CN116016792B

CN116016792B - A scanning robot for loose pages

Info

Publication number: CN116016792B
Application number: CN202111296582.9A
Authority: CN
Inventors: 易源霖; 刘昌宏; 毋榼
Original assignee: Beijing Qianxun Future Technology Co ltd
Current assignee: Beijing Qianxun Future Technology Co ltd
Priority date: 2021-10-21
Filing date: 2021-11-03
Publication date: 2024-11-22
Anticipated expiration: 2041-11-03
Also published as: CN216930097U; CN116016792A

Abstract

The embodiment of the disclosure provides a scanning robot for a loose page, which comprises a scanning object pretreatment area, a scanning object placement area and a scanning object carrying device, wherein the scanning object pretreatment area is used for placing a scanning object to be scanned and executing alignment processing on the scanning object to be scanned; the scanning area is used for executing scanning operation on the scanning object conveyed from the scanning object pretreatment area by the scanning object conveying device; and the scan object placement area is used for placing the scan object conveyed from the scan area by the scan object conveying device. According to the scheme of the embodiment of the disclosure, the scanning efficiency of the loose pages can be improved.

Description

Scanning robot for loose pages

Technical Field

The disclosure relates to the technical field of scanning robots, in particular to a scanning robot for loose pages.

Background

In the field of scanning technology, there are cases where it is necessary to scan a loose-leaf object such as a ticket, in which case, in order to improve efficiency, it is necessary to be able to realize continuous scanning, and it is necessary to be able to obtain an image of as high quality as possible with a mechanism as simple as possible.

Disclosure of Invention

In view of the above, embodiments of the present disclosure provide a scanning robot for loose pages, which at least partially solves the problems in the prior art.

The embodiment of the disclosure relates to a scanning robot for a loose page, which comprises a scanning object pretreatment area, a scanning object placement area and a scanning object conveying device, wherein

The scanning object pretreatment area is used for placing a scanning object to be scanned and executing alignment treatment on the scanning object to be scanned;

the scanning area is used for executing scanning operation on the scanning object conveyed from the scanning object pretreatment area by the scanning object conveying device; and

The scan object placement area is used for placing a scan object conveyed from the scan area by the scan object conveying device.

According to a specific implementation manner of the embodiment of the disclosure, the scan object pretreatment area includes a tray, the tray is used for placing the scan object to be scanned, the tray can vibrate in a tilting manner, and the tray is tilted so that the same position of the tray is at the lowest position.

According to a specific implementation of the embodiment of the disclosure, the scan object pretreatment area further includes a motion stage, the tray is disposed on the motion stage, wherein

The motion platform comprises a sliding rail, a reciprocating motion platform arranged on the sliding rail and a lifting mechanism arranged on the reciprocating motion platform;

The reciprocating table is driven to reciprocate along the slide rail; and

The lifting mechanism tilts the tray in a fixed direction.

According to a specific implementation of an embodiment of the present disclosure, the lifting mechanism includes a first lifting mechanism and a second lifting mechanism, wherein a lifting stroke of the second lifting mechanism is greater than a lifting stroke of the first lifting mechanism.

According to a specific implementation manner of the embodiment of the disclosure, the first lifting mechanism is connected with the tray via a hinge, and the scan object pretreatment area further includes a guide rod disposed on the reciprocating table, and the guide rod is hinged with the tray.

According to a specific implementation manner of the embodiment of the present disclosure, a process of performing an alignment process on the scan object to be scanned includes:

the first lifting mechanism and the second lifting mechanism are driven to enable the tray to do lifting motion, wherein the driving quantity of the second lifting mechanism is larger than that of the first lifting mechanism;

The reciprocating table is driven to reciprocate along the slide rail;

And

At least one of the first and second lifting mechanisms is adjusted so that the tray is in a horizontal state.

According to a specific implementation of the embodiment of the present disclosure, the scan object handling apparatus includes a handling apparatus moving rail and a handling apparatus robot that moves along the handling apparatus moving rail to handle the scan object between the scan object pre-processing area, the scan area, and the scan object placement area,

The mechanical arm of the carrying device is provided with an adsorption device, and the adsorption device is used for adsorbing the scanning object.

According to a specific implementation manner of the embodiment of the disclosure, the mechanical arm of the handling device is further provided with a single-double-page detection device and a separation device, wherein the separation device is used for separating a plurality of scanning objects when the single-double-page detection device detects that the plurality of scanning objects exist.

According to a specific implementation of the embodiment of the disclosure, the separation device includes a first adsorbing portion and a second adsorbing portion, wherein the first adsorbing portion is configured to adsorb the scan object to carry the scan object among the scan object pretreatment area, the scan area, and the scan object placement area, and the second adsorbing portion is configured to separate a plurality of scan objects when the presence of the plurality of scan objects is detected.

According to a specific implementation manner of the embodiment of the disclosure, the second adsorption part is hinged to the first adsorption part, and the first part of the single/double page detection device is arranged on the first adsorption part, and the second part of the single/double page detection device is arranged on the second adsorption part, and the single/double page detection device detects whether a plurality of scanning objects exist according to signals between the first part and the second part.

According to a specific implementation manner of the embodiment of the present disclosure, when the single/double page detection device detects that there are a plurality of scan objects, the first adsorption portion and the second adsorption portion are switched from a first positional relationship to a second positional relationship, where in the first positional relationship, a signal can be received between the first portion and the second portion, and in the second positional relationship, the second adsorption device can adsorb the scan objects.

According to a specific implementation of the embodiment of the disclosure, the scanning area includes a scanning placement table and a scanning camera, where

The scanning placement stage comprises a lower transparent stage and an upper transparent stage, the lower transparent stage is movable up and down, and the upper transparent stage is movable away from the lower transparent stage; and

The scanning camera is configured to image the scan object through the lower transparent stage and upper transparent stage.

According to a specific implementation manner of the embodiment of the present disclosure, it is assumed that a process in which the scan object handling apparatus handles a scan object from the scan object pretreatment area to the scan area is a first handling process, and a process in which the scan object handling apparatus handles a scan object from the scan area to the scan object placement area is a second handling process, and one of the first handling process and the second handling process causes the scan object to be flipped.

According to a specific implementation of an embodiment of the disclosure, the scan object handling apparatus includes:

A mounting portion to which a first suction portion is mounted, the first suction portion being capable of applying suction force to a scanning object;

A peeling section rotatable with respect to the mounting section and including a second adsorbing section capable of applying an adsorbing force to the scanning object; and

And a detecting section configured to determine whether the scanning object is a single sheet, and including a transmitting section and a receiving section, and one of the transmitting section and the receiving section is provided to the mounting section, and the other is provided to the peeling section, wherein the detecting section has a plurality of detecting sections, and the plurality of detecting sections are configured to detect a size of the scanning object.

According to a specific implementation manner of the embodiment of the disclosure, the detecting portion includes a first detecting portion, a second detecting portion and a third detecting portion, and let the widths of the A5 paper, the A4 paper and the A3 paper be L1, L2 and L3, respectively, a distance between the first detecting portion and one side of the mounting portion is smaller than L1, a distance between the second detecting portion and one side of the mounting portion is larger than L1 and smaller than L2, and a distance between the third detecting portion and one side of the mounting portion is larger than L2 and smaller than L3.

The scanning robot for the loose pages comprises a scanning object pretreatment area, a scanning object placement area and a scanning object carrying device, wherein the scanning object pretreatment area is used for placing a scanning object to be scanned and executing alignment processing on the scanning object to be scanned; the scanning area is used for executing scanning operation on the scanning object conveyed from the scanning object pretreatment area by the scanning object conveying device; and the scan object placement area is used for placing the scan object conveyed from the scan object placement area by the scan object conveying device. According to the scheme of the embodiment of the disclosure, the scanning efficiency of the loose pages can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.

Fig. 1 is a schematic structural diagram of a scanning robot for loose pages according to an embodiment of the present disclosure;

Fig. 2 is a schematic structural view of a scan object pretreatment area according to an embodiment of the present disclosure, where (a) is a schematic structural view of one embodiment of the scan object pretreatment area, and (b) and (c) are schematic structural views of another embodiment of the scan object pretreatment area;

FIG. 3 is a schematic flow chart of an alignment process of a scan object pretreatment area according to an embodiment of the disclosure;

Fig. 4 is a schematic structural view of a scanning object handling apparatus according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a mechanical arm of a handling device according to an embodiment of the disclosure;

fig. 6 is a schematic structural diagram of a mechanical arm of a handling device according to an embodiment of the disclosure;

Fig. 7 is a schematic structural diagram of a scanning area according to an embodiment of the disclosure.

Detailed Description

Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

Other advantages and effects of the present disclosure will become readily apparent to those skilled in the art from the following disclosure, which describes embodiments of the present disclosure by way of specific examples. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.

It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the disclosure by way of illustration, and only the components related to the disclosure are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.

First, referring to fig. 1, a scanning robot 100 for a loose sheet according to an embodiment of the present disclosure is described, and as shown in fig. 1, the scanning robot 100 for a loose sheet according to an embodiment of the present disclosure mainly includes a scanning object preprocessing section 101, a scanning section 102, a scanning object placing section 103, and a scanning object conveying device 104. Of course, it should be understood that the scanning robot 100 may also include other devices and power supplies.

In the embodiment of the present disclosure, the scan object preprocessing area 101 is used for placing a scan object to be scanned, the scan robot 100 may cause, for example, an invoice, a leaflet, a plastic plate, or the like to be recorded with a medium of information, and the scan object preprocessing area 101 may be, for example, a tray, which may be provided in, for example, a rectangular groove shape, so that accommodation of the scan object can be achieved.

Unlike the conventional case of accommodating a scan object, the scan object preprocessing region 101 of the embodiment of the present disclosure also has a function of performing an alignment process on a scan object to be scanned. Specifically, the scanning object may be aligned in a plurality of different manners, for example, the tray may be vibrated to align the scanning object in a vibration manner, that is, the scanning object may be mechanically aligned, for example, an image recognition device may be provided, and the scanning object may be aligned in other manners, so that the subsequent imaging process is facilitated and the scanning efficiency is improved by performing image recognition on the current object to be scanned, defining a position a certain distance (for example, 1 cm) from the boundary of the scanning object as the boundary, and using the boundary information as an alignment standard, so that the alignment of the scanning object is realized in combination with the subsequent moving process and imaging process, that is, the alignment of the image layer is performed in an imaging manner, and then the movement of the mechanical arm is controlled to perform the alignment.

The scanning area 102 is used to perform a scanning operation on the scanning object conveyed from the scanning object preprocessing area 101 by the scanning object conveying device 104. Specifically, for example, the scanning area 102 is an area composed of two pieces of transparent glass or other transparent materials, and cameras are provided on both sides of the transparent glass, respectively, and a scanning object sandwiched between the two pieces of glass is photographed by the cameras to acquire a scanning image.

In the embodiment of the present disclosure, the scan object that has been aligned is conveyed from the scan object pretreatment area 101 onto the bottom surface glass of the scan area 102 by the over-scan object conveyance device 104 such as a suction cup, and then the top surface glass presses the scan object from the upper side to prevent the scan object from being wrinkled or the like. And then activates an imaging device such as a camera to image the scanned object. It should be appreciated that the scan area 102 may take other forms than a glass plate and may not image both sides of the scan object at the same time, but rather image one side thereof.

The scan object placement area 103 is used to place a scan object that is transported from the scan area 102 by the scan object transport device 104. After the scan is completed in the scan area 102, the scan object that has completed the scan needs to be set up for continuous scanning. In the embodiment of the present disclosure, the scan object placement area 103 is, for example, a tray, whose size may be, for example, an A3 size, an A4 size, an A5 size, or other types of sizes, and for a scan object that completes scanning in the scan area 102, first the scan area top glass may be moved away, then the scan object is conveyed to the scan object placement area 103 by the scan object conveying device 104 such as a suction cup for placement, and then the subsequent scan is performed.

In the embodiment of the present disclosure, the scan object placement area 103 may also be provided with alignment energy, so that subsequent binding or the like is facilitated, which may be aligned in a manner similar to the scan object pretreatment area 101, and the specific manner will not be described herein.

The scan object handling apparatus 104 may be, for example, a moving rail provided above the scan object pretreatment area 101, the scan area 102, and the scan object placement area 103, and an adsorbing device is mounted on the rail, and the adsorbing device may be moved along the rail so as to move the scan object between the scan object pretreatment area 101, the scan area 102, and the scan object placement area 103. Specifically, according to one embodiment, the suction apparatus includes, for example, a moving base, a suction cup for sucking a scan object, and a connecting member, the suction cup is provided at one end of the connecting member, and the other end of the connecting member is connected with the moving base, and the moving base is provided to and movable along a moving rail. Therefore, when the movable base moves along the movable track, the sucker is driven to move, and then the scanning object adsorbed by the sucker is driven to move.

When the scanning robot 100 for a loose sheet according to the embodiment of the present disclosure works, firstly, a scan object is placed in the scan object preprocessing area 101, and the scan object can be automatically and physically aligned or image aligned by vibration or imaging, so that the subsequent handling and scanning processes are facilitated, then the scan object handling device 104 handles the aligned scan object onto the bottom glass of the scan area 102 through, for example, a suction cup, then the suction cup is released, and the top glass of the scan area 102 is moved over the scan object and presses the scan object, then the imaging device images the scan object, after the imaging operation is completed, the top glass is moved away, and the scan object handling device 104 adsorbs the scan object again to the scan object placement area 103, so that the scanning of a single sheet of scan object is realized, and the continuous scanning can be realized by repeating the above processes. Further, in order to facilitate the subsequent stapling or the like, the scan object placement area 103 may be vibrated every predetermined time or after scanning a predetermined number of scan objects, thereby aligning the scanned scan objects.

According to the processing scheme, the alignment of the scanning objects can be automatically realized, the workload of manual alignment is reduced, and the problem of poor scanning results caused by inconsistent manual alignment effects is also solved, so that the scanning efficiency is improved, and the workload is reduced.

Next, with reference to fig. 2, a scan object preprocessing area 101 and a scan object placement area 103 of the embodiment of the present disclosure are described. In the embodiment of the present disclosure, the scan object pretreatment area 101 and the scan object placement area 103 may be set to the same structure and power, and the scan object pretreatment area 101 will be described below as an example, and the scan object placement area 103 may take the same configuration unless otherwise specified.

In fig. 2, reference numeral 1 denotes a frame, reference numeral 2 denotes a reciprocating table, the reciprocating table 2 can move left and right on a slide rail 3, and a driving structure for driving the reciprocating table 2 to move left and right on the slide rail 3 can be a crank block mechanism 4.

The tray 9 is provided on top of the ball screws 5 and 6, and its elevation is achieved by the ball screws 5 and 6, wherein the maximum stroke of the ball screw 6 is greater than that of the ball screw 5, and the ball screws 5 and 6 are driven by two motors, respectively, which can each independently control the movement, so that the elevation function of the tray 9 is achieved when the same displacement is simultaneously moved at the same speed, and the tilting effect of the tray 9 is achieved when the movement displacement of the ball screw 6 is greater than that of the ball screw 5.

In the embodiment of the present disclosure, the ball screws 5 and 6 are arranged along the diagonal line, so that the inclination of the tray 9 is inclined along the diagonal line, and at this time, in conjunction with the horizontal reciprocation of the reciprocation table 2, an inclination shake function is achieved, so that the uppermost sheet can be shaken to be closely attached to both the left and the front edges.

In addition, reference numeral 7 denotes a hinge shaft, and the hinge shaft 7 is provided on top of the ball screws 5 and 6, in other words, the ball screws 5 and 6 are connected to the tray 9 via the hinge shaft 7, and at this time, the tilting of the tray 9 is rotation about the hinge shaft 7. In addition, reference numeral 10 denotes a guide bar, the guide bar 10 passes through a hole provided on the reciprocating table 2, and the other end is connected to the tray 9 through a hinge 8, thus ensuring that the tilting movement of the tray 9 is completed with only a single degree of freedom in moving the ball screws 5 and 6 and the guide bar 10 up and down.

As described above, in the embodiment of the present disclosure, the scan object placement area 103 may adopt the configuration shown in fig. 2.

That is, in a specific implementation of the embodiment of the present disclosure, the scan object preprocessing section 101 includes a tray 9 for placing the scan object to be scanned, and the tray can be inclined and vibrated by the structure as shown in fig. 2, thereby achieving alignment of the object to be scanned. In the embodiment of the present disclosure, in order to reduce the control of the scan object handling apparatus 104, the scan object handling apparatus 104 may adsorb the scan object at the same position each time, and the same position of the tray may be at the lowest position each time the tray is tilted. Specifically, for example, arranging the ball screws 5 and 6 along the diagonal line of the tray 9 as described above can realize that the scanning objects are concentrated at the lower corners each time, so that the scanning object conveying device 104 only needs to suck the scanning objects at the same position each time.

In addition, as shown in fig. 2, in one specific implementation of the embodiment of the present disclosure, the tilting shake of the tray 9 may be achieved by a motion stage included in the scan object preprocessing region 101.

Specifically, the moving table may include the slide rail 3, the reciprocating table 2 provided to the slide rail 3, and the lifting mechanism provided to the reciprocating table 2, which may be, for example, the ball screws 5 and 6 as described above, but may be other mechanisms capable of lifting and lowering the tray 9. In this case, the reciprocating table 2 is driven so that the reciprocating table 2 reciprocates along the slide rail 3, and the lifting mechanism tilts the tray 9 in a fixed direction (for example, a diagonal direction).

In addition, the elevating mechanism may include a first elevating mechanism, which may be, for example, the ball screw 5, and a second elevating mechanism, which may be, for example, the ball screw 6, and an elevating stroke of the second elevating mechanism may be set to be larger than that of the first elevating mechanism, thereby achieving a tilting effect.

In addition, the first lifting mechanism (ball screw 5) is connected with the tray 9 via the hinge 7, and the scan object pretreatment area 101 further includes a guide bar 10 provided on the reciprocating table 2, the guide bar 10 is hinged with the tray 9, so that on one hand, the tray 9 can not be inclined due to interference in the process of inclining the tray 9, and in addition, the tray 9 can be prevented from being deformed under the condition that the scan objects are more by the guide bar and the lifting mechanism. At this time, a plurality of guide bars 10 may be provided to achieve a better stabilizing effect.

In the above, one configuration of the scan object preprocessing section 101 is described, and next, with reference to fig. 3, a procedure of performing an alignment process on a scan object to be scanned is described. As shown in fig. 3, the alignment process includes:

S301: the reciprocating table 2 is driven so that the reciprocating table 2 reciprocates along the slide rail 3. Specifically, the reciprocating table 2 may be driven by the crank block mechanism 4 to realize the reciprocating motion of the reciprocating table 2.

S302: the first elevating mechanism (ball screw 5) and the second elevating mechanism (ball screw 6) are driven to make the tray 9 perform elevating movement, wherein the driving amount of the second elevating mechanism (ball screw 6) is larger than the driving amount of the first elevating mechanism (ball screw 5). Specifically, alignment of the scan object along a fixed position can be achieved by the reciprocating motion and the lifting motion of step S301 and step S302.

S303: at least one of the first elevating mechanism (ball screw 5) and the second elevating mechanism (ball screw 6) is adjusted so that the tray 9 is in a horizontal state. After alignment is completed, in order to facilitate the subsequent scanning process, the scanning object needs to be in a horizontal state, and at this time, the scanning object can be realized by adjusting the lifting mechanism.

Through the steps S301-S303, automatic alignment of the scanning object can be realized, so that the workload of manual operation is reduced, and the scanning efficiency is improved.

The oscillating table 101 shown in fig. 2 (b) and (c) also includes a frame 1 and a reciprocating table 2, the reciprocating table 2 can move left and right on a slide rail 3, and a driving structure for driving the reciprocating table 2 to move left and right on the slide rail 3 can be a crank block mechanism 4.

Further, unlike the lifting mechanism in fig. 2 (a) being a ball screw, in the present embodiment, the lifting mechanism is a spring structure, and springs are uniformly provided below the tray 9 to achieve support of the tray 9 by the springs. Specifically, springs may be provided at respective corners and intermediate positions of the tray 9, for example, to achieve smooth support of the tray 9.

In addition, in order to achieve the vibration effect, it is also necessary to be able to vibrate the tray 9. Specifically, the stretching member 13 is used in the embodiment of the present disclosure to vibrate the tray 9, wherein one end of the stretching member 13 is connected to the tray 9, and the other end of the stretching member 13 can be driven by, for example, the driving device 12 to reciprocate. The driving device 12 may be, for example, a driving motor, and the driving motor is fixedly provided to the reciprocating table 2, in which case the other end of the stretching member 13 may be connected to the output shaft of the driving motor in order to achieve the vibration effect, but the connection position is required to be at an eccentric position of the output shaft in order to secure the vibration effect. That is, the stretching rod 13 is eccentrically driven by the driving device 12, and thus the tray 19 is reciprocally driven, thereby achieving a vibration effect.

In addition, in order to achieve the vibration by the tray 9 so that the initial positions of the scanning objects to be scanned can all be in the same aligned position to facilitate the subsequent automatic scanning, therefore, the tray 9 may be set to be rectangular, and springs may be provided at four corners of the rectangular tray 9, and the tension members 13 may be connected to one corner of the tray 9, so that the force applied to the tray 9 by the tension members 13 will always tilt the tray 9 toward the same direction to enable the initial positions of the scanning objects to all be in the same aligned position.

In another embodiment, the tray 9 may not be vibrated in the vertical direction, but the tray 9 is stretched by the stretching member 13 to tilt and hold the tray 9, and then the sheets on the tray 9 are aligned in one position by the reciprocating table 2 moving left and right on the slide rail 3. And after the sheets are aligned, the driving means 12 are rotated so that the springs are not compressed any more, thereby maintaining the tray 9 in a horizontal state. Further, unlike the rigid stretching member shown in fig. 2 and 3, the stretching member 13 may also be provided as a flexible wire, in which case, at the time of stretching, the downward movement of the tray 9 is achieved by the stretching force applied by the flexible wire, and when the flexible wire is not subjected to force, the upward movement of the tray 9 is achieved by the resilience of the spring, thereby achieving the reciprocating movement of the tray 9 as a whole.

In this case, the procedure of the shake table 101 performing the alignment process on the scan object to be scanned is as follows:

s401: the reciprocating table 2 is driven so that the reciprocating table 2 reciprocates along the slide rail 3. Specifically, the reciprocating table 2 may be driven by the crank block mechanism 4 to realize the reciprocating motion of the reciprocating table 2.

S402: the driving means 12 drives the stretching member 13 to reciprocate, thereby achieving up-and-down reciprocation of the tray 9, and the tilting direction of the tray 9 is maintained unchanged. Specifically, alignment of the scan object along a fixed position can be achieved by the reciprocating motion and the lifting motion of step S401 and step S402.

Next, with reference to fig. 4, one example of the scanning object handling apparatus 104 of the embodiment of the present disclosure is described. As shown in fig. 4, the scan object handling apparatus 104 of the embodiment of the present disclosure includes a handling apparatus moving rail 14 and a handling apparatus robot 13, and the handling apparatus robot 13 moves along the handling apparatus moving rail 14 to handle the scan object 11 among the scan object pre-processing area 101, the scan area 102, and the scan object placement area 103. Specifically, the handling device moving rail 14 may be, for example, a rail provided above the scan object pretreatment area 101, the scan area 102, and the scan object placement area 103, and the handling device robot arm 13 may be driven to move along the handling device moving rail 14 between the scan object pretreatment area 101, the scan area 102, and the scan object placement area 103.

In addition, as shown in fig. 5 and 6, which show one specific implementation of the handler robot 13, only a portion of the handler robot 13 for sucking the scan object is shown in fig. 5 and 6, and a portion connected to the handler moving rail 14 is not shown.

As shown in fig. 5 and 6, specifically, the handling device robot 13 includes a suction cup mounting portion 3011, a peeling portion 3025, and an optional detection portion.

The suction cup mounting portion 3011 is used to mount the suction cup 3011, for example, the suction cup 3022 may be mounted to the suction cup mounting portion 3011, and at this time, the suction cup 3022 can apply suction force to a scanning object to thereby suck the current scanning object.

In the embodiment of the present disclosure, the peeling portion 3025 is rotatable with respect to the mounting portion 3011, specifically, the peeling portion 3025 may be hinged with the suction cup mounting portion 3011, for example, so as to be rotatable with respect to the suction cup mounting portion 3011. The peeling section 3025 also includes a suction cup as an example of the suction section 2504, and in this case, the suction section 2504 can apply suction force to the scanning object.

The detection section is configured to determine whether the scanning object is a single sheet, and includes a transmitting section and a receiving section, one of which is provided to the suction cup mounting section 3011, and the other of which is provided to the peeling section 3025. Specifically, for example, the detection section is an ultrasonic device, and includes an ultrasonic wave transmitting device and a receiving device, and at this time, by transmitting ultrasonic waves to a scanning object, it is possible to determine whether the scanning object is a single page or a plurality of pages by detecting attenuation or echo states of the acoustic waves.

In this way, in the process of performing the page separation at the time of scanning, after the current page is sucked by the suction cup 3022 on the suction cup mounting portion 3011, whether or not the current page is a single page is detected by the detecting portion, and if the current page is detected not to be a single page, the second suction portion 2504 of the peeling portion 3025 can apply suction force to the paper from the other side and perform separation by rotation until the detecting portion detects only a single page, so that it is possible to prevent the occurrence of an error in the scanning in the case of a plurality of pages.

In the embodiment of the present disclosure, it is first necessary to detect whether or not it is a single sheet by the detecting section and then to peel it, and therefore the position of the peeling section 3025 with respect to the suction cup mounting section 3011 includes at least two positions, i.e., a first position and a second position.

At the first position, the device can be used for detecting whether the paper is a single page or not, and at the moment, the transmitting part and the receiving part of the detecting part are aligned, so that the paper is detected.

In the second position, the second suction portion 2504 is required to be flush with the suction surface of the suction cup 3022, so that suction force is applied to the sheet from both sides, and the sheet is peeled.

In addition, in the second position, the second suction portion 2504 is not aligned with the suction cup 3022 for the separated active type. For example, in the case where the second suction portion 2504 is also a suction cup, if the two are aligned, suction cups on both sides suck, resulting in more difficulty in separating sheets.

The attachment position of the peeling section 3025 may be attached to the side surface of the suction cup attachment section 3011 or may be attached to an intermediate position of the attachment section 3011. In the case of being attached to the side surface of the suction cup attachment portion 3011, the peeling portion 3025 is rotated from the side surface to be close to the suction cup attachment portion 3011, and in the case of being attached to the intermediate position of the suction cup attachment portion 3011, the peeling portion 3025 may be rotated from the upper surface or the lower surface of the suction cup attachment portion 3011 to be close to the suction cup attachment portion 3011.

In the embodiment of the present disclosure, in order to better adsorb the current page, a plurality of suction cups 3022 may be disposed along the lateral direction of the page (the direction parallel to the spine), so that the current page can be better adsorbed. In addition, in order to better separate the pages in the case where a plurality of pages are present, the second adsorbing portion 2504 may be provided in plural, so that force can be applied to the pages in a wider range at the time of separation, thereby better separating the pages, and damage to the paper or the like by a single point of application can be prevented.

In the case where the sheets to be scanned include different sizes, in order to be able to separate the pages better, it is preferable to be able to judge the size of the sheets. In general, the sheet includes sheets of A5, A4, A3, and other sizes, in which case, in order to determine the size of the sheet, a plurality of detecting portions may be provided, and the size of the sheet may be detected by the plurality of detecting portions.

Specifically, for example, three detection sections, that is, a first detection section, a second detection section, and a third detection section may be provided, and the A5 sheet, A4 sheet, and A3 sheet widths are L1, L2, and L3, respectively, in which case the first detection section may be provided to be smaller than L1 from one side of the mounting section 3011, so that even the A5 sheet of the smallest size can be detected by the first detection section.

Further, the second detecting portion may be provided to be larger than L1 and smaller than L2 from the side of the mounting portion 3011, and thus, the second detecting portion can detect A4-size sheets in combination with the first detecting portion because the first detecting portion can detect a plurality of sheets and the second detecting portion can detect a single sheet in the case where A5 sheets and A4 sheets are stacked together.

In addition, the third detecting portion may be provided to be greater than L2 and less than L3 from the side of the mounting portion 3011, and thus, the third detecting portion in combination with the second detecting portion may detect A3-sized sheets, because when A4 sheets and A3 sheets are stacked together, the second detecting portion may detect a plurality of sheets, and the third detecting portion may detect a single sheet.

By thus providing a plurality of detecting portions, for example, in the case where the presence of a plurality of sizes of paper is detected, only the suction cup in a smaller size range is turned on, thereby avoiding noise or the like caused by suction of the suction cup.

That is, in a specific implementation manner of the embodiment of the present disclosure, the handling device mechanical arm 13 is further provided with a single-double-page detection device and a separation device, where the separation device is configured to separate a plurality of scan objects when the single-double-page detection device detects that the plurality of scan objects exist.

In addition, the separating apparatus includes a first adsorbing portion 3022 and a second adsorbing portion 2504, wherein the first adsorbing portion 3022 is configured to adsorb the scan object 11 to convey the scan object between the scan object pretreatment area 101, the scan area 102, and the scan object placement area 103, and the second adsorbing portion 2504 is configured to separate the plurality of scan objects when the presence of the plurality of scan objects 11 is detected.

In addition, a first part of the single/double page detection device is arranged at the first adsorption part, a second part of the single/double page detection device is arranged at the second adsorption part, and the single/double page detection device detects whether a plurality of scanning objects exist according to signals between the first part and the second part.

Next, referring to fig. 7, the scan area 102 is described. The scanning zone 102 includes a scanning placement stage 15 and a scanning camera, not shown.

The scan placement stage 15 includes a lower transparent stage 15-1 and an upper transparent stage 15-2, the lower transparent stage 15-1 being movable up and down, and the upper transparent stage 15-2 being movable away from the lower transparent stage 15-1. Specifically, for example, the lower transparent stage 15-1 may be moved up and down by a screw-driven lifting mechanism, and the upper transparent stage 15-2 may be moved away from the lower transparent stage 15-1 by a slide rail to be moved along the slide rail.

The scanning camera is configured to image the scanning object through the lower transparent stage 15-1 and the upper transparent stage 15-2.

In the imaging process, the scanning object 11 is first placed on the lower transparent stage 15-1, then the upper transparent stage 15-2 is moved over the lower transparent stage 15-1, at this time, the lower transparent stage 15-1 is moved upward to press the scanning object 11 between the lower transparent stage 15-1 and the lower transparent stage 15-1, so that clear imaging is achieved.

In addition, in a specific implementation of the embodiment of the present disclosure, assuming that a process in which the scan object handling apparatus 104 handles the scan object 11 from the scan object pretreatment area 101 to the scan area 102 is a first handle process and a process in which the scan object handling apparatus 104 handles the scan object 11 from the scan area 102 to the scan object placement area 103 is a second handle process, one of the first handle process and the second handle process causes the scan object to be flipped.

Specifically, for scan pages that exist in order, for example, they are initially placed in the scan object preprocessing area 101 in the order of 1-2-3-4, and if they are not flipped, the scanned scan objects will be disturbed, resulting in additional workload. In this case, for example, the scan object 11 may be conveyed to the left in the first conveying process so that the scan object is turned over, and the scan object 11 may be conveyed to the right in the second conveying process so that the scan object is ensured not to be turned over, alternatively, the scan object 11 may be conveyed to the right in the first conveying process so that the scan object is not turned over, and the scan object 11 may be conveyed to the left in the second conveying process so that the scan object is ensured to be turned over, thereby achieving a turning effect as a whole, facilitating the improvement of the overall scanning efficiency.

The foregoing is merely specific embodiments of the disclosure, but the protection scope of the disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the disclosure are intended to be covered by the protection scope of the disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A scanning robot for a loose page is characterized by comprising a scanning object pretreatment area, a scanning object placement area and a scanning object conveying device, wherein

The scanning object placing area is used for placing the scanning object conveyed from the scanning area through the scanning object conveying device; wherein the method comprises the steps of

The scan object pretreatment area includes:

A tray for placing a scan object; and

The moving table comprises a sliding rail, a reciprocating table arranged on the sliding rail and a lifting mechanism arranged on the reciprocating table; wherein the method comprises the steps of

The reciprocating table is driven to reciprocate along the slide rail;

The lifting mechanism can enable the tray to incline along a fixed direction; and

The tray is arranged on the lifting mechanism;

the lifting mechanism comprises a first lifting mechanism and a second lifting mechanism, wherein the lifting stroke of the second lifting mechanism is larger than that of the first lifting mechanism;

A process of performing an alignment process on the scan object to be scanned, including:

the first lifting mechanism and the second lifting mechanism are driven to enable the tray to do lifting motion, wherein the driving quantity of the second lifting mechanism is larger than that of the first lifting mechanism so that the tray is inclined along a fixed direction;

The reciprocating table is driven to reciprocate along the slide rail; and

Adjusting at least one of the first and second lifting mechanisms to bring the tray to a horizontal state;

The scan object handling apparatus includes a handling apparatus moving rail and a handling apparatus robot that moves along the handling apparatus moving rail to handle the scan object between the scan object pretreatment area, the scan area, and the scan object placement area,

2. The scanning robot for a leaflet of claim 1, wherein the scanning zone comprises a scanning placement stage and a scanning camera, wherein

The scanning placement table comprises a lower transparent carrying table and an upper transparent carrying table, wherein the lower transparent carrying table can move up and down to match with the upper transparent carrying table to flatten the scanning object, and the upper transparent carrying table can move away from the lower transparent carrying table; and

3. The scan robot for a loose page according to claim 1, wherein it is assumed that a process in which the scan object handling apparatus handles a scan object from the scan object pretreatment area to the scan area is a first handling process, and a process in which the scan object handling apparatus handles a scan object from the scan area to the scan object placement area is a second handling process, one of the first handling process and the second handling process causing the scan object to be flipped.

4. The scan robot for a loose sheet according to claim 1, wherein the scan object handling apparatus comprises:

5. The scanning robot for a loose sheet according to claim 4, wherein the detecting section includes a first detecting section, a second detecting section, and a third detecting section, and the A5 sheet, the A4 sheet, and the A3 sheet are made to have widths of L1, L2, and L3, respectively, the first detecting section is at a distance of less than L1 from the mounting section side, the second detecting section is at a distance of more than L1 and less than L2 from the mounting section side, and the third detecting section is at a distance of more than L2 and less than L3 from the mounting section side.