CN203433582U - Positioning system of book grabbing mechanical hand of book ATM - Google Patents
Positioning system of book grabbing mechanical hand of book ATM Download PDFInfo
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- CN203433582U CN203433582U CN201320505150.9U CN201320505150U CN203433582U CN 203433582 U CN203433582 U CN 203433582U CN 201320505150 U CN201320505150 U CN 201320505150U CN 203433582 U CN203433582 U CN 203433582U
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Abstract
The utility model discloses a positioning system of a book grabbing mechanical hand of a book ATM, and relates to a mechanical hand positioning system. The positioning system comprises a bookshelf, a book grabbing trolley, a trolley frame and a laser emission and receiving module. Horizontal positioning optical grating bars and vertical positioning optical grating bars are installed on the bookshelf, the trolley frame is arranged on one side of the bookshelf, a lower guide rail and a lower synchronous belt are arranged at the lower end of the trolley frame, an upper guide rail and an upper synchronous belt are arranged at the upper end of the trolley frame, the upper end and the lower end of the book grabbing trolley are in rolling fit with the upper guide rail and the lower guide rail respectively, the upper end and the lower end of the book grabbing trolley are meshed with the upper synchronous belt and the lower synchronous belt respectively, and the laser emission and receiving module and the book grabbing mechanical hand are installed on the book grabbing trolley. The book grabbing trolley can move in the horizontal and vertical direction, so that the laser emission and receiving module is driven to scan the horizontal positioning optical grating bars and the vertical positioning optical grating bars; due to the motion of the book grabbing trolley in the front-and-back direction, rapid positioning of the book grabbing mechanical hand is achieved, and the system has the advantages of being high in positioning accuracy, high in reliability, low in manufacturing cost and easy to operate.
Description
Technical field
The utility model relates to a kind of mechanical arm positioning system, relates in particular to the positioning system of books catching robot in a kind of books ATM.
Background technology
Along with science and technology and social development, people constantly expand the demand of information.Books ATM, owing to having the superior functionality of 24 hour self-help services, greatly facilitates borrowing and giving back of reader, progressively in some Modern Libraries, is widely applied.In ATM, the location technology accurately and fast of books catching robot is most important, and in existing location technology, mostly adopts the methods such as RFID and moving track calculation, and ubiquity price is higher, positioning precision and the poor shortcoming of reliability.
Utility model content
The technical problems to be solved in the utility model is: the positioning system of books catching robot in a kind of books ATM that realizes quick location is provided, and to solve, the above-mentioned price that prior art exists is high, positioning precision and the poor weak point of reliability.
The technical scheme that the utility model solves the problems of the technologies described above is: the positioning system of books catching robot in a kind of books ATM, comprise by bookshelf laminate, the bookshelf that bookshelf frame forms, also include books and capture car, vehicle frame and Laser emission and receiver module, on the bookshelf laminate of described bookshelf, horizontal location gratings strips is installed, vertical location gratings strips is installed on bookshelf frame, described vehicle frame is positioned at a side of bookshelf, this vehicle frame lower end is respectively equipped with lower guideway and lower Timing Belt, the upper end of vehicle frame is respectively equipped with upper rail and upper Timing Belt, described books capture car lower end and roll and coordinate with lower guideway, books capture the upper end of car and roll and coordinate with upper rail, books capture the two ends up and down of car and also mesh with upper Timing Belt and lower Timing Belt respectively, on described books crawl car, be separately installed with described Laser emission and receiver module and books catching robot.
Further technical scheme of the present utility model is: described horizontal location gratings strips, vertically locate gratings strips and form by ⅠHe region, region II alternative arrangement; Described region I is coated with the diffuse-reflective material with reflective function in the I of ，Gai region, not light absorbing diffuse reflection region; Described region II is total reflection region or light absorbing diffuse reflection region, and total reflection region has good optics flatness; Described light absorbing diffuse reflection region is coated with the diffuse-reflective material with photo absorption performance.
Further technical scheme of the present utility model is: described books capture car and comprise upright guide rail, assembly seesaws, vertical screw mandrel, upper angle sheave, lower angle sheave, horizontal drive motor, upper synchronous pulley, lower synchronous pulley, synchronizing bar, vertical drive motor and top board and base plate, described upright guide rail, vertically screw mandrel is separately fixed between top board and base plate, the described assembly two ends that seesaw are connected on upright guide rail by slide block set respectively, and the assembly that seesaws is also connected with vertical screw mandrel by feed screw nut, described Laser emission and receiver module are fixed on this and seesaw on assembly, described books catching robot is arranged on and seesaws on assembly, described upper angle sheave is fixed on top board, and horizontal drive motor, vertical drive motor are separately fixed on base plate, and lower angle sheave is arranged on the bottom of base plate, described upper synchronous pulley is positioned on top board, on this, synchronous pulley is fixedly connected on the top of synchronizing bar, described lower synchronous pulley is positioned on base plate, this lower synchronous pulley is fixedly connected on the bottom of synchronizing bar, the output shaft of described horizontal drive motor is connected with lower synchronous pulley, this lower synchronous pulley also meshes with the lower Timing Belt of vehicle frame, the upper Timing Belt engagement of described upper synchronous pulley and vehicle frame, the output shaft of described vertical drive motor is connected with vertical screw mandrel by band wheels.
Further technical scheme more of the present utility model is: described upper angle sheave comprises angle sheave, bearing, rotation axis, swing span, holddown spring, fixed bar, described angle sheave is arranged on swing span, swing span is arranged on bearing by rotation axis, described fixed bar is also housed on bearing, and described holddown spring one end connects swing span, the other end is connected and fixed bar.
Further technical scheme more of the present utility model is: the described assembly that seesaws comprises guide rail, horizontal lead screw, front and back drive motor, housing, described guide rail, horizontal lead screw are separately fixed in housing, front and back drive motor is arranged on the rear end of housing, Laser emission and receiver module are arranged on the front end of housing, the output shaft of described front and back drive motor is connected with horizontal lead screw by gear set, described books catching robot is connected on guide rail by slide block set, and books catching robot is also connected with horizontal lead screw by feed screw nut.
Further technical scheme of the present utility model is: described Laser emission and receiver module comprise power module, frequency modulation module, voltage regulating module, control module, laser emitting module, laser pick-off module, logic judgment module, signal amplification module, signal output module, and described power module is used to each module that power supply is provided, described frequency modulation module, voltage regulating module, control module, laser emitting module connects successively, described laser pick-off module, logic judgment module, signal amplification module, signal output module connects successively, described laser emitting module is through frequency modulation module, after voltage regulating module and control module effect, the laser beam horizontal scan location gratings strips of transmitting certain frequency and vertically location gratings strips, laser pick-off module is converted to corresponding level signal by the reflected light of horizontal location gratings strips and vertical location gratings strips, again through logic judgment module, signal amplification module is exported by signal output module after processing, to accurately locate.
Described laser emitting module comprises at least one LASER Discharge Tube; Described laser pick-off module comprises at least two laser pick-off pipes.
Owing to adopting said structure, in a kind of books ATM of the utility model, the positioning system of books catching robot compared with prior art, has following beneficial effect:
1. can realize the quick location of books catching robot:
Because comprising bookshelf, books, the positioning system of books catching robot in a kind of books ATM of the utility model captures car, vehicle frame and Laser emission and receiver module, horizontal location gratings strips is wherein installed on bookshelf laminate, vertical location gratings strips is installed on bookshelf frame; By books, capture the motion of car on level, vertical direction, can drive Laser emission and receiver module respectively the horizontal location gratings strips on bookshelf and vertical location gratings strips to be scanned, by books, capture the motion of car on fore-and-aft direction again, thereby can realize the quick location of books catching robot.
2. positioning precision is high:
Because the utility model comprises bookshelf, books capture car, vehicle frame and Laser emission and receiver module, during work, books capture car along frame movement, books capture car and move together with receiver module and books catching robot with Laser emission, Laser emission and receiver module are to horizontal location gratings strips and vertical location gratings strips Emission Lasers, the Ear Mucosa Treated by He Ne Laser Irradiation of transmitting is during in horizontal location gratings strips with vertically in the region I of location gratings strips, light beam returns by the receiver module of Laser emission and receiver module and receives through diffuse reflection, when the Ear Mucosa Treated by He Ne Laser Irradiation of launching is in the region II of horizontal location gratings strips and vertical location gratings strips, when light is absorbed or each laser pick-off pipe of laser pick-off module is not all received the reflection laser of sufficient intensity when fraction diffuse reflection or total reflection, counting once, books capture car and move forward with receiver module and together with books catching robot with Laser emission, Emission Lasers when is next time radiated at horizontal location gratings strips and vertically in the region II of location gratings strips time, when light is absorbed or each laser pick-off pipe of laser pick-off module is not all received the reflection laser of sufficient intensity when part diffuse reflection or total reflection, count again once, by that analogy, books capture car and move forward, system will continue counting, also the target location of having arrived when counting down to number of targets, thereby can realize the accurate positioning function of books catching robot.Therefore, the utility model has adopted laser total reflection and diffuse reflection principle to carry out the accurate positioning control of closed loop, can make the positioning error of books catching robot be less than 2mm, and its positioning precision is very high.
3. reliability is high:
Because having adopted laser total reflection and diffuse reflection principle, the utility model carries out the accurate positioning control of closed loop, the error of having avoided the location technologies such as laser ranging, moving track calculation and bar code scan to produce, and its reliability is higher.
4. low cost of manufacture, easy operating is used:
The device that the utility model comprises is all fairly simple, and without complicated element, its manufacturing cost is lower, and method is easy, and easy operating is used.
Below, in conjunction with the accompanying drawings and embodiments the technical characterictic of the positioning system of books catching robot in a kind of books ATM of the utility model is further described.
Accompanying drawing explanation
Fig. 1: the structural representation of the positioning system of books catching robot in a kind of books ATM of the utility model,
The structural representation of bookshelf described in Fig. 2: embodiment mono-,
Described in Fig. 3～Fig. 4: embodiment mono-, books capture the structural representation of car,
Fig. 3: front view, the rear view of Fig. 4: Fig. 3,
The structural representation of upper angle sheave described in Fig. 5: embodiment mono-,
The structured flowchart of Laser emission and receiver module described in Fig. 6: embodiment mono-.
In above-mentioned accompanying drawing, each label declaration is as follows:
1-bookshelf,
1.1-bookshelf laminate, 1.2-bookshelf frame, 1.3-horizontal location gratings strips, 1.3.1-region I,
1.3.2-region II, 1.4-vertically locates gratings strips,
2-books capture car,
2.1-upright guide rail,
The 2.2-assembly that seesaws, 2.2.1-guide rail, 2.2.2-horizontal lead screw, drive motor before and after 2.2.3-, 2.2.4-housing,
The vertical screw mandrel of 2.3-,
The upper angle sheave of 2.4-, 2.4.1-angle sheave, 2.4.2-bearing, 2.4.3-rotation axis, 2.4. 4-moving frame, 2.4.5-holddown spring, 2.4.6-fixed bar,
Angle sheave under 2.5-, 2.6-horizontal drive motor, the upper synchronous pulley of 2.7-, synchronous pulley under 2.8-,
2.9-synchronizing bar, the vertical drive motor of 2.10-, 2.11-top board, 2.12-base plate,
3-vehicle frame, 3.1-lower guideway, 3.2-upper rail, Timing Belt under 3.3-, the upper Timing Belt of 3.4-,
4-Laser emission and receiver module, 4.1-power module, 4.2-frequency modulation module, 4.3-voltage regulating module, 4.4-control module, 4.5-laser emitting module, 4.6-laser pick-off module, 4.7-logic judgment module, 4.8-signal amplification module, 4.9-signal output module,
5-books catching robot.
Embodiment
Embodiment mono-:
The positioning system of books catching robot in a kind of books ATM, comprise by bookshelf laminate 1.1, the bookshelf 1 that bookshelf frame 1.2 forms, also include books and capture car 2, vehicle frame 3 and Laser emission and receiver module 4(are referring to Fig. 1), on the bookshelf laminate 1.1 of described bookshelf 1, horizontal location gratings strips 1.3 is installed, vertical location gratings strips 1.4(is installed referring to Fig. 2 on bookshelf frame 1.2), described vehicle frame 3 is positioned at a side of bookshelf 1, these vehicle frame 3 lower ends are respectively equipped with lower guideway 3.1 and lower Timing Belt 3.3, the upper end of vehicle frame 3 is respectively equipped with upper rail 3.2 and upper Timing Belt 3.4, described books capture car 2 lower ends and roll and coordinate with lower guideway 3.1, books capture the upper end of car 2 and roll and coordinate with upper rail 3.2, books capture the two ends up and down of car 2 and also mesh with upper Timing Belt 3.4 and lower Timing Belt 3.3 respectively, on described books crawl car 2, be separately installed with described Laser emission and receiver module 4 and books catching robot 5.
Described horizontal location gratings strips 1.3, vertically locate gratings strips 1.4 and form by region I 1.3.1 and region II 1.3.2 alternative arrangement; Described region I 1.3.1 is not light absorbing diffuse reflection region, on the I 1.3.1 of this region, be coated with the diffuse-reflective material with reflective function, this diffuse-reflective material is white low luster coating, to guarantee to there is enough laser reflection intensity at this region I 1.3.1, make each laser pick-off pipe can receive the reflected signal of sufficient intensity; Described region II 1.3.2 is total reflection region or light absorbing diffuse reflection region, described light absorbing total reflection region is to have good optics flatness, when laser is incident in this region II, there is good optical total-reflection performance, make a branch of principal reflection light beam of its generation can not make a plurality of laser pick-off pipes of discrete distribution have signal output simultaneously; Described light absorbing diffuse reflection region is to be coated with the diffuse-reflective material with better photo absorption performance, this diffuse-reflective material is black low luster coating, to guarantee when laser is incident on this region, swash light intensity and absorbed in a large number, a small amount of diffuse reflection laser is not enough so that each laser pick-off Guan Jun has signal output.
Described books capture car 2 and comprise upright guide rail 2.1, assembly 2.2 seesaws, vertical screw mandrel 2.3, upper angle sheave 2.4, lower angle sheave 2.5, horizontal drive motor 2.6, upper synchronous pulley 2.7, lower synchronous pulley 2.8, synchronizing bar 2.9, vertically drive motor 2.10 and top board 2.11 and base plate 2.12(are referring to Fig. 3～Fig. 4), described upright guide rail 2.1, vertically screw mandrel 2.3 is separately fixed between top board 2.11 and base plate 2.12, described assembly 2.2 two ends that seesaw are connected on upright guide rail 2.1 by slide block set respectively, and the assembly 2.2 that seesaws is also connected with vertical screw mandrel 2.3 by feed screw nut, described Laser emission and receiver module 4 and books catching robot 5 are separately fixed at this and seesaw on assembly 2.2, described upper angle sheave 2.4 is fixed on top board 2.11, and horizontal drive motor 2.6, vertical drive motor 2.10 are separately fixed on base plate 2.12, and lower angle sheave 2.5 is arranged on the bottom of base plate 2.12, described upper synchronous pulley 2.7 is positioned on top board 2.11, on this, synchronous pulley 2.7 is fixedly connected on the top of synchronizing bar 2.9, described lower synchronous pulley 2.8 is positioned on base plate 2.12, this lower synchronous pulley 2.8 is fixedly connected on the bottom of synchronizing bar 2.9, the output shaft of described horizontal drive motor 2.6 is connected with lower synchronous pulley 2.8, this lower synchronous pulley 2.8 also meshes with the lower Timing Belt 3.3 of vehicle frame, described upper synchronous pulley 2.7 and 3.4 engagements of the upper Timing Belt of vehicle frame, the output shaft of described vertical drive motor 2.10 is connected with vertical screw mandrel 2.3 by band wheels.
Described upper angle sheave 2.4 comprises that angle sheave 2.4.1, bearing 2.4.2, rotation axis 2.4.3, swing span 2.4.4, holddown spring 2.4.5, fixed bar 2.4.6(are referring to Fig. 5), described angle sheave 2.4.1 is arranged on swing span 2.4.4, swing span 2.4.4 is arranged on bearing 2.4.2 by rotation axis 2.4.3, on bearing 2.4.2, be also fixed with described fixed bar 2.4.6, described holddown spring 2.4.5 one end connects swing span 2.4.4, the other end is connected and fixed bar 2.4.6, and angle sheave 2.4.1 presses down and is buckled on upper rail in holddown spring 2.4.5 effect.
The described assembly 2.2 that seesaws comprises guide rail 2.2.1, horizontal lead screw 2.2.2, front and back drive motor 2.2.3, housing 2.2.4, described guide rail 2.2.1, horizontal lead screw 2.2.2 is separately fixed in housing 2.2.4, front and back drive motor 2.2.3 is arranged on the rear end of housing 2.2.4, Laser emission and receiver module 4 are arranged on the front end of housing 2.2.4, the output shaft of described front and back drive motor 2.2.3 is connected with horizontal lead screw 2.2.2 by band wheels, described books catching robot 5 is connected on guide rail 2.2.1 by slide block set, and books catching robot 5 is also connected with horizontal lead screw 2.2.2 by feed screw nut.
Described Laser emission and receiver module 4 comprise that power module 4.1, frequency modulation module 4.2, voltage regulating module 4.3, control module 4.4, laser emitting module 4.5, laser pick-off module 4.6, logic judgment module 4.7, signal amplification module 4.8, signal output module 4.9(are referring to Fig. 6), described power module 4.1 is used to each module that power supply is provided, described frequency modulation module 4.2, voltage regulating module 4.3, control module 4.4, laser emitting module 4.5 connect successively, and described laser emitting module 4.5 comprises two LASER Discharge Tube, and laser pick-off module 4.6 comprises four laser pick-off pipes, described laser pick-off module 4.6, logic judgment module 4.7, signal amplification module 4.8, signal output module 4.9 connects successively, described laser emitting module 4.5 is through frequency modulation module 4.2, after voltage regulating module 4.3 and control module 4.4 effects, the laser beam horizontal scan location gratings strips of transmitting certain frequency and vertically location gratings strips, laser pick-off module 4.6 is converted to corresponding level signal by the reflected light of horizontal location gratings strips and vertical location gratings strips, again through logic judgment module 4.7, signal amplification module 4.8 is exported by signal output module 4.9 after processing, so that controlling motor by known control system accurately locates books catching robot.
As a kind of conversion of the present embodiment one, the quantity of described LASER Discharge Tube or laser pick-off pipe can increase or reduce, but described laser emitting module 4.5 comprises at least one LASER Discharge Tube; Described laser pick-off module 4.6 comprises at least two laser pick-off pipes, to improve reliability.
In a kind of books ATM of the utility model, the course of work of the positioning system of books catching robot is as follows:
A. the vertical location of books catching robot:
Vertically drive motor 2.10 drives vertical screw mandrel 2.3 to rotate, vertically screw mandrel 2.3 drives the assembly 2.2 that seesaws to do moving up and down on vertical direction, the vertical location that the vertical location gratings strips 1.4 on Laser emission and receiver module 4 scanning bookshelves realizes books catching robot;
B. the horizontal location of books catching robot:
After the assembly 2.2 that seesaws is vertically located, books capture car 2 horizontal drive motor 2.6, lower Timing Belt 3.3, on Timing Belt 3.4, synchronizing bar 2.9, under the driving of synchronous pulley 2.7 and lower synchronous pulley 2.8, the horizontal location gratings strips 1.3 on Laser emission and receiver module 4 scanning bookshelves realizes the horizontal location of books catching robot;
C. seesawing of books catching robot:
Books catching robot 5 completes behind level and vertical location, then is driven and realized seesawing along guide rail 2.2.1 by front and back drive motor 2.2.3 and horizontal lead screw 2.2.2;
D. complete location:
Books catching robot 5 completes level, vertically and behind the location of front and back three degree of freedom, can carry out grasping manipulation to required books.
Claims (7)
1. the positioning system of books catching robot in a books ATM, comprise by bookshelf laminate (1.1), the bookshelf (1) that bookshelf frame (1.2) forms, it is characterized in that: also include books and capture car (2), vehicle frame (3) and Laser emission and receiver module (4), on the bookshelf laminate (1.1) of described bookshelf (1), horizontal location gratings strips (1.3) is installed, vertical location gratings strips (1.4) is installed on bookshelf frame (1.2), described vehicle frame (3) is positioned at a side of bookshelf (1), this vehicle frame (3) lower end is respectively equipped with lower guideway (3.1) and lower Timing Belt (3.3), the upper end of vehicle frame (3) is respectively equipped with upper rail (3.2) and upper Timing Belt (3.4), described books capture car (2) lower end and roll and coordinate with lower guideway (3.1), books capture the upper end of car (2) and roll and coordinate with upper rail (3.2), books capture the two ends up and down of car (2) and also mesh with upper Timing Belt (3.4) and lower Timing Belt (3.3) respectively, on described books crawl cars (2), be separately installed with described Laser emission and receiver module (4) and books catching robot (5).
2. the positioning system of books catching robot in a kind of books ATM according to claim 1, is characterized in that: described horizontal location gratings strips (1.3), vertically locate gratings strips (1.4) and form by region I (1.3.1) and region II (1.3.2) alternative arrangement; Described region I (1.3.1) is coated with the diffuse-reflective material with reflective function in not light absorbing diffuse reflection region ，Gai region I (1.3.1); Described region II (1.3.2) is total reflection region or light absorbing diffuse reflection region, and total reflection region has good optics flatness; Described light absorbing diffuse reflection region is coated with the diffuse-reflective material with photo absorption performance.
3. the positioning system of books catching robot in a kind of books ATM according to claim 1, it is characterized in that: described books capture car (2) and comprise upright guide rail (2.1), assembly (2.2) seesaws, vertical screw mandrel (2.3), upper angle sheave (2.4), lower angle sheave (2.5), horizontal drive motor (2.6), upper synchronous pulley (2.7), lower synchronous pulley (2.8), synchronizing bar (2.9), vertical drive motor (2.10) and top board (2.11) and base plate (2.12), described upright guide rail (2.1), vertically screw mandrel (2.3) is separately fixed between top board (2.11) and base plate (2.12), the described assembly that seesaws (2.2) two ends are connected on upright guide rail (2.1) by slide block set respectively, and the assembly that seesaws (2.2) is also connected with vertical screw mandrel (2.3) by feed screw nut, described Laser emission and receiver module (4) are fixed on this assembly that seesaws (2.2), described books catching robot (5) is arranged on the assembly that seesaws (2.2), it is upper that described upper angle sheave (2.4) is fixed on top board (2.11), and horizontal drive motor (2.6), vertical drive motor (2.10) are separately fixed at base plate (2.12) above, and lower angle sheave (2.5) is arranged on the bottom of base plate (2.12), described upper synchronous pulley (2.7) is positioned on top board (2.11), synchronous pulley on this (2.7) is fixedly connected on the top of synchronizing bar (2.9), described lower synchronous pulley (2.8) is positioned on base plate (2.12), this lower synchronous pulley (2.8) is fixedly connected on the bottom of synchronizing bar (2.9), the output shaft of described horizontal drive motor (2.6) is connected with lower synchronous pulley (2.8), this lower synchronous pulley (2.8) also meshes with the lower Timing Belt (3.3) of vehicle frame, described upper synchronous pulley (2.7) and the engagement of the upper Timing Belt (3.4) of vehicle frame, the output shaft of described vertical drive motor (2.10) is connected with vertical screw mandrel (2.3) by band wheels.
4. the positioning system of books catching robot in a kind of books ATM according to claim 3, it is characterized in that: described upper angle sheave (2.4) comprises angle sheave (2.4.1), bearing (2.4.2), rotation axis (2.4.3), swing span (2.4.4), holddown spring (2.4.5), fixed bar (2.4.6), described angle sheave (2.4.1) is arranged on swing span (2.4.4), swing span (2.4.4) is arranged on bearing (2.4.2) by rotation axis (2.4.3), described fixed bar (2.4.6) is also housed on bearing (2.4.2), described holddown spring (2.4.5) one end connects swing span (2.4.4), the other end is connected and fixed bar (2.4.6).
5. the positioning system of books catching robot in a kind of books ATM according to claim 3, it is characterized in that: the described assembly that seesaws (2.2) comprises guide rail (2.2.1), horizontal lead screw (2.2.2), front and back drive motor (2.2.3), housing (2.2.4), described guide rail (2.2.1), horizontal lead screw (2.2.2) is separately fixed in housing (2.2.4), front and back drive motor (2.2.3) are arranged on the rear end of housing (2.2.4), Laser emission and receiver module (4) are arranged on the front end of housing (2.2.4), the output shaft of described front and back drive motor (2.2.3) is connected with horizontal lead screw (2.2.2) by band wheels, described books catching robot (5) is connected on guide rail (2.2.1) by slide block set, and books catching robot (5) is also connected with horizontal lead screw (2.2.2) by feed screw nut.
6. according to the positioning system of books catching robot in a kind of books ATM described in claim 1 or 2 or 3 or 4 or 5, it is characterized in that: described Laser emission and receiver module (4) comprise power module (4.1), frequency modulation module (4.2), voltage regulating module (4.3), control module (4.4), laser emitting module (4.5), laser pick-off module (4.6), logic judgment module (4.7), signal amplification module (4.8), signal output module (4.9), and described power module (4.1) is used to each module that power supply is provided, described frequency modulation module (4.2), voltage regulating module (4.3), control module (4.4), laser emitting module (4.5) connects successively, described laser pick-off module (4.6), logic judgment module (4.7), signal amplification module (4.8), signal output module (4.9) connects successively, described laser emitting module (4.5) is through frequency modulation module (4.2), after voltage regulating module (4.3) and control module (4.4) effect, the laser beam horizontal scan location gratings strips of transmitting certain frequency and vertically location gratings strips, laser pick-off module (4.6) is converted to corresponding level signal by the reflected light of horizontal location gratings strips and vertical location gratings strips, again through logic judgment module (4.7), signal amplification module (4.8) is exported by signal output module (4.9) after processing, to accurately locate.
7. the positioning system of books catching robot in a kind of books ATM according to claim 6, is characterized in that: described laser emitting module (4.5) comprises at least one LASER Discharge Tube; Described laser pick-off module (4.6) comprises at least two laser pick-off pipes.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320505150.9U CN203433582U (en) | 2013-08-19 | 2013-08-19 | Positioning system of book grabbing mechanical hand of book ATM |
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| CN201320505150.9U CN203433582U (en) | 2013-08-19 | 2013-08-19 | Positioning system of book grabbing mechanical hand of book ATM |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104574681A (en) * | 2015-01-08 | 2015-04-29 | 苏州麦迪斯顿医疗科技股份有限公司 | Intelligent surgical material issuing device and method |
| CN105405224A (en) * | 2015-11-05 | 2016-03-16 | 宁波朝平智能科技有限公司 | Full-automatic archive base and book library |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104268987A (en) * | 2014-08-29 | 2015-01-07 | 柳州三恒共创科技有限公司 | Comb-shaped limiter of book inlet and outlet device in book ATM |
| CN104268987B (en) * | 2014-08-29 | 2016-07-06 | 柳州三恒共创科技有限公司 | Book ATM passes in and out the pectination stop of book apparatus |
| CN104574681A (en) * | 2015-01-08 | 2015-04-29 | 苏州麦迪斯顿医疗科技股份有限公司 | Intelligent surgical material issuing device and method |
| CN105405224A (en) * | 2015-11-05 | 2016-03-16 | 宁波朝平智能科技有限公司 | Full-automatic archive base and book library |
| CN105405224B (en) * | 2015-11-05 | 2017-11-24 | 宁波朝平智能科技有限公司 | Full-automatic file store and Library |
| CN105957246A (en) * | 2016-04-21 | 2016-09-21 | 杭州诺亚方舟网络科技有限公司 | Automatic fetching machine |
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