Manipulator book clamping device

Abstract

The utility model relates to the technical field of section mechanical arms, and discloses a mechanical arm book clamping device which comprises a top plate, side plates are fixedly connected to the two sides of the lower surface of the top plate, rotating air cylinders are fixedly connected to the outer walls of the side plates, rotating shafts are fixedly connected to the output ends of the rotating air cylinders, and connecting rods are rotationally connected to the outer walls of the rotating shafts. One end of the connecting rod is rotatably connected with a sliding seat, one side of the outer wall of the sliding seat is slidably connected with a guide rail, the outer wall of the guide rail is fixedly connected with a sliding plate, the interior of the sliding seat is rotatably connected with a connecting column, the two ends of the connecting column are rotatably connected with first supporting seats, and the middle of each first supporting seat is rotatably connected with a support. A fixing assembly is arranged on one side of the outer wall of the sliding plate. According to the utility model, stable and reliable operation in the section taking and placing process can be ensured. The overall design breaks through the limitation that a traditional mechanical arm acts in a limited space, and the adaptability and flexibility of the device are greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of book-clamping robotic arms, and in particular to a robotic arm book-clamping device. Background Technology

[0002] After book signatures are stacked in the printing industry, robotic book-gripping devices are typically used for picking and placing. These devices, using robotic arms equipped with specialized grippers, enable precise gripping and placement of book signatures. Their core functions include clamping, lifting, moving, and releasing book signatures, ensuring stability and accuracy even at high speeds. These robotic book-gripping devices usually incorporate sensors and control systems to identify the position and thickness of book signatures and automatically adjust the clamping force to accommodate book signatures of different sizes and materials. This improves production efficiency, reduces manual labor intensity, and is an important component of modern printing automation.

[0003] Traditional robotic book-gripping devices primarily rely on mechanical structures to grasp and move book samples. During operation, the robotic arm typically uses a motor or cylinder to drive the gripping mechanism, aligns the book sample with its position, clamps it in place, and then lifts and moves it to the target location before releasing it. This device usually operates along a preset trajectory or with manually adjusted paths, and is suitable for handling book samples of fixed sizes and specifications. However, traditional devices have a low level of automation, are highly sensitive to the thickness and position of the book samples, require manual calibration during operation, and are relatively less efficient than modern intelligent robotic arms.

[0004] Traditional robotic book-clamping devices suffer from design limitations. They typically employ rigid structures with a single motion trajectory, and the size and gripping method of the clamps are fixed, making it difficult to flexibly adapt to complex or confined spaces, thus hindering the picking up and placing of book pages. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a robotic arm book-clamping device, which aims to improve the problem that traditional robotic arm book-clamping devices are difficult to adapt flexibly to complex or narrow spaces, thus making it difficult to pick up and put down books.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robotic book-clamping device, comprising a top plate, side plates fixedly connected to both sides of the lower surface of the top plate, a rotary cylinder fixedly connected to the outer wall of the side plate, a rotating shaft fixedly connected to the output end of the rotary cylinder, a connecting rod rotatably connected to the outer wall of the rotating shaft, a sliding seat rotatably connected to one end of the connecting rod, a guide rail slidably connected to one side of the outer wall of the sliding seat, a slide plate fixedly connected to the outer wall of the guide rail, a connecting column rotatably connected to the inside of the sliding seat, a support base rotatably connected to both ends of the connecting column, a bracket rotatably connected to the middle of the support base rotatably, a fixing component provided on one side of the outer wall of the slide plate for fixing the book, and a pressing component provided on the outer wall of the side plate for driving the slide plate downward.

[0007] The fixing component includes a pressure plate, the outer wall of which is fixedly connected to one side of the outer wall of the slide plate, and a guide post is slidably connected inside the pressure plate.

[0008] Furthermore, the pressing assembly includes a telescopic cylinder, the outer wall of which is fixedly connected to the outer wall of the side plate, and a push plate is fixedly connected to the output end of the telescopic cylinder.

[0009] Furthermore, a motor is fixedly connected to the lower surface of the top plate, a lead screw is fixedly connected to the output end of the motor, a threaded plate is threaded to the outer wall of the lead screw, the outer wall of the threaded plate is fixedly connected to the top of the side plate, a support assembly is provided on the outer wall of the lead screw, the support assembly is used to support the lead screw, and a guide post is slidably connected to the top of the side plate.

[0010] Furthermore, the support assembly includes a second support base, the interior of which is rotatably connected to the outer wall of the lead screw, and one end of the lead screw is rotatably connected to a bearing seat, the upper surface of which is fixedly connected to the lower surface of the top plate.

[0011] Furthermore, both ends of the first guide post are fixedly connected to the inside of the side plate, and the first guide post is used to guide the first support base.

[0012] Furthermore, the push plate is in contact with the skateboard, and the push plate is used to push the skateboard to move.

[0013] Furthermore, one end of the bracket is rotatably connected to the bottom of the side plate, and the bracket is used to support the support base.

[0014] Furthermore, both ends of the second guide post are fixedly connected to the lower surface of the top plate, and the second guide post is used to guide the movement of the side plate.

[0015] This utility model has the following beneficial effects:

[0016] 1. In this utility model, the coordinated movement of components such as the rotary cylinder, connecting rod, sliding seat, and support seat enables the device to operate flexibly in confined spaces, independent of fixed spatial layouts, thus achieving precise picking and placing of book copies. Furthermore, the cooperation between the sliding plate and the push plate, along with the pressing component and pressure plate, effectively secures the book copies, ensuring stable and reliable operation during the picking and placing process. The overall design overcomes the limitations of traditional robotic arms operating in confined spaces, significantly improving the adaptability and flexibility of the device.

[0017] 2. In this utility model, the device achieves precise adjustment of the distance between the two side plates through the threaded relationship between the lead screw and the threaded plate, as well as the guiding effect of the guide post two. This allows the device to adapt to the clamping needs of book pieces of different sizes. Regardless of the width or thickness of the book piece, the normal operation of the book clamping device can be ensured by adjusting the distance of the side plates, significantly enhancing the versatility and practicality of the device and meeting diverse book piece operation needs. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of a robotic book-clamping device proposed in this utility model;

[0019] Figure 2 This is a schematic diagram of one side structure of the side plate of the robotic book-clamping device proposed in this utility model;

[0020] Figure 3 This is a schematic diagram of the telescopic cylinder structure of a robotic book-clamping device proposed in this utility model;

[0021] Figure 4 This is a schematic diagram of one side of the sliding seat structure of a robotic book-clamping device proposed in this utility model;

[0022] Figure 5 This is a schematic diagram of the structure below the top plate of a robotic book-clamping device proposed in this utility model.

[0023] Legend:

[0024] 1. Top plate; 2. Side plate; 3. Rotary cylinder; 4. Shaft; 5. Slide plate; 6. Connecting rod; 7. Guide post one; 8. Telescopic cylinder; 9. Push plate; 10. Support seat one; 11. Pressure plate; 12. Book plate; 13. Motor; 14. Lead screw; 15. Bearing seat; 16. Threaded plate; 17. Guide post two; 18. Support seat two; 19. Sliding seat; 20. Connecting column; 21. Bracket; 22. Guide rail. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Reference Figure 1 - Figure 4 This utility model provides an embodiment of a robotic book-clamping device, comprising a top plate 1, which serves as the supporting structure for the entire device. The lower surface of the top plate 1 provides a fixed connection. Side plates 2 are fixedly connected to both sides of the lower surface of the top plate 1. A rotary cylinder 3 is fixedly connected to the outer wall of the side plates 2. A rotating shaft 4 is fixedly connected to the output end of the rotary cylinder 3. A connecting rod 6 is rotatably connected to the outer wall of the rotating shaft 4. Activating the rotary cylinder 3 moves the rotating shaft 4, thereby moving one end of the connecting rod 6. A sliding seat 19 is rotatably connected to one end of the connecting rod 6. The design of the connecting rod 6 allows the rotational motion of the rotating shaft 4 to be converted into linear motion of the sliding seat 19. A guide rail 22 is slidably connected to one side of the outer wall of the sliding seat 19, limiting the movement trajectory of the sliding seat 19. To ensure that it slides along a predetermined path, a slide plate 5 is fixedly connected to the outer wall of the guide rail 22, and a connecting column 20 is rotatably connected inside the sliding seat 19. The connecting column 20 serves as a support structure and can flexibly connect the sliding seat 19 and the support seat 10. Both ends of the connecting column 20 are rotatably connected to the support seat 10. The design of the support seat 10 ensures the stability of the device and provides support for the book piece 12 when sliding. A bracket 21 is rotatably connected to the middle of the support seat 10. The bracket 21 further enhances the stability of the support seat and prevents the book piece 12 from tilting or shifting during movement. A fixing component is provided on one side of the outer wall of the slide plate 5. The fixing component is used to fix the book piece 12. A pressing component is provided on the outer wall of the side plate 2. The pressing component is used to drive the slide plate 5 to move downward.

[0027] The fixing component includes a pressure plate 11, which ensures that the book sheets 12 of different thicknesses can be pressed evenly. The outer wall of the pressure plate 11 is fixedly connected to one side of the outer wall of the slide plate 5. The inside of the pressure plate 11 is slidably connected to a guide post 7, which is used to guide the movement trajectory of the guide post 7 and ensure that it slides in a predetermined direction without deviation or jamming. The pressing component includes a telescopic cylinder 8, which provides vertical pressing. Its function is to drive the slide plate 5 and the pressure plate 11 downward through telescopic movement. The outer wall of the telescopic cylinder 8 is fixedly connected to the outer wall of the side plate 2, and the output end of the telescopic cylinder 8 is fixedly connected to a push plate 9.

[0028] Reference Figure 1 and Figure 5A motor 13 is fixedly connected to the lower surface of the top plate 1. A lead screw 14 is fixedly connected to the output end of the motor 13. Starting the motor 13 drives the lead screw 14 to rotate. A threaded plate 16 is threadedly connected to the outer wall of the lead screw 14. The outer wall of the threaded plate 16 is fixedly connected to the top of the side plate 2. The lead screw 14, through its cooperation with the threaded plate 16, enables the smooth movement of the side plate 2. A support assembly is provided on the outer wall of the lead screw 14 to support it. A guide post 17 is slidably connected to the top of the side plate 2. The guide post 17 ensures the stability of the movement trajectory of the side plate 2 and prevents the side plate 2 from shaking during movement. The support assembly includes a support base. Support seat 10 is rotatably connected to the outer wall of lead screw 14. One end of lead screw 14 is rotatably connected to bearing seat 15. The upper surface of bearing seat 15 is fixedly connected to the lower surface of top plate 1. Both ends of guide post 7 are fixedly connected to the inside of side plate 2. Guide post 7 is used to guide support seat 10. Push plate 9 is in contact with slide plate 5. Push plate 9 is used to push slide plate 5 to move. One end of bracket 21 is rotatably connected to the bottom of side plate 2. Bracket 21 is used to support support seat 10. Both ends of guide post 17 are fixedly connected to the lower surface of top plate 1. Guide post 17 is used to guide the movement of side plate 2.

[0029] Working principle: When the robotic arm book-clamping device is needed, firstly, the rotary cylinder 3 is activated to move the rotating shaft 4, which in turn moves one end of the connecting rod 6. Then, the other end of the connecting rod 6 drives the sliding seat 19 to slide inside the side plate 2. Subsequently, the sliding seat 19 drives the connecting column 20 to move. At this time, the two ends of the connecting column 20 drive one end of the support seat 10 to move, causing one end of the support seat 10 to slide inside the side plate 2. At the same time, the bracket 21 supports the middle part of the support seat 10. When the support seat 10 moves to... In the parallel state, the booklet 12 can be placed above the support base 10. Then, the telescopic cylinder 8 is activated to drive the push plate 9 to move, thereby pressing down the slide plate 5 through the push plate 9. In turn, the slide plate 5 drives the pressure plate 11 to slide on the outer wall of the guide post 7. Then, the pressure plate 11 presses down on the top of the booklet 12 to fix the booklet 12. When it is necessary to pick up or put down the booklet 12, the rotary cylinder 3 is driven to move the connecting rod 6, thereby moving the support base 10 down, causing the booklet 12 to loosen, and then the booklet 12 can be picked up or put down.

[0030] In addition, the drive motor 13 drives the lead screw 14 to rotate. In conjunction with the threaded relationship between the lead screw 14 and the threaded plate 16, the threaded plate 16 drives the side plate 2 to move with the rotation of the lead screw 14. Then, in conjunction with the guidance of the guide post 17, the side plate 2 on one side moves, thereby adjusting the distance between the two side plates 2, so that different sizes of bookplates 12 can be used.

[0031] Finally, it should be noted that the above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A book gripping device for a robot hand comprising a top plate (1), characterized in that: The lower surface of the top plate (1) is fixedly connected with side plates (2) on both sides, the outer wall of the side plate (2) is fixedly connected with a rotary air cylinder (3), the output end of the rotary air cylinder (3) is fixedly connected with a rotating shaft (4), the outer wall of the rotating shaft (4) is rotatably connected with a connecting rod (6), one end of the connecting rod (6) is rotatably connected with a sliding seat (19), the outer wall of the sliding seat (19) is slidably connected with a guide rail (22), the outer wall of the guide rail (22) is fixedly connected with a sliding plate (5), the inside of the sliding seat (19) is rotatably connected with a connecting column (20), both ends of the connecting column (20) are rotatably connected with a support seat one (10), the middle of the support seat one (10) is rotatably connected with a support (21), the outer wall of the sliding plate (5) is provided with a fixing assembly, the fixing assembly is used for fixing the book block (12), the outer wall of the side plate (2) is provided with a pressing assembly, the pressing assembly is used for driving the sliding plate (5) to move downward. The fixing assembly comprises a pressing plate (11), the outer wall of the pressing plate (11) is fixedly connected with the outer wall of the sliding plate (5), and the inside of the pressing plate (11) is slidably connected with a guide column one (7).

2. The robotic book gripping device of claim 1, wherein: The pressing assembly comprises a telescopic air cylinder (8), the outer wall of the telescopic air cylinder (8) is fixedly connected with the outer wall of the side plate (2), and the output end of the telescopic air cylinder (8) is fixedly connected with a push plate (9).

3. The robotic book gripping device of claim 1, wherein: The lower surface of the top plate (1) is fixedly connected with a motor (13), the output end of the motor (13) is fixedly connected with a lead screw (14), the outer wall of the lead screw (14) is threadedly connected with a threaded plate (16), the outer wall of the threaded plate (16) is fixedly connected with the top of the side plate (2), the outer wall of the lead screw (14) is provided with a supporting assembly, the supporting assembly is used for supporting the lead screw (14), and the top of the side plate (2) is slidably connected with a guide column two (17).

4. The robotic book gripping device of claim 3, wherein: The supporting assembly comprises a support seat two (18), the inside of the support seat two (18) is rotatably connected with the outer wall of the lead screw (14), one end of the lead screw (14) is rotatably connected with a bearing seat (15), and the upper surface of the bearing seat (15) is fixedly connected with the lower surface of the top plate (1).

5. The robotic book gripping device of claim 1, wherein: Both ends of the guide column one (7) are fixedly connected in the inside of the side plate (2), and the guide column one (7) is used for guiding the support seat one (10).

6. The robotic book gripping device of claim 2, wherein: The push plate (9) is attached to the sliding plate (5), and the push plate (9) is used for pushing the sliding plate (5) to move.

7. The robotic book gripping device of claim 1, wherein: One end of the support (21) is rotatably connected with the bottom of the side plate (2), and the support (21) is used for supporting the support seat one (10).

8. The robotic book gripping device of claim 3, wherein: Both ends of the guide column two (17) are fixedly connected with the lower surface of the top plate (1), and the guide column two (17) is used for guiding the movement of the side plate (2).

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