Automatic digitization robot for archives

Abstract

The invention provides an automatic digital robot for archives, which belongs to the technical field of archive management and comprises an equipment rack, a double-page pressing mechanism capable of being horizontally adjusted is arranged in the equipment rack, and an automatic scanning platform is arranged at the bottom of the equipment rack. The automatic scanning platform comprises a manual adjustable bookshelf mechanism for placing archives and books, a camera scanning mechanism for scanning the archives and books and an automatic spine clamping mechanism, and a controller for controlling the robot is arranged on one side of the equipment rack; the side-out auxiliary paging mechanism is used for paging the archive books; the three-degree-of-freedom page turning mechanical arm is used for turning pages of the archives and books; the automatic clamping, page turning and scanning device has the functions of automatic clamping, automatic page turning and automatic scanning, and is provided with a manual adjusting mechanism to adapt to archives and books of different sizes, thicknesses and shapes.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of file management, and more particularly relates to an automatic file digitization robot. BACKGROUND

[0002] Current file digitization mainly relies on manual operation or semi-automatic scanning equipment, manual page-by-page processing is inefficient and easy to cause brittle file contamination and tearing; commercial automatic feeders are only suitable for standard documents and cannot be compatible with file core forms such as bound ancient books, oversized paper, curled and adhered pages, and forced scanning will cause irreversible damage to cultural relics; existing equipment lacks paper stress sensing capability, uneven force exertion by rigid mechanical structure causes secondary damage, and lacks real-time flattening of non-flat pages and multi-modal image enhancement technology, resulting in out-of-control digitization quality.

[0003] Although there are mechanical arm page turning and curved surface scanning patents, there are still three technical gaps: first, no file carrier mechanical model is established to realize adaptive force control; second, no 'page turning-flattening-pressing-scanning' full-process closed-loop actuator is integrated; third, the visual system is only used for imaging and does not participate in real-time process correction. This leads to the fact that existing technologies cannot simultaneously meet the three core needs of zero-damage operation, full-form compatibility and true unmanned processing, and there is an urgent need to invent an automatic file scanning robot that integrates flexible control and online quality inspection to break through the technical barriers in the industry. SUMMARY

[0004] To solve the above technical problems, the application provides an automatic file digitization robot to solve the above technical problems.

[0005] The purpose and effect of the automatic file digitization robot of the application are achieved by the following specific technical means: An automatic file digitization robot comprises: A device rack is provided with a horizontally adjustable double-page pressing mechanism inside, and an automatic scanning platform is provided at the bottom of the device rack, the automatic scanning platform comprises a manually adjustable bookshelf mechanism for placing file books, a camera scanning mechanism for scanning file books, and a book spine automatic clamping mechanism, the camera scanning mechanism is located above the manually adjustable bookshelf mechanism, and the manually adjustable bookshelf mechanism is hinged to the book spine automatic clamping mechanism, and a controller for controlling the robot is provided on one side of the device rack; A side-out auxiliary paging mechanism is connected to the aluminum profile inside the device rack, and is located on one side of the automatic scanning platform, and is used for paging file books; The three-degree-of-freedom (DOF) page-turning robotic arm is connected to the aluminum profile inside the equipment frame. The three-degree-of-freedom (DOF) page-turning robotic arm is located on the other side of the automatic scanning platform and is used to turn the pages of archives and books.

[0006] According to a preferred embodiment, the dual pressing mechanism includes two sets of pressing robotic arms, two sets of first linear modules for driving the pressing robotic arms to adjust up and down, and two sets of slider mechanisms for manually adjusting the horizontal adjustment of the pressing robotic arms. The equipment frame is provided with two sets of first linear modules, and slider mechanisms are connected to the sliders of the two sets of first linear modules. A pressing robotic arm is provided on one side of the slider mechanism. A first servo motor is provided at the top of the first linear module and is electrically connected to the controller. A photoelectric sensor is provided at the bottom of the first linear module.

[0007] According to a preferred embodiment, the page-pressing robotic arm includes an L-shaped main body plate and a force control sensor. An L-shaped main body plate is provided on one side of the slider mechanism. An intermediate connecting member is provided at one end of the L-shaped main body plate. A force control sensor is provided at the bottom of the intermediate connecting member. The sensing direction of the force control sensor is vertical. A Y-shaped connecting member is connected to the bottom of the force control sensor. Latex page-pressing sheets are hinged to both ends of the Y-shaped connecting member. Two sets of latex page-pressing sheets are symmetrically distributed at both ends of the Y-shaped connecting member. A tension spring is provided between the latex page-pressing sheets and the Y-shaped connecting member for connection. The force control sensor is electrically connected to a controller.

[0008] According to a preferred embodiment, the side-exit auxiliary paging mechanism includes an auxiliary paging fan with manually adjustable angle and a second linear module that drives the auxiliary paging fan to move horizontally. The second linear module is connected to the equipment frame through an aluminum profile. The auxiliary paging fan is mounted on the second linear module. A third servo motor is provided at one end of the second linear module, and the third servo motor is electrically connected to the controller.

[0009] According to a preferred embodiment, the camera scanning mechanism includes a camera group horizontal adjustment platform, two camera mounting expansion platforms, and two cameras. The camera group horizontal adjustment platform is provided on the top of the equipment frame. The two camera mounting expansion platforms are slidably installed at the bottom of the camera group horizontal adjustment platform. Camera mounting frames are hinged to the bottom of both camera mounting expansion platforms. Cameras are installed on both camera mounting frames. Both cameras are electrically connected to the controller.

[0010] According to a preferred embodiment, the automatic spine clamping mechanism includes two sets of bookshelf placement platforms and two sets of gear and rack modules. Two sets of bookshelf base plates are provided inside the equipment frame. The top of each set of bookshelf base plates is provided with an aluminum slide rail connector and a servo motor. The sides of the gear and rack modules are connected to the bookshelf placement platforms and the servo motors. The bottom of each set of bookshelf placement platforms is provided with a slide table. The top of each set of aluminum slide rail connectors is slidably connected to the two sets of slide tables. A base plate hinge seat is provided between each set of bookshelf base plates. The servo motors are electrically connected to the controller.

[0011] According to a preferred embodiment, the manually adjustable bookshelf mechanism includes a double helical screw linear module and two sets of slide table support frames. The bottom of the equipment frame is fixedly connected to the double helical screw linear module via aluminum profiles. A handwheel is provided at one end of the double helical screw linear module. Two sets of relatively sliding slide table support frames are provided on the double helical screw linear module. One end of four sets of aluminum support members is respectively hinged to the two sets of slide table support frames, and the other end of the four sets of aluminum support members is respectively hinged to two sets of bottom plate hinge seats. Two sets of support connecting members are respectively provided between the four sets of aluminum support members.

[0012] According to a preferred embodiment, the three-degree-of-freedom page-turning robotic arm includes a base linear module. The base linear module is housed within the equipment frame. A second servo motor is mounted at one end of the base linear module. A first mounting base is slidably mounted on the base linear module. A first joint servo motor is mounted at the top of the first mounting base. A second mounting base is rotatably connected to one side of the first mounting base. The spindle of the first joint servo motor is connected to the second mounting base. A second joint servo motor is mounted at the end of the second mounting base away from the first joint servo motor. A cylindrical connecting frame is connected to the shaft end of the second joint servo motor. A suction gripper is mounted at the end of the cylindrical connecting frame away from the second joint servo motor. A limit photoelectric sensor is mounted on one side of the base linear module, facing the first mounting base. The limit photoelectric sensor, the second servo motor, the first joint servo motor, and the second joint servo motor are all electrically connected to a controller.

[0013] According to a preferred embodiment, the suction-type gripper includes an electric fan and a gripper bracket. One end of the cylindrical connecting frame is connected to the gripper bracket. The electric fan is installed inside the gripper bracket. A sponge pad is installed on the gripper bracket. A photoelectric distance sensor is provided on one side of the gripper bracket. Both the photoelectric distance sensor and the electric fan are electrically connected to the controller.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The combination of an automatic spine clamping mechanism and a flexible pressing structure prevents damage to archives during digitization. In existing technologies, rigid mechanical structures often lead to brittleness, aging, tearing, and indentation due to uneven force application. The automatic spine clamping mechanism, driven by a servo motor and a gear rack module, combined with the staggered arrangement of aluminum slide rail connectors, can automatically adjust the clamping force and position according to the actual thickness of the archive spine. This ensures the spine remains stable and does not shift, while preventing the spine from being squeezed and causing cracks at the binding. The force control sensor of the dual pressing mechanism can detect vertical pressure in real time. When the pressing robot arm presses down, if the pressure approaches the threshold that may damage the paper, the controller will immediately adjust the drive stroke of the first linear module to avoid overpressure. At the same time, the latex pressing plates at both ends of the Y-shaped connector are connected by tension springs, which have a certain degree of elasticity and can flexibly conform to the paper surface. This achieves page flattening without scratching the paper or causing thin and brittle paper to break like rigid pressing blocks, solving the problem of damage to fragile archives caused by traditional equipment.

[0015] 2. The three-degree-of-freedom page-turning robotic arm, driven by a second servo motor and a linear module on the base, can move to the desired page-turning position. The first and second joint servo motors can flexibly adjust the angle of the robotic arm to ensure that the suction gripper maintains a suitable contact posture with the paper. The suction gripper uses a fan to generate negative pressure to attract the paper, while the soft sponge prevents direct rigid contact between the gripper and the paper. The photoelectric distance sensor can also detect the distance between the gripper and the paper in real time, preventing the paper from tearing due to excessive suction or falling off due to excessive looseness. In conjunction with the second linear module of the side-exit auxiliary paging mechanism, which drives the auxiliary paging fan to move horizontally, and the fan's own angle adjustment function, pages stuck together due to long-term compression can be effectively separated.

[0016] 3. The manually adjustable bookshelf mechanism allows the two sets of sliding support frames to slide relative to each other by rotating the handwheel of the double helix screw linear module, thereby changing the spacing and angle of the bookshelf base. When handling thick bound documents, the angle can be increased to allow the pages to unfold naturally, while the spacing can be decreased to ensure stable placement when handling thin single-page documents. The two sets of cameras in the camera scanning mechanism are mounted on an extension platform that can slide horizontally along the camera group to adjust the camera spacing. For ultra-large format engineering drawings, the platform can be scanned in sections, while for small-sized documents, the spacing can be reduced to achieve overlapping scanning and improve clarity. The two sets of sliding tables in the automatic spine clamping mechanism can slide along the aluminum slide rail connector to accommodate spines of different lengths. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is an exploded view of the present invention; Figure 3 This is a schematic diagram of the page-pressing robotic arm in this invention; Figure 4This is a schematic diagram of the side-exit auxiliary paging mechanism in this invention; Figure 5 This is a schematic diagram of the camera scanning mechanism in this invention; Figure 6 This is a schematic diagram of the automatic book clamping mechanism in this invention; Figure 7 This is a schematic diagram of the manually adjustable bookshelf mechanism in this invention; Figure 8 This is a schematic diagram of the three-degree-of-freedom page-turning robotic arm in this invention; Figure 9 This is a schematic diagram of the suction-type gripper in this invention; Figure 10 This is a schematic diagram of the auxiliary piezoelectric fan in this invention; Figure 11 This is a schematic diagram of the structure of the double-helix linear module in this invention.

[0018] In the diagram, the correspondence between component names and drawing numbers is as follows: 1. Equipment frame; 2. Controller; 302. First linear module; 303. Slider mechanism; 304. First servo motor; 305. Photoelectric sensor; 306. L-shaped main plate; 307. Intermediate connector; 308. Force control sensor; 309. Y-shaped connector; 310. Tension spring; 311. Latex pressing sheet; 401. Auxiliary paging fan; 402. Second linear module; 403. Third servo motor; 405. First connecting rod; 406. Second connecting rod; 407. Connecting rod seat; 408. Fan bracket; 501. Camera group horizontal adjustment platform; 502. Camera mounting expansion platform; 503. Camera mounting frame; 504. Camera; 505. Bookshelf placement platform; 506. Gear and rack module Group; 507, Servo motor; 508, Aluminum slide rail connector; 509, Slide table; 510, Bookshelf base plate; 511, Base plate hinge seat; 512, Handwheel; 513, Double helix screw linear module; 514, Slide table support frame; 515, Aluminum support component; 516, Support connector; 517, Base slide table; 518, Double threaded screw; 601, Second servo motor; 602, Base linear module; 603, First mounting base; 604, First joint servo motor; 605, Second mounting base; 606, Second joint servo motor; 607, Cylindrical connecting frame; 609, Limit photoelectric sensor; 610, Electric fan; 611, Sponge soft pad; 612, Photoelectric distance sensor; 613, Hand gripper bracket. Detailed Implementation

[0019] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the technical solutions of the present invention, but should not be used to limit the scope of protection of the present invention.

[0020] Example:

[0021] As attached Figures 1 to 7 As shown: This invention provides an automated document digitization robot comprising: The equipment frame 1 contains a horizontally adjustable double page-pressing mechanism. Initially, it is located in the upper area of ​​the equipment frame 1, with the page-pressing robotic arms raised. Its slider mechanism 303 can slide horizontally. The operator can manually push the slider mechanism 303 to adjust the left and right spacing of the two sets of page-pressing robotic arms according to the width of the document pages to ensure that the width range of the document pages is covered. At the bottom of the equipment frame 1, the automatic scanning platform has the bookshelf base plates 510 of the manually adjustable bookshelf mechanism initially positioned at a medium distance. The two sets of bookshelf placement platforms 505 of the automatic spine clamping mechanism are open to facilitate the placement of documents. The spacing of the camera mounting extension platform 502 of the camera scanning mechanism is preset according to common document sizes. The camera mounting frame 503 is kept vertically downward to ensure that the lens is aligned with the placement area of ​​the manually adjustable bookshelf mechanism. The controller 2 on one side of the equipment frame 1 controls the entire robot's operation.

[0022] The side-exit auxiliary paging mechanism is connected to the aluminum profile inside the equipment frame 1. Initially, the auxiliary paging fan 401 is located away from the automatic scanning platform, and the fan angle has been manually adjusted to align with the gap between the document pages. The three-degree-of-freedom page-turning robotic arm is also connected to the aluminum profile inside the equipment frame 1. Initially, it stays in a waiting position away from the automatic scanning platform, the suction gripper is in a state without negative pressure, and each joint maintains a stable angle.

[0023] The three-degree-of-freedom page-turning robotic arm is connected to the aluminum profile inside the equipment frame 1. The three-degree-of-freedom page-turning robotic arm is located on the other side of the automatic scanning platform and is used to turn the pages of archives and books.

[0024] In practical use, the operator first aligns the spine of the document with the center of the automatic spine clamping mechanism, placing it spine-down on the bookshelf base plate 510 of the manually adjustable bookshelf mechanism. The initial pages of the document are laid flat on the surface of the bookshelf base plate 510. Then, the clamping program is started via controller 2. The servo motor 507 of the automatic spine clamping mechanism drives the gear and rack module 506, causing the two sets of bookshelf placement platforms 505 to move towards the center along the aluminum slide rail connector 508 until the spine is clamped, preventing the entire document from shifting during scanning. At this time, controller 2 sends a signal to the double pressing mechanism, and the double pressing mechanism... The first servo motor 304 of the page pressing mechanism starts, driving the slider of the first linear module 302 to move downward, which in turn drives the slider mechanism 303 and the pressing robot arm to move downward synchronously. The latex pressing plate 311 of the pressing robot arm gradually contacts the surface of the initial page of the document. The force control sensor 308 detects the pressure value in real time during the pressing process and transmits the data to the controller 2. When the pressure reaches a range that can flatten the page without damaging the paper, the controller 2 controls the first servo motor 304 to stop running, and the dual pressing mechanism maintains the pressing state to ensure that the initial page is flat and wrinkle-free, avoiding image blurring during scanning. Subsequently, controller 2 sends a scanning signal to the camera scanning mechanism. Camera 504 starts and captures an image of the initial page of the document. The image data is transmitted to controller 2 in real time via a data cable. Controller 2 checks the integrity and clarity of the image. If the scan is successful, it sends a signal to control the first servo motor 304 of the dual page pressing mechanism to reverse, driving the page pressing robotic arm to lift to the initial position. At the same time, controller 2 controls the side-exit auxiliary page-separating mechanism to start. The third servo motor 403 drives the slider of the second linear module 402 to move, driving the auxiliary page-separating fan 401 to move closer to the side of the document page. The auxiliary page-separating fan 401 starts and generates airflow. The airflow blows into the gap between the initial page and the next page, blowing away any pages that may stick together, preventing multiple pages from being pulled up when turning the page later. Then, controller 2 controls the three-degree-of-freedom page-turning robotic arm to start moving. The second servo motor 601 drives the base linear module. The first mounting base 603 of 602 moves towards the file direction. At the same time, the first joint servo motor 604 and the second joint servo motor 606 adjust the angles of the second mounting base 605 and the cylindrical connecting frame 607 respectively, so that the sponge soft pad 611 of the suction gripper is aligned with the edge of the initial page that has been blown away. The photoelectric distance sensor 612 detects the distance between the gripper and the page. When the distance is appropriate, the controller 2 controls the electric fan 610 inside the suction gripper to start, generating negative pressure to attract the page. Then, the three-degree-of-freedom page-turning robot arm adjusts the angle through the joint motors, driving the attracted page to flip to the other side of the automatic scanning platform. After the page is flipped until it is laid flat on the other side of the bookshelf base plate 510, the electric fan 610 stops running, the negative pressure disappears, and the page falls smoothly onto the bookshelf base plate 510. The three-degree-of-freedom page-turning robot arm returns to the waiting position through the base linear module 602, completing one page-turning action.

[0025] After the page is turned, controller 2 again controls the first servo motor 304 of the dual page pressing mechanism to start, the page pressing robot arm moves down and presses the newly turned page, the force control sensor 308 detects the pressure again and feeds it back to controller 2, and stops pressing after ensuring that the pressure is appropriate; at the same time, controller 2 controls the third servo motor 403 of the side-exit auxiliary page-separating mechanism to reverse, driving the auxiliary page-separating fan 401 away from the automatic scanning platform, the fan stops running, and waits for the next page-separating demand; finally, controller 2 waits for the camera scanning mechanism to scan the new page again, thus completing one scanning cycle. This cycle realizes the full automation of the process of automatic pressing, scanning, page-separating, turning and pressing the document pages, without the need for manual page-by-page operation. This not only improves the efficiency of document digitization, but also avoids document damage through the force control sensor 308, the sponge soft pad 611 and other structures, ensuring stable scanning quality.

[0026] Please see as follows Figure 2 As shown, the dual pressing mechanism includes two sets of pressing robotic arms, two sets of first linear modules 302 for driving the pressing robotic arms to adjust up and down, and two sets of slider mechanisms 303 for manually adjusting the horizontal adjustment of the pressing robotic arms. The equipment frame 1 is equipped with two sets of first linear modules 302. Each slider of the two sets of first linear modules 302 is connected to a slider mechanism 303. A pressing robotic arm is provided on one side of the slider mechanism 303. A first servo motor 304 is provided at the top of the first linear module 302. The first servo motor 304 is electrically connected to the controller 2. A photoelectric sensor 305 is provided at the bottom of the first linear module 302. The page-pressing robotic arm includes an L-shaped main body plate 306 and a force control sensor 308. The L-shaped main body plate 306 is located on one side of the slider mechanism 303. An intermediate connector 307 is located at one end of the L-shaped main body plate 306. A force control sensor 308 is located at the bottom of the intermediate connector 307. The force control sensor 308 senses vertically and can detect pressure changes in the vertical direction in real time, transmitting the pressure data to the controller 2 via a signal line. A Y-shaped connector 309 is connected to the bottom of the force control sensor 308. Latex page-pressing sheets 311 are hinged to both ends of the Y-shaped connector 309. Two sets of latex page-pressing sheets 311 are symmetrically distributed at both ends of the Y-shaped connector 309. A tension spring 310 connects the latex page-pressing sheets 311 to the Y-shaped connector 309. Under the tension of the tension spring 310, the latex page-pressing sheets 311 maintain a tendency to contract inwards, ensuring a tight fit to the surface of the document pages. The force control sensor 308 is electrically connected to the controller 2.

[0027] Specifically, the adjustable double pressing mechanism consists of two identical parts, front and back. The front pressing robotic arm corresponds to the blank area at the bottom of the document page, and the back part corresponds to the blank area at the top. Before use, the pressing position needs to be adjusted according to the width and content distribution of the document page: the operator first loosens the locking screw on the sliding block of the slider mechanism 303, and then pushes the sliding blocks of the front and back pressing robotic arms along the horizontal slide rail with both hands to adjust the latex pressing plates 311 on both sides to the blank area that does not obscure the core content such as text and patterns on the document page. When the pressing robot arm moves downward, the Y-shaped connector 309 is subjected to an upward vertical force transmitted by the two latex pressing plates 311. When the latex pressing plates 311 contact the document pages and continue to move downward, the pages generate an upward reaction force on the latex pressing plates 311. This force is transmitted through the latex pressing plates 311 to the Y-shaped connector 309, and then to the force control sensor 308, which is in the same direction as the sensor's sensing direction. The force control sensor 308 feeds back the pressure value to the controller 2 in real time. The controller 2 compares the pressure value with a preset threshold. If the threshold is not reached, the pressing robot arm continues to move downward. If the threshold is exceeded, a stop signal is immediately sent to the first servo motor 304. This both detects whether the pages are pressed tightly and prevents excessive pressure from damaging the document. The latex pressing sheet 311 fits tightly against the book page under the action of the tension spring 310. Even if the edge of the book page is slightly raised, the tension of the tension spring 310 can make the latex pressing sheet 311 adapt to the undulation and ensure that the book page is flat. The force control sensor 308 eliminates the need for manual judgment of the force, which can improve the reliability, safety and stability of the preparation work before scanning.

[0028] Furthermore, the horizontally adjustable double pressing mechanism presses the top and bottom blank areas of the page with front and rear pressing robotic arms, forming two-point fixation. This not only ensures that the page is not affected by external wind during scanning and is not displaced or lifted, but also limits the bulging of the middle area of ​​the page and avoids bulging in the middle.

[0029] Please see as follows Figure 4 and Figure 10As shown, the side-exit auxiliary paging mechanism includes an auxiliary paging fan 401 with manually adjustable angle and a second linear module 402 that drives the auxiliary paging fan 401 to move horizontally. The second linear module 402 is connected to the equipment frame 1 via an aluminum profile. The auxiliary paging fan 401 is mounted on the second linear module 402. A third servo motor 403 is provided at one end of the second linear module 402, and the third servo motor 403 is electrically connected to the controller 2. The guide rail of the second linear module 402 is parallel to the length direction of the automatic scanning platform, ensuring that the auxiliary paging fan 401 can smoothly approach or move away from the document pages in the horizontal direction. A connecting rod seat 407 is fixed to the slider of the second linear module 402 by screws. A first connecting rod 405 is hinged to the top of the connecting rod seat 407 by a pin. The end of the first connecting rod 405 away from the connecting rod seat 407 is hinged to a second connecting rod 406 by a pin. The end of the second connecting rod 406 away from the first connecting rod 405 is hinged to a fan bracket 408 by a pin.

[0030] Furthermore, the auxiliary function of the side-exit auxiliary paging mechanism is mainly reflected in the pre-page-turning function of the three-degree-of-freedom page-turning robotic arm: after the dual-pressing mechanism completes the initial page scanning and receives the lifting signal from the controller 2, the controller 2 will simultaneously send a command to the third servo motor 403, driving the slider of the second linear module 402 to move the auxiliary paging fan 401 to the side of the document page on the automatic scanning platform until the distance between the fan outlet and the gap between the pages is within a suitable range; at the same time, the auxiliary paging fan 401 starts and generates airflow, which blows directly onto the gap between the scanned initial page and the next page, gently spreading out the pages that may be affected by paper dampness, long-term compression, or ink adhesion, preventing the three-degree-of-freedom page-turning robotic arm from picking up multiple pages at once during subsequent page-turning, causing unscanned pages to be skipped. At the same time, the spread-out pages make it easier for the suction gripper of the page-turning robotic arm to accurately contact the surface of a single page, reducing the chance of suction failure and improving the success rate of page turning; the direction of the airflow generated by the auxiliary paging fan 401 needs to be manually controlled before use or when changing different documents. For manual adjustment, since the thickness and size of the archives vary, the position and tilt angle of the page gaps will differ. Therefore, it is necessary to adjust the air outlet of the auxiliary paging fan 401 to the appropriate position: The operator first loosens the locking knobs at the connection points of the connecting rod seat 407 and the first connecting rod 405, the first connecting rod 405 and the second connecting rod 406, and the second connecting rod 406 and the fan bracket 408. Holding the fan bracket 408 or the connecting rod, the operator slowly rotates the angle between the first connecting rod 405 and the second connecting rod 406, while simultaneously fine-tuning the fan bracket. The tilt angle of 408 ensures that the air outlet of the auxiliary paging fan 401 is precisely aligned with the gap between the pages of the document. For example, when processing thick bound documents, the pages are curved due to the binding thickness, and the gaps tilt outwards. The fan outlet is then adjusted to the corresponding tilt angle to ensure that the airflow can effectively enter the gaps. When processing thin, flat documents, the page gaps are nearly horizontal, so the air outlet is adjusted to a horizontal direction. After adjustment, the locking knobs at each hinge are tightened one by one to fix the fan angle and prevent angle deviation during operation from affecting the paging effect.

[0031] In the entire automated digitization process, a horizontally adjustable double-pressing mechanism is responsible for flattening the pages and eliminating wrinkles to ensure clear scanned images; a side-exit auxiliary paging mechanism is responsible for loosening and separating pages, creating favorable page-turning conditions for the robotic arm; an adjustable automatic scanning platform is responsible for securing the archives, clamping the spine to prevent displacement, and completing image acquisition; and a three-degree-of-freedom page-turning robotic arm is responsible for automatically picking up and turning pages, achieving coordinated page switching. Each mechanism works in a sequential order according to the preset timing of controller 2. After the double-pressing mechanism is raised, the side-exit auxiliary paging mechanism first moves the fan and loosens the airflow, thus loosening the pages. After the robotic arm finishes its page-turning action, the double-pressing mechanism flattens the new page again, allowing the robot to complete the "scan-page-turn-re-scan" cycle without human intervention, achieving highly efficient automated digitization tasks. At the same time, for different types of documents, the angle and horizontal position of the auxiliary page-turning fan 401 can be manually adjusted, and the manual adjustable bookshelf mechanism can be used to adjust the document placement space. This allows the robot to adapt to diverse documents without replacing core components, making it more adaptable to different types of documents and books, and reducing equipment downtime or modification costs caused by differences in document format.

[0032] Please see as follows Figure 5 and Figure 6 As shown, the camera scanning mechanism includes a camera group horizontal adjustment platform 501, two camera mounting expansion platforms 502, and two cameras 504. The camera group horizontal adjustment platform 501 is set on the top of the equipment frame 1. The two camera mounting expansion platforms 502 are slidably installed on the bottom of the camera group horizontal adjustment platform 501. Camera mounting frames 503 are hinged to the bottom of the two camera mounting expansion platforms 502. Cameras 504 are installed on the two camera mounting frames 503. The two cameras 504 are electrically connected to the controller 2.

[0033] The automatic spine clamping mechanism includes two sets of bookshelf placement platforms 505 and two sets of gear and rack modules 506. The equipment frame 1 contains two sets of bookshelf base plates 510. Each set of bookshelf base plates 510 has an aluminum slide rail connector 508 and a servo motor 507 at its top. The gear and rack modules 506 are connected to the bookshelf placement platforms 505 and the servo motors 507 on both sides. Each set of bookshelf placement platforms 505 has a slide table 509 at its bottom. The tops of the two sets of aluminum slide rail connectors 508 are respectively connected to the two sets of slide tables 509. The platform 509 is slidably connected. The two sets of bookshelf base plates 510 are fixed with base plate hinge seats 511 by bolts on the side near the spine of the books. The base plate hinge seats 511 are hinged to the aluminum support parts 515 of the manually adjustable bookshelf mechanism, which can be used to adjust the angle of the bookshelf base plate 510 in conjunction with the manually adjustable bookshelf mechanism. The servo motor 507 is electrically connected to the controller 2 through wires. The controller 2 can send signals to control the rotation angle and speed of the servo motor 507, thereby adjusting the sliding distance of the bookshelf placement platform 505.

[0034] When using the camera scanning mechanism: For large documents, first loosen the positioning screws on the slider of the camera mounting extension platform 502. Push both platforms to the sides along the slide rail of the camera group horizontal adjustment platform 501 until the shooting range of the two cameras 504 covers the left and right sides of the drawing. Then tighten the positioning screws to fix the platform. If the edge of the drawing is tilted after placement, loosen the locking knob of the camera mounting frame 503, rotate the frame to make the lens of the camera 504 vertically align with the surface of the drawing. After confirming that the image is not distorted through the preview screen of the controller 2, tighten the knob to fix the angle, and then start scanning. The two cameras 504 will capture images simultaneously, and the image data will be transmitted to the controller 2 to be stitched into a complete image. For small documents, push the two platforms closer together to reduce the distance and make the shooting range of the two cameras 504 overlap, improving the clarity of the document details.

[0035] For the automatic spine clamping mechanism, after placing the archive books spine-down between two sets of bookshelf placement platforms 505, the controller 2 sends a clamping signal, the servo motor 507 starts and drives the gear rack module 506 to rotate. The rack pulls the bookshelf placement platform 505 along the slide rail of the aluminum slide rail connector 508 towards the spine. The two sets of platforms move closer together until the spine is clamped smoothly. If the archive spine is thick, the servo motor 507 rotates at a larger angle, driving the platform to slide a longer distance to ensure clamping. If the spine is thin, the servo motor 507 rotates at a smaller angle to avoid excessive compression of the spine. After clamping, the angle of the bookshelf base plate 510 is adjusted in conjunction with the manually adjustable bookshelf mechanism. The base plate hinge seat 511 can rotate with the aluminum support 515 to ensure that the spine is always in a stable state, preventing the spine from shifting during scanning or page turning, which would cause image offset, and providing a stable archive placement foundation for subsequent digitization processes.

[0036] Please see as follows Figure 5 and Figure 7 As shown, the manually adjustable bookshelf mechanism includes a double helix screw linear module 513 and two sets of slide table support frames 514. The bottom of the equipment frame 1 is fixedly connected to the double helix screw linear module 513 through aluminum profiles. A handwheel 512 is provided at one end of the double helix screw linear module 513. Two sets of relatively sliding slide table support frames 514 are provided on the double helix screw linear module 513. One end of four sets of aluminum support members 515 is respectively hinged to the two sets of slide table support frames 514, and the other end of the four sets of aluminum support members 515 is respectively hinged to the two sets of bottom plate hinge seats 511. Two sets of support connectors 516 are respectively provided between the four sets of aluminum support members 515 to maintain the rotation synchronization of the four sets of aluminum support members 515 and avoid the bookshelf bottom plate 510 tilting due to the deviation of a single set of support members.

[0037] Specifically, the adjustable automatic scanning platform requires manual adjustment for the camera scanning mechanism and the manually adjustable bookshelf mechanism. For the camera scanning mechanism, adjustment should first be made according to the size of the document pages. If the document pages are large, loosen the fixing screws on the camera group horizontal adjustment platform 501 and the top of the equipment frame 1, and push the entire platform along the reserved track on the top of the frame until the document pages are completely within the shooting range of the two sets of cameras 504, ensuring that the effective scanning area covers the entire content of the page. Then tighten the fixing screws. If it is necessary to adjust the lateral position of a single camera 504, loosen the camera mounting extension platform 5. 02. The positioning screw of the top slider pushes the expansion platform to slide along the slide rail of the camera group horizontal adjustment platform 501. If the archival pages are tilted due to the tilt of the bookshelf base plate 510, loosen the locking knob of the camera mounting frame 503, hold the horizontal section of the frame by hand, rotate the camera mounting frame 503 so that the lens of the camera 504 is facing the bookshelf placement platform 505 on the other side, observe the image through the device preview screen until the edge of the page is a straight line in the preview image, and then tighten the locking knob to fix the angle. This adjustment method facilitates the correction of the page after scanning, avoids trapezoidal distortion of the image due to lens tilt, and reduces the difficulty of post-image processing.

[0038] For the manually adjustable bookshelf mechanism, the handwheel 512 is operated according to the spine hardness and overall thickness of the archive books during adjustment: If the archive is a thick, hard-spine book, turn the handwheel 512 clockwise. The double-threaded screw 518 in the double-helix screw linear module 513 rotates, driving the base slide 517 on the double-helix screw linear module 513 to slide towards each other with the two sets of slide support frames 514. The aluminum support 515 at the top of the slide support frame 514 rotates upward around the pin axis, driving the middle part of the bookshelf base plate 510 upward through the base plate hinge seat 511, increasing the angle between the two sets of bookshelf base plates 510. The spine can naturally unfold at the angle, preventing the hard spine from cracking due to excessive pressure. If the document is a thin book with a soft spine, turning the handwheel 512 counterclockwise causes the two sets of sliding support frames 514 to slide in opposite directions, and the aluminum support 515 to rotate downwards. This reduces the angle between the bookshelf base plate 510 and the soft spine, allowing it to fit smoothly against the bookshelf base plate 510 and preventing spine deformation that could cause page misalignment. During adjustment, the support connector 516 ensures that the four sets of aluminum support frames 515 rotate synchronously, preventing the bookshelf base plate 510 from being higher on one side than the other. Through this adjustment method, the manually adjustable bookshelf mechanism can adapt to documents with different spine hardness and overall thickness, ensuring that the documents remain stable during scanning and page turning, providing a stable foundation for subsequent digitization processes.

[0039] Please see as follows Figure 8 and Figure 9As shown, the three-degree-of-freedom page-turning robotic arm includes a base linear module 602. The base linear module 602 is housed within the equipment frame 1. A second servo motor 601 is mounted at one end of the base linear module 602. A first mounting base 603 is slidably mounted on the base linear module 602. A first joint servo motor 604 is mounted at the top of the first mounting base 603. A second mounting base 605 is rotatably connected to one side of the first mounting base 603. The spindle of the first joint servo motor 604 is connected to the second mounting base 605. When the first joint servo motor 604 rotates, it can drive the second mounting base 605 to rotate around the connecting shaft of the first mounting base 603. The second mounting base 605 is connected to... A second joint servo motor 606 is provided at the end away from the first joint servo motor 604. A cylindrical connecting frame 607 is connected to the shaft end of the second joint servo motor 606. The cylindrical connecting frame 607 can rotate 360 ​​degrees with the motor shaft. A suction gripper is provided at the end of the cylindrical connecting frame 607 away from the second joint servo motor 606. A limit photoelectric sensor 609 is provided on one side of the base linear module 602. The limit photoelectric sensor 609 faces the first mounting base 603. The limit photoelectric sensor 609, the second servo motor 601, the first joint servo motor 604 and the second joint servo motor 606 are all electrically connected to the controller 2.

[0040] The suction-type gripper includes an electric fan 610 and a gripper bracket 613. One end of a cylindrical connecting frame 607 is connected to the gripper bracket 613. The electric fan 610 is installed inside the gripper bracket 613. A sponge pad 611 is installed on the gripper bracket 613. A photoelectric distance sensor 612 is provided on one side of the gripper bracket 613. Both the photoelectric distance sensor 612 and the electric fan 610 are electrically connected to the controller 2.

[0041] Specifically, the entire page-turning process can be divided into adsorption, movement, and detachment: After the side-exit auxiliary paging mechanism completes the page unfurling, the controller 2 sends a command to start the page-turning process. Under the action of the limit photoelectric sensor 609, the second servo motor 601 drives the lead screw of the base linear module 602 to rotate, causing the first mounting base 603 and the robotic arm structure above it to slide along the guide rail towards the document page until the suction gripper moves to the designated horizontal position for page turning. This adjustment can meet the changes in the horizontal position of different documents during the page-turning process. Subsequently, the first joint servo motor 604 starts, driving the second mounting base 605 to rotate up or down, adjusting the overall height of the robotic arm so that the suction gripper maintains a suitable vertical distance from the document page. At the same time, the second joint servo motor 606 starts, driving the cylindrical connecting frame 607 to rotate, adjusting the opening direction of the suction gripper so that it faces the edge of the document page, thereby controlling the effective adsorption surface of the end suction gripper to adapt to the angle and height changes during the page-turning process.

[0042] During the adsorption phase, once the photoelectric distance sensor 612 detects that the distance between the gripper and the page is appropriate, the controller 2 activates the electric fan 610. The resulting airflow flows through the pores of the sponge pad 611, creating negative pressure between the gripper and the page, adsorbing the edges of the page onto the surface of the sponge pad 611. The flexibility of the sponge pad 611 allows it to conform to the surface of the page, preventing excessive local pressure from damaging the paper, especially for aged and brittle ancient books, reducing the risk of tearing. The photoelectric distance sensor 612 continuously monitors the distance; if the distance suddenly decreases, it sends a signal to the controller 2 confirming successful adsorption. During the movement phase, the second servo motor 601 drives the robotic arm to move backward, while the first and second joint servo motors rotate in coordination, lifting the adsorbed page upward and flipping it to the other side of the automatic scanning platform. During the flipping process, the negative pressure is maintained to prevent the page from falling off. During the detachment phase, once the page has flipped to the designated position, the controller 2 stops the electric fan 610, the negative pressure disappears, and the page smoothly detaches from the gripper, completing one page turn.

[0043] This method, which utilizes a small electric fan 610 to generate airflow that uses a sponge pad 611 to adhere to archival pages, combined with a photoelectric distance sensor 612 to determine the adhesion status, reduces the physical contact force on the archival pages, resulting in a page-turning method that minimizes damage to the pages. Through the multi-joint adjustment of the three-degree-of-freedom page-turning robotic arm and the flexible adhesion structure of the end-effector suction gripper, the robot can adapt to archival pages of different thicknesses and materials, achieving more efficient page-turning actions and a lower grasping error rate. The servo motors and sensors employed ensure stable page-turning, reducing page damage or page-turning failures caused by motion deviations, providing reliable page-turning support for automatic archival digitization.

[0044] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. An automated document digitization robot, characterized in that, include: The equipment frame contains a horizontally adjustable double page pressing mechanism. An automatic scanning platform is located at the bottom of the equipment frame. The automatic scanning platform includes a manually adjustable bookshelf mechanism for placing archive books, a camera scanning mechanism for scanning archive books, and an automatic spine clamping mechanism. The camera scanning mechanism is located above the manually adjustable bookshelf mechanism. The manually adjustable bookshelf mechanism and the automatic spine clamping mechanism are hinged together. A controller for controlling the robot is located on one side of the equipment frame. The side-out auxiliary paging mechanism is connected to the aluminum profile inside the equipment frame. The side-out auxiliary paging mechanism is located on one side of the automatic scanning platform and is used to paginate archives and books. The three-degree-of-freedom (DOF) page-turning robotic arm is connected to the aluminum profile inside the equipment frame. The three-degree-of-freedom (DOF) page-turning robotic arm is located on the other side of the automatic scanning platform and is used to turn the pages of archives and books.

2. The automated document digitization robot according to claim 1, characterized in that: The dual pressing mechanism includes two sets of pressing robotic arms, two sets of first linear modules for driving the pressing robotic arms to adjust up and down, and two sets of slider mechanisms for manually adjusting the horizontal adjustment of the pressing robotic arms. The equipment frame is equipped with two sets of first linear modules. Each slider of the two sets of first linear modules is connected to a slider mechanism. A pressing robotic arm is set on one side of the slider mechanism. A first servo motor is set at the top of the first linear module and is electrically connected to the controller. A photoelectric sensor is set at the bottom of the first linear module.

3. The automated document digitization robot according to claim 2, characterized in that: The page-pressing robotic arm includes an L-shaped main body plate and a force control sensor. The L-shaped main body plate is located on one side of the slider mechanism. An intermediate connector is located at one end of the L-shaped main body plate. A force control sensor is located at the bottom of the intermediate connector. The sensing direction of the force control sensor is vertical. A Y-shaped connector is connected to the bottom of the force control sensor. Latex page-pressing sheets are hinged to both ends of the Y-shaped connector. Two sets of latex page-pressing sheets are symmetrically distributed at both ends of the Y-shaped connector. A tension spring is provided between the latex page-pressing sheets and the Y-shaped connector for connection. The force control sensor is electrically connected to the controller.

4. The automatic digitization robot for archives according to claim 1, characterized in that: The side-exit auxiliary paging mechanism includes an auxiliary paging fan with manually adjustable angle and a second linear module that drives the auxiliary paging fan to move horizontally. The second linear module is connected to the equipment frame through an aluminum profile. The auxiliary paging fan is mounted on the second linear module. A third servo motor is provided at one end of the second linear module, and the third servo motor is electrically connected to the controller.

5. The automated document digitization robot according to claim 1, characterized in that: The camera scanning mechanism includes a camera group horizontal adjustment platform, two camera mounting expansion platforms, and two cameras. The camera group horizontal adjustment platform is set on the top of the equipment frame. The two camera mounting expansion platforms are slidably installed at the bottom of the camera group horizontal adjustment platform. Camera mounting frames are hinged to the bottom of the two camera mounting expansion platforms. Cameras are installed on the two camera mounting frames. Both cameras are electrically connected to the controller.

6. The automated document digitization robot according to claim 1, characterized in that: The automatic spine clamping mechanism includes two sets of bookshelf placement platforms and two sets of gear and rack modules. Two sets of bookshelf base plates are installed inside the equipment frame. The top of each set of bookshelf base plates is equipped with an aluminum slide rail connector and a servo motor. The sides of the gear and rack modules are connected to the bookshelf placement platforms and the servo motors. The bottom of each set of bookshelf placement platforms is equipped with a slide table. The top of each set of aluminum slide rail connectors is slidably connected to the two slide tables. A base plate hinge seat is installed between each set of bookshelf base plates. The servo motors are electrically connected to the controller.

7. The automated document digitization robot according to claim 6, characterized in that: The manually adjustable bookshelf mechanism includes a double helical screw linear module and two sets of slide table support frames. The bottom of the equipment frame is fixedly connected to the double helical screw linear module through aluminum profiles. A handwheel is provided at one end of the double helical screw linear module. Two sets of relatively sliding slide table support frames are provided on the double helical screw linear module. One end of each of the four sets of aluminum support members is hinged to the two sets of slide table support frames, and the other end of each of the four sets of aluminum support members is hinged to the two sets of base plate hinge seats. Two sets of support connecting members are provided between the four sets of aluminum support members.

8. The automated digitization robot for archives according to claim 1, characterized in that: The three-degree-of-freedom page-turning robotic arm includes a base linear module, which is installed inside the equipment frame. A second servo motor is installed at one end of the base linear module. A first mounting base is slidably mounted on the base linear module. A first joint servo motor is installed at the top of the first mounting base. A second mounting base is rotatably connected to one side of the first mounting base. The spindle of the first joint servo motor is connected to the second mounting base. A second joint servo motor is installed at the end of the second mounting base away from the first joint servo motor. A cylindrical connecting frame is connected to the shaft end of the second joint servo motor. A suction gripper is installed at the end of the cylindrical connecting frame away from the second joint servo motor. A limit photoelectric sensor is installed on one side of the base linear module, facing the first mounting base. The limit photoelectric sensor, the second servo motor, the first joint servo motor, and the second joint servo motor are all electrically connected to the controller.

9. The automated document digitization robot according to claim 8, characterized in that: The suction-type gripper includes an electric fan and a gripper bracket. One end of the cylindrical connecting frame is connected to the gripper bracket. The electric fan is installed inside the gripper bracket. The sponge pad is installed on the gripper bracket. A photoelectric distance sensor is set on one side of the gripper bracket. Both the photoelectric distance sensor and the electric fan are electrically connected to the controller.

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