CN205111856U - Taking care of books robot - Google Patents
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- CN205111856U CN205111856U CN201520722529.4U CN201520722529U CN205111856U CN 205111856 U CN205111856 U CN 205111856U CN 201520722529 U CN201520722529 U CN 201520722529U CN 205111856 U CN205111856 U CN 205111856U
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Abstract
The utility model belongs to the technical field of plant the robot, concretely relates to taking care of books robot, include high in the clouds, control system, the system of marcing, get the book system of putting, path identification system and books identification system, control system and high in the clouds intercommunication, control system respectively with the system of marcing, get the book system of putting, path identification system and books identification system electrical connection. The utility model discloses a taking care of books robot separates library works person from numerous and diverse uninteresting taking care of books work and releases, realizes the automation of taking care of books, in today that the human cost improves day by day, the cost of reduction taking care of books work, promote books management area's application of electronic IT IT application process, only need carry out a series of simple transformations on the infrastructure in present library, the function of this robot just can realize that the cost is little, and the cost is low.
Description
Technical field
The utility model belongs to kind of a robotics, is specifically related to a kind of taking care of books robot.
Background technology
At present, mostly rely in the book bidding work in library and manually complete, books are numbered according to information such as classifications by book management system, can be obtained the floor information of books by numbering, and the information such as approximate location placed by books.Staff obtains books from also book, and according to floor sorting books, is then transported to designated floor.Rule is set according to what number, books are placed to correct position.This work has high repeatability, and has large etc. the shortcoming of uninteresting and workload.
Staff is classified by the numbering of books, and puts it into the position of specifying, and the mode of this finishing book has many weak points, is embodied in the following aspects:
(1) book bidding process is uninteresting numerous and diverse, and manual sorting mode workload is large, and labour intensity is high;
(2) manual sorting books efficiency is low.
More external libraries have employed robot, and as taking care of books robot of UTS, library is arranged at underground by them, and books are put into the iron case of specifying, books are sticked RF tag, realize books automatic clamping and placing by robot arm.Robot of Humboldt University library of Germany, they adopt metal to respond to bar traction Robot desired trajectory and move, and robot realizes getting book by carrying bookcase.But these schemes have following shortcoming:
(1) library changes large, and cost is high;
(2) cost is high;
(3) intelligence degree is not high, underaction.
Utility model content
The utility model provides a kind of taking care of books robot, and this taking care of books robot can replace books in libraries to arrange the work of personnel, greatly improves the efficiency of book bidding, a final formation efficient library management system.
To achieve these goals, the utility model adopts following technical scheme: a kind of taking care of books robot, comprises high in the clouds, control system, advance system, picks and places book system, path identifying system and books recognition system; Described control system intercoms mutually with high in the clouds, described control system respectively with advance system, pick and place book system, path identifying system and books recognition system and be electrically connected.
Described advance system, for completing advancing and turning to of robot all directions; Describedly pick and place book system, for completing picking and placeing of books; Described path identifying system, for gathering path and roadblock information, and by information transmission to control system; Described books recognition system, for gathering the bar code information on books and the book information on bookshelf, and by information transmission to control system; Described control system, for the information that RX path recognition system and books recognition system gather, and is sent to high in the clouds by information, receives the instruction that high in the clouds is passed back, perform instruction; Described high in the clouds, for storing the electronic chart in library, receive the information that also process control system transmits, the result according to information processing obtains instruction, and instruction is sent back control system.
Compare and manually the books at also book place are returned to library everywhere, intelligentized taking care of books machine task efficiency is higher, eliminate manually-operated numerous and diverse repeat uninteresting.And only need to carry out a series of simple transformation in the infrastructure in existing library, the function of this robot just can realize, and cost is little, and cost is low.
Further, described taking care of books robot comprises base, described advance system comprises Mecanum wheel and Mecanum wheel drive unit, and described Mecanum wheel is arranged on 4 edges of robot base, and described Mecanum wheel drive unit rotates for driving Mecanum wheel.
Mecanum wheel compact conformation, motion flexibly, the motion of taking care of books robot of the present utility model realizes based on Mecanum wheel, can realize moving ahead, traversing, diagonal, the motion mode such as rotation and combination thereof, and flexible realizes all-around mobile function.
Further, the described book system that picks and places comprises horizontal rotating table, move horizontally platform, mechanical arm, leading screw and vertical bar, described horizontal rotating table is arranged on the middle part of base, describedly move horizontally in the square groove that platform is arranged in the middle part of horizontal rotating table, described leading screw and vertical bar are arranged on the top moving horizontally platform, described leading screw comprises leading screw I and leading screw II, described vertical bar comprises vertical bar I and vertical bar II, described mechanical arm comprises mechanical arm I and mechanical arm II, described mechanical arm I is arranged on leading screw I and vertical bar I, described mechanical arm II is arranged on leading screw II and vertical bar II, the described book system that picks and places also comprises horizontal rotating table drive unit, move horizontally platform drive unit, mechanical arm driving device and lead-screw driving device, described horizontal rotating table drive unit carries out positive and negative rotation for driving horizontal rotating table, the described platform drive unit that moves horizontally moves back and forth for driving to move horizontally in the square groove of platform in the middle part of horizontal rotating table, described lead-screw driving device is used for driving leading screw I and leading screw II to carry out positive and negative rotation respectively, described mechanical arm driving device is used for driving machine mechanical arm I and carries out folding and stretching motion, driving machine mechanical arm II carries out open and close movement.
Describedly pick and place book system, by horizontal rotating table, move horizontally cooperatively interacting of platform, leading screw and mechanical arm, thus complete the process of an also book.Mechanical arm flexible durable, horizontal rotating table and move horizontally platform and cooperatively interact, can realize 360 ° of rotations of any position, it is reasonable in design that this picks and places book system, stable flexibly books can be returned to its position.
Further, described path identifying system comprises photoelectric sensor and camera module I, described photoelectric sensor and camera module I are electrically connected with control system respectively, described photoelectric sensor is arranged on the front portion of base, and described camera module I is arranged on the platform in leading screw and vertical masthead portion.
Further, described path identifying system comprises electromagnetic sensor, RFID reader and camera module I, described electromagnetic sensor, RFID reader and camera module I are electrically connected with control system respectively, described electromagnetic sensor is arranged on the front portion of base, described RFID reader is arranged on the bottom of base, and described camera module I is arranged on the platform in leading screw and vertical masthead portion.
In path identifying system, electromagnetic sensor is for gathering field signal, RFID reader is for reading the information of RFID, and camera module is for gathering roadblock information, then these information gathered are transferred to high in the clouds by control system, and then then high in the clouds send instruction to information processing, command taking care of books robot forward direction, turn to or stop hiding obstacle etc.The Path Recognition of robot of library mainly based on electromagnetism guiding, and adopts the node of RFID to path to indicate.This path identification method, cost is low, good stability, only needs to lay a wire along the driving path preset on ground, library, and there being the location arrangements RFID of path node, little to the change in library, easily realize.
Further, described books recognition system comprises bar code scanner and camera module II, described bar code scanner and camera module II are electrically connected with control system respectively, described bar code scanner is arranged on mechanical arm I away from the side of arm, and described camera module II is arranged on the platform in leading screw and vertical masthead portion.
Bar code scanner is for scanning the bar code of books side on drawer type storage bookcase, and camera module II is for gap between the bar code information that gathers books on bookshelf and books, thus can realize needing the books accurate location on the shelf given back, and then pick and place book system and these books can be put into accurate location on bookshelf.
Further, described camera module comprises camera and webcam driver module, and described webcam driver module rotates for driving camera.
Further, described control system comprises microcontroller, wireless transport module, motor drive module and servo driving module; Described microcontroller respectively with wireless transport module, motor drive module and servo driving model calling.Described microcontroller, for carrying out information interaction with high in the clouds, performs the instruction that high in the clouds is passed back; Described motor drive module, for level of control turntable drive device, moves horizontally platform drive unit, lead-screw driving device and webcam driver module; Described servo driving module, for controlling mechanical arm driving device; Described wireless transport module, for intercoming mutually with high in the clouds.Described microcontroller adopts stm32f407 chip.The stm32f407 chip that control system core adopts, commercially very ripe, and also cost performance is high.
Further, described taking care of books robot also comprises upper shell and storage bookcase, and described upper shell is arranged on base top, and described storage bookcase is arranged on the rear portion of base, described upper shell and storage bookcase connect as one, described storage bookcase be provided with can pull drawer type storage bookcase.
Storage bookcase be provided with can pull drawer type storage bookcase, the books of each floor are classified according to floor at also book place by managerial personnel of library, the book of same floor is installed in same drawer type storage bookcase, drawer type is stored up bookcase to be placed in storage bookcase, books can be given back to suitable position by taking care of books robot.The setting of this drawer type storage bookcase, changes flexibly, easy to use, can increase work efficiency.
Further, described taking care of books robot also comprises display screen, and described display screen is arranged at the top of storage bookcase, is electrically connected with control system.Display screen is touching display screen, and for the duty of display device people, the ruuning situation of each system, is convenient to regular maintenance and the periodic inspection of robot, and display screen can be utilized in addition to set the mode of operation of robot.
When books in drawer type storage bookcase will be given back by taking care of books robot, scan acquisition bar code information by bar code scanner and upload to high in the clouds, the books positional information of its correspondence is inquired from cloud database, and carry out path planning according to the position founding mathematical models of taking care of books robot, draw optimum travel path.Then back taking care of books robot is passed order in high in the clouds.Then taking care of books robot marches to target location, is proofreaded bookshelf information by camera, is undertaken picking and placeing book and is operated, books are put into appointment bookshelf by coordinating of horizontal rotating table and mechanical arm.Taking care of books robot of the present utility model has following beneficial effect:
(1) replace by robot the arrangement manually realizing books in libraries, librarians is freed from numerous and diverse uninteresting book management work, realizes the automation of taking care of books;
(2) taking care of books robot automtion is high, can improve the efficiency that books in libraries arranges greatly, in today that human cost improves day by day, reduces the cost of book management work;
(3) the electronic information process in taking care of books field is promoted;
(4) only need to carry out a series of simple transformation in the infrastructure in existing library, the function of this robot just can realize, and cost is little, and cost is low.
Accompanying drawing explanation
Fig. 1 is modular structure schematic diagram of the present utility model;
Fig. 2 is the structural representation of taking care of books robot;
Wherein: 1-leading screw I; The vertical bar I of 2-; The vertical bar II of 3-; 4-leading screw II; 5-display screen; 6-drawer type storage bookcase; 7-stores up bookcase; 8-bar code scanner; 9-upper shell; 10-Mecanum wheel; 11-base; 12-camera module; 13-mechanical arm II; 14-mechanical arm I; 15-moves horizontally platform; 16-horizontal rotating table; 17-electromagnetic sensor.
Detailed description of the invention
Below in conjunction with embodiment, content of the present utility model is further described.
A kind of taking care of books robot, is characterized in that: comprise high in the clouds, control system, advance system, pick and place book system, path identifying system and books recognition system; Described control system intercoms mutually with high in the clouds, described control system respectively with advance system, pick and place book system, path identifying system and books recognition system and be electrically connected.
Described advance system, for completing advancing and turning to of robot all directions; Describedly pick and place book system, for completing picking and placeing of books; Described path identifying system, for gathering path and roadblock information, and by information transmission to control system; Described books recognition system, for gathering the bar code information on books and the book information on bookshelf, and by information transmission to control system; Described control system, for the information that RX path recognition system and books recognition system gather, and is sent to high in the clouds by information, receives the instruction that high in the clouds is passed back, perform instruction; Described high in the clouds, for storing the electronic chart in library, receive the information that also process control system transmits, the result according to information processing obtains instruction, and instruction is sent back control system.
Taking care of books robot of the present utility model obtains the storage bookcase that certain floor books is housed from also book, then gather the bar code of books sides by books recognition system thus determine bookshelf position, books place and place rack-layer information and transport, in transport process, the path gathered by path identifying system and roadblock information, carry out Path selection and roadblock is dodged, when arriving the rack-layer of bookshelf at this books place, the information of the books on bookshelf is then gathered by books recognition system, thus determine the particular location of these books, by picking and placeing book system, books are put into this position again, equally, this taking care of books robot can also complete the function of taking out and specifying books.
Described taking care of books robot comprises base 11, described advance system comprises Mecanum wheel 10 and Mecanum wheel drive unit, described Mecanum wheel 10 is arranged on 4 edges of robot base 11, and described Mecanum wheel drive unit rotates for driving Mecanum wheel.
The described book system that picks and places comprises horizontal rotating table 16, move horizontally platform 15, mechanical arm, leading screw and vertical bar, described horizontal rotating table 16 is arranged on the middle part of base 11, describedly move horizontally in the square groove that platform 15 is arranged in the middle part of horizontal rotating table 16, described leading screw and vertical bar are arranged on the top moving horizontally platform 15, described leading screw comprises leading screw I1 and leading screw II4, described vertical bar comprises vertical bar I2 and vertical bar II3, described mechanical arm comprises mechanical arm I14 and mechanical arm II13, described mechanical arm I14 is arranged on leading screw I1 and vertical bar I2, described mechanical arm II13 is arranged on leading screw II4 and vertical bar II3, the described book system that picks and places also comprises horizontal rotating table drive unit, move horizontally platform drive unit, mechanical arm driving device and lead-screw driving device, described horizontal rotating table drive unit carries out positive and negative rotation for driving horizontal rotating table 16, the described platform drive unit that moves horizontally moves back and forth for driving to move horizontally in the square groove of platform 15 in the middle part of horizontal rotating table 16, described lead-screw driving device is used for driving leading screw I1 and leading screw II4 to carry out positive and negative rotation respectively, described mechanical arm driving device is used for driving machine mechanical arm I14 and carries out folding and stretching motion, driving machine mechanical arm II13 carries out open and close movement.
The end of mechanical arm I and mechanical arm II is provided with book brace.When the arrival of taking care of books robot needs the bookshelf giving back books place, horizontal rotating table rotates, and driving mechanical arm I and mechanical arm II rotates simultaneously, the positive/negative rotation of leading screw I, mechanical arm I is taken to the books place needing to give back, the book brace of mechanical arm I reaches the both sides of these books, is strutted by the book of these books both sides, the positive/negative rotation of leading screw II, mechanical arm II is taken to the books place needing to give back, move horizontally platform past/reciprocating cutter, driving mechanical arm I reaches this books place, is picked up by these books; Horizontal rotating table rotates subsequently, driving mechanical arm I and mechanical arm II rotates simultaneously, the positive/negative rotation of leading screw I, takes the particular locations of the bookshelf needing to give back books place to by mechanical arm I, the book brace of mechanical arm I reaches the position at this books place, the book of both sides is strutted, the positive/negative rotation of leading screw II, move horizontally platform past/reciprocating cutter, mechanical arm II is taken to the position at books place needing to give back, books are placed on this place, thus achieve the process of to be given back by books to its position.The process of getting book is also like this.
Described path identifying system comprises electromagnetic sensor 17, RFID reader and camera module I, described electromagnetic sensor 17, RFID reader and camera module I are electrically connected with control system respectively, described electromagnetic sensor 17 is arranged on the front portion of base 11, described RFID reader is arranged on the bottom of base 11, and described camera module I is arranged on the platform in leading screw and vertical masthead portion.
Path Recognition is mainly based on the electromagnetism guide mode of RFID.Electromagnetism guiding, also known as " line is led " (WireGuidance), is the electric wire being loaded with pilot frequency alternating current is imbedded underground or is laid on earth's surface, and electromagnetic sensor is guided by the field signal gathering guide wire.And RFID can indicate the information of each node as label.For the identification in path and the location of library bookshelf.RFID is made up of RFID label tag (tag), read write line, antenna, middleware and application software usually.Having a wide range of applications in fields such as storage and logistics and distribution managements, is one of core technology of current Internet of Things concept.
When carrying out existing transformation to existing library, need to arrange electromagnetism steering tape on the floor in library, general employing wire.The tracking sensor that taking care of books robot adopts is made up of multiple inductance and testing circuit, and the magnetic field power that inductance is produced by the alternating current detected in electromagnetism steering tape judges the position of robot relative to electromagnetism steering tape.Taking care of books robot is advanced along set track, when running into fork in the road, RFID reader reads the RFID identifying fork in the road Nodes, judge whether to turn to according to the routing instruction that high in the clouds is passed back, arrive predetermined bookshelf place, taking care of books robot judges the roughly region of books according to the electronic tag before bookshelf.The information that taking care of books robot returns according to electromagnetic sensor carries out Path Recognition.
Described books recognition system comprises bar code scanner 8 and camera module II, described bar code scanner 8 and camera module II are electrically connected with control system respectively, described bar code scanner 8 is arranged on mechanical arm I14 away from the side of arm, and described camera module II is arranged on the platform in leading screw and vertical masthead portion.
Described camera module 12 comprises camera and webcam driver module, and described webcam driver module rotates for driving camera.Described path identifying system and books recognition system all comprise camera module, and this camera module can be same, also can be several.
Described control system comprises microcontroller, wireless transport module, motor drive module and servo driving module; Described microcontroller respectively with wireless transport module, motor drive module and servo driving model calling; Described microcontroller, for carrying out information interaction with high in the clouds, performs the instruction that high in the clouds is passed back; Described motor drive module, for level of control turntable drive device, moves horizontally platform drive unit, lead-screw driving device and webcam driver module; Described servo driving module, for controlling mechanical arm driving device; Described wireless transport module, for intercoming mutually with high in the clouds.Described microcontroller adopts stm32f407 chip.
Described taking care of books robot also comprises upper shell 9 and storage bookcase 7, described upper shell 9 is arranged on base 11 top, described storage bookcase 7 is arranged on the rear portion of base 11, and described upper shell 9 and storage bookcase 7 connect as one, and described storage bookcase 7 is provided with can the drawer type storage bookcase 6 of pull.
Described taking care of books robot also comprises display screen 5, and described display screen 5 is arranged at the top of storage bookcase 7, is electrically connected with control system.
Control system, Mecanum wheel drive unit, the horizontal rotating table drive unit of taking care of books robot, move horizontally platform drive unit, mechanical arm driving device and lead-screw driving device and be generally placed between base 11 and upper shell 9; also any position can be arranged on, as long as the claimed technical scheme of this patent can be realized.
Claims (10)
1. a taking care of books robot, is characterized in that: comprise high in the clouds, control system, advance system, pick and place book system, path identifying system and books recognition system; Described control system intercoms mutually with high in the clouds, described control system respectively with advance system, pick and place book system, path identifying system and books recognition system and be electrically connected;
Described advance system, for completing advancing and turning to of robot all directions;
Describedly pick and place book system, for completing picking and placeing of books;
Described path identifying system, for gathering path and roadblock information, and by information transmission to control system;
Described books recognition system, for gathering the bar code information on books and the book information on bookshelf, and by information transmission to control system;
Described control system, for the information that RX path recognition system and books recognition system gather, and is sent to high in the clouds by information, receives the instruction that high in the clouds is passed back, perform instruction;
Described high in the clouds, for storing the electronic chart in library, receive the information that also process control system transmits, the result according to information processing obtains instruction, and instruction is sent back control system.
2. taking care of books robot according to claim 1, it is characterized in that: described taking care of books robot comprises base (11), described advance system comprises Mecanum wheel (10) and Mecanum wheel drive unit, described Mecanum wheel (10) is arranged on 4 edges of robot base (11), and described Mecanum wheel drive unit rotates for driving Mecanum wheel.
3. taking care of books robot according to claim 2, it is characterized in that: described in pick and place book system and comprise horizontal rotating table (16), move horizontally platform (15), mechanical arm, leading screw and vertical bar, described horizontal rotating table (16) is arranged on the middle part of base (11), the described platform (15) that moves horizontally is arranged in the square groove at horizontal rotating table (16) middle part, described leading screw and vertical bar are arranged on the top moving horizontally platform (15), described leading screw comprises leading screw I (1) and leading screw II (4), described vertical bar comprises vertical bar I (2) and vertical bar II (3), described mechanical arm comprises mechanical arm I (14) and mechanical arm II (13), described mechanical arm I (14) is arranged on leading screw I (1) and vertical bar I (2), described mechanical arm II (13) is arranged on leading screw II (4) and vertical bar II (3), the described book system that picks and places also comprises horizontal rotating table drive unit, move horizontally platform drive unit, mechanical arm driving device and lead-screw driving device, described horizontal rotating table drive unit carries out positive and negative rotation for driving horizontal rotating table (16), described move horizontally platform drive unit for drive move horizontally platform (15) horizontal rotating table (16) middle part square groove in move back and forth, described lead-screw driving device is used for driving leading screw I (1) and leading screw II (4) to carry out positive and negative rotation respectively, described mechanical arm driving device is used for driving machine mechanical arm I (14) and carries out folding and stretching motion, driving machine mechanical arm II (13) carries out open and close movement.
4. taking care of books robot according to claim 3, it is characterized in that: described path identifying system comprises electromagnetic sensor (17), RFID reader and camera module I, described electromagnetic sensor (17), RFID reader and camera module I are electrically connected with control system respectively, described electromagnetic sensor (17) is arranged on the front portion of base (11), described RFID reader is arranged on the bottom of base (11), and described camera module I is arranged on the platform in leading screw and vertical masthead portion.
5. taking care of books robot according to claim 4, it is characterized in that: described books recognition system comprises bar code scanner (8) and camera module II, described bar code scanner (8) and camera module II are electrically connected with control system respectively, described bar code scanner (8) is arranged on mechanical arm I (14) away from the side of arm, and described camera module II is arranged on the platform in leading screw and vertical masthead portion.
6. the taking care of books robot according to claim 4 or 5, is characterized in that: described camera module (12) comprises camera and webcam driver module, and described webcam driver module rotates for driving camera.
7. taking care of books robot according to claim 6, is characterized in that: described control system comprises microcontroller, wireless transport module, motor drive module and servo driving module; Described microcontroller respectively with wireless transport module, motor drive module and servo driving model calling;
Described microcontroller, for carrying out information interaction with high in the clouds, performs the instruction that high in the clouds is passed back;
Described motor drive module, for level of control turntable drive device, moves horizontally platform drive unit, lead-screw driving device and webcam driver module;
Described servo driving module, for controlling mechanical arm driving device;
Described wireless transport module, for intercoming mutually with high in the clouds.
8. taking care of books robot according to claim 7, is characterized in that: described microcontroller adopts stm32f407 chip.
9. taking care of books robot according to claim 1, it is characterized in that: described taking care of books robot also comprises upper shell (9) and storage bookcase (7), described upper shell (9) is arranged on base (11) top, described storage bookcase (7) is arranged on the rear portion of base (11), described upper shell (9) and storage bookcase (7) connect as one, described storage bookcase (7) be provided with can pull drawer type storage bookcase (6).
10. taking care of books robot according to claim 1, it is characterized in that: described taking care of books robot also comprises display screen (5), described display screen (5) is arranged at the top of storage bookcase (7), is electrically connected with control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520722529.4U CN205111856U (en) | 2015-09-17 | 2015-09-17 | Taking care of books robot |
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| CN201520722529.4U CN205111856U (en) | 2015-09-17 | 2015-09-17 | Taking care of books robot |
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| CN205111856U true CN205111856U (en) | 2016-03-30 |
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| CN201520722529.4U Expired - Fee Related CN205111856U (en) | 2015-09-17 | 2015-09-17 | Taking care of books robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082154A (en) * | 2015-09-17 | 2015-11-25 | 中国石油大学(华东) | Book management robot |
| CN105729452A (en) * | 2016-04-19 | 2016-07-06 | 合肥天一生物技术研究所 | Manipulator for grapping blood type card |
| CN107259827A (en) * | 2017-06-21 | 2017-10-20 | 安徽工程大学 | Automatic book taking bookshelf takes book method |
| CN108527311A (en) * | 2018-06-27 | 2018-09-14 | 佛山科学技术学院 | A kind of taking care of books robot |
| CN109482503A (en) * | 2018-10-24 | 2019-03-19 | 东北大学 | The mobile sorting machine people of view-based access control model and its method for sorting |
| CN110980080A (en) * | 2019-12-06 | 2020-04-10 | 青岛智享专利技术开发有限公司 | Automatic book management robot |
| CN111658156A (en) * | 2020-07-17 | 2020-09-15 | 山东省肿瘤防治研究院（山东省肿瘤医院） | Automatic endoscope transfer transport vehicle and transport method |
| TWI708312B (en) * | 2017-05-31 | 2020-10-21 | 大陸商上海微電子裝備（集團）股份有限公司 | Transport device and transport method |
| CN112249724A (en) * | 2020-10-10 | 2021-01-22 | 江门市恒正自动化设备科技有限公司 | Four-axis pile up neatly machine people that positioning accuracy is high |
-
2015
- 2015-09-17 CN CN201520722529.4U patent/CN205111856U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105082154A (en) * | 2015-09-17 | 2015-11-25 | 中国石油大学(华东) | Book management robot |
| CN105729452A (en) * | 2016-04-19 | 2016-07-06 | 合肥天一生物技术研究所 | Manipulator for grapping blood type card |
| TWI708312B (en) * | 2017-05-31 | 2020-10-21 | 大陸商上海微電子裝備（集團）股份有限公司 | Transport device and transport method |
| CN107259827A (en) * | 2017-06-21 | 2017-10-20 | 安徽工程大学 | Automatic book taking bookshelf takes book method |
| CN108527311A (en) * | 2018-06-27 | 2018-09-14 | 佛山科学技术学院 | A kind of taking care of books robot |
| CN109482503A (en) * | 2018-10-24 | 2019-03-19 | 东北大学 | The mobile sorting machine people of view-based access control model and its method for sorting |
| CN110980080A (en) * | 2019-12-06 | 2020-04-10 | 青岛智享专利技术开发有限公司 | Automatic book management robot |
| CN111658156A (en) * | 2020-07-17 | 2020-09-15 | 山东省肿瘤防治研究院（山东省肿瘤医院） | Automatic endoscope transfer transport vehicle and transport method |
| CN112249724A (en) * | 2020-10-10 | 2021-01-22 | 江门市恒正自动化设备科技有限公司 | Four-axis pile up neatly machine people that positioning accuracy is high |
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