return machine tool hand U type finger to best makes U type finger can exactly be deep into the both sides of books, guarantees firm in the process of transporting of books.Spacing in the present embodiment between the bookshelf layer dividing plate is distinguished design according to the difference of books thickness, to satisfy the storage of different-thickness books.
The utility model automatically store and borrow stack room bookshelf, tunnel transport establishment and on get book return machine tool hand and have extensive applicability, be not limited in the temporary storage area in library.According to concrete demand, can increase the quantity of bookshelf, tunnel transport establishment, and, can satisfy the requirement of zones of different simultaneously in conjunction with the utility model following temporary conveying mechanism and other functional parts.
In the utility model, tunnel transport establishment sets in a row, is formed with the tunnel between the transport establishment of tunnel, can be provided with bookshelf, fortune book dolly or other equipment of storage books in the tunnel: as: fortune bookcase body, books packing apparatus etc.Tunnel transport establishment is provided with gets book return machine tool hand, and tunnel transport establishment can grasp on its adjacent side or the adjacent both sides bookshelf or the books in other dress book containers.
The main body of tunnel transport establishment 2 is an outside framework in the utility model, and outside framework comprises upper layer bracket, lower floor support and connects the longitudinal carrier of upper and lower layer support.Outside framework is provided with upper strata horizontal rail and lower floor's horizontal rail, be provided with vertical track between the upper and lower layer horizontal rail, vertically be provided with on the track and described horizontal rail and the vertical all vertical mechanical arm track of track, be connected with mechanical arm on this mechanical arm track.
In the present embodiment, tunnel transport establishment 2 comprises outside framework 20, sees also shown in Fig. 3 A, and it is the rectangular parallelepiped metal framework, constitutes by upper layer bracket 201, lower floor support 202 and the longitudinal carrier 203 that connects upper and lower layer support.Upper layer bracket 201 and lower floor support 202 are the rectangular metal support, and longitudinal carrier 203 is arranged on the metal upright post between upper and lower layer support.Metal framework structure is more solid firm with respect to the monorail structure.Lower floor support 202 is provided with lower floor's track support 204, and the both sides longitudinal carrier 203 of close upper layer bracket 201 belows is provided with the intermediate transverse girder 205 of a pair of mutual correspondence, has set up upper strata track support 206 between the intermediate transverse girder 205.Described upper strata track support 206 and lower floor's track support 204 are parallel to each other, and are oppositely arranged.Be provided with vertical track between upper layer bracket 201 and the lower floor support 202.
See also shown in Fig. 3 B, outside framework 20 1 sides are installed first drive unit 21, it comprises first motor 211, first motor 211 connects first screw mandrel 212, this first screw mandrel 212 is connected with the first direction change-box 213 and first synchronous pulley 214, first synchronous pulley 214 is connected with first driving-belt 215, and the other end of first driving-belt 215 is fixed on the other end of lower floor support 202 by pulley (not indicating among the figure).
See vertical track 223 again, it is provided with second drive unit 23, comprise second motor 231, second motor 231 connects second direction change-box 232, these second direction change-box 232 1 sides are connected with or both sides are connected with second synchronous pulley 233 respectively, this second synchronous pulley 233 is connected with second driving-belt 234, and this second driving-belt 234 is fixed on the other end of vertical track 223 by second pulley 235, and second driving-belt 234 is with vertically track 223 is parallel.
Please, get book return machine tool hand 3 and be connected with vertical track 223 by travel(l)ing rest 24 in conjunction with shown in Fig. 3 C.This travel(l)ing rest 24 is provided with the second belt traction slide block 241, longitudinal sliding block 242, horizontal linear guide rail 243 and platform slide block 244.Wherein, horizontal linear guide rail 243 claims the mechanical arm track again, and it is with vertically track is vertical, and is vertical with the levels horizontal rail.The second belt traction slide block 241 is connected with second driving-belt 234, and longitudinal sliding block 242 and vertical track 223 couplings are got book return machine tool hand 3 and be arranged on the horizontal linear guide rail 243 by platform slide block 244.Second motor 231 drives 234 rotations of second driving-belt, moves up and down at vertical track 223 thereby drive travel(l)ing rest 24.Vertical track in the utility model is two tracks that are set up in parallel, and two longitudinal sliding blocks effectively prevent the deflection that it takes place with travel(l)ing rest 24 secure in operational process.
Get the functional part that book return machine tool hand 3 is mounted in the tunnel transport establishment 2, be used to finish the grasping movement of books on the bookshelf of both sides, tunnel.Please in conjunction with shown in Fig. 4 A to Fig. 4 E, it is for getting the structural representation of book return machine tool hand in the utility model.Get book return machine tool hand 3 and comprise first electric rotating platform 31, second electric rotating platform 32 and electronic jaw 33, first electric rotating platform 31 is installed on the platform slide block 243 of above-mentioned travel(l)ing rest 24, can finish the rotation of positive and negative 90 degree of surface level, second electric rotating platform 32 is vertically set on first electric rotating platform 31, and it can finish the rotation of positive and negative 90 degree of vertical direction.Electronic jaw 33 has finger pressing plate 331 and peg board 332.Electronic jaw 33 can be finished under the effect of two electric rotating platform and horizontally rotate and vertically rotation.This peg board 332 is the U-shaped plate, and two fingers about comprising, this U-shaped plate can stretch into two adjacent first breach in above-mentioned temporary stack room) in, conveniently place the books below, also can conveniently books be placed on back up pad 14 tops.Finger pressing plate 331 is provided with plurality of projections 333, has increased the area that compresses books, has strengthened the stability of finger extracting books.
Get book return machine tool hand 3 and finish the level run in tunnel by upper and lower layer horizontal rail, finish from top to bottom or from the bottom to top vertical operation by vertical track, by horizontal linear guide rail 243(mechanical arm track) with finish cooperating of platform slide block 243 in tunnel left side and the level run in right side (perpendicular to the tunnel to both sides bookshelf side direction), finish the rotation of mechanical arm level and vertical direction by first electric rotating platform 31 and second electric rotating platform 32.
Above-mentioned bookshelf 1, tunnel transport establishment 2 and get book return machine tool hand 3 and can finish basic books outbound and warehouse-in action.Temporary storage platform 4, the also increase of book delivery platform 5 and the delivery platform 6 that checks out will be on the bases of satisfying books outbound warehouse-in, increase books temporary between bookshelf and outlet and circulate.
See also shown in Fig. 5 A, it is a temporary storage platform in the utility model, also claims chain wheel driving mechanism.This chain wheel driving mechanism 4 comprises mechanism supports frame 40, be arranged on chain sprocket driving device on the mechanism supports frame, be subjected to the chain sprocket structure that is parallel to each other that chain sprocket driving device drives and be arranged on the pallet that takes up temporary books on the chain sprocket structure.Specifically: a side of mechanism supports frame 40 is provided with the 3rd motor 41, and transmission shaft 42 is connected with the 3rd motor 41, and transmission shaft 42 drives the 3rd driving-belt 43 and the 4th driving-belt 44 respectively by the bearing that two ends are provided with.Described the 3rd driving-belt 43 is connected with second chain sprocket structure 46 with first chain sprocket structure 45 that is arranged in parallel respectively with the 4th driving-belt 44.
Shown in Fig. 5 B: the 3rd driving-belt 43 links to each other with first drive sprocket 451, and first drive sprocket 451 links to each other with first driven sprocket 453 by first driving-chain 452.This second driving-belt 44 links to each other with second drive sprocket 461, and second drive sprocket 461 links to each other with second driven sprocket 463 by second driving-chain 462.Evenly be provided with the installation sheet 47 of band fixed orifice on first driving-chain 452 and second driving-chain 462, pallet 48 is installed on the installation sheet by fixing feet.
Wherein, first chain sprocket structure 45 and second chain sprocket structure 46 are parallel to each other, before and after the setting of staggering, first chain sprocket structure 45 is preceding, second chain sprocket structure 46 after, the distance that staggers in front and back is first H1 at interval, about the distance that staggers be second H2 at interval, before and after stagger first at interval and about apart second at interval, an exactly ccontaining pallet.The left front end of pallet is connected on first chain sprocket structure, and the right rear end of pallet is connected on second chain sprocket structure.The interval in first interval H1(first drive sprocket 451 and second drive sprocket, 461 centers of circle) be the length of a pallet, the second interval H2 has the 3rd interval H3 greater than the width of a pallet between the pallet 48.Pallet 48 has inlet end 481 and endpiece 482, and pallet endpiece 482 has two second breach 483 of the interval setting that matches with the peg board of getting book return machine tool hand.Please in conjunction with shown in Fig. 5 B, pallet 48 inlet ends 481 are higher than endpiece 482, and its implementation can comprise, and the first: two parallel chain sprocket structure just is provided with, and the pallet inlet end is arranged on (shown in Fig. 5 A and Fig. 5 B) on the higher chain sprocket structure in position.Or second: the pallet inlet end is installed in (shown in Fig. 5 C) on the chain sprocket structure by higher fixed head.Or three: two parallel chain sprocket structure just be provided with, and the pallet inlet end is installed on the higher chain sprocket structure in position by higher fixed head.In addition, the both sides of pallet and endpiece are provided with and block along 483, after books enter pallet, can be firm be placed in the pallet.
The utility model taking care of books stack room also include the books delivery platform, this books delivery platform is arranged between tunnel transport establishment and the outlet, be the books outbound and put in storage passage, its comprise the delivery platform that checks out, also the book delivery platform and the conditioning platform, its first kind of arrangement is: delivery platform one end that checks out is connected with outlet, and the other end docks with getting book return machine tool hand, and also book delivery platform one end conditioning platform connects, the other end is connected with outlet, and the conditioning platform docks with temporary storage platform.Books enter through book delivery platform 5 also, and are adjusted to regular state by conditioning platform 8, and then are transported in the pallet of temporary storage platform 4.See also shown in Figure 6ly, it is the structural representation of book delivery platform 5 also, and it has a two-way also book pipeline 51, and this also also is provided with testing agency 7 on the book delivery platform 5, is arranged on all functions parts and goes back on the book supports 50.Also book pipeline 51 is two-way pipeline, and when testing agency 7 can't obtain book data, also the book pipeline returned books to book window also, and notifies reader and keeper to get in touch.When the detection data of books normal, also book pipeline 7 with its be delivered to the conditioning platform 8 carry out the regular processing of books.
Books take out from the book return machine tool hand of getting of tunnel transport establishment 2, are placed directly on the delivery platform 6 that checks out, and delivery platform 6 is delivered to outlet by checking out.See also shown in Fig. 7 A and Fig. 7 B, the delivery platform 6 that checks out is arranged between tunnel transport establishment 2 and the outlet, it comprises the pipeline 61 that checks out, whether these pipeline 61 tops that check out are provided with testing agency 7, be the intact books that can discern and the write operation that can carry out data message in order to detect the outbound books.The delivery platform 6 that checks out also is provided with residual book retracting device 13, and residual book retracting device 13 is arranged between testing agency 7 and the outlet, includes thruster mechanical arm 131, and it can be the push pedal of electric cylinder driving.When the outbound books can't detect, will start thruster mechanical arm 131, books are released the pipeline that checks out.The all functions parts all are arranged on the bracing frame 60 that checks out.Described testing agency is that radio frequency label detects antenna.
See also shown in Fig. 7 C, except that bookshelf 1, tunnel transport establishment 2, the delivery platform 6 that checks out, also be equipped with temporary storage platform 4 between books delivery platform and the tunnel transport establishment 2, the delivery platform 6 that checks out is higher than temporary storage platform 4, get book return machine tool hand 3 and upwards can dock operation, dock operation with temporary storage platform 4 downwards with the delivery platform 6 that checks out.The setting of temporary storage platform 4 can be stored some temporarily and borrowed but the reader does not come to get the books of book as yet, when the reader comes to get book, can take out temporary books and be placed on outbound on the delivery platform 6 that checks out in the pallet of temporary storage platform.
See also shown in Figure 15, it is the another kind of set-up mode of the utility model books delivery platform, also book delivery platform 5 is integrated into three-dimensional unified " books transmit integration mechanism " with check out delivery platform 6 and conditioning platform 8, and directly by integrating window of window 19(: outlet and inlet) foreign work, this integration window 19 promptly can be finished the work of borrowing of books, also can finish the work of giving back of books.These books transmit integration mechanism upper strata and are the delivery platform 6 that checks out, also book delivery platform 5 is arranged at delivery platform 6 belows that check out, delivery platform 6 outer ends that check out are longer than in its outer end (near the window end), link to each other with integration window 19, also book delivery platform 5 other ends connect conditioning platform 8, and the slide plate 84 of conditioning platform 8 links to each other with temporary storage platform 4.Also residual book retracting device 13 is disposed in book delivery platform 5 outlet, and the top is provided with testing agency 7, and the below can be provided with residual book pipeline 132(and consult Fig. 1) or residual book collecting box 133(consult Figure 14).Solid arrow has been expressed the flow process of publishing books, and gets book return machine tool hand 3 books are transported on the delivery platform 6 that checks out, and is passed to also book delivery platform 5 by it, this also book delivery platform 5 can be two-way conveying device, the outwards motion of publishing books, also book inwardly moves.Dotted arrow has been expressed also book flow process, and books enter also book delivery platform 5 from window 19, and also the book delivery platform is delivered to conditioning platform 8 with it, is passed to temporary storage platform after arrangement.This scheme has effectively been utilized the advantage of spatial design, has saved space and step, is more suitable for stack room use on a small scale.Get book return machine tool hand 3 and upwards can dock operation, dock operation with temporary storage platform 4 downwards with the delivery platform 6 that checks out.All earlier through book delivery platform 5 also, the books of warehouse-in still can wait for that get book return machine tool hand 3 comes to grasp in temporary storage platform 4 for outbound books and warehouse-in books.The good comprehensive architecture that used that Figure 15 is represented makes system more efficient, and is more economical.
See also shown in Fig. 8 A, this conditioning platform 8 includes conditioning bracing frame 80, is arranged on the conditioning pipeline 81 on the conditioning bracing frame 80 and is arranged on the conditioning hand 9 of nursing one's health pipeline 81 tops.Described conditioning hand 9 is arranged on the conditioning bracing frame 80 by vertical movement mechanism and horizontal rotary mechanism successively.Specifically, this vertical movement mechanism comprises activity orientation frame 82 and electric pushrod 83, and this horizontal rotary mechanism is the 3rd electric rotating platform 84.Conditioning hand 9 comprises substrate, and the lateral surface of substrate links to each other with above-mentioned horizontal rotary mechanism, and the machinery folding structure is set on the medial surface of substrate.See also shown in Fig. 8 B, conditioning bracing frame 80 tops are provided with the erecting frame 801 across conditioning pipeline 81, and this activity orientation frame 82 is connected with erecting frame 801.This activity orientation frame 82 comprises setscrew nut 821, flexible screw rod 822 and card extender 823, and setscrew nut 821 and flexible screw rod 822 are two pairs, has increased its stability of institute's connection device down.The internal part (prior art) that electric pushrod 83 comprises the 4th motor 831 and is subjected to motor-driven screw mandrel 832 and do not show in detail in the drawings, the other end of screw mandrel 832 is connected on the above-mentioned card extender 823.Under the acting in conjunction of motor, screw mandrel and activity orientation frame, card extender can vertical moving.
See also shown in Fig. 8 C, described card extender 823 belows are connected with the 3rd electric rotating platform 84, the three electric rotating platform 84 lower chain and are connected to the conditioning hand.
Also book pipeline 51 in the utility model and conditioning pipeline 81 can be integrated, and go back book supports 50 and can integrate with conditioning bracing frame 80, testing agency 7, parts such as conditioning hand 9 or residual book retracting device 13 all are arranged on the bracing frame of integration.Also can form three-dimensional integration mechanism as shown in figure 15.
See also shown in Fig. 9 A to Fig. 9 E, it is the structural representation of conditioning hand.Shown in Fig. 9 A level 9B, conditioning hand 9 comprises substrate 90, and the lateral surface of substrate 90 is connected with the above-mentioned the 3rd electronic rotatable platform 84, and the medial surface of substrate 90 is provided with the machinery folding structure.The side that the side that this machinery folding structure includes first guide rail 91 that is parallel to each other and second guide rail, 92, the first guide rails 91 is provided with first driving-belt, 93, the second guide rails 92 is provided with second driving-belt 94.First driving-belt 93 and second driving-belt 94 drive travelling belt by the 5th motor 95 and rotate synchronously.
This machinery folding structure also comprises first finger 96 and the second finger 97, and both are oppositely arranged, and first finger 96 is installed in respectively on first guide rail 91 and second guide rail 92 by common slide block 99 and driving slide block 98.Shown in Fig. 9 C, drive slide block 98 and comprise guide rail chute 981 that cooperates with guide rail and the belt chute 982 that cooperates with driving-belt.Common slide block 99 only comprises the guide rail chute and guide rail cooperatively interacts.Second finger is connected on second guide rail 92 and first guide rail 91 by common slide block and driving slide block equally.
For realize first the finger 96 with second finger 97 relatively or contrarily from motion, the belt chute of the driving slide block of first finger 96 is fixed on the up belt of second driving-belt 94, and the belt chute of the driving slide block of second finger 97 is fixed on the descending belt of first driving-belt 93.So-called descending belt is half belt of pressing close to substrate one side, described up belt be away from second half belt.Shown in Fig. 9 C, when driving-belt turns clockwise (direction of arrow among the figure), first finger 96 and second finger 97 realize opening of finger to deviating from the direction motion.When driving-belt was rotated counterclockwise, first finger 96 and second finger 97 realized closing of finger to close direction motion.In addition, in order more firmly and easily to grasp books, first finger and second finger lower edge are connected with first respectively and grab book arc plate 961 and second and grab book arc plate 971, two arc plates and curve inwardly respectively, are oppositely arranged.
The conditioning hand the regular and rotary operation that can realize books is set, make books all one by one stationary state enter the pallet of temporary storage platform.See also shown in the 9F, books 10 enter into conditioning pipeline 81 from book pipeline 51 also, through the arrangement of conditioning hand 9, make it be adjusted into regular state from the state that tilts.The conditioning hand also can be realized 90 degree rotations of books, satisfies the demand of adjusting the length limit.
See also shown in Figure 10 A to Figure 10 C, also book delivery platform 5, conditioning platform 8, temporary storage platform set gradually, also book delivery platform 5 is a little more than conditioning platform 8, pats platform 8 and is higher than temporary storage platform 4 conditioning platforms 8 ends and is provided with the tilting slide plate 85 that is connected with temporary storage platform 4.Testing agency 7 is arranged on the also top of book delivery platform 5, and the conditioning hand is arranged on conditioning platform 8 tops.Books 10 are delivered to conditioning platform 8 from book delivery platform 5 also, conditioning platform 5 is put books in order regular, books self-regulated pats the platform 8 terminal tilting slide plates 85 that are provided with and enters temporary storage platform 4, fall in the pallet 48, be resisted against the blocking of endpiece along on 483, and in temporary storage platform, circulate, wait for the extracting of getting book return machine tool hand.
Residual book retracting device 13 in the utility model includes the thruster mechanical arm 131 that is arranged on the bracing frame, residual book pipeline 132 and residual book collecting box 133, as shown in Figure 1, in stack room, comprise many pipelines that check out (or also book pipeline), below many pipelines that check out, be provided with residual book pipeline 132 and transmit the collected residual book of each strip transmission line, and unified being transported in the residual book collecting box 133 of stack room periphery, will be more efficient.Certainly, also can consult Figure 14 A and Figure 14 B, it is the structural representation in more small-sized stack room, when only having one to publish books window, then need not residual book pipeline and a residual book collecting box 133 only need be set to get final product.
Books delivery platform in the utility model is the multilayer setting, and what the delivery platform 6 that checks out was higher than that temporary storage platform 4 and transnational temporary storage platform 4 extend to tunnel transport establishment 2 places gets book return machine tool hand 3 one sides.Also book delivery platform 6 is a little more than conditioning platform 8, and conditioning platform 8 is a little more than temporary storage platform, so that books are delivered in the pallet step by step.
The utility model is except that bookshelf, the equipment that can also comprise other storages or transportation books, see also shown in Figure 11 A to Figure 11 C, it is to be applied in the utility model automatically to store and borrow fortune book dolly 11 in the stack room, its major function is to receive the books of giving back of getting the transmission of book return machine tool hand, and is transported to the reading room of different classifications again by the librarian.As in the utility model, according to the difference of books kind, many fortune book dollies are set in stack room, deposit social science books, natural science books and standby books respectively.Fortune book dolly in the utility model has unique design, gets the action that book return machine tool hand cooperates with it to finish.
Shown in Figure 11 A and Figure 11 B, this fortune book dolly 11 be that layer is arranged, each layer has the two dolly dividing plates 112,113 by middle baffle plate 111 separations, described dolly dividing plate from left to right or right-to-left be obliquely installed.This middle baffle plate 11 is arranged at the middle position of each layer dolly dividing plate, and the dolly dividing plate of middle baffle plate both sides is to centroclinal.Shown in Figure 11 C, dolly dividing plate 112 outer ends have outer 114.After books were placed on fortune book dolly 11, books tilted to middle baffle plate 111 places.Simultaneously, books tilt to the right from the left side of dolly, make that books are placed on the dolly after, successively to the right against.
See also shown in Figure 12 A to Figure 12 C, it is the structural representation of the utility model cart transport platform, this cart transport platform 12 is arranged between the two tunnel transport establishments 2, it comprises the draw-gear 121 that drives by electric cylinder, this draw-gear 121 can be connected with the dolly bottom, its connected mode can be that tractor is provided with flexible pin, is provided with pin-and-hole in fortune book dolly bottom, and both are connected and fixed or remove fixing by inserting mode.Also include register pin 122 on the cart transport platform 12, this register pin 122 is separately positioned on the running orbit line of dolly both sides, and set the distance of register pin 122 according to the length of dolly, after dolly puts in place, register pin stretches out, be arranged in the pilot hole (not indicating) of dolly bottom, cart stationary.
See also shown in Figure 16ly, tunnel transport establishment 2 needs stronger steadiness, to avoid rocking in the mechanical high-speed operational process as the operation frame of getting book return machine tool hand 3.In addition, cart transport platform 12 is arranged on two functional entities between the tunnel transport establishment 2, arranges early stage in stack room, needs the spacing between the amount tunnel transport establishment of accurate location.So, be provided with fixed beam 30 between the three-dimensional outside framework 20 of adjacent tunnel fortune book mechanism 2, make tunnel transport establishment have more whole steadiness, in the early stage installation process, can be accurately between the two spacing.
See also shown in Figure 13 A and Figure 13 B, it is the self-help book returning window 15 surface structure synoptic diagram that are applied in the native system outlet.And Figure 13 C and Figure 13 D are the self-service surface structure synoptic diagram of getting book window 16.Self-servicely get the outlet that book window 16 is stack room systems, and self-help book returning window 15 is the inlet of stack room system.Integrate window 19 and take into account the function of entrance and exit, certainly, the entrance and exit definition just is complementary for convenience of the trend with books.Certainly, native system also is provided with electrical equipment control unit 14, staffs only 17.
Claims (16)
1. automatically store and borrow stack room for one kind, include bookshelf and tunnel transport establishment, this tunnel transport establishment has horizontal rail, horizontal rail is provided with vertical track, vertically be provided with on the track and described horizontal rail and the vertical all vertical mechanical arm track of track, the mechanical arm track is provided with mechanical arm, it is characterized in that: described mechanical arm comprises first electric rotating platform, second electric rotating platform and electronic jaw; First electric rotating platform is provided with on the mechanical arm track, second electric rotating platform is vertically set on first electric rotating platform, the rotation of the first electric rotating platform horizontal direction, second electric rotating platform is vertically rotated, and electronic jaw is arranged on second rotation platform.
2. stack room as claimed in claim 1 is characterized in that: also comprise the books delivery platform that docks with tunnel transport establishment.
3. stack room as claimed in claim 2 is characterized in that: this books delivery platform comprise the delivery platform that checks out, also the book delivery platform and the conditioning platform;
Also book delivery platform one end is connected with outlet, and the other end is connected with the conditioning platform, and the conditioning platform docks with tunnel transport establishment;
The delivery platform that checks out is arranged on also book delivery platform top, and the delivery platform outer end that checks out is longer than near endpiece in below also book delivery platform, and the other end of this delivery platform that checks out docks with tunnel transport establishment.
4. stack room as claimed in claim 3 is characterized in that: also comprise temporary delivery platform, it is arranged between conditioning platform and the tunnel transport establishment.
5. stack room as claimed in claim 4 is characterized in that: described temporary storage platform comprises first chain sprocket structure and second chain sprocket structure that is driven by motor synchronous, and is arranged in the some pallets between two chain sprocket structures;
Settings of staggering before and after described first chain sprocket structure and second chain sprocket structure, first chain sprocket structure be preceding, second chain sprocket structure after, the distance that staggers in front and back is first at interval, about the distance that staggers be second interval; Wherein, first is spaced apart the length of a pallet, and second at interval greater than the width of a pallet, has the 3rd between each pallet at interval;
The left front end of each pallet is connected on first chain sprocket structure, and the right rear end of pallet is connected on second chain sprocket structure.
6. stack room as claimed in claim 5 is characterized in that: described pallet has inlet end and endpiece, and inlet end is arranged on the adjacent side of conditioning platform, and endpiece is arranged at the adjacent side of tunnel transport establishment, and inlet end is higher than endpiece, and endpiece is provided with and blocks the edge;
Described conditioning platform is higher than temporary delivery platform, between conditioning delivery platform and the temporary delivery platform tilting slide plate is set.
7. stack room as claimed in claim 6 is characterized in that: the electronic jaw of described mechanical arm has finger pressing plate and peg board, and peg board comprises two fingers that are provided with at interval;
Described bookshelf has a layer dividing plate, at interval first breach is set on the layer dividing plate, forms back up pad between two the first adjacent breach, and the back up pad outer is provided with occlusion part;
The endpiece of pallet is arranged at intervals with two second breach.
8. stack room as claimed in claim 7 is characterized in that: described check out delivery platform or also the book delivery platform be two-way travelling belt or drum conveying line, be provided with books testing agency on it.
9. stack room as claimed in claim 8 is characterized in that: described conditioning platform is travelling belt or drum conveying line, and it is provided with the conditioning hand.
10. stack room as claimed in claim 9 is characterized in that:
Described conditioning hand is arranged on the conditioning bracing frame by vertical movement mechanism and horizontal rotary mechanism successively; This vertical movement mechanism comprises activity orientation frame and electric pushrod; This horizontal rotary mechanism is the 3rd electric rotating platform; The conditioning handbag contains substrate, and the lateral surface of substrate links to each other with above-mentioned horizontal rotary mechanism, and the machinery folding structure is set on the medial surface of substrate.
11. as arbitrary described stack room in the claim 1 to 10, it is characterized in that: also include fortune book dolly, this fortune book dolly be that layer is arranged, each layer has two dolly dividing plates by the middle baffle plate separation, described dolly dividing plate from left to right or right-to-left be obliquely installed.
12. stack room as claimed in claim 11 is characterized in that: this baffle plate is arranged at the central authorities of each layer dolly dividing plate, and the dolly dividing plate of baffle plate both sides is to centroclinal.
13. stack room as claimed in claim 12 is characterized in that: adjacent tunnel is transported between the book mechanism and is provided with the cart transport platform, and this cart transport platform has draw-gear, and this draw-gear is provided with the flexible pin that links to each other with dolly; Described fortune book dolly bottom is provided with and the corresponding pin-and-hole of flexible pin;
This cart transport platform also includes register pin, and described fortune book dolly bottom is provided with and this register pin corresponding positioning hole.
14. stack room as claimed in claim 13 is characterized in that: described tunnel transport establishment comprises three-dimensional outside framework, and described horizontal rail is arranged on the levels of three-dimensional outside framework, is provided with fixed beam between the three-dimensional outside framework of adjacent tunnel fortune book mechanism.
15. stack room as claimed in claim 14, it is characterized in that: automatically store and borrow stack room and also include residual book retracting device, it includes the thruster mechanical arm, described thruster mechanical arm is arranged on the delivery platform or also on the book delivery platform of checking out, and is arranged between the books testing agency and outlet on the delivery platform that checks out.
16. stack room as claimed in claim 15 is characterized in that: described thruster mechanical arm below is provided with residual book pipeline or residual book collecting box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320129014 CN203102457U (en) | 2013-03-20 | 2013-03-20 | Full-automatic storage and borrowing stack room |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320129014 CN203102457U (en) | 2013-03-20 | 2013-03-20 | Full-automatic storage and borrowing stack room |
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| Publication Number | Publication Date |
|---|---|
| CN203102457U true CN203102457U (en) | 2013-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201320129014 Expired - Fee Related CN203102457U (en) | 2013-03-20 | 2013-03-20 | Full-automatic storage and borrowing stack room |
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| CN (1) | CN203102457U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208158A (en) * | 2013-03-20 | 2013-07-17 | 北京理工大学 | Full automatic storing and borrowing library |
| CN103508191A (en) * | 2013-09-18 | 2014-01-15 | 昆明昆船物流信息产业有限公司 | Sliding-plate pallet automatic transferring system and automatic transferring method |
| CN107170153A (en) * | 2017-04-19 | 2017-09-15 | 淮阴工学院 | A kind of whole people's bookcase based on PID tandem intelligence systems |
| CN107259827A (en) * | 2017-06-21 | 2017-10-20 | 安徽工程大学 | Automatic book taking bookshelf takes book method |
-
2013
- 2013-03-20 CN CN 201320129014 patent/CN203102457U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103208158A (en) * | 2013-03-20 | 2013-07-17 | 北京理工大学 | Full automatic storing and borrowing library |
| CN103208158B (en) * | 2013-03-20 | 2015-12-02 | 北京理工大学 | Full-automatic storage and borrow stack room |
| CN103508191A (en) * | 2013-09-18 | 2014-01-15 | 昆明昆船物流信息产业有限公司 | Sliding-plate pallet automatic transferring system and automatic transferring method |
| CN103508191B (en) * | 2013-09-18 | 2016-04-20 | 昆明昆船物流信息产业有限公司 | A kind of slider tray automatic transferring system and automatic transferring method |
| CN107170153A (en) * | 2017-04-19 | 2017-09-15 | 淮阴工学院 | A kind of whole people's bookcase based on PID tandem intelligence systems |
| CN107259827A (en) * | 2017-06-21 | 2017-10-20 | 安徽工程大学 | Automatic book taking bookshelf takes book method |
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