A book processing device

Abstract

The utility model discloses a book processing device, including each book according to the transmission of the book bearing mechanism of established path, after the specific position of arbitrary book entering the book bearing mechanism, the component of having the function of lifting of book bearing mechanism elevates specific position, the book of elevation processes, and the book of processing moves to the established path of book bearing mechanism and processes continuously with transmission. The book bearing mechanism of the application can adjust the height of rising according to the book of different thickness, so that the height of the upper surface of the book of arbitrary thickness can be in the target height position, so that each mechanism processes the book.

Description

Technical Field

[0001] This utility model relates to the field of book processing technology, and in particular to a book processing device. Background Technology

[0002] Libraries have a large collection of books, and the workload of identifying and managing books during the processes of book entry, borrowing, and returning is considerable. If identification and management are based solely on ISBN numbers or titles, errors are highly likely. Therefore, to manage books more conveniently and efficiently, librarians typically print access codes, RFID tags, or stamps on the pages of each book.

[0003] In book processing, it is necessary to turn the cover, back cover, title page, or other pages of a book to perform operations such as stamping, labeling, or scanning. To solve the problems of high labor intensity and low efficiency of manual page turning, there are corresponding processing systems in the prior art. For example, the structure described in the patent application number CN202210394960.5, entitled "A Continuous Page Turning Processing System for Books," can realize automatic page turning of books through the cooperation of various mechanisms, so as to facilitate operations such as labeling, stamping, scanning, and gluing inner pages after the pages are turned.

[0004] In the aforementioned patent, books are placed on a book-supporting platform. Each mechanism (page-supporting platform, page-turning mechanism, page-pushing mechanism, and page-pressing mechanism) is lowered by a preset distance to accommodate books of varying thicknesses. However, the cameras that collect book information are fixedly installed relative to the book-supporting platform. Because the books on the platform have different thicknesses, the fixed cameras experience focus blurring during information collection, resulting in a deficiency in the current page-turning system's handling of books of different thicknesses. Furthermore, the robotic arm and blower in the page-turning mechanism frequently need to calculate the distance of each ascent and descent due to variations in book height. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the present invention provides a book processing device, which solves the problem that the current book page turning system still has defects in handling books of different thicknesses.

[0006] To achieve the above objectives, this utility model also provides a book processing device, including a book carrying mechanism, at least one processing unit, and at least one page information acquisition unit with the same number as the processing unit;

[0007] The processing unit is located above the book carrier and is used for book acquisition, editing and processing.

[0008] The page information collection unit is used to collect information from the pages of a book;

[0009] The book carrier includes at least one lifting unit, the same number as the processing unit, and each lifting unit is used in conjunction with the corresponding processing unit and page information acquisition unit.

[0010] Books are transported on a transmission platform, and each lifting unit has a platform for carrying a single book or for carrying and transporting a single book.

[0011] Books on the transmission platform move to a preset position on the carrier platform; the top surface of any book on the carrier platform is at a preset height, and the processing unit and the page information acquisition unit process the pages of the books that have risen to the preset height; the carrier platform moves down to a height less than or equal to the height of the transmission platform, and works with the transmission platform to transmit books.

[0012] Understandably, the support platform can be the upper surface of the lifting unit or one of the support planes. The up and down movement of the support platform can be the up and down movement of a part of the lifting unit or the up and down movement of the entire lifting unit, both of which can realize the up and down movement of the book.

[0013] The principle of this utility model:

[0014] The processing unit in this application is equivalent to the book edge-aligning mechanism, page-carrying platform, page-turning mechanism, page-pushing mechanism, and page-pressing mechanism in the prior art book continuous page-turning processing system (CN202210394960.5). It is mainly capable of adjusting the horizontal position of the book so that the cover / back cover and inner pages of the book can be turned smoothly, so as to process the target page after the page turn.

[0015] The book page information collection unit collects corresponding information from the book, including book cover information, book cover fold information, and book inner page information.

[0016] Before processing and collecting information from books, it is necessary to ensure that the books can smoothly reach the target height to facilitate the operation of the processing unit in moving the books to the target position and simplifying the book processing. To enable books of varying thicknesses to reach the target height, this application improves upon existing book-carrying platforms by replacing the traditional fixed-height transmission structure with a structure where the transmission plane can be raised and lowered. Books are transported on the platform, and when a book is detected by a sensor (e.g., an infrared sensor) as it enters the target position, the lifting mechanism rises, carrying the book upwards. Since the book's thickness has been measured before entering the book-carrying mechanism (e.g., using a thickness gauge), the rising distance of the lifting mechanism can be controlled based on this thickness data to ensure that the top surface of the book reaches the target height. Once the book reaches the target height, the processing unit can perform position adjustments, page turning, and other processing. Furthermore, during the book processing, the page information collection unit can work in concert to complete the book processing. After the books are processed, the lifting unit descends to its initial position. At this point, the lifting unit and the transmission platform work together as a transmission mechanism to transport the processed books to the subsequent processing steps, thus completing the book processing work.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] This application improves the processing procedure of existing processing systems by changing the downward movement of each mechanism to a relatively fixed operating height. A lifting unit is added, which automatically adjusts its height according to the book's thickness, ensuring that the top surface of any book thickness is at the target height. This facilitates processing by the processing unit and the page information acquisition unit. Even if the scanning components of the page information acquisition unit are fixed relative to the fixed transmission unit, it avoids acquisition failures caused by changes in book thickness. This allows the processing device to handle books of varying thicknesses. Furthermore, the positions of the robotic arm and blowing device in the page-turning mechanism can be relatively fixed, eliminating the need for frequent complex calculations and adjustments, significantly improving book acquisition and editing efficiency.

[0019] Furthermore, the lifting unit includes a plurality of first rollers arranged horizontally side by side and a lifting frame for mounting the plurality of first rollers. The lifting frame moves up and down, causing each first roller to move up and down. At least some of the first rollers are rotated on the lifting frame for carrying and transporting books.

[0020] Furthermore, it also includes a fixed transmission unit. The transmission plane of the fixed transmission unit is a transmission platform. The fixed transmission unit includes multiple second rollers arranged horizontally side by side and a mounting frame for mounting the multiple second rollers. The projections of each first roller and the projections of each second roller are arranged alternately in sequence. Each second roller is rotated on the mounting frame for transporting books.

[0021] Furthermore, the transmission platform has at least one installation space, each installation space being used to install each lifting unit.

[0022] Furthermore, it also includes at least one book end limiting mechanism, the same number as the lifting unit, which is used to limit the end position of the book in the direction of book transport on the lifting unit.

[0023] Furthermore, the book end limiting mechanism is located above the lifting unit. When the book being transported on the lifting unit comes into contact with the book end limiting mechanism, the lifting unit stops transmitting the book.

[0024] Furthermore, each processing unit includes a book edge-aligning mechanism, a hinge mechanism, a page-carrying platform, a page-turning mechanism, a page-pushing mechanism, a page-pressing mechanism, and a blower mechanism;

[0025] The page-supporting platform is located above the lifting unit and is set at an angle or horizontally to hold the opened pages;

[0026] The book alignment mechanism and the page carrying platform are located on both sides of the lifting unit's transmission direction. The book alignment mechanism is used to straighten the book's position and push the book's spine to the side of the page carrying platform.

[0027] The page-turning mechanism is located above the lifting unit and is used to flip the pages of the book;

[0028] The page-pushing mechanism is installed near the book-aligning mechanism and is used to push the pages onto the page-supporting platform;

[0029] The page pressing mechanism is used to press the pages on the page-bearing platform;

[0030] Hair dryers are used to prevent book pages from sticking together;

[0031] The hinge mechanism is installed in conjunction with the book page carrying platform to move the book pages on the book page carrying platform toward the book pages on the lifting unit.

[0032] Furthermore, the blower mechanism includes a side blowing assembly and an end blowing assembly.

[0033] The side blowing assembly includes multiple side air outlet channels, each of which is used to blow air onto the book's mouth.

[0034] The end air outlet assembly includes multiple end air outlet channels, each used to blow air onto the top and / or corners of the book.

[0035] Furthermore, each processing unit also includes a processing mechanism located above the page-carrying platform and the lifting unit, which is used for page acquisition and processing.

[0036] Furthermore, the page information acquisition unit includes a first scanned copy, a second scanned copy, and a third scanned copy.

[0037] The first scanner is fixedly installed above the lifting unit and opposite to the fixed transmission unit. The first scanner is used to collect information on the horizontally set pages of the book.

[0038] The second scanner and the page-carrying platform are respectively located on both sides of the lifting unit and fixedly installed relative to the fixed transmission unit. The second scanner is used to collect information from the vertically set pages of the book.

[0039] The third scanner is set vertically to the page-carrying platform and fixedly installed relative to the fixed transmission unit. The third scanner is used to collect information from the opened pages.

[0040] Furthermore, it also includes an auxiliary mechanism, which is located at the end of the transmission of the fixed transmission section;

[0041] The auxiliary transmission mechanism has a transport platform that is flush with the transmission platform. The transport platform is equipped with an inbound auxiliary component to assist in the removal of books, so that each book can be removed from or enter the transport platform.

[0042] Furthermore, the warehousing auxiliary component includes a first edge-aligning component and an auxiliary clamping component. The first edge-aligning component is used to move the book to the edge of the transport platform. The book moves along the edge of the transport platform to the position of the auxiliary clamping component, and the auxiliary clamping component lifts the book off the transport platform so that the book processing robotic arm can clamp the book.

[0043] Furthermore, the first edge-aligning component includes at least one push rod and a drive unit for driving the push rod to move. The drive unit operates to move the push rod, and the movement of the push rod moves the book to the edge of the transport platform.

[0044] Furthermore, the auxiliary clamping component includes a fixed clamping plate mounted above the transport platform, a movable clamping plate located below the fixed clamping plate, and a moving part that drives the movable clamping plate to move up and down, wherein the minimum height of the movable clamping plate is flush with or lower than the height of the transport platform.

[0045] Furthermore, it also includes a positioning section, which is used to limit the position of the book on the movable clamp.

[0046] Furthermore, the warehousing auxiliary components also include a second edge-aligning component, with the first edge-aligning component, auxiliary clamping component, and second edge-aligning component arranged sequentially along the book transport direction;

[0047] The second edge-aligning component is used to move books to the middle or another edge of the transport platform. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of a structure of the book processing device of this utility model that does not include an auxiliary transmission mechanism;

[0049] Figure 2 for Figure 1 A structural diagram from another angle;

[0050] Figure 3 This is a structural diagram showing the processing unit and the book-carrying mechanism working together in this utility model.

[0051] Figure 4 for Figure 3 A structural diagram from another angle;

[0052] Figure 5 for Figure 3 A schematic diagram of the structure without the page pusher mechanism;

[0053] Figure 6 for Figure 4 A schematic diagram of the structure after removing the linear drive unit;

[0054] Figure 7 for Figure 6 Enlarged view of section A in the middle;

[0055] Figure 8 This is a schematic diagram of a book-carrying mechanism in this utility model;

[0056] Figure 9 This is a schematic diagram of the structure of the lifting part and the lifting device in this utility model;

[0057] Figure 10 This is a schematic diagram of the lifting part in this utility model;

[0058] Figure 11 This is a comparison diagram showing the lifting height of the lifting unit in this utility model when used with books of different thicknesses;

[0059] Figures 12-15 This is a simplified breakdown diagram of one step of the processing method in this utility model;

[0060] Figure 16 This is a schematic diagram of another book-carrying mechanism and processing unit working together in this utility model;

[0061] Figure 17This is a top view of a simplified diagram of another book-carrying mechanism in this utility model;

[0062] Figure 18 This is a top view of the structure of the book processing device of this utility model, including the auxiliary transmission mechanism.

[0063] Figure 19 This is a schematic diagram of a structure including an auxiliary transmission mechanism in this utility model;

[0064] Figure 20 for Figure 19 A schematic diagram of a structure excluding the rotating rollers.

[0065] In the diagram: Book carrying mechanism 100, lifting unit 110, first roller 111, lifting frame 112, bracket 1120, vertical rod 1121, mounting base 1122, first transmission belt 113, drive servo motor 114, rotating pulley 115, fixed transmission unit 120, second roller 121, mounting frame 122, lifting device 130, lifting servo motor 132, lifting screw 131, slide bar 133, transmission module 140, page carrying platform 200, page turning mechanism 300, page turning suction cup assembly 310, page pushing mechanism 400, page pushing rod 410, mounting plate 500, first mounting position 510, third scanning component 610, second scanning component 630, first scanning component 620, page pressing mechanism 700, first page pressing component 710, second page pressing component 720, processing mechanism 800, folding recognition and processing mechanism 900 Folding suction cup assembly 910, side mounting bracket 10, second mounting position 1001, hinge lever 11, linear drive device 12, sliding seat 1201, second connecting seat 1211, first connecting seat 1212, front end assembly bracket 13, end blowing assembly 14, blower 141, main channel 142, end air outlet channel 1421, book end limiting mechanism 15, limiting rod 151, book edge-gathering mechanism 16, moving assembly 161, moving rod 162, moving claw 163, side air outlet channel 171, base plate 18, first edge-gathering component 19, push rod 191, drive unit 192, connecting rod 193, auxiliary clamping component 20, movable clamping plate 201, groove 2011, moving unit 202, fixed clamping plate 203, auxiliary transmission mechanism 25, rotating roller 251, frame 252, positioning unit 26, second edge-gathering component 27. Detailed Implementation

[0066] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0067] It should be noted that the book acquisition and processing mainly includes printing library access codes, anti-counterfeiting codes, RFID tags, and stamping the book covers and folds with adhesive. Specific processing methods can be found in the patent application CN202210395004.9. This application primarily ensures that books of varying thicknesses can be raised to the target height (preset height) to facilitate processing of books that have reached that height. Furthermore, it is worth noting that the actions of each mechanism and the coordinated actions of multiple mechanisms in this application are implemented through a controller and programming software. This application describes the operating principles of each mechanism / component.

[0068] like Figure 1-10 As shown, this application discloses a book processing device, including a book carrier 100, at least one processing unit, and at least one page information acquisition unit, the same number as the processing unit. The processing unit is located above the book carrier 100 and is used for book acquisition and processing. The page information acquisition unit is used to acquire information from the pages of the book. The book carrier 100 includes at least one lifting part 110, the same number as the processing unit, and each lifting part 110 is connected to the processing unit. The corresponding processing unit and page information acquisition unit are used in conjunction; the book is transported on the transmission platform, and the lifting unit 110 has a carrying platform for carrying a single book or for carrying and transporting a single book. The lifting unit 110 rises, and the carrying platform of the lifting unit 110 separates from the transmission platform of the fixed transmission unit 120. The upper surface of any book on the lifting unit 110 is located at a preset height. The processing unit and page information acquisition unit process the pages of the book that has risen to the preset height. The lifting unit 110 moves down until the height of the carrying platform is less than or equal to the height of the transmission platform, and cooperates with the transmission platform to transport the book.

[0069] Understandably, the processing unit is mainly responsible for marking the books. During the marking process, the book page information acquisition unit needs to cooperate. Therefore, a single book requires one processing unit and one book page information acquisition unit during processing. The lifting unit 110 is used to move the single book to the target height. This means that a single book requires at least one lifting unit 110, at least one processing unit, and at least one book page information acquisition unit during processing.

[0070] The lifting unit 110 can be installed on the transmission platform in various ways. For example, the lifting unit 110 can partially penetrate the transmission platform, or an installation space can be opened on the transmission platform and the lifting unit 110 can be directly installed in the safe space. In this way, when the books are transported on the transmission platform, they can all enter the preset position where the lifting unit 110 is located.

[0071] The transmission platform is used to transport books, and it can be any combination of one or more of the following: roller conveyor, belt conveyor, or strip conveyor. Based on different structures of the transmission platform and the overall motion design of the device, the lifting unit 110 and the transmission platform can be configured in various ways.

[0072] Firstly, the lifting unit 110 is installed in the installation space of the transmission platform. Only when the carrying platform of the lifting unit 110 is at the same height as the transmission platform can a large transmission device be formed. At this time, the books can be continuously transmitted in the preset direction. After the carrying platform on the lifting unit 110 is raised, the transmission device is equivalent to having a transmission gap. Books cannot be transmitted. Therefore, multiple books located at the rear of the transmission can only enter the lifting unit 110 in sequence for the lifting and processing work after the books that have been processed on the lifting unit 110 are removed.

[0073] Secondly, the lifting unit 110 passes through the transmission platform and is staggered with the transmission platform, which is equivalent to the lifting unit 110 being a separate transmission layer and the transmission platform being a transmission layer. After the lifting unit 110 rises, it does not affect the normal use of the transmission platform. Therefore, after any book is raised by the first lifting unit 110, the subsequent books can be continuously transported along the transmission platform to the next lifting unit 110.

[0074] Depending on the different combinations of the lifting unit 110 and the transmission platform, there can be multiple lifting units 110. Therefore, multiple lifting units 110 need to be matched with a corresponding number of processing units and page information acquisition units to meet the usage requirements of the entire book processing device.

[0075] Regardless of the coordination between the lifting unit 110 and the transmission platform, the operating principle of the lifting unit 110 is to drive the books on the carrying platform to move up and down. The coordination process between each lifting unit 110 and the processing unit and the page information acquisition unit is also the same. Therefore, this application takes the connection of one lifting unit 110 to the transmission platform as an example to demonstrate the principle of the lifting unit 110.

[0076] Before entering the book-carrying mechanism 100, the thickness of each book is measured sequentially. The book thickness measurement instrument can be a non-contact thickness gauge, such as an X-ray thickness gauge or a laser thickness gauge; alternatively, it can be an image acquisition from the side to calculate the book's height, or other existing devices or methods for obtaining book height. The thickness data of each book is transmitted to the controller of the entire system for processing. Following the transmission order of each book, ensuring that after each book is transmitted to the lifting unit 110, the controller controls the lifting unit 110 to rise a distance 'a' plus the thickness 'b' of each book, which is a constant value X. This X represents the height at which the upper surface of any book described in this application can rise to the same target height (preset height) under the action of the lifting unit 110.

[0077] like Figure 11 As shown, assuming that, according to the transmission order of the books, the book located at the first transmission position ( Figure 11 The thickness of the structure shown on the left is b. When the book moves to the lifting unit 110, the lifting unit 110 needs to rise a distance a; when the book is located at the second transmission position ( Figure 11 When the thickness of the structure shown in the diagram on the right is b-2cm, after the book moves to the position of the lifting part 110, the lifting part 110 needs to rise a+2cm.

[0078] When there is one lifting unit 110, the controller measures the thickness of each book sequentially and then controls the lifting unit 110 to automatically adjust its lifting distance to suit books of different thicknesses. If there are two lifting units 110, the lifting unit 110 at the beginning of the transmission platform is adjusted to match the thickness of books at odd-numbered positions in the transmission direction; the lifting unit 110 at the end of the transmission platform is adjusted to match the thickness of books at even-numbered positions in the transmission direction. This process continues, adjusting the algorithm according to the number of lifting units 110 to ensure that the lifting distance 'a' of the lifting unit 110 plus the thickness 'b' of each book is a constant value X.

[0079] The lifting unit 110 is designed to ensure that the books to be processed can reach the target height so that the processing unit and the page information acquisition unit can process them.

[0080] Based on the fact that the fixed transmission unit 120 and the lifting unit 110 of this application have two combination forms, the book carrying mechanism 100 of this application has at least two operating principles, among which, Figure 1-10 The principle of the book-carrying mechanism 100 is as follows:

[0081] Books for which thickness data is collected are transported via a transmission platform (roller conveyor, belt conveyor, or strip conveyor, etc.). At this point, the lifting unit 110 is in its initial position, meaning the height of the lifting unit 110's carrying platform is less than or equal to the height of the transmission platform. Books transported to the transmission platform will then be continuously transported along a preset route under the action of the transmission platform. When a photoelectric sensor installed on the lifting unit 110 or the transmission platform detects that the book has completely entered the lifting unit 110, the lifting unit 110 will rise a preset distance according to the book's thickness, so that the upper surface of the book reaches the target height. At this point, if the book's position on the lifting unit 110 has reached the operating position of each mechanism in the processing unit, the lifting unit 110 can simply carry the book, serving as a book placement platform for convenient book processing. If the book's position on the lifting unit 110 has not yet reached the operating position of each mechanism in the processing unit, the lifting unit 110 must still function as a transporter while carrying the book, ensuring that the book on the lifting unit 110 can be transferred to the operating position of each mechanism in the processing unit.

[0082] After each book is processed by the processing unit, the lifting unit 110 moves the processed book down to the initial position. The processed book can then continue to be transported by the transmission platform and enter the next processing step.

[0083] This application improves the processing process of existing processing systems by changing the downward movement of each mechanism to a relatively fixed operating height. A lifting unit 110 is added, which automatically adjusts its height according to the thickness of the book, ensuring that the upper surface of any book thickness is at the target height. This allows the processing unit and the page information acquisition unit to process the book effectively. Even if the scanning components of the page information acquisition unit are fixedly positioned relative to the transmission platform, the problem of acquisition failure due to changes in book thickness is avoided. This enables the processing device of this application to process books of different thicknesses.

[0084] In some embodiments of this application, the lifting unit 110 includes a plurality of first rollers 111 arranged horizontally side by side and a lifting frame 112 for mounting the plurality of first rollers 111. The lifting frame 112 moves up and down, causing each first roller 111 to move up and down. At least some of the first rollers 111 are rotatably mounted on the lifting frame 112 for carrying and transporting books.

[0085] The lifting unit 110 needs to support the books or transport them during the supporting process. In this application, considering the precise positioning of the books on the lifting unit 110, the lifting unit 110 is configured to both support and transport the books. To achieve this, the lifting unit 110 can conventionally be an existing roller conveyor, belt conveyor, or strip conveyor. However, the cooperation between the lifting unit 110 and the transport platform when in its initial position also needs to be considered. Therefore, the lifting unit 110 in this application adopts a structure similar to that of a roller conveyor.

[0086] Specifically, such as Figure 8 , 9 As shown in Figure 10, in this embodiment, the lifting unit 110 includes a plurality of first rollers 111 spaced apart. The arrangement direction of the plurality of first rollers 111 is the same as the transmission direction of the book on the transmission platform. The plurality of first rollers 111 constitute the carrying platform of the lifting unit 110. Both ends of each first roller 111 are respectively fixed on the lifting frame 112, and each first roller 111 can at least partially roll autonomously. Figure 9 , 10 As shown, the lifting frame 112 includes brackets 1120 in the same number as the first rollers 111 and mounting bases 1122 disposed below the brackets 1120. Each bracket 1120 consists of two opposing vertical rods 1121. The two ends of each first roller 111 are rotatably connected to the corresponding two vertical rods 1121 via bearings. Each bracket 1120 slides up and down on the fixed transmission section 120 through the fixed transmission section 120. The mounting base 1122 is located below the transmission platform of the fixed transmission section 120. The mounting base 1122 is connected to a lifting device 130, which drives the mounting base 1122, each bracket 1120, and each first roller 111 to move up and down.

[0087] The lifting device 130 can employ existing technologies such as servo cylinder drive, trapezoidal screw transmission mechanism, and linear slide drive, all of which can realize the vertical movement of the lifting unit 110's supporting platform. In this embodiment, as shown... Figure 8 , 9As shown in Figure 10, the lifting device 130 includes a lifting servo motor 132, a lifting screw 131, and a lifting seat threadedly connected to the lifting screw 131. The lifting servo motor 132 is fixed to the base plate 18 and connected to the lower end of the lifting screw 131. The lifting screw 131 is vertically positioned, and the lifting seat is fixed to the bottom of the mounting base 1122. After the lifting servo motor 132 starts, it drives the lifting screw 131 to rotate, thereby driving the lifting seat, the supports 1120 of the mounting base 1122, and the first rollers 111 to move up and down to meet the practical needs of the entire lifting unit 110. During use, multiple sliding rods 133 can be installed between the base plate 18 and the lifting seat to limit the up and down movement of the lifting seat, ensuring that the lifting seat rises and falls in a preset direction.

[0088] To enable at least a portion of the first roller 111 to rotate autonomously, this application also includes a rotating assembly connected to the mounting base 1122. For example... Figure 8 , 9 As shown in Figure 10, the rotating assembly includes a drive component and multiple rotating components, the number of which is the same as the number of the first roller 111 that needs to rotate autonomously. Figure 8 , 9 As shown in Figure 10, in this embodiment, multiple first rollers 111 near the end of the book transport can rotate autonomously. Each rotating component includes a first pulley, a second pulley, and a first transmission belt 113 sleeved on the first pulley and the second pulley. The first pulley is coaxially arranged with the corresponding first roller 111, and the second pulley is connected to the driving component. The driving component includes a drive servo motor 114, a drive pulley, and multiple linkage components in the same number as the rotating components. Each linkage component includes a rotating shaft and at least one rotating pulley 115 disposed on the rotating shaft. Each rotating shaft must rotate in the same direction. Therefore, multiple rotating pulleys 115 are provided on some rotating shafts. Two rotating pulleys 115 located on two adjacent rotating shafts are connected by a rotating transmission belt, and one rotating pulley 115 on any rotating shaft is connected to the drive pulley by a belt. When the drive servo motor 114 is started, it can drive multiple rotating shafts to rotate in the same direction, thereby driving each first roller 111 to rotate in a preset direction and transporting the books on each first roller 111.

[0089] In some embodiments of this application, a fixed transmission unit 120 is also included. The transmission plane of the fixed transmission unit 120 is a transmission platform. The fixed transmission unit 120 includes a plurality of second rollers 121 arranged horizontally side by side and a mounting frame 122 for mounting the plurality of second rollers 121. The projections of each first roller 111 and the projections of each second roller 121 are arranged alternately in sequence. Each second roller 121 is rotated on the mounting frame 122 for transporting books.

[0090] Since the lifting unit 110 has at least two configurations on the transmission platform, in this embodiment, the fixed transmission unit 120 and each lifting unit 110 are arranged alternately in vertical positions. The fixed transmission unit 120 is used to transport each book and needs to facilitate the vertical movement of the lifting unit 110. Simultaneously, it must ensure that the height of the lifting unit 110's support platform is lower than or equal to the height of the fixed transmission unit 120's transmission platform.

[0091] Combined with the structure of the lifting unit 110, such as Figure 8 , 9 As shown in Figure 10, in this embodiment, the overall structure of the fixed transmission unit 120 adopts a structure similar to a roller conveyor line. Specifically, the fixed transmission unit 120 includes a plurality of second rollers 121 spaced apart. The arrangement direction of each second roller 121 is the same as the arrangement direction of each first roller 111. Each support 1120 is located between two adjacent second rollers 121, so that the projections of each first roller 111 and the projections of each second roller 121 are staggered sequentially. The spaced-apart second rollers 121 provide space for each first roller 111 to move up and down, so that the height of the bearing platform formed by each first roller 111 is lower than or equal to the height of the transmission platform formed by each second roller 121.

[0092] The mounting bracket 122 of the fixed transmission unit 120 is used to rotate and mount each of the second rollers 121. The structure of the mounting bracket 122 and the driving method of each of the second rollers 121 are not detailed in this application. The overall structure of the fixed transmission unit 120 is equivalent to the driving method of existing roller conveyor lines. This application only specifies the mounting method of the lifting unit 110 and each of the second rollers 121 of the fixed transmission unit 120. Referring to the figures, it can be seen that the carrying platform of the lifting unit 110 can be raised and lowered according to usage requirements. After the lifting unit 110 rises, the mounting position of the fixed transmission unit 120 remains unchanged, and the rotation of each of the second rollers 121 is unrestricted, allowing for the continued transport of other books. This allows the book carrying mechanism 100 of this application to deform into a double-layer transmission mechanism, improving the book transport and processing efficiency.

[0093] In some embodiments of this application, the transmission platform has at least one installation space, each installation space being used to install each lifting unit 110.

[0094] Understandable. Figure 1-10 In this configuration, each lifting unit 110 is staggered vertically on the fixed transmission unit 120, which is equivalent to a double-layer transmission structure, so that the use of the lifting unit 110 does not affect the transmission of the fixed transmission unit 120.

[0095] In this embodiment, the transmission platform can be understood as being divided into multiple transmission modules 140 (roller conveyor, belt conveyor, or strip conveyor, etc.). There is an installation space between two adjacent transmission modules 140. A lifting part 110 is set in the installation space. When the lifting part 110 is in the initial position, each lifting part 110 and each transmission module 140 constitute a complete transmission device, which can realize the transmission of books.

[0096] Therefore, in this implementation, such as Figure 17 , 18 As shown, the lifting unit 110 and multiple transmission modules 140 (which can be equivalent to) Figure 1 The belt conveyor lines in front of the fixed transmission section 120 are staggered to ensure that books can be transported in a preset direction and enter the lifting section 110. At this time, it is only necessary to ensure that the lifting section 110 can move up and down as a whole, and the cooperation relationship between the lifting section 110 and the processing unit (part) is as follows: Figure 16 As shown.

[0097] In some embodiments of this application, at least one book end limiting mechanism 15, the same number as the lifting unit 110, is also included. The book end limiting mechanism 15 is used to limit the end position of the book in the direction of book transport on the lifting unit 110.

[0098] Understandably, after the book enters the lifting unit 110, before the lifting unit 110 rises, the position of the book on the lifting unit 110 can be detected by a photoelectric sensor. In order to facilitate the processing unit to operate the book after it rises to the corresponding height, it is also necessary to ensure that the book at that height is within the operating range of the processing unit. For this purpose, this application also provides a book end limiting mechanism 15 to ensure that the end of the book at the preset height is also in the corresponding position so that the processing unit can operate smoothly.

[0099] There are two ways to limit the position of the book end on the lifting unit 110. First, the book end limiting mechanism 15 is to set a sensor on the fixed transmission unit 120 or the lifting unit 110. The sensor is used to sense whether the book end is in place. After the book is in place, the lifting unit 110 performs a simple carrying function on the book. The lifting unit 110 rises, causing the book to rise, and the book does not move along the transmission direction. After the book rises to the target height, the book automatically enters the operating position of the processing unit.

[0100] Secondly, the book end limiting mechanism 15 is a sensor fixed at the target height. The fixed transmission unit 120 transmits the book. After the sensor detects that the book is in the corresponding position of the lifting unit 110, the lifting unit 110 rises and drives the book to the target height. At this time, the lifting unit 110 can carry the book while also transmitting the book until the book is transmitted to the position of the book end limiting mechanism 15 at the target height, indicating that the end position of the book is in place, and the processing unit can operate on the book.

[0101] In some embodiments of this application, the book end limiting mechanism 15 is disposed above the lifting part 110, and the book being transported on the lifting part 110 comes into contact with the book end limiting mechanism 15, and the lifting part 110 stops transmitting the book.

[0102] The book end limiting mechanism 15 can be a photoelectric sensor or a contact sensor. Since the book end limiting mechanism 15 needs to limit the position of the end of the book, it is better to use a contact sensor. Therefore, the book end limiting mechanism 15 needs to be set in the transmission direction of the book. If the book end limiting mechanism 15 is connected to the lifting part 110 or the fixed transmission part 120, it will affect the transmission of the entire book. Therefore, this application sets the book end limiting mechanism 15 above the lifting part 110, close to the target height position.

[0103] Specifically, such as Figure 3 , 4 As shown in Figure 5, the book end limiting mechanism 15 is a contact sensor. The book end limiting mechanism 15 is fixed to the top mounting frame, and the contact sensor is positioned in front of the book in the transmission direction. The contact part of the contact sensor is a limiting rod 151 that is inclined upwards towards the book. In use, when the book is transmitted by the first rollers 111 of the lifting unit 110 and comes into contact with the limiting rod 151, the book end limiting mechanism 15 detects that the book end position is in place. At this time, the first rollers 111 of the lifting unit 110 stop rotating, and the mechanisms of the processing unit can operate.

[0104] During the lifting process of the lifting unit 110, in order to avoid lifting failure, a position sensor can be installed above the lifting unit 110. The position sensor is fixed to the front mounting frame 13. The sensing range of the position sensor is set according to the vertical movement range of the lifting unit 110, so as to detect that the lifting unit 110 has completed the lifting action during use. Then, the end position of the book is sensed by the book end limiting mechanism 15 to determine that the book is within the action range of the processing unit, so as to facilitate the operation of the processing unit.

[0105] In some embodiments of this application, each processing unit includes a book edge-aligning mechanism 16, a hinge mechanism, a page-carrying platform 200, a page-turning mechanism 300, a page-pushing mechanism 400, a page-pressing mechanism 700, and a blower mechanism. The structures of each of the above mechanisms can be configured with reference to the mechanisms in the prior art continuous page-turning processing system (CN202210394960.5). This application describes improved structures; structures identical to those in the prior art will not be repeated.

[0106] like Figure 1 , 2 As shown in Figures 3, 4, 5, and 6, the page-carrying platform 200 is located above the lifting unit 110 and is inclined or horizontally arranged to hold open pages. The page-carrying platform 200 is a fixed plate structure with an angle of 90°-180° with the horizontal plane, preferably 150°. A vertically arranged pressure plate is provided below the inclined page-carrying platform 200. The pressure plate is located on one side of the lifting unit 110 in the transmission direction and is attached to each of the vertical rods 1121 on that side of the lifting unit 110, or is spaced apart from each of the vertical rods 1121 on that side of the lifting unit 110. The pressure plate can limit the movement of the book along the direction perpendicular to its transmission direction, which facilitates the operation of the book-aligning mechanism 16 on the book.

[0107] The book edge-aligning mechanism 16 and the page-carrying platform 200 are located on opposite sides of the lifting unit 110 in the transmission direction. The book edge-aligning mechanism 16 is used to straighten the book and push the spine of the book to the side of the page-carrying platform 200. The book edge-aligning mechanism 16 can be located above the highest position of the lifting unit 110. On the one hand, it is used to straighten the book, and the requirement for straightening is generally that the surface where the spine is located is parallel to the transmission direction of the book. The book edge-aligning mechanism 16 can adopt a single-sided shaping plate as in patent CN202022190172.3 and a single-sided shaping power mechanism for driving the single-sided shaping plate to move perpendicular to the transmission direction. The book edge-aligning mechanism 16 can also adopt a structure as in patent CN202210394960.5. The purpose of both is to push the book's edge after the book has risen to the target height and the end of the book has reached the target position, to ensure that the spine of the book can contact or be spaced apart from the page-carrying platform 200 (pressure plate) to reach the preset position.

[0108] like Figure 6 , 7As shown, in this embodiment, the book spine-aligning mechanism 16 includes a moving rod 162, multiple moving claws 163 disposed on the moving rod 162, and a moving assembly 161 for driving the moving rod 162. The moving rod 162 is arranged along the book transport direction, and the moving claws 163 are spaced apart along the length of the moving rod 162. The moving claws 163 are vertically arranged, and the projections of each moving claw 163 are all located between the gaps of two adjacent first rollers 111. The moving assembly 161 can be a mechanism capable of linear motion, such as an electric push rod, a pneumatic push rod, a hydraulic push rod, or a screw drive mechanism, used to drive the moving rod 162 to reciprocate along the direction perpendicular to the book transport direction. In this embodiment, the moving assembly 161 uses a screw drive mechanism. During use, after the book height and end position are in place, the book spine-aligning mechanism 16 actuates, moving the book spine to the corresponding position.

[0109] After the spine of the book is in place, the book can theoretically be turned using the page-turning mechanism 300. To prevent the pages from sticking together during the page-turning process, this application also includes a blower mechanism to prevent the pages from sticking together. The blower device in this application can adopt the structure of the blower device and anti-sticking mechanism as described in patent number CN202210394960.5.

[0110] like Figure 4 , 5 As shown in Figures 6 and 7, in this embodiment, the blower mechanism includes a side blower assembly and an end blower assembly 14. The end blower assembly and the book end limiting mechanism 15 are installed adjacent to each other and are both located perpendicular to the book transport direction. The end blower assembly includes a main channel 142, which is fixed to the top mounting frame. The main channel 142 is connected to a blower 141. Multiple end blower channels 1421 facing the end of the book are opened on the main channel 142. The multiple end blower channels 1421 are evenly distributed along the perpendicular book transport direction. When the book end limiting mechanism 15 detects the position of the book end, the controller can control the blower 141 to work while controlling each first roller 111 to stop rotating, and perform a blower operation on the end of the book.

[0111] To prevent pages from sticking together at the book's edge, this application also includes a side blowing assembly. The side blowing assembly is installed in conjunction with the book edge-aligning mechanism 16. A side mounting bracket 10 is provided on the transmission side of the lifting unit 110, and a linear drive device 12, such as an electric push rod, pneumatic push rod, hydraulic push rod, screw drive mechanism, or synchronous linear module, is fixed on the side mounting bracket 10. In this embodiment, the linear drive device 12 is a synchronous linear module. The sliding seat 1201 of the synchronous linear module adopts a split structure. The sliding seat 1201 is slidably mounted on the side mounting bracket 10. The sliding seat 1201 includes a first connecting seat 1212 and a second connecting seat 1211. The first connecting seat 1212 and the second sliding seat are slidably connected and equipped with at least one buffer spring. The first connecting seat 1212 is fixedly connected to the moving component 161 of the book edge-aligning mechanism 16; simultaneously, the side blowing assembly is connected to the first connecting seat 1212.

[0112] like Figure 6 , 7 As shown, the side air blowing assembly includes multiple side air outlet channels 171, each side air outlet channel 171 is evenly distributed along the book conveying direction, each side air outlet channel 171 is fixed to the first connecting seat 1212, and each side air outlet channel 171 is connected to an air pipe. After each side air outlet channel 171 moves to the corresponding position with the first connecting seat 1212, the air pipe is vented, and the side air outlet channel 171 blows air onto the book opening.

[0113] The structure of the sliding seat 1201 can achieve the purpose of buffering. In use, the first connecting seat 1212 and the second connecting seat 1211 move toward the book. At the same time, the moving rod 162 extends a certain length under the action of the moving component 161 (the moving claw 163 extends beyond the air outlet side wall of the side air outlet channel 171). The moving claw 163 first contacts the book's opening position to adjust the book's position. At this time, even if the books have different widths, since the first connecting seat 1212 and the second connecting seat 1211 are elastically slidably connected, the moving claw 163 is also in elastic contact with the book, which can achieve a buffering effect and avoid damage to the book. At the same time, a buffer contact layer can be set on the moving claw 163 to further avoid damage to the book from the side air outlet channel 171. Once the spine of the book is in place, the moving claw 163 extends out of the side air outlet 171, creating a gap between the book and the side air outlet 171. At this point, the air pipe is connected, and the side air outlet 171 blows air onto the book, achieving the purpose of blowing air onto the side of the book and preventing the pages of the book from sticking together.

[0114] After the blower mechanism pre-processes the book, the page-turning mechanism 300 can perform the page-turning operation. The page-turning mechanism 300 is located above the lifting unit 110 and is used to grasp and turn the pages of the book. In fact, the actuating component of the page-turning mechanism 300 is located above the book in the lifting unit 110. The page-turning mechanism 300 can be the suction cup and the vertical drive mechanism that drives the suction cup to move up and down as described in patent CN202121196076.8. It mainly uses the suction cup to grasp the pages. After the pages are grasped, the vertical drive mechanism is activated, and in conjunction with other mechanisms, the page-turning operation is realized. In this application, the page-turning mechanism 300 adopts the same structure as in patent CN202210394960.5, mainly including a page-turning suction cup assembly 310 and a multi-axis robotic arm for driving the movement of the page-turning suction cup assembly 310. The bottom of the multi-axis robotic arm is fixed to the side where the page-carrying platform 200 is located, and the page-turning suction cup assembly 310 is located at the end of the multi-axis robotic arm. The operating principles of the multi-axis robotic arm and the page-turning suction cup will not be elaborated in this application. It is only necessary to clarify that the two work together to hold a corner of the book and turn that corner of the book open to a certain angle.

[0115] During the use of the page-turning mechanism 300, it needs to cooperate with the page-pushing mechanism 400. According to the positional relationship, this application installs the page-pushing mechanism 400 close to the book-aligning mechanism 16, that is, it is set opposite the page-carrying platform 200. Then, the action of the page-pushing mechanism 400 can be used to push the page onto the page-carrying platform 200. The page-pushing mechanism 400 works in conjunction with the page-turning mechanism 300. After the page-turning mechanism 300 turns the page open to a certain angle, the page-pushing mechanism 400 is activated to push the opened page onto the page-carrying platform 200. The page-pushing mechanism 400 can adopt the first page-turning rod in patent CN202121196076.8, which extends under the page under the drive of the linear motion unit. After the suction cup is depressurized, it detaches from the top page. The first page-turning rod pushes the opened top page towards the page-carrying platform 2004 to completely turn the page and let the page fall onto the page-carrying platform 200. The page-pushing mechanism 400 can also adopt the structure in patent CN202210394960.5, which mainly includes a page-pushing rod 410 and a page-pushing drive device. The page-pushing drive device drives the page-pushing rod 410 to move, so that the page-pushing rod 410 enters under the opened page. At this time, the page-turning suction cup assembly 310 releases suction, and the page-pushing rod 410 moves, which can move the page onto the page-carrying platform 200.

[0116] like Figure 1 , 2As shown in Figures 3 and 4, in this embodiment, the page-pushing mechanism 400 also includes a page-pushing rod 410 and a page-pushing drive device, wherein the page-pushing drive device is a linear drive device 12, such as an electric push rod, a pneumatic push rod, a hydraulic push rod, a screw drive mechanism, a synchronous linear module, etc. The page-pushing drive device drives the page-pushing rod 410 to reciprocate linearly along the inclined direction toward the book page. The page-pushing mechanism 400 of this embodiment can better adapt to book pages of different widths, because when the page-turning mechanism 300 fixes the angle at which the book page is turned open in the horizontal direction, no matter how the width of the book page changes, the page-pushing rod 410 can extend under the turned book page during the inclined downward movement, pushing the book page toward the book page carrying platform 200.

[0117] After the page-pushing mechanism 400 presses the page onto the page-bearing platform 200, it needs to be fixed onto the page-bearing platform 200 by the page-pressing mechanism 700. This facilitates the page-turning mechanism 300 to turn subsequent pages, and / or facilitates the page information collection unit to collect information from the page, and / or facilitates other processing of the page. The page-pressing mechanism 700 in this application adopts a structure similar to that in patent CN202210394960.5, both including a first page-pressing component 710 and two second page-pressing components 720. The structure and driving mechanism of the first page-pressing component 710 / second page-pressing component 720 are the same as those in that patent, and the principle will not be described in detail in this application.

[0118] After the pages have been processed, the cover, which has been flipped onto the page-carrying platform 200, needs to be closed. At this point, a hinge mechanism is used to move the pages on the page-carrying platform 200 toward the pages on the lifting unit 110. The hinge mechanism in this application adopts the same structure as in patent CN202210394960.5, utilizing a telescopic drive and connecting rod operation to allow the hinge lever 11 to extend or retract on the page-carrying platform 200. This facilitates the placement of the pages on the page-carrying platform 200 and allows the processed cover to close with the rest of the book, completing the book processing operation. The specific structure and principle are described in that patent and will not be repeated here.

[0119] It also includes a fold recognition and processing mechanism 900, which is mainly used to flip the folds of the cover so that the processing mechanism 800 can apply glue to the inside of the fold for adhesive fixation. The fold recognition and processing mechanism 900 of this application adopts the structure in patent CN202210394960.5, and uses the coordinated operation of components such as the fold suction cup assembly 910 and the fold driving device to realize the fold flipping operation. The specific structure and principle are described in that patent and will not be repeated in this application.

[0120] After the pages of the book are turned, further processing can be performed, including labeling, stamping, and gluing. This process is carried out using processing mechanism 800. Processing mechanism 800 adopts the structure described in patent CN202210394960.5, mainly consisting of a processing head and a multi-axis robotic arm. The processing head can grasp stamps, glue sticks, etc., and the multi-axis robotic arm drives the processing head to perform the page processing operations.

[0121] During the book page processing, feedback verification can be performed through the book page information acquisition unit, or the book page information acquisition unit can be used independently to collect information from each page. The specific principle is equivalent to the book page information acquisition unit in patent CN202210394960.5. When the book page information acquisition unit collects information from the target page, a scanning device is required; a high-definition camera is a common scanning device. In the prior art (CN202210394960.5), there are mainly two scanning devices in the book page information acquisition process. One is fixed directly above the book processing station and is used to scan the book cover information and the top side information of the inner pages. The other scanning device is located near the book edge-aligning mechanism 16 and mainly scans the other side (bottom side) of the turned pages in an inclined direction. However, some covers have folds, and some book information is recorded on these folds. This information needs to be scanned to obtain the information for judgment or recording. However, the prior art cannot scan the information recorded on the folds. Therefore, the scanning device of the book page information acquisition unit of this application includes a first scanner 620, a second scanner 630, and a third scanner 610. The first scanner 620 is located directly above the lifting part 110 and is fixedly installed relative to the fixed transmission part 120. The first scanner 620 is used to collect information on the horizontally set pages of the book. The first scanner 620 is fixed on the first mounting position 510 of the mounting plate 500 in the figure. The second scanner 630 and the page-carrying platform 200 are respectively located on both sides of the lifting unit 110 and fixedly installed relative to the fixed transmission unit 120. The second scanner 630 is used to collect information on the vertically arranged pages of the book. The second scanner 630 is fixed on the second mounting position 1001 on the side mounting bracket 10 in the figure. The third scanner 610 is vertically arranged with the page-carrying platform 200 and fixedly installed relative to the fixed transmission unit 120. The third scanner 610 is used to collect information on the opened pages of the book. The third scanner 610 is fixed on the mounting plate 500 in the figure. The three scanning devices of the page information collection unit can scan information at various positions on the pages, avoiding the problem of missing information.

[0122] In the above process, after the books are processed, they can be transferred to the next processing step or put into storage via the fixed transfer unit 120. Storage is usually achieved by using a mobile vertical storage robot. Before the vertical storage robot operates, the books on the fixed transfer unit 120 need to be moved to a position that is easy for the vertical storage robot to reach. Therefore, the book processing of this application may also include an auxiliary mechanism.

[0123] The auxiliary transmission mechanism 25 is located at the end of the transmission of the fixed transmission section 120. The auxiliary transmission mechanism 25 has a transport platform that is flush with the transmission platform. The transport platform is equipped with an inbound auxiliary component to assist in the removal of books, so that each book can leave the transport platform or enter the transport platform.

[0124] Understandably, the auxiliary transmission mechanism 25 is equivalent to an intermediate transitional transfer position, which can facilitate the storage of fully processed books using a vertical warehouse robot (or other information collection operations), and can also use other vertical warehouse robots to place books that still need further processing on the transport platform for transfer. Therefore, the storage auxiliary component of this application can lift the books off the transport platform to facilitate the vertical warehouse robot to grab them, and at the same time facilitate the books to enter the transport platform for continuous transportation and enter the next processing step.

[0125] The auxiliary transmission mechanism 25's transport platform can also be equivalent to the fixed transmission unit 120. Therefore, the transport platform can be the transport plane of an existing roller conveyor, belt conveyor, or strip conveyor. The warehousing auxiliary components and the transport platform work together to lift, lower, or partially push books off the transport platform, enabling the books to detach from the platform and facilitating book grabbing by the automated warehouse robot.

[0126] In this application, such as Figure 19 As shown, the auxiliary transmission mechanism 25 is essentially a roller conveyor line, including a frame 252 and multiple rotating rollers 251. The arrangement direction of the multiple rotating rollers 251 is the same as that of the multiple second rollers 121, and the first rotating roller 251 and the last second roller 121 are spaced apart. The plane formed by the multiple rotating rollers 251 arranged side by side is a transport platform. The multiple rotating rollers 251 are rotatably mounted on the frame 252. The multiple rotating rollers 251 can be connected by a drive belt or gears for linkage. Thus, if one of the rotating rollers 251 is driven by a driver (servo motor, etc.), the multiple rotating rollers 251 can rotate in a preset direction to transport the books on the multiple rotating rollers 251.

[0127] Since the receiving auxiliary components may have multiple action positions on the transportation platform, therefore, such as Figure 19As shown, the auxiliary transmission mechanism 25 can also be multiple continuously arranged roller conveyor lines. The start and stop of each rotating roller 251 on each roller conveyor line can be controlled individually to ensure the smooth use of the warehousing auxiliary components.

[0128] In some embodiments of this application, the warehousing assistance component includes a first edge-aligning component 19 and an auxiliary clamping component 20. The first edge-aligning component 19 is used to move the book to the edge of the transport platform. The book moves along the edge of the transport platform to the position of the auxiliary clamping component 20. The auxiliary clamping component 20 lifts the book away from the transport platform so that the book processing robotic arm can clamp the book.

[0129] Since the warehousing auxiliary component and the transport platform can cooperate in various ways, the warehousing auxiliary component can adopt different combination structures based on different cooperation methods. In this application, considering the stability of the book after it leaves the transport platform to facilitate the gripping of the automated storage and retrieval system (AS / RS) robot, the warehousing auxiliary component of this application includes a first edge-aligning component 19 and an auxiliary gripping component 20. In use, the book is transported on the transport platform in a predetermined direction. When the book moves to the position of the first edge-aligning component 19 (which can be detected by infrared sensors, etc.), the first edge-aligning component 19 works to align the book to the edge of the transport platform, which facilitates the operation of the AS / RS robot. This ensures that the book can continue to move after approaching the edge of the transport platform and enter the position of the auxiliary gripping component 20. Similarly, after the book enters the position of the auxiliary gripping component 20 (which can be detected by infrared sensors, etc.), the auxiliary gripping component 20 works to lift the book and partially suspend it in the air to facilitate the gripping of the AS / RS robot (book processing robotic arm).

[0130] In some embodiments of this application, the first edge-aligning member 19 includes at least one push rod 191 and a drive unit 192 for driving the movement of the push rod 191. The drive unit 192 operates to drive the push rod 191 to move, and the movement of the push rod 191 moves the book to the edge of the transport platform.

[0131] Understandably, if the books move along the Y-axis, the edges of the transport platform are used to move the books along the X-axis. Therefore, the first edge-aligning component 19 can be a combination of a push plate and a reciprocating actuator (electric telescopic rod) to achieve the edge-aligning process for the books. Of course, the first edge-aligning component 19 can also be other reciprocating mechanisms to achieve the same book-aligning operation.

[0132] In this application, considering the composition of the transportation platform, the structure of the first repositioning component 19 is as follows: Figure 19 , 20As shown, the system includes multiple push rods 191 and a drive unit 192. The push rods 191 are all vertically arranged and are located between two adjacent rotating rollers 251. The upper end of each push rod 191 is located above the transport platform, and the lower end of each push rod 191 is located below the transport platform. Each push rod 191 is fixed by a connecting rod 193. The drive unit 192 is connected to the connecting rod 193. When the drive unit 192 operates, it pushes the connecting rod 193 to move. The movement of the connecting rod 193 causes each push rod 191 to reciprocate along the length of the rotating roller 251, which is used to fold the books together.

[0133] The drive unit 192 can adopt existing structures such as electric telescopic rods, slider modules, and combinations of motors and lead screws, all of which can achieve reciprocating movement along a specific direction. In this application, as... Figure 20 As shown, the drive unit 192 has the same structure as the linear drive device 12, and the combination of the sliding component and the transmission belt enables the reciprocating movement of each push rod 191.

[0134] In some embodiments of this application, the auxiliary clamping member 20 includes a fixed clamping plate 203 mounted above the transport platform, a movable clamping plate 201 located below the fixed clamping plate 203, and a moving part 202 that drives the movable clamping plate 201 to move up and down. The lowest height of the movable clamping plate 201 is flush with or lower than the height of the transport platform.

[0135] The auxiliary clamping component 20 is used to lift the book. Under normal circumstances, when the book is thick and the cover is made of cardboard, the book has a certain degree of rigidity. In this case, the lifting plate structure can lift the book off the transport platform. The spine (or edge) of the book is suspended in the air to facilitate the vertical warehouse robot to grab the book.

[0136] However, during the grasping process, the SLV robot may collide with books. If the books cannot be relatively fixed, the books may fall during the grasping process, causing the grasping to fail. Therefore, the auxiliary clamping component 20 provided in this application includes a fixed clamping plate 203, a movable clamping plate 201, and a moving part 202. Figure 20As shown, the fixed clamping plate 203 is fixed at a preset height above the transport platform. The movable clamping plate 201 is provided with multiple grooves 2011, which can just accommodate a rotating roller 251. The moving part 202 adopts an existing lifting mechanism (electric telescopic rod, slider module, motor and lead screw combination structure, etc.). In this application, the moving part 202 is structurally equivalent to the lifting device 130. The distance that the moving part 202 drives the movable clamping plate 201 to move up and down can also be detected by a detector (infrared sensor, etc.). When in use, the movable clamp 201 is in its initial position under the action of the moving part 202, and is located below or flush with the transport platform. After the books are aligned on the transport platform, they are transported along the edge of the transport platform to above the movable clamp 201. The moving part 202 moves the movable clamp 201 upward, and at the same time moves the books upward until the upper surface of the books contacts the fixed clamp 203, so that the books can be fixed at a height away from the transport platform (relatively fixed), thus avoiding the problem of book grasping failure caused by the vertical warehouse robot colliding with the books during the grasping process as much as possible.

[0137] It is worth noting that the thickness of the book is related to the rising distance of the movable clamp 201. The movable clamp 201 can be configured as a telescopic plate structure that extends vertically, allowing it to rise a specific distance while still clamping books of a certain thickness. However, when the movable clamp 201 uses a conventional plate structure, the rising distance cannot guarantee that the upper surface of the book will make horizontal contact with the bottom of the fixed clamp 203. Nevertheless, based on the book's rigidity requirements, even if the upper surface of the book cannot make horizontal contact with the bottom of the fixed clamp 203, it can still reduce the problem of book grasping failure caused by collisions during the Automated Booklifting Robot's gripping process.

[0138] In some embodiments of this application, a positioning part 26 is also included, which is used to limit the position of the book on the movable clamp 201.

[0139] Since books need to be transported along the edge of the transport platform, this application also includes a positioning unit 26 to ensure that the auxiliary clamping component 20 can clamp the books at a fixed point. Figure 19 , 20As shown, the positioning part 26 is located in the middle of the transport platform, and the positioning part 26 and the first edge-aligning component 19 are located on both sides of the movable clamping plate 201 (in the book transport direction). The positioning part 26 is close to the movable clamping plate 201 and includes a vertically arranged intercepting plate and a vertical reciprocating driver that drives the intercepting plate to move up and down. The intercepting plate is located in the gap between the corresponding two rotating rollers 251. The vertical reciprocating driver includes an electric telescopic rod, a slider module, a motor, and a lead screw assembly. The vertical reciprocating driver can drive the intercepting plate to move up and down. The up and down movement of the intercepting plate can connect the books and prevent the transport platform from obstructing the transfer of books.

[0140] In some embodiments of this application, the warehousing auxiliary component further includes a second edge-aligning component 27, wherein the first edge-aligning component 19, the auxiliary clamping component 20 and the second edge-aligning component 27 are arranged sequentially along the book transport direction; the second edge-aligning component 27 is used to move the book to the middle of the transport platform.

[0141] Since the auxiliary gripper 20 can grip the book at the junction, the book undergoes information scanning and storage. After the book has been scanned and stored, it is gripped back in the same position between the fixed clamping plate 203 and the movable clamping plate 201 (at the junction). However, during the robot's gripping process, there may be some slippage when the book returns to the junction. While the books are generally in the same position, there may be slight errors. Therefore, to ensure smooth transport of the book to the final transport platform, its position needs to be corrected. Alternatively, the edge of the roller conveyor line behind the junction of the auxiliary gripper 20 can be widened outwards to ensure smooth transport. Another option is to use an edge-aligning component to push the book, correcting its position on the transport platform to ensure it can proceed to the next processing step.

[0142] like Figure 19 , 20 As shown, the overall structure of the second collapsible component 27 in this application is the same as that of the first collapsible component 19. The difference is that the first collapsible component 19 pushes the book in opposite directions as the second collapsible component 27 pushes the book.

[0143] Combined with this utility model Figures 1-10 The structure of the book processing device shown in the image, such as Figure 12-15 As shown, the general process for processing books is as follows:

[0144] 1. The lifting unit 110 is in the initial position. The lifting unit 110 and the fixed transmission unit 120 constitute a transmission mechanism for transporting the books. Figure 2 The book is transported from the lower right to the upper left. When the book moves to the position of the lifting part 110 (a structure similar to the positioning part 26 can be provided at the end of the lifting part 110 to limit the position of the book on the lifting part 110), the book moves to the preset position of the lifting part 110 (e.g., ...). Figure 12 As shown in (1), the lifting unit 110 rises to move the book to the target height. Figure 12 As shown in (2), the end position of the book is fixed in place by the book end limiting mechanism.

[0145] 2. The library reorganization agency conducted 16 [projects / institutions]. Figure 12 The action in step (3) involves arranging the book's position to ensure that the spine of the book aligns with the pressure plate of the page-supporting platform 200, forming a [property]. Figure 12 In the state of (4), the blower mechanism can work to blow air onto the books, and the book-folding mechanism 16 can maintain the state shown in the figure or be reset.

[0146] 3. Figure 12 In the middle (4) state, the first scan of the book page information collection unit 620 collects the cover information of the book.

[0147] 4. After information collection is completed, the page-turning suction cup component 310 of the page-turning mechanism 300 actuates, grabs the book cover and flips it over, as shown below. Figure 12 The actions in (5) and (6).

[0148] 5. After the page-turning mechanism 300 reaches its position, the page-pushing mechanism 400's push rod 410 enters its position. Figure 13 The action in step (7) presses the pages firmly onto the page-bearing platform 200, which is the state in step (8) of step 13.

[0149] 6. For example Figure 13 When the action of (8) is performed, the first pressing part 710 and the two second pressing parts 720 of the pressing mechanism 700 are activated to fix the book pages on the book page carrying platform 200. At the same time, the push bar 410 is reset.

[0150] 7. Figure 13 In the middle (9) state, the third scanner 610 of the book page information collection unit collects the fold information of the book cover.

[0151] 8. Figure 13 In the middle (10) state, the first scanner 620 of the page information acquisition unit collects the page information of the book's inner pages. At this time, the algorithm can be used to calculate whether the page is the target page. In this state, the page can be processed by the processing mechanism 800.

[0152] 9. Continuously turn the pages inside the book; refer to the instructions for specific actions. Figure 13 , 14In the middle (11)-(13), at this time, the page turning mechanism 300 can flip the page at a larger angle so that the second scanning part 630 of the page information acquisition unit can collect the page information of the inner page of the book and calculate whether the page is the target page through an algorithm.

[0153] 10. For example Figure 14 As shown in (14), the page pusher 410 moves to move the page to... Figure 14 The state shown in (15).

[0154] 11. For example Figure 14 As shown in (16), the first pressing element 710 is activated, while the two second pressing elements 720 remain stationary, which is used to fix the second page on the page carrying platform 200. At the same time, the pusher bar 410 is reset.

[0155] 12. Figure 14 In the middle (17) state, the processing mechanism 800 can be used to perform operations such as stamping the second page and / or the third page.

[0156] 13. After the pages are processed, as follows: Figure 14 As shown in (17) and (18), the first pressing element 710 is reset, and one of the second pressing elements 720 is activated, pressing the second page of the book with... Figure 15 The process of resetting (19) and (20) is as follows.

[0157] 14. The folding suction cup component 910 of the folding recognition and processing mechanism 900 actuates, causing the fold on the cover to... Figure 15 During the processes of (20) and (21), the inner side of the fold can be coated with glue by the processing mechanism 800. After the glue is applied, the fold suction cup assembly 910 is activated to lift the fold on the cover as follows: Figure 15 The process from (21) to (22) is reset.

[0158] 13. For example Figure 15 As shown in (23) and (24), the remaining second pressing piece 720 is reset, and at the same time, the hinge lever 11 is activated to flip the cover back to its original position, thus completing the processing of the entire book.

[0159] 14. For example Figure 15 As shown in (25), after processing, the book is lowered by the lifting unit 110 to the fixed transmission unit 120 and transferred to the next processing step.

[0160] This utility model also provides a book processing procedure. After step 14 above is completed, the method can also perform an entry information scanning operation. The general process is as follows:

[0161] 15. The books are transferred along the fixed transmission section 120 to the transport platform of the auxiliary transmission mechanism 25;

[0162] 16. The book moves to the active position of each push rod 191, and each push rod 191 moves under the action of the drive unit 192, and the book is returned to the edge of the transport platform;

[0163] 17. The book moves along the edge of the transport platform to the action point of the movable clamp 201. The movable clamp 201 moves upward under the action of the moving part 202, and the book part is suspended in the air. The vertical warehouse robot grabs the book and performs the storage operation.

[0164] 18. At the same time, other books that have been put into storage are placed back between the movable clamping plate 201 and the fixed clamping plate 203 by another vertical storage robot. Of course, the movable clamping plate 201 can be moved down appropriately to ensure that the vertical storage robot can smoothly put the books between the fixed clamping plate 203 and the movable clamping plate 201.

[0165] 19. The movable clamp 201 moves down so that the books after they have been put into storage are on the transport platform, and the transport platform continuously transports the books;

[0166] 20. The books are moved to the active positions of the second edge-aligning components 27. The second edge-aligning components 27 move the books toward the center of the transport platform to ensure that the books are in the preset positions. The transport platform continues to transport the books to the next processing step.

[0167] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0168] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0169] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A book processing device, characterized in that: It includes a book carrier (100), at least one processing unit, and at least one page information collection unit with the same number of processing units; The processing unit is located above the book carrier (100) and is used for book acquisition and processing; The page information collection unit is used to collect information from the pages of a book; The book carrier (100) includes at least one lifting unit (110) with the same number as the processing unit, and each lifting unit (110) is used in conjunction with the corresponding processing unit and page information acquisition unit; The books are transported on the transmission platform, and each lifting unit (110) has a carrying platform for carrying a single book or for carrying and transporting a single book; Books on the transmission platform move to a preset position on the carrier platform; the top surface of any book on the carrier platform is at a preset height, and the processing unit and the page information acquisition unit process the pages of the books that have risen to the preset height; the carrier platform moves down to a height less than or equal to the height of the transmission platform, and works with the transmission platform to transmit books.

2. The book processing device according to claim 1, characterized in that: The lifting unit (110) includes a plurality of first rollers (111) arranged horizontally side by side and a lifting frame (112) for mounting the plurality of first rollers (111). The lifting frame (112) moves up and down, causing each first roller (111) to move up and down. At least some of the first rollers (111) are rotated on the lifting frame (112) for carrying and transporting books.

3. The book processing device according to claim 2, characterized in that: It also includes a fixed transmission unit (120), the transmission plane of which is a transmission platform; The fixed transmission unit (120) includes a plurality of second rollers (121) arranged horizontally side by side and a mounting frame (122) for mounting the plurality of second rollers (121). The projections of each first roller (111) and at least some of the projections of the second rollers (121) are arranged alternately in sequence. Each second roller (121) is rotatably mounted on the mounting frame (122) for transporting books.

4. The book processing device according to claim 1, characterized in that: The transmission platform has at least one installation space, and each installation space is used to install each lifting unit (110).

5. The book processing device according to any one of claims 1-4, characterized in that: It also includes at least one book end limiting mechanism (15) with the same number as the lifting unit (110), the book end limiting mechanism (15) being used to limit the end position of the book transport direction on the lifting unit (110).

6. The book processing device according to claim 5, characterized in that: The book end limiting mechanism (15) is located above the lifting part (110). When the book being transported on the lifting part (110) comes into contact with the book end limiting mechanism (15), the lifting part (110) stops transmitting the book.

7. The book processing device according to claim 1, 2, 3, 4 or 6, characterized in that: Each processing unit includes a book edge-aligning mechanism (16), a hinge mechanism, a page-carrying platform (200), a page-turning mechanism (300), a page-pushing mechanism (400), a page-pressing mechanism (700), and a blower mechanism; The page-carrying platform (200) is located above the lifting unit (110) and is set at an angle or horizontally for placing open pages; The book alignment mechanism (16) and the page carrying platform (200) are located on both sides of the transmission direction of the lifting unit (110). The book alignment mechanism (16) is used to straighten the position of the book and push the spine of the book to the side of the page carrying platform (200). The page-turning mechanism (300) is located above the lifting unit (110) and is used to flip the pages of the book; The page-pushing mechanism (400) is installed close to the book-aligning mechanism (16) and is used to push the pages onto the page-carrying platform (200); The page pressing mechanism (700) is used to press the pages located on the page carrying platform (200); Hair dryers are used to prevent book pages from sticking together; The hinge mechanism is installed in conjunction with the page-carrying platform (200) to move the pages on the page-carrying platform (200) toward the pages on the lifting unit (110).

8. The book processing device according to claim 7, characterized in that: The blower assembly includes a side blowing assembly and an end blowing assembly (14). The side blowing assembly includes multiple side air outlet channels (171), each side air outlet channel (171) being used to blow air onto the book opening; The end air outlet assembly includes multiple end air outlet channels (1421), each end air outlet channel (1421) being used to blow air onto the top and / or corners of the book.

9. The book processing device according to claim 7, characterized in that: Each processing unit also includes a processing mechanism (800), which is located above the page carrying platform (200) and the lifting unit (110) and is used for page acquisition and processing.

10. The book processing device according to claim 1, 2, 3, 4, 6, 8 or 9, characterized in that: The page information acquisition unit includes a first scanned copy (620), a second scanned copy (630), and a third scanned copy (610). The first scanner (620) is located directly above the lifting unit (110) and is fixedly installed relative to the transmission platform. The first scanner (620) is used to collect information on the horizontally set pages of the book. The second scanner (630) and the page carrying platform (200) are respectively located on both sides of the lifting part (110) and fixedly installed relative to the fixed transmission part (120). The second scanner (630) is used to collect information on the vertically set pages of the book. The third scanner (610) is set vertically to the page-carrying platform (200) and fixedly installed relative to the transmission platform. The third scanner (610) is used to collect information on the opened pages.

11. The book processing device according to claim 1, 2, 3, 4, 6, 8 or 9, characterized in that: It also includes an auxiliary transmission mechanism (25), which is located at the end of the transmission platform; The auxiliary transport mechanism (25) has a transport platform that is flush with the transport platform. The transport platform is equipped with an inbound auxiliary component to assist in the removal of books, so that each book can leave the transport platform or enter the transport platform.

12. The book processing device according to claim 11, characterized in that: The warehousing auxiliary components include a first edge-aligning component (19) and an auxiliary clamping component (20). The first edge-aligning component (19) is used to move the book to the edge of the transport platform. The book moves along the edge of the transport platform to the position of the auxiliary clamping component (20). The auxiliary clamping component (20) lifts the book away from the transport platform so that the book processing robot arm can clamp the book.

13. The book processing device according to claim 12, characterized in that: The first edge-aligning component (19) includes at least one push rod (191) and a drive unit (192) for driving the push rod (191) to move. The drive unit (192) drives the push rod (191) to move, and the movement of the push rod (191) moves the book to the edge of the transport platform.

14. The book processing apparatus according to claim 12 or 13, characterized in that: The auxiliary clamping component (20) includes a fixed clamping plate (203) mounted above the transport platform, a movable clamping plate (201) located below the fixed clamping plate (203), and a moving part (202) that drives the movable clamping plate (201) to move up and down. The lowest height of the movable clamping plate (201) is flush with or lower than the height of the transport platform.

15. The book processing device according to claim 14, characterized in that: It also includes a positioning section (26), which is used to limit the position of the book on the movable clamp (201).

16. The book processing apparatus according to claim 12, 13 or 15, characterized in that: The storage assistance components also include a second edge-gathering component (27), and the first edge-gathering component (19), the auxiliary clamping component (20) and the second edge-gathering component (27) are arranged sequentially along the book transport direction; The second edge-aligning component (27) is used to move books to the middle or another edge of the transport platform.

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