CN110053063B - High-precision automatic book turning robot - Google Patents
High-precision automatic book turning robot Download PDFInfo
- Publication number
- CN110053063B CN110053063B CN201910481010.4A CN201910481010A CN110053063B CN 110053063 B CN110053063 B CN 110053063B CN 201910481010 A CN201910481010 A CN 201910481010A CN 110053063 B CN110053063 B CN 110053063B
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- steering engine
- page turning
- fixed
- book
- sliding
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- 238000003825 pressing Methods 0.000 claims abstract description 23
- 238000001179 sorption measurement Methods 0.000 claims abstract description 14
- 238000005086 pumping Methods 0.000 claims description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 2
- 239000010949 copper Substances 0.000 claims description 2
- 229910052802 copper Inorganic materials 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a high-precision automatic book-turning robot, which mainly comprises the following parts: the book pressing device comprises a supporting frame (26), a bottom plate (32), a crank push rod mechanism (34), a book pressing mechanical arm (30), a book placing table (33), an adsorption page turning device (28) and a page pulling device (31). The high-precision automatic page turning robot disclosed by the invention can be suitable for books with different sizes and different thicknesses, the opened books can be flattened by the adsorption page turning device (28), then the books are fixed by the book pressing mechanical arm (30), the adsorption page turning device (28) can realize book rubbing and book suction, the page turning device (31) dials the sucked pages to the other end to realize page turning, and the situation of multiple page turning and page missing in the page turning process by matching the adsorption page turning device (28) with the page turning device (31) is avoided.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a high-precision automatic book-turning robot.
Background
With the rapid development of internet technology, people gradually change from paper books to electronic books in learning and reading modes, but a large number of books have no electronic version, so that how to change the content of the paper books into electronic books is a difficult problem. At present, a page-by-page book is generally scanned to convert a paper book into an electronic book, but how to realize page turning becomes a difficult problem, many old books are easy to damage in the page turning process, and the existing page turning device has low precision and is easy to cause the conditions of multiple page turning and page missing. As disclosed in the patent: CN 107053194a, the page turning structure of this patent is only a vacuum chuck, and the condition of many page turning, missing page turning easily appears, and the high accuracy automatic page turning robot of the invention has improved the precision of page turning through realizing pressing, rubbing books, inhaling books, rolling books and combining, avoids the damage to books.
The latest statistics of old people and handicapped people in China in 2019 show that the current population of people over 60 years old in China is 21242 ten thousand, accounts for 15.5% of the total population, about 4500 ten thousand blind people worldwide is damaged in vision of 1.25 hundred million people, the number of blind people in China who have handicapped certificates in the book is over 500 ten thousand, 18% of the total number of blind people worldwide is occupied, and tens of thousands of physically handicapped people have serious limitations in study life, leisure and entertainment.
Disclosure of Invention
The invention aims to provide a perfect, safe and high-precision automatic book-turning robot, which realizes automatic electronic storage of a large number of books and solves the problem that handicapped people read and learn difficultly.
The invention realizes the above purposes by the following scheme:
a high precision automatic page turning robot comprising:
support frame, bottom plate, crank push rod mechanism, press book mechanical arm, put the writing desk, adsorb page turning device, dial page device, its characterized in that: the book pressing machine is characterized in that a bottom plate is arranged at the lowest part of the supporting frame and used as a platform for supporting a crank push rod mechanism and a book placing table, the crank push rod mechanism is arranged in the middle of the bottom plate, the page shifting device is fixed on one side of the book placing table, the book pressing mechanical arm is connected with the crank push rod mechanism through a connecting plate, the book placing table is supported right above the crank push rod mechanism through a copper column, an adsorption page turning device is arranged right above the book placing table, and the adsorption page turning device is fixedly connected above the supporting frame through two fixing plates above the supporting frame. The support frame adopts aluminium alloy material, and the support frame is cube frame. The crank push rod mechanism comprises a first steering engine, two linear slide bars, four supports, four sliding blocks and a steering engine pull rod, wherein the first steering engine is arranged in the middle of a bottom plate, a controller controls the first steering engine to realize 180-degree rotation and drives a book pressing mechanical arm to move left and right in the horizontal direction, the two linear slide bars are placed in parallel and fixed on the four supports, the two sliding blocks are respectively arranged on the two linear slide bars, the two sliding blocks on the same side of the two linear slide bars are connected together through a connecting plate, two ends of the steering engine pull rod are respectively fixed on the connecting plate and the first steering engine, and the book pressing mechanical arm is fixed on the connecting plate. The adsorption page turning device comprises a first stepping motor, a second stepping motor, a first sliding rail, a second sliding rail, a first sliding block, a second sliding block, a third sliding block, a sliding groove, an electric telescopic rod, a vacuum air pump and a vacuum sucker, wherein the sliding groove is arranged on a first fixed plate above a supporting frame, the first sliding rail is fixed on the second fixed plate, the first sliding block is arranged on the first sliding rail, the second sliding block is arranged on the second sliding rail, the third sliding block is arranged on the sliding groove, the second sliding rail is mutually perpendicular to the first sliding rail, one end of the second sliding rail is fixed on the first sliding block, the other end of the second sliding rail is fixed on the third sliding block, the electric telescopic rod is vertically fixed on the second sliding block, the vacuum air pump is fixed at the bottom of the electric telescopic rod, the air pump sucker is fixed at the top end of the electric telescopic rod, and the air pump sucker is enabled to realize three-dimensional movement in space by controlling the first stepping motor, the second stepping motor and the electric telescopic rod, and the on-off control page of the vacuum air pump is controlled. The page shifting device is composed of a third steering engine, a fourth steering engine, a page shifting rod and Yun Taizu, the page shifting rod is fixed on the fourth steering engine through a coupler, the fourth steering engine is fixed on a cradle head, the cradle head can rotate by 360 degrees, and the page shifting rod is controlled to rotate in the horizontal direction and the vertical direction by the third steering engine and the fourth steering engine. The vacuum sucker can realize book rubbing and book sucking, and avoid the condition of multiple page turning. The vacuum chuck can flatten books, and the flattened books are fixed through the book pressing mechanical arm, so that the condition that pages are uneven when readers read is avoided. The page turning device and the page adsorbing and turning device are matched with the page turning device to avoid falling of the pages after the pages are sucked up by the vacuum chuck, so that page turning and page missing situations occur.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the suction disc is driven to realize book rubbing, book rolling and book pressing through the three-dimensional movement of the adsorption page turning device, so that the situation of multiple page turning during page turning is avoided, and the book is in a plane state during reading by readers.
2. The invention realizes the fixation of books with different sizes through the crank push rod structure, and has strong practicability.
3. According to the invention, the thickness of the book is self-adaptive through the dynamic control of the electric telescopic rod and the book pressing clamp by the controller, so that the practicability is strong.
4. According to the invention, the page turning device is used for assisting the vacuum chuck in turning pages, so that the condition of page leakage during page turning is avoided.
5. The three-dimensional motion control mechanism automatically returns to the original point after the page turning is finished, and the accurate positioning of the sucker on the page can be realized by recording the stroke of the stepping motor.
6. The automatic book turning device simulates the actions of hands, liberates the hands and improves the learning efficiency.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic diagram of a crank-push rod according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a bookpressing mechanical arm according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an adsorption page-turning device according to an embodiment of the invention.
Fig. 5 is a schematic structural diagram of a page dialing device according to an embodiment of the present invention.
In the figure: 1. the steering mechanism comprises a support, a linear slide bar, a steering wheel pull rod, a connecting plate, a first steering wheel, a steering wheel arm, a base plate, a book pressing arm, a second steering wheel, a steering wheel support, a third sliding block, a third sliding rail, a second sliding block, a second stepping motor, a first sliding block, a first sliding rail, a second sliding rail, a first stepping motor, a second stepping motor, a first stepping motor, a 18 electric telescopic rod, 19, a vacuum air pump, 20, a sliding chute, 21, an air pump sucking disc, 22, a page poking rod, 23, a fourth steering engine, 24, a rotary cradle head, 25, a third steering engine, 26, a support frame, 27, a first fixing plate, 28, an adsorption page turning device, 29, a second fixing plate, 30, a book pressing mechanical arm, 31, a page poking device, 32, a bottom plate, 33, a book placing table, 34, a crank pushing rod mechanism and 35, a sliding block.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
Fig. 1 is a high-precision automatic page turning robot according to an embodiment of the present invention, including:
the support frame (26), the said support frame (26) is the overall support structure of this robot, the support frame (26) is made up of aluminium alloy, the structure is cube;
as shown in fig. 2, the crank push rod mechanism (34), crank push rod mechanism (34) comprises first steering wheel (5), steering wheel arm (6), two sharp slide bars (2), four support (1), four slider (35), steering wheel pull rod (3), first steering wheel (5) are installed in the middle of bottom plate (7), steering wheel arm (6) are fixed on first steering wheel (5), two sharp slide bars (2) parallel placement and fix on four support (1), install two slider (35) on two sharp slide bars (2) respectively, two slider (35) of two sharp slide bars (2) with one side link together through connecting plate (4), steering wheel pull rod (3) both ends are fixed respectively on connecting plate (4) and first steering wheel (5). The steering engine arm (6) is driven to rotate by controlling the first steering engine (5), and the book pressing mechanical arm (30) is driven to horizontally move along the direction of the linear sliding rod (2) so as to fix books with different sizes.
As shown in fig. 3, the book pressing mechanical arm (30) is composed of a book pressing arm (8), a second steering engine (9) and a steering engine support (10), the book pressing arm (8) is fixed on the second steering engine (9), the second steering engine (9) is mounted on the steering engine support (10), and the steering engine support (10) is fixed on the connecting plate (4).
As shown in fig. 4, the adsorption page turning device (28) is composed of a first stepping motor (17), a second stepping motor (14), a first sliding rail (16), a second sliding rail (12), a first sliding block (15), a second sliding block (13), a third sliding block (11), a sliding groove (20), an electric telescopic rod (18), a vacuum air pump (19) and an air pump sucker (21), wherein the sliding groove (20) is provided with a first fixing plate (27) above a supporting frame (26), the first sliding rail (16) is fixed on a second fixing plate (29), the first sliding block (15) is arranged on the first sliding rail (16), the second sliding block (13) is arranged on the second sliding rail (12), the third sliding block (11) is arranged on the sliding groove (20), the second sliding rail (12) and the first sliding rail (16) is mutually perpendicular, one end of the second sliding rail (12) is fixed on the first sliding block (15), the other end of the third sliding block (11), the electric telescopic rod (18) is fixed on the second sliding rod (13), the electric telescopic rod (18) is fixed on the bottom of the electric telescopic rod (18) through the vacuum air pump (19), and the top end of the vacuum air pump (18) is fixed on the second sliding rod (18) The second stepping motor (14) and the electric telescopic rod (18) enable the air pumping disc (21) to realize three-dimensional movement in space, and the suction and the lowering of pages are controlled by controlling the on-off of the vacuum air pump (19).
As shown in fig. 5, the page shifting device (31) is composed of a third steering engine (25), a fourth steering engine (23), a page shifting rod (22) and a rotating holder (24), the page shifting rod (22) is fixed on the fourth steering engine (23) through a coupler, the fourth steering engine (23) is fixed on the rotating holder (24), the rotating holder (24) can rotate by 360 degrees, the third steering engine (25) is controlled to drive the page shifting rod (22) to rotate in the horizontal direction, and the fourth steering engine (23) is controlled to drive the page shifting rod (22) to rotate in the vertical direction. And the main controller is used for controlling the robot to execute the page turning operation by adopting the STM32 controller.
Claims (4)
1. A high precision automatic page turning robot comprising: support frame (26), bottom plate (32), crank push rod mechanism (34), press book mechanical arm (30), put writing desk (33), adsorb page turning device (28), dial page device (31), its characterized in that: a bottom plate (32) is arranged at the lowest part of the supporting frame (26); a crank push rod mechanism (34) is arranged in the middle of the bottom plate (32); the page shifting device (31) is fixed on one side of the book placing table (33); the book pressing mechanical arm (30) is connected with the crank push rod mechanism (34) through the connecting plate (4); the book placing table (33) is supported right above the crank push rod mechanism (34) through a copper column; an adsorption page turning device (28) is arranged right above the book placing table (33); the adsorption page turning device (28) is connected with a first fixing plate (27) and a second fixing plate (29) above the supporting frame and is fixed above the supporting frame (26); the crank push rod mechanism (34) consists of a first steering engine (5), a steering engine arm (6), two linear sliding rods (2), four supporting seats (1), four sliding blocks (35) and two steering engine pull rods (3), wherein the first steering engine (5) is arranged in the middle of a base plate (32), the steering engine arm (6) is fixed on the first steering engine (5), the two linear sliding rods (2) are placed in parallel and fixed on the four supporting seats (1), the four sliding blocks (35) are respectively arranged on the two linear sliding rods (2), the two sliding blocks (35) on the same side of the two linear sliding rods (2) are connected together through a connecting plate (4), and two ends of the steering engine pull rods (3) are respectively fixed on the connecting plate (4) and the first steering engine (5); the book pressing mechanical arm (30) consists of a book pressing arm (8), a second steering engine (9) and a steering engine bracket (10), wherein the book pressing arm (8) is fixed on the second steering engine (9), the second steering engine (9) is arranged on the steering engine bracket (10), the steering engine bracket (10) is fixed on the connecting plate (4), and the book pressing mechanical arm (30) moves on two sides of the book placing table (33) by controlling the first steering engine (5); the adsorption page turning device (28) is composed of a first stepping motor (17), a second stepping motor (14), a first sliding rail (16), a second sliding rail (12), a first sliding block (15), a second sliding block (13), a third sliding block (11), a sliding groove (20), an electric telescopic rod (18), a vacuum air pump (19) and an air pump sucker (21), wherein the sliding groove (20) is arranged on a first fixing plate (27) above a supporting frame (26), the first sliding rail (16) is fixed on a second fixing plate (29), the first sliding block (15) is arranged on the first sliding rail (16), the second sliding block (13) is arranged on the second sliding rail (12), the third sliding block (11) is arranged on the sliding groove (20), the second sliding rail (12) is mutually perpendicular to the first sliding rail (16), one end of the second sliding rail (12) is fixed on the first sliding block (15), the other end of the second sliding rail (12) is fixed on the third sliding block (11), the electric telescopic rod (18) is vertically fixed on the second sliding block (13), the electric air pump (19) is fixed on the top end of the electric telescopic rod (18), and the top of the vacuum air pump (18) is fixed on the top of the vacuum air pump (17) The second stepping motor (14) and the electric telescopic rod (18) enable the air pumping disc (21) to realize three-dimensional movement in space, and the suction and the lowering of the air pumping disc (21) to pages are realized by controlling the on-off of the vacuum air pump (19); the page turning device comprises a third steering engine (25), a fourth steering engine (23), a page turning rod (22) and a rotary holder (24), wherein the page turning rod (22) is fixed on the fourth steering engine (23) through a coupler, the fourth steering engine (23) is fixed on the rotary holder (24), the rotary holder (24) can rotate by 360 degrees, the third steering engine (25) is controlled to drive the page turning rod (22) to rotate in the horizontal direction, and the fourth steering engine (23) is controlled to drive the page turning rod (22) to rotate in the vertical direction.
2. The high-precision automatic page turning robot as claimed in claim 1, wherein: the air pump sucker (21) is used for rubbing books and then sucking books, so that the condition of multiple page turning is avoided.
3. The high-precision automatic page turning robot as claimed in claim 1, wherein: the air pump sucker (21) can flatten books, and the flattened books are fixed through the book pressing mechanical arm (30), so that the situation that pages are uneven when readers read is avoided.
4. The high-precision automatic page turning robot as claimed in claim 1, wherein: the page turning device (31) and the page adsorbing and turning device (28) are matched with each other to turn pages, so that the phenomenon that pages are turned and leaked due to the fact that pages are dropped after being sucked up by the air pump sucker (21) is avoided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910481010.4A CN110053063B (en) | 2019-06-04 | 2019-06-04 | High-precision automatic book turning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910481010.4A CN110053063B (en) | 2019-06-04 | 2019-06-04 | High-precision automatic book turning robot |
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| Publication Number | Publication Date |
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| CN110053063A CN110053063A (en) | 2019-07-26 |
| CN110053063B true CN110053063B (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910481010.4A Active CN110053063B (en) | 2019-06-04 | 2019-06-04 | High-precision automatic book turning robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113155866B (en) * | 2021-01-20 | 2023-08-08 | 东莞市手足自动化科技有限公司 | FPC line scanning AOI platform |
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Inventor after: Liu Jiansheng Inventor after: Li Zhiming Inventor after: Zhong Hongjiang Inventor after: Yu Jiajun Inventor after: Hu Hai Inventor after: Zhang Chaoxing Inventor after: Yang Zhongjiang Inventor before: Li Zhiming Inventor before: Liu Jiansheng Inventor before: Zhong Hongjiang Inventor before: Yu Jiajun Inventor before: Hu Hai Inventor before: Zhang Chaoxing Inventor before: Yang Zhongjiang |
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