Book clamping device of intelligent page turning scanning robot

Abstract

The invention relates to the technical field of intelligent page-turning scanning robots, and discloses a book clamping device of an intelligent page-turning scanning robot, which is characterized by comprising a movable book clamping mechanism and an angle adjusting mechanism, the movable book clamping mechanism is movably arranged at the top of a spine supporting plate of the intelligent page turning scanning robot, and the movable book clamping mechanism is used for clamping a spine of a target book body; the angle adjusting mechanism comprises two sets of connecting ropes and elastic rope releasing devices, one ends of the two sets of connecting ropes are connected with the two sides of the movable book clamping mechanism respectively, the other ends of the two sets of connecting ropes are connected with the two elastic rope releasing devices respectively, and the two elastic rope releasing devices are installed on the two sides of the book supporting mechanism of the intelligent page turning scanning robot respectively. The elastic rope releasing device is used for flexibly tightening the connecting rope, when the height difference is generated between the supporting plates on the two sides of the book supporting mechanism of the intelligent page turning scanning robot, the orientation angle of a spine is dynamically adjusted under the flexible and passive conditions, and the folding problem is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent page-turning scanning robots, and more specifically, it relates to a book clamping device for an intelligent page-turning scanning robot. Background Art

[0002] An intelligent page-turning scanning robot is a device integrating page-turning, scanning, and storage functions, usually used in office or library environments. This device has the characteristics of automatic paper feeding, automatic page-turning, and automatic paper discharging, greatly simplifying the scanning process and reducing the tediousness of manual operations.

[0003] As shown in the figure, in the existing structure, when a book automatically turns pages on the book support mechanism of an intelligent page-turning scanning robot, a page folding problem may occur at the center seam of the book on the left support plate of the platen, and the content at the center seam of the book cannot be fully exposed. The reason for this problem is that the orientation of the book spine is not restricted on the spine support plate. During the page-turning process, since the thickness of the book on one side support plate is greater than that on the other side support plate, the spine orientation is approximately horizontal, and there is a tendency for the left center seam of the book to bend to the right. Similarly, when the left thickness of the book is greater than the right, the bending tendency is opposite. The page folding problem not only affects the scanning result but also poses a risk of damaging the book. Summary of the Invention

[0004] The purpose of the present invention is to provide a book clamping device for an intelligent page-turning scanning robot, which can dynamically adjust the spine orientation angle in a flexible and passive manner to solve the page folding problem during the page-turning process.

[0005] The above technical purpose of the present invention is achieved through the following technical solutions: A book clamping device for an intelligent page-turning scanning robot, comprising: a movable book clamping mechanism and an angle adjustment mechanism; The movable book clamping mechanism is movably arranged on the top of the spine support plate of the intelligent page-turning scanning robot, and the movable book clamping mechanism is used to clamp the spine of the target book body; The angle adjustment mechanism includes two groups of connecting ropes and elastic rope release devices. One end of each of the two groups of connecting ropes is connected to both sides of the movable book clamping mechanism respectively, and the other ends of the two groups of connecting ropes are respectively connected to two elastic rope release devices. The two elastic rope release devices are respectively installed on both sides of the book support mechanism of the intelligent page-turning scanning robot. The elastic rope release devices are used to flexibly tighten the connecting ropes, and when there is a height difference between the two support plates on both sides of the book support mechanism, the angle of the movable book clamping mechanism is adjusted.

[0006] As a preferred technical solution of the present invention, the angle adjustment mechanism further includes at least two groups of rope connectors, and the two groups of rope connectors are fixedly connected to both sides of the movable book clamping mechanism. The end of the connecting rope away from the elastic rope release device is connected to the rope connector.

[0007] As a preferred technical solution of the present invention, the movable book clamping mechanism includes an independent spine clamp, the clamping part of the independent spine clamp is used to clamp the spine of the target book body, and the independent spine clamp is connected to the connecting rope at positions corresponding to the two side plates of the book supporting mechanism.

[0008] As a preferred technical solution of the present invention, the movable book clamping mechanism includes a movable base and an independent book clamping mechanism; the bottom surface of the movable base is movably arranged on the top of the spine supporting plate, and the independent book clamping mechanism is installed on the top surface of the movable base, and the independent book clamping mechanism is used to clamp the spine of the target book body.

[0009] As a preferred technical solution of the present invention, the bottom surface of the movable base is a convex arc cylindrical surface or a convex polygonal cylindrical surface.

[0010] As a preferred technical solution of the present invention, the independent book clamping mechanism includes a limit base, a connecting clamp and a limiter. The limit base is fixedly connected to the movable base. The connecting clamp is used to clamp the spine of the target book body, and the limiter is used for limit connection between the connecting clamp and the limit base.

[0011] As a preferred technical solution of the present invention, the limit base is provided with a limit groove. The limiter includes a limit slider and a fixed buckle. The limit slider is matched with the limit groove, and the limit slider is slidably connected to the limit groove. The fixed buckle is used for fixed connection between the limit slider and the connecting clamp.

[0012] As a preferred technical solution of the present invention, the connecting clamp is configured with a depth adjuster, and the depth adjuster is used to control the clamping depth of the spine of the target book body in the connecting clamp.

[0013] As a preferred technical solution of the present invention, the independent book clamping mechanism includes a book clamping backing plate, a movable clamping arm and a limit mounting plate. The book clamping backing plate is installed on one side of the top surface of the movable base, and the movable clamping arm and the limit mounting plate are both installed on the other side of the top surface of the movable base. One end of the movable clamping arm is rotatably connected to the movable base, and a limit buckle is arranged at the other end of the movable clamping arm. When the movable clamping arm is connected to the limit mounting plate through the limit buckle, the spine of the target book body is clamped and pressed against the inner side of the book clamping backing plate.

[0014] As a preferred technical solution of the present invention, the movable clamping arm includes a fixed mounting plate, a fixed mounting column, a book clamping arm, a control arm and a torsion spring; The fixed mounting plate and the limit mounting plate are both mounted on the top of the other side of the movable base. The fixed mounting column is fixedly connected to the fixed mounting plate. One end of the book clamping arm, one end of the control arm, and the torsion spring are rotatably sleeved on the fixed mounting column. The two acting ends of the torsion spring are respectively connected to the book clamping arm and the control arm. The book clamping arm is arranged between the control arm and the book clamping backing plate. The other end of the control arm and one end of the limit mounting plate are snap-connected through the limit buckle.

[0015] In summary, the present invention has the following beneficial effects: Before the intelligent page-turning scanning robot works, through the movable book clamping mechanism, the spine of the target book body with the document to be scanned is clamped and placed on the spine support plate. At this time, the placement of the document to be scanned is completed, and the intelligent page-turning scanning robot can be started for automatic page-turning scanning work. During the work of the intelligent page-turning scanning robot, if the support plates on both sides of the book supporting mechanism of the intelligent page-turning scanning robot move, that is, there is a height difference between the two, the movable book clamping mechanism will be pulled by the connecting ropes on both sides. According to the different heights of the left and right support plates of the intelligent page-turning scanning robot, and in cooperation with the elastic rope release device for the flexible tensioned connecting rope, the automatic angle adjustment of the movable base can be realized.

[0016] The book clamping device of the present invention can dynamically adjust the spine orientation angle in a flexible and passive manner without adding additional control motors, etc., and solves the problem of page folding during the page-turning process caused by the uncontrolled spine angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the application state of the present invention; Figure 2 is a schematic diagram of the outer rotation state of the control arm of the present invention; Figure 3 is a schematic diagram of the inner structure of the control arm of the present invention; Figure 4 is an enlarged schematic diagram of area A in the figure; Figure 5 is a schematic diagram of the connecting clip of the present invention; Figure 6 is a schematic diagram of the installation of the connecting clip and the trapezoidal slider of the present invention; Figure 7 is a schematic diagram of the trapezoidal slider of the present invention; Figure 8 is a schematic diagram of the trapezoidal groove of the present invention; Figure 9 is a schematic diagram of the positioning edge strip of the present invention; Figure 10 is a schematic diagram of the state of the book clamping device on the top surface of the spine support plate of the present invention; Figure 11It is a schematic diagram of the state when the book pressing plate is located at the top of the intelligent page-turning scanning robot; Figure 12 It is a schematic diagram for analyzing the spine angle.

[0018] In the figure: 1. Movable base; 2. Independent book clamping mechanism; 3. Connecting rope; 4. Elastic rope releasing device; 5. Rope connecting piece; 6. Mounting base; 7. Clip; 8. Trapezoidal slider; 9. Trapezoidal groove; 10. Boss; 11. Connecting groove; 12. Fixed buckle; 13. Book clamping backing plate; 14. Fixed mounting plate; 15. Limit mounting plate; 16. Fixed mounting column; 17. Book clamping arm; 18. Control arm; 19. Torsion spring; 20. Limit buckle; 21. Sliding button; 22. Limit bar; 23. Limit spring; 24. Limit connecting rod; 25. Movable opening; 26. Elastic protective pad; 27. Positioning edge strip. Specific implementation manners

[0019] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents the selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] As Figure 1 shown, the present invention provides a book clamping device for an intelligent page-turning scanning robot, including: a movable book clamping mechanism and an angle adjustment mechanism; The movable book clamping mechanism is movably arranged on the top of the book spine support plate of the intelligent page-turning scanning robot, and the movable book clamping mechanism is used for clamping or releasing the book spine of the target book body after clamping; The angle adjustment mechanism includes two groups of connecting ropes 3 and elastic rope releasing devices 4. One ends of the two groups of connecting ropes 3 are respectively connected to both sides of the movable book clamping mechanism, and the other ends of the two groups of connecting ropes 3 are respectively connected to two elastic rope releasing devices 4. The two elastic rope releasing devices 4 are respectively installed on both sides of the book supporting mechanism of the intelligent page-turning scanning robot. The elastic rope releasing device 4 is used for flexibly tightening the connecting rope 3, and when there is a height difference between the supporting plates on both sides of the book supporting mechanism of the intelligent page-turning scanning robot, the angle of the movable book clamping mechanism is adjusted.

[0021] Implementation Structure 1 of the Movable Book-Clamping Mechanism: Only one independent spine clip is provided. The clamping part of the independent spine clip is used to clamp and then release the spine of the target book. The position of the independent spine clip corresponding to the two side plates of the book-supporting mechanism of the intelligent page-turning scanning robot is connected to the connecting rope 3. For example, only one long-tailed clip is provided, and other types of clips can also be selected according to the actual situation. The clamping of the long-tailed clip is used to clamp the spine, and its base part is connected to the connecting rope 3. During the actual scanning work, both sides of the long-tailed clip are elastically tightened by the two connecting ropes 3. When there is a height difference between the two side plates of the book-supporting mechanism of the intelligent page-turning scanning robot, the spine and the long-tailed clip will deflect at an angle under the action of the elastic connecting rope 3, enabling the intelligent page-turning scanning robot to better scan the content at the spine and obtain higher-quality image content.

[0022] Implementation Structure 2 of the Movable Book-Clamping Mechanism: The movable book-clamping mechanism includes a movable base 1 and an independent book-clamping mechanism 2. The bottom surface of the movable base 1 is movably arranged on the top of the spine support plate of the intelligent page-turning scanning robot, and the independent book-clamping mechanism 2 is installed on the top surface of the movable base 1. The independent book-clamping mechanism 2 is used to clamp and then release the spine of the target book. That is, the structure of the movable book-clamping mechanism is separately arranged, with a special movable base 1 and a special independent book-clamping mechanism 2.

[0023] Specifically, the bottom surface of the movable base 1 is a convex arc-shaped cylindrical surface or a convex polygonal cylindrical surface. Thus, when there is a height difference between the two side plates of the movable base 1, under the flexible connection of the two connecting ropes 3, it can rotate at an angle more smoothly, thereby realizing the adjustment of the spine angle.

[0024] Specifically, Implementation Structure 1 of the independent book-clamping mechanism 2: The independent book-clamping mechanism 2 includes a limit base, a connecting clip, and a limiter. The limit base is fixedly connected to the movable base 1. The connecting clip is used to clamp and then release the spine of the target book. The limiter is used to limit the connection between the connecting clip and the limit base. The limit base is provided with a limit groove. The limiter includes a limit slider and a fixed buckle 12. The limit slider matches the limit groove, and the limit slider is slidably connected to the limit groove. The fixed buckle 12 is used for the fixed connection between the limit slider and the connecting clip.

[0025] The connecting clip is configured with a depth adjuster, and the depth adjuster is used to control the clamping depth of the spine of the target book in the connecting clip.

[0026] Taking Implementation Structure 1 as an example, a specific structure of the independent book-clamping mechanism is provided: As Figure 5 and 8 shown, the independent book-clamping mechanism 2 includes a mounting base 6, a connecting clip 7, and a trapezoidal slider 8; Among them, the installation base 6 is a limiting base, the trapezoidal slider 8 is a limiter, the bottom of the installation base 6 is fixedly connected to one end of the top surface of the movable base 1, and a trapezoidal groove 9 matching the trapezoidal slider 8, that is, a limiting groove, is provided on one side of the installation base 6 facing the middle of the movable base 1. One end of the trapezoidal slider 8 is slidably connected to the trapezoidal groove 9. The connecting clip 7 has two acting clamping plates and a bottom plate that surround the outside of the trapezoidal slider 8. The connecting clip 7 is fixedly connected to the trapezoidal slider 8, and the tops of the two acting clamping plates of the connecting clip 7 are used to clamp the spine of the target book.

[0027] During actual use, first surround the connecting clip 7 outside the trapezoidal slider 8, then fix the connecting clip 7 on the trapezoidal slider 8. At this time, through the two lever handles of the connecting clip 7, separate the tops of the two acting clamping plates, place the spine of the target book between the two acting clamping plates, and then loosen the two lever handles so that the spine of the target book can be clamped in the connecting clip 7. Finally, insert the trapezoidal slider 8 into the trapezoidal groove 9, and the installation of the independent book clamping mechanism 2 and the movable base 1 is completed, so that the target book is supported on the spine support plate of the intelligent page-turning scanning robot, facilitating subsequent scanning operations.

[0028] As Figure 7 shown, a boss 10 is fixedly provided at the top of the trapezoidal slider 8, and the boss 10 also surrounds the two acting clamping plates and the bottom plate of the connecting clip 7. The boss 10 is the depth adjuster.

[0029] The boss 10 is used to raise the top of the trapezoidal slider 8, so that when the spine of the target book is clamped by the connecting clip 7, the clamping depth can be relatively shallow, and the spine can also be stabilized. Thus, during subsequent scanning, the occlusion caused by the spine being clamped can be reduced, ensuring that the text in the document is not blocked and guaranteeing the scanning quality. As Figure 9 shown, the trapezoidal groove 9 provided on the installation base 6 is a trapezoidal groove 9 with an open top. Its top opening is used to accommodate the boss 10, and the two inclined sides of its groove body are used to limit the trapezoidal slider 8, so that the trapezoidal slider 8 can only be laterally translated and snapped into the trapezoidal groove 9. It can be seen from the figure that the installation base 6 is also provided with two positioning side strips 27 extending in the direction where the trapezoidal slider 8 enters. The distance between the two positioning side strips 27 is equal to the length of the lower base of the trapezoidal slider 8, so as to facilitate the trapezoidal slider 8 to slide into the trapezoidal groove 9 along the positioning side strips 27.

[0030] Furthermore, a connecting groove 11 is provided on the side of the trapezoidal slider 8 facing away from the installation base 6, and a fixed buckle 12 is provided between the connecting groove 11 and the bottom surface of the bottom plate of the connecting clip 7. As Figure 6 and 9As shown in the figure, the fixed buckle 12 adopts a C-shaped elastic buckle. Its upper and lower sides have an inward acting force. When one end of it is inserted into the connection groove 11 and the other end is located outside the bottom plate of the connection clip 7, the connection clip 7 can be fixed on the trapezoidal slider 8 through the above-mentioned elastic inward acting force.

[0031] A through hole is also provided at the position of the trapezoidal slider 8 corresponding to the connection groove 11, and a through hole is also provided at the corresponding position of the fixed buckle 12. Thus, the trapezoidal slider 8 and the fixed buckle 12 can be fixedly connected by screws, making the connection between the two more stable.

[0032] The second implementation structure of the independent book clamping mechanism 2: The independent book clamping mechanism 2 includes a book clamping bottom plate 13, a movable clamping arm, and a limit mounting plate 15. The book clamping bottom plate 13 is installed on one side of the top surface of the movable base 1, and the movable clamping arm and the limit mounting plate 15 are both installed on the other side of the top surface of the movable base 1. One end of the movable clamping arm is rotatably connected to the movable base 1, and a limit buckle 20 is provided at the other end of the movable clamping arm. When the movable clamping arm is connected to the limit mounting plate 15 through the limit buckle 20, the spine of the target book is clamped inside the book clamping bottom plate 13.

[0033] Specifically, the movable clamping arm includes a fixed mounting plate 14, a fixed mounting column 16, a book clamping arm 17, a control arm 18, and a torsion spring 19; the fixed mounting plate 14 and the limit mounting plate 15 are both installed on the other side top of the movable base 1, the fixed mounting column 16 is fixedly connected to the fixed mounting plate 14, one end of the book clamping arm 17, one end of the control arm 18, and the torsion spring 19 are rotatably sleeved on the fixed mounting column 16, and the two acting ends of the torsion spring 19 are respectively connected to the book clamping arm 17 and the control arm 18; the book clamping arm 17 is arranged between the control arm 18 and the book clamping bottom plate 13, and the other end of the control arm 18 and one end of the limit mounting plate 15 are snap-connected through the limit buckle 20.

[0034] Taking the second implementation structure as an example, a specific structure of the independent book clamping mechanism 2 is provided: As Figure 2 、 3 、Figure 4 shows, the independent book clamping mechanism 2 includes a book clamping bottom plate and at least one set of fixed mounting plate 14, limit mounting plate 15, fixed mounting column 16, book clamping arm 17, control arm 18, torsion spring 19, limit buckle 20. The bottom edge of the book clamping bottom plate 13 is fixedly connected to one side top of the movable base 1; the fixed mounting plate 14 and the limit mounting plate 15 are both installed on the other side top of the movable base 1. If there are two sets of fixed mounting plate 14 and limit mounting plate 15, the fixed mounting plate 14 and the limit mounting plate 15 in the middle can be arranged on the same plate body; the fixed mounting plate 14 and the limit mounting plate 15 are respectively arranged parallel to the book clamping bottom plate 13.

[0035] AsFigure 3 As shown in the figure, the fixed mounting post 16 is fixedly connected to the fixed mounting plate 14. One end of the book clamping arm 17, one end of the control arm 18, and the torsion spring 19 are rotatably sleeved on the fixed mounting post 16. The two acting ends of the torsion spring 19 are respectively connected to the book clamping arm 17 and the control arm 18. The book clamping arm 17 is arranged between the control arm 18 and the book clamping abutting plate 13. The other end of the control arm 18 and one end of the limit mounting plate 15 are snap-connected through a limit snap 20. An activity opening 25 is provided between each group of fixed mounting plates 14 and limit mounting plates 15. When the control arm 18 is snap-connected to the limit mounting plate 15, the control arm 18 is located within the activity opening 25.

[0036] The other end of the book clamping arm 17 is used to clamp and fix the target book body under the action of the torsion spring 19 when the control arm 18 is connected to the limit mounting plate 15. The torsion spring 19 is used to apply a reverse acting force between the control arm 18 and the book clamping arm 17, so that when they approach each other, there is a large elastic resistance. It is precisely through the elastic resistance between the two that when the position of the control arm 18 is moved, the book clamping arm 17 moves towards the book clamping abutting plate 13 to clamp and fix the spine part of the target book body.

[0037] As an embodiment of Structure 1 of the independent book clamping mechanism 2, as Figure 4 shown, the limit snap 20 includes a sliding pressing block 21, a limit stop strip 22, and a limit spring 23. A strip-shaped mounting opening is penetrated through the end of the control arm 18. A fixed connection part is connected between one end of the sliding pressing block 21 and one end of the limit stop strip 22. One end of the fixed connection part is elastically connected to the hole wall of the strip-shaped mounting opening near the fixed mounting post 16 through the limit spring 23. A snap notch matching the thickness of the limit mounting plate 15 is provided between the other end of the sliding pressing block 21, the other end of the limit stop strip 22, and the other end of the fixed connection part. The bottom of the snap notch is slidably abutted and connected to one end of the strip-shaped mounting opening near the limit mounting plate 15. That is, the fixed connection part can move within the strip-shaped mounting opening, but due to the elastic force of the limit spring 23, the bottom of the snap notch is continuously elastically pressed against the edge of the other end of the strip-shaped mounting opening. Then, when the control arm 18 and the limit mounting plate 15 are already snap-connected, by applying a force to the sliding pressing block 21 to move it towards the fixed mounting post 16, the fixed connection part and the limit stop strip 22 can also move accordingly, causing the snap notch to move towards the inside of the strip-shaped mounting opening, allowing the limit stop strip and the end of the limit mounting plate 15 to be separated. At this time, the end of the control arm 18 can move, thereby controlling the position of the book clamping arm 17 for fixing or releasing the target book body.

[0038] Further, a limiting groove is provided at the position where the control arm 18 is connected to the limiting spring 23. A limiting connecting rod 24 is sleeved inside the limiting spring 23. One end of the limiting connecting rod 24 is fixedly connected to one end of the fixed connecting part, and the other end of the limiting connecting rod 24 is slidably arranged in the limiting groove. The arrangement of the limiting connecting rod 24 can limit the compression or elongation path of the limiting spring 23, that is, limit the moving path of the buckle notch, making the moving path direction of the sliding pressing block 21 more stable and more convenient for the user to control the force. As Figure 4 shown, at this time, a bend is provided at the end of the control arm 18, and a through hole can be provided in the limiting groove, and the limiting connecting rod 24 can be directly inserted into the through hole. Through the movable socket connection between the limiting connecting rod 24 and the through hole, the moving direction of the fixed connecting part is limited.

[0039] It should be noted that the limiting buckle 20 of the present invention can also be other structures, as long as it is a buckle structure that can achieve the position locking and separation between the end of the control arm 18 and the limiting mounting plate 15.

[0040] As an embodiment of Structure 1 of the independent book clamping mechanism 2, elastic protective pads 26 are respectively provided on the side of the book clamping arm 17 facing the book clamping backing plate 13 and the inner side of the book clamping backing plate 13. The elastic protective pad 26 can be made of a rubber pad, which can reduce the clamping marks on the spine of the target book or document caused by the book clamp being too tight.

[0041] Specifically, one end of each of the two groups of connecting ropes 3 is respectively connected to the book clamping backing plate 13, the fixed mounting plate 14 or the limiting mounting plate 15, so as to realize the connection between the angle adjustment mechanism and the movable base 1.

[0042] Regarding the angle adjustment mechanism, the angle adjustment mechanism includes two groups of connecting ropes 3 and elastic rope release devices 4. One end of each of the two groups of connecting ropes 3 is respectively connected to both sides of the movable base 1, and the other ends of the two groups of connecting ropes 3 are respectively connected to two elastic rope release devices 4. The elastic rope release devices 4 are fixedly installed on both sides of the intelligent page-turning scanning robot. The elastic rope release devices 4 are used to flexibly tighten the connecting ropes 3 to adjust the angle of the movable base 1. The angle adjustment mechanism further includes at least two groups of rope connectors 5. The two groups of rope connectors 5 are fixedly connected to both sides of the movable base 1, and the end of the connecting rope 3 far from the elastic rope release device 4 is connected to the rope connector 5.

[0043] Specifically, as Figure 10As shown in the figure, threading holes are provided on the left support plate and the right support plate of the book support mechanism of the intelligent page-turning scanning robot for providing a threading path for the connecting rope 3. In the application of the angle adjustment mechanism, the two groups of connecting ropes 3 are respectively connected to the movable base 1 in a straightened state, and the elastic rope releasing device 4 is used to elastically release the connecting rope 3. That is, during application, according to the force on the target book body, the elastic rope releasing device 4 can release or retract a certain distance while tightening the connecting rope 3, which is used to adjust the angle of the movable base 1 and also adjust the angle of the spine of the target book body, so as to facilitate the scanning of the content near the spine of the target book body. For example, Figure 1 As shown in the figure, especially two connecting ropes 3 with the same tension are respectively connected to both sides of the movable base 1. The two connecting ropes 3 on both sides provide the same magnitude of force and opposite directions, so as to tighten the book clip. At the same time, the arc design of the movable base 1 enables the entire book clamping device to more easily achieve passive rotation on the spine support plate.

[0044] The above-mentioned elastic rope releasing device 4 is a wire reel that can automatically recycle and stretch the connecting rope 3, such as a winding reel, which is an existing product on the market and will not be elaborated here.

[0045] The working principle of the book clamping device of the present invention is as follows: As Figure 12 shown in the figure, according to practical application experience, a constraint condition is added to the intelligent page-turning scanning robot, so that during the page-turning process of the book, the angle of the spine orientation can be dynamically adjusted, so that both the left and right sides of the book are fully unfolded and exposed. According to geometric analysis, the relationship formula between the height difference between the left support plate and the right support plate and the target orientation angle of the book spine during the automatic page-turning process is: θ = arctan(a / d), where θ is the angle between the spine orientation and the horizontal plane, d is the drop value between the left support plate and the right support plate, and a is the horizontal distance between the left support plate and the right support plate.

[0046] Therefore, according to the angle calculation formula, the book clamping device of the present invention is designed, and two connecting ropes 3 with the same tension are respectively connected to both sides of the book clip. The two connecting ropes 3 on both sides provide the same and opposite directions of force to tighten the movable base 1. The connecting rope 3 is provided by the elastic rope releasing device 4 of the corresponding specification. The bottom of the movable base 1 is designed with an arc, so that the entire book clamping device can easily achieve passive rotation on the spine support plate. During the rotation process, a torsion spring 19 is used to clamp and fix the spine, or a connecting clip 7 is used to fix the spine of the target book body.

[0047] The usage process and technical advantages of the book clamping device of the present invention are as follows: Before the intelligent page-turning scanning robot works, the spine of the target book waiting for scanning documents is fixed on the movable base through the independent book clamping mechanism. At this time, the documents to be scanned are placed, and the intelligent page-turning scanning robot can be started for automatic page-turning scanning work. During the work of the intelligent page-turning scanning robot, the movable base is pulled by the connecting ropes on both sides. According to the different positions of the left and right pallets of the intelligent page-turning scanning robot, the automatic angle adjustment of the movable base can be realized in cooperation with the wire reel.

[0048] Taking Structure II of the independent book clamping mechanism 2 as an example, in the state where the control arm 18 is separated from the limit mounting plate 15, place the spine of the document to be scanned on the top of the movable base 1, and then rotate the control arm 18 to drive the book clamping arm 17 to move towards the inner side of the book clamping bottom plate until the control arm 18 reaches the position of the limit mounting plate 15. At the same time, by operating the limit buckle 20, the control arm 18 and the limit mounting plate 15 can be buckled. At this time, under the action of the torsion spring 19, the book clamping arm 17 presses the spine of the document to be scanned tightly against the inner side of the book clamping bottom plate. At this time, the documents to be scanned are placed, and the intelligent page-turning scanning robot can be started for automatic page-turning scanning work. During the work of the intelligent page-turning scanning robot, the movable base 1 is pulled by the connecting ropes 3 on both sides. According to the different positions of the left and right pallets of the intelligent page-turning scanning robot, the automatic angle adjustment of the movable base 1 can be realized in cooperation with the elastic wire releasing device 4.

[0049] As Figure 11 shown, the page-turning suction cup manipulator adsorbs the book pages through compressed air, the pressing plate slides above the book, and after the book passes through the angle correction of the book clamping device and the spine support plate is lifted to flatten the book, the page-turning work can be easily completed, thus facilitating subsequent scanning processing.

[0050] The book clamping device of the present invention can dynamically adjust the spine orientation angle in a flexible and passive manner without adding additional control motors, etc., and solves problems such as page folding during page turning due to uncontrolled spine angles.

[0051] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications; any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A book clamping device for an intelligent page-turning scanning robot, characterized in that: It includes a movable book clamping mechanism and an angle adjustment mechanism; The movable book clamping mechanism is movably arranged on the top of the book spine support plate of the intelligent page-turning scanning robot, and the movable book clamping mechanism is used to clamp the book spine of the target book; The angle adjustment mechanism includes two groups of connecting ropes (3) and elastic rope release devices (4). One ends of the two groups of connecting ropes (3) are respectively connected to both sides of the movable book clamping mechanism, and the other ends of the two groups of connecting ropes (3) are respectively connected to two elastic rope release devices (4). The two elastic rope release devices (4) are respectively installed on both sides of the book supporting mechanism of the intelligent page-turning scanning robot. The elastic rope release device (4) is used to flexibly tighten the connecting rope (3), and when there is a height difference between the two supporting plates on both sides of the book supporting mechanism, the angle of the movable book clamping mechanism is adjusted.

2. The book clamping device of an intelligent page-turning scanning robot according to claim 1, characterized in that: The angle adjustment mechanism further includes at least two groups of rope connectors (5). The two groups of rope connectors (5) are fixedly connected to both sides of the movable book clamping mechanism, and the end of the connecting rope (3) far from the elastic rope release device (4) is connected to the rope connector (5).

3. The book clamping device of an intelligent page-turning scanning robot according to claim 1, wherein: The movable book clamping mechanism includes an independent book spine clamp. The clamping part of the independent book spine clamp is used to clamp the book spine of the target book, and the independent book spine clamp is connected to the connecting rope (3) corresponding to the positions of the two supporting plates on both sides of the book supporting mechanism of the intelligent page-turning scanning robot.

4. The book clamping device of an intelligent page-turning scanning robot according to claim 1, characterized in that: The movable book clamping mechanism includes a movable base (1) and an independent book clamping mechanism (2); the bottom surface of the movable base (1) is movably arranged on the top of the book spine support plate, and the independent book clamping mechanism (2) is installed on the top surface of the movable base (1), and the independent book clamping mechanism (2) is used to clamp the book spine of the target book.

5. The book clamping device of an intelligent page-turning scanning robot according to claim 4, characterized in that: The bottom surface of the movable base (1) is a convex arc cylindrical surface or a convex polygonal cylindrical surface.

6. The book clamping device of an intelligent page-turning scanning robot according to claim 5, characterized in that: The independent book clamping mechanism (2) includes a limit base, a connecting clamp, and a limiter. The limit base is fixedly connected to the movable base (1), the connecting clamp is used to clamp the book spine of the target book, and the limiter is used for limit connection between the connecting clamp and the limit base.

7. The book clamping device of an intelligent page-turning scanning robot according to claim 6, characterized in that: The limit base is provided with a limit groove. The limiter includes a limit slider and a fixed buckle (12). The limit slider matches the limit groove, the limit slider is slidably connected to the limit groove, and the fixed buckle (12) is used for fixed connection between the limit slider and the connecting clamp.

8. The book clamping device of an intelligent page-turning scanning robot according to claim 6, characterized in that: The connecting clamp is configured with a depth adjuster, and the depth adjuster is used to control the clamping depth of the book spine of the target book in the connecting clamp.

9. The book clamping device of an intelligent page-turning scanning robot according to claim 4, characterized in that: The independent book clamping mechanism (2) includes a book clamping backing plate (13), a movable clamping arm, and a limit mounting plate (15). The book clamping backing plate (13) is installed on one side of the top surface of the movable base (1). The movable clamping arm and the limit mounting plate (15) are both installed on the other side of the top surface of the movable base (1). One end of the movable clamping arm is rotatably connected to the movable base (1), and a limit buckle (20) is provided at the other end of the movable clamping arm. When the movable clamping arm is cooperatively connected to the limit mounting plate (15) through the limit buckle (20), the spine of the target book is clamped against the inner side of the book clamping backing plate (13).

10. The book clamping device of an intelligent page-turning scanning robot according to claim 9, characterized in that: The movable clamping arm includes a fixed mounting plate (14), a fixed mounting column (16), a book clamping arm (17), a control arm (18), and a torsion spring (19); The fixed mounting plate (14) and the limit mounting plate (15) are both installed on the top of the other side of the movable base (1). The fixed mounting column (16) is fixedly connected to the fixed mounting plate (14). One end of the book clamping arm (17), one end of the control arm (18), and the torsion spring (19) are rotatably sleeved on the fixed mounting column (16). Two acting ends of the torsion spring (19) are respectively connected to the book clamping arm (17) and the control arm (18). The book clamping arm (17) is arranged between the control arm (18) and the book clamping backing plate (13). The other end of the control arm (18) and one end of the limit mounting plate (15) are snap-connected through the limit buckle (20).

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