CN106596583B - Quality assessment of books robot and control method based on cross mechanical arm - Google Patents
Quality assessment of books robot and control method based on cross mechanical arm Download PDFInfo
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- CN106596583B CN106596583B CN201611034395.2A CN201611034395A CN106596583B CN 106596583 B CN106596583 B CN 106596583B CN 201611034395 A CN201611034395 A CN 201611034395A CN 106596583 B CN106596583 B CN 106596583B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
- G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
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Abstract
The invention belongs to automatic control technology fields, provide a kind of quality assessment of books robot and control method based on cross mechanical arm, including books monitor station, mechanical arm erecting bed, supporting baffle, display station and Image Acquisition panel；The display station left surface is equipped with display screen, infrared distance sensor and camera, and described image acquisition panel lower surface is equipped with video camera, is equipped with robotic arm on the robotic arm erecting bed；The robotic arm includes pedestal, and the pedestal is equipped with the support arm vertical with pedestal, and the support arm top is equipped with the cursor vertical with support arm, and the cursor can be rotated around support arm, and the cursor includes orthogonal first arm and the second arm.The present invention can automatic page turning, automatic camera, book quality test and assess and fix a price to books by the relevant information of acquired book image.
Description
Technical field
The invention belongs to automatic control technology fields, and in particular to the quality assessment of books machine based on cross mechanical arm
People and control method
Background technique
With the development of society, the knowledge quantity of the mankind is increasing, the books manufactured every year are also more and more, a book by
Multipage paper is bound, and paper is manufactured by timber, and books are most important paper consumption approach.Modern society is big
Power promotion is environmentally protective, economizes on resources, and the felling that saving paper can reduce papermaking, reduce trees can be conserved forests, be protected
Retaining ring border.
China possesses several ten million students, and textbook that student uses, instruction after class book are often intact in graduation
It is lossless, also possess in our common resident masses' hands largely seen not needing seeing again, it is busy see or be not desired to see it is complete
Good books and magazines, putting land occupation side at home also becomes burden.It environmentally friendly, energy saving, resource-sharing and develops a circular economy and is
At present the developing direction that our societies are advocated, then the second-hand book market of many " stall with goods spread out on the ground for sale " formulas, entity second-hand bookstores, online two write in one's own hand
It comes into being in shop.
Two personal letters be recycling as we oneself and society all brings benefit, but also bring puzzlement, Mai Zhuke
At will to fix a price by self hobby, ununified standard is come the quality for second-hand book of testing and assessing, also just ununified mark
Standard is fixed a price to second-hand book.
Summary of the invention
Deficiency in view of the above problems, the present invention provides based on cross mechanical arm quality assessment of books robot and
Control method, can automatic page turning, automatic camera, book quality is surveyed by the relevant information of acquired book image
It comments and fixes a price to books.
To achieve the above object, the present invention is based on the quality assessment of books robots of cross mechanical arm, including books to examine
Scaffold tower, books monitor station rear, which is equipped with, is in conplane mechanical arm erecting bed, the books inspection with books monitor station
It is equipped with the supporting baffle perpendicular to books monitor station on the left of scaffold tower, is equipped on the right side of the figure monitor station perpendicular to books monitor station
Display station, the display station top are connected with the Image Acquisition panel right above books monitor station；
The display station is equipped with display screen, infrared distance sensor and camera in face of supporting baffle on one side, described
Image Acquisition panel lower surface is equipped with video camera, is equipped with robotic arm on the robotic arm erecting bed, the display screen, infrared
Distance measuring sensor, camera, video camera and robotic arm are electrically connected with the controller being set in display station respectively；
The robotic arm includes pedestal, and the pedestal is equipped with the support arm vertical with pedestal, and the support arm top is set
There is the cursor vertical with support arm, the cursor can be rotated around support arm, and the cursor includes orthogonal first
Arm and the second arm.
Preferably, the base upper surface is equipped with the oblong openings for being used to support arm translation, is equipped with and drives in the pedestal
The first driving mechanism that dynamic support arm is translatable along axis S1, first driving mechanism includes first motor, same with first motor
Axis rotation first gear and perpendicular to first motor output shaft extending direction and be fixedly connected with support arm first translation
Axis, first translation shaft are parallel to the direction axis S1 and are equipped with the translation tooth being mutually twisted with first gear, the first motor
The first translation shaft is imparted power to by first gear and drives support arm along axis S1 direction translational by the first translation shaft；
Be equipped with the second driving mechanism in the support arm, second driving mechanism include the second motor and with the second motor
The second motor output shaft rotated coaxially, the second motor output shaft pass through the first arm and the second arm and consolidate with the first arm and the second arm
Fixed connection, second motor drive the first arm and the second arm to rotate around support arm by the second motor output shaft；
Third driving mechanism is equipped in first arm, the third driving mechanism includes third motor and third motor
The third gear rotated coaxially and the third translation shaft perpendicular to third motor output shaft extending direction, the third translation shaft
The translation tooth being mutually twisted with third gear is equipped with along the direction axis S3, the third motor is transmitted power by third gear
To third translation shaft and make it along axis S3 direction translational；
The 4th driving mechanism is equipped in second arm, the 4th driving mechanism includes the 4th motor and the 4th motor
The 4th gear rotated coaxially and the 4th translation shaft perpendicular to the 4th motor output shaft extending direction, the 4th translation shaft
The translation tooth being mutually twisted with the 4th gear is equipped with along the direction axis S4, the 4th motor is transmitted power by the 4th gear
To the 4th translation shaft and make it along axis S4 direction translational.
Preferably, the third translation shaft both ends in first arm are equipped with flipbook blade a1 and flipbook blade a2, and described the
Siping City's end shaft in two arms is equipped with flipbook blade b1 and flipbook blade b2.
Preferably, it is for circle that described flipbook blade a1, a2, b1 and b2, which are in sustained height and each flipbook blade end,
Arc, plane where each flipbook blade and books detection platform are in 60 ° of angles.
Preferably, the supporting baffle right, books monitor station and robotic arm erecting bed intersection are equipped with perpendicular to books
The positioning baffle of monitor station.
Preferably, the supporting baffle is equipped with close to the side of robotic arm and is used for the movable groove of flipbook blade, the branch
Spacer plate right side and books detection platform are in 60 ° of angles.
The control method of quality assessment of books robot based on cross mechanical arm:
Step 1: by books by spine downward, front cover books monitor station is placed in a manner of leaning against supporting baffle right side
On, after infrared distance sensor detects books, book quality assesses robot automatically and starts assessment work, camera shooting figure
Cover after book, and cover image after books is sent to remote server；
Step 2: robotic arm is inserted into books by different flipbook blades and is moved right to realize lasting flip；
Step 3: mechanical arm stirs during books page and books front cover in video camera and camera shooting books, obtains
Page image and books front cover image in books are taken, and is sent to remote server；
Step 4: the ISBN code and figure of books are obtained by image recognition technology according to cover image after the books of acquisition
The relevant information of book, according to page image in the book cover image and books of acquisition and the original corresponding figure of remote server
Book image information compares, to realize the assessment to book quality and fix a price to books.
Step 5: display screen shows the relevant information and price price of books.
Preferably, the specific steps of the step 2 are as follows:
Step 21: the intersecting lens of default supporting baffle right side and books detection platform is S, and flipbook blade a1 prolongs positioned at S
The surface of long line, support arm are moved to the left L0, then flipbook blade a1 is moved to the left therewith, cover edge after face books；
Step 22: support arm is moved to the left X,
Flipbook blade a1It travels forward, then flipbook blade a1It is inserted into books,
Cursor rotates clockwise, then flipbook blade a1It turns right and flips therewith,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade b1 face books；
Step 23: support arm is moved to the left X,
Flipbook blade b1It travels forward, then flipbook blade b1It is inserted into books,
Cursor rotates clockwise, then flipbook blade b1It turns right and flips therewith,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade a2 face books；
Step 24: support arm is moved to the left X,
Flipbook blade a2 travels forward, then flipbook blade a2 is inserted into books,
Cursor rotates clockwise, then flipbook blade a2 turns right therewith flips,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade b2 face books；
Step 25: support arm is moved to the left X,
Flipbook blade b2It travels forward, then flipbook blade b2It is inserted into books,
Cursor rotates clockwise, then flipbook blade b2It turns right and flips therewith,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade a1 face books；
Back to step 22.
Preferably, presetting flipbook blade a1 away from books monitor station vertical range is H, and supporting baffle right side and books detect
Table top is in 60 ° of angles, measures books according to the infrared distance sensor of step 1 with a thickness of h, support arm is moved to the left L0Make flipbook
After blade alignment books when cover edge, the moving distance of support arm:
The mobile total distance of support arm is L during default flipbook1, by can be calculated,
Default flipbook n times, n pages of image of random shooting, then the mobile distance of each support arm is X, then L1=nX；Then
The assessment of the book quality includes the assessment of books newness degree, books incompleteness degree and books tidiness.
It is by above scheme it is found that provided by the invention based on the quality assessment of books robot of cross mechanical arm and control
Method realizes the function of automatic page turning by cross Book turning frame, is acquired in book cover and books by video camera and camera
The pertinent image information of page, tests and assesses to book quality according to the relevant information of acquired books, and then realizes to books
Price.
Detailed description of the invention
It, below will be in specific embodiment or description of the prior art in order to illustrate more clearly of technical solution of the present invention
Required attached drawing is briefly described.In all the appended drawings, similar element or part are generally by similar attached drawing mark
Note mark.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is the Facad structure figure of the present embodiment；
Fig. 2 is the Facad structure figure of the present embodiment during flipbook；
Fig. 3 is the left view structure chart of the present embodiment；
Fig. 4 is the structure chart of robotic arm in the present embodiment；
Fig. 5 is the connection structure diagram of support arm and the first translation shaft in the present embodiment；
Fig. 6 is third driving mechanism part-structure figure in the present embodiment；
Fig. 7 is the 4th driving mechanism part-structure figure in the present embodiment；
Fig. 8 is the calculating schematic diagram of the first translation shaft moving distance in the present embodiment.
Appended drawing reference:
1- books monitor station, 2- robotic arm erecting bed, 3- supporting baffle, 4- display station, 5- Image Acquisition panel, 6- control
Device, 7- infrared distance sensor, 8- camera, 9- display screen, 10- robotic arm, 11- video camera, 12- positioning baffle, the bottom 101-
Seat, 102- support arm, the first arm of 103-, the second arm of 104-, the first translation shaft of 105-, the second motor output shaft of 106-, 107-
Three translation shafts, the 4th translation shaft of 108-, 109- flipbook blade
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing.Following embodiment is only used for clearer
Ground illustrates product of the invention, therefore is intended only as example, and not intended to limit the protection scope of the present invention.
Embodiment:
As shown in FIG. 1 to FIG. 8, the present invention provides a kind of quality assessment of books robot based on cross mechanical arm,
Including books monitor station 1,1 rear of books monitor station, which is equipped with, is in the installation of conplane mechanical arm with books monitor station 1
Platform is equipped with the supporting baffle 3 perpendicular to books monitor station 1 on the left of the books monitor station 1, is equipped with and hangs down on the right side of the figure monitor station
The Image Acquisition being directly connected with above the display station 4 of books monitor station 1, the display station 4 right above books monitor station 1
Panel 5；
The display station 4 is equipped with display screen 9, infrared distance sensor 7 and camera 8 in face of supporting baffle 3 on one side,
Described image acquisition 5 lower surface of panel is equipped with video camera 11, is equipped with robotic arm 10, institute on 10 erecting bed 2 of robotic arm
State display screen 9, infrared distance sensor 7, camera 8, video camera 11 and robotic arm 10 respectively with the control that is set in display station 4
Device 6 processed is electrically connected；
Controller 6 has wireless transmission mould for handling relevant data and image information in the present embodiment in controller 6
Block, for being communicated with remote server；Video camera 11, camera 8 and infrared distance sensor 7 are information collecting device,
For shooting page image in book cover image and books, infrared distance sensor 7, which is used to detect, is for video camera 11 and camera 8
The no thickness for having book and measuring books；Robotic arm 10 is flipbook device, is used for automatic page turning.
As shown in figure 4, the robotic arm 10 includes pedestal 101, the pedestal 101 is equipped with the branch vertical with pedestal 101
Brace 102,102 top of support arm are equipped with the cursor vertical with support arm 102, and the cursor can be around support arm 102
Rotation, the cursor includes orthogonal first arm 103 and the second arm 104.
101 upper surface of pedestal is equipped with the oblong openings for being used to support the translation of arm 102, as shown in figure 5, the pedestal
The first driving mechanism that driving support arm 102 is translatable along axis S1 is equipped in 101, first driving mechanism includes the first electricity
Machine, the first gear rotated coaxially with first motor and perpendicular to first motor output shaft extending direction and with support arm 102
The first translation shaft 105 being fixedly connected, first translation shaft 105 be parallel to the direction axis S1 be equipped with mutually twisted with first gear
The translation tooth of conjunction, the first motor impart power to the first translation shaft 105 by first gear and pass through the first translation shaft
105 drive support arm 102 along axis S1 direction translational；
It is equipped with the second driving mechanism in the support arm 102, second driving mechanism includes the second motor and with second
Second motor output shaft 106 of motor coaxle rotation, the second motor output shaft 106 pass through the first arm 103 and the second arm 104 and with
First arm 103 is fixedly connected with the second arm 104, and second motor drives 103 He of the first arm by the second motor output shaft 106
Second arm 104 is rotated around support arm 102；
Third driving mechanism is equipped in first arm 103, the third driving mechanism includes third motor and third electricity
The third gear that machine rotates coaxially and the third translation shaft 107 perpendicular to third motor output shaft extending direction, the third
Translation shaft 107 is equipped with the translation tooth being mutually twisted with third gear along the direction axis S3, and the third motor passes through third gear
It imparts power to third translation shaft 107 and makes it along axis S3 direction translational；
The 4th driving mechanism is equipped in second arm 104, the 4th driving mechanism includes the 4th motor and the 4th electricity
The 4th gear that machine rotates coaxially and the 4th translation shaft 108 perpendicular to the 4th motor output shaft extending direction, the described 4th
Translation shaft 108 is equipped with the translation tooth being mutually twisted with the 4th gear along the direction axis S4, and the 4th motor passes through the 4th gear
It imparts power to the 4th translation shaft 108 and makes it along axis S4 direction translational.
As shown in Figure 6, Figure 7,107 both ends of third translation shaft in first arm 103 are equipped with flipbook blade a1 and flipbook
Blade a2,108 both ends of the 4th translation shaft in second arm 104 are equipped with flipbook blade b1 and flipbook blade b2.Flipbook blade
109 for being inserted into books and flipping, and quickly flips equipped with multiple flipbook blades 109.
As shown in Figure 1, the supporting baffle 3 is close to the side of robotic arm 10 equipped with movable recessed for flipbook blade 109
Slot, 3 right side of supporting baffle and 1 face of books monitor station are in 60 ° of angles.When flipbook blade 109 turns over the last page of books,
Supporting baffle 3 may be touched by travelling forward, and then can interfere the work of flipbook blade 109, so supporting baffle 3 is equipped with one
For the movable groove of flipbook blade 109.Flipbook blade 109 flips for convenience in the present embodiment, puts books setting
Set, by books by spine downward, front cover be placed on books monitor station 1 in a manner of leaning against 3 right side of supporting baffle, in order to allow
Books setting placement is steady, does not slide, and 3 right side of supporting baffle and 1 face of books monitor station are in 60 ° of angles.
It is for circular arc that described flipbook blade a1, a2, b1 and b2, which are in sustained height and each 109 end of flipbook blade,
Shape, each 109 place plane of flipbook blade and 1 face of books monitor station are in 60 ° of angles.The end of each flipbook blade 109 is
It is arc-shaped, it is the edge corner angle damage page of flipbook blade 109 in order to prevent.3 right side of supporting baffle and 1 face of books monitor station
Then with books monitor station 1 be also in 60 ° of angles when books are placed in 60 ° of angles, be arranged each 109 place plane of flipbook blade with
1 face of books monitor station is in 60 ° of angles, and flipbook blade 109 is parallel to books page when being for flipbook, is preferably inserted into books and carries out
Page turning.
3 right of supporting baffle, books monitor station 1 and 10 erecting bed of robotic arm, 2 intersection are equipped with to be examined perpendicular to books
The positioning baffle 12 of scaffold tower 1.Positioning baffle 12 is used to determine the front-rear position that books are erect when placing, and books excessively lean on when placing
Nearly robotic arm 10 can interfere flipbook blade 109 to work, and too far away from robotic arm 10, then flipbook blade 109 can not be connect when books are placed
Touch books.
The control method of quality assessment of books robot based on cross mechanical arm:
Step 1: by books by spine downward, front cover be placed in a manner of leaning against 3 right side of supporting baffle books detection
On platform 1, after infrared distance sensor 7 detects books, book quality assesses robot automatically and starts assessment work, camera 8
Cover after shooting books, and cover image after books is sent to remote server；
Step 2: robotic arm 10 is inserted into books by different flipbook blades 109 and is moved right to realize lasting stir
Page；
Step 3: mechanical arm stirs video camera 11 and camera 8 during books and shoots in books to be sealed before page and books
Face obtains page image and books front cover image in books, and is sent to remote server；
Step 4: the ISBN code and figure of books are obtained by image recognition technology according to cover image after the books of acquisition
The relevant information of book, according to page image in the book cover image and books of acquisition and the original corresponding figure of remote server
Book image information compares, to realize the assessment to book quality and fix a price to books.
Step 5: display screen 9 shows the relevant information and price price of books.
The specific steps of the step 2 are as follows:
Step 21: the intersecting lens in default 3 right side of supporting baffle and 1 face of books monitor station is S, and flipbook blade a1 is located at S
The surface of extended line, support arm 102 are moved to the left L0, then flipbook blade a1 is moved to the left therewith, cover side after face books
Edge；
Step 22: support arm 102 is moved to the left X,
Flipbook blade a1It travels forward, then flipbook blade a1It is inserted into books,
Cursor rotates clockwise, then flipbook blade a1It turns right and flips therewith,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade b1 face books；
Step 23: support arm 102 is moved to the left X,
Flipbook blade b1It travels forward, then flipbook blade b1It is inserted into books,
Cursor rotates clockwise, then flipbook blade b1It turns right and flips therewith,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade a2 face books；
Step 24: support arm 102 is moved to the left X,
Flipbook blade a2 travels forward, then flipbook blade a2 is inserted into books,
Cursor rotates clockwise, then flipbook blade a2 turns right therewith flips,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade b2 face books；
Step 25: support arm 102 is moved to the left X,
Flipbook blade b2It travels forward, then flipbook blade b2It is inserted into books,
Cursor rotates clockwise, then flipbook blade b2It turns right and flips therewith,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade a1 face books；
Back to step 22.
As shown in figure 8, default flipbook blade a1 is H, 3 right side of supporting baffle and figure away from 1 vertical range of books monitor station
1 face of book monitor station is in 60 ° of angles, measures books according to the infrared distance sensor 7 of step 1 with a thickness of h, support arm 102 is to the left
Mobile L0After so that flipbook blade 109 is directed at books when cover edge, the moving distance of support arm 102:
The mobile total distance of support arm 102 is L during default flipbook1, by can be calculated,
Default flipbook n times, n pages of image of random shooting, then the mobile distance of each support arm 102 is X, then L1=nX；Then
In the present embodiment, under books placement status, the image information of cover after books is obtained by camera 8, books turn over
After the completion of readding, the image information of books front cover, during books stir, video camera 11 and camera are obtained by video camera 11
Page is random in books captured by 8, embodies the randomness of page image in detection books, is believed by the book image of acquisition
Breath carries out assessment to book quality and fixes a price to books.
The assessment of the book quality includes the assessment of books newness degree, books incompleteness degree and books tidiness.Root
The relevant information of books, such as the title of books, author, number of pages, publication time are obtained according to ISB code, according to the bibliogony time
Come the newness degree for books of testing and assessing, the time-Publication Year of bibliogony year=now, second-hand book newness degree discount rate
For α；
According to page image in book external appearances image and books come the residual defect degree of books of testing and assessing and books tidiness, pass through figure
As identification technology, the identification to paper edge and the identification to stain can obtain the original area of a paper, incomplete area
With the area of stain, the discount rate by incomplete degree and tidiness that whole second-hand book is calculated is β；
It is orientated according to market value, as before is also intended to have a greatly reduced quality even if second-hand article is brand-new, if books is second-hand
Discount rate is θ.
The present price of books is set as A, the original cost of books is A0, then books present price:
A=α × β × θ × A0, wherein α is newness degree discount rate, and β is damaged degree and tidiness discount rate, θ bis-
Hand discount rate.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it is still
Technical solution documented by foregoing embodiments is modified, or is equally replaced to some or all of the technical features
It changes；And these are modified or replaceed, the model for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
It encloses, should all cover within the scope of the claims and the description of the invention.
Claims (9)
1. the quality assessment of books robot based on cross mechanical arm, it is characterised in that: including books monitor station, the books
Monitor station rear, which is equipped with, is in conplane mechanical arm erecting bed with books monitor station, is equipped with and hangs down on the left of the books monitor station
The display station perpendicular to books monitor station is directly equipped on the right side of the supporting baffle of books monitor station, the books monitor station, it is described
The Image Acquisition panel being connected with above display station right above books monitor station；
The display station is equipped with display screen, infrared distance sensor and camera, described image in face of supporting baffle on one side
Acquisition panel lower surface is equipped with video camera, and robotic arm, the display screen, infrared distance measurement are equipped on the robotic arm erecting bed
Sensor, camera, video camera and robotic arm are electrically connected with the controller being set in display station respectively；
The robotic arm includes pedestal, the pedestal be equipped with the support arm vertical with pedestal, the support arm top be equipped with
The vertical cursor of support arm, the cursor can be rotated around support arm, the cursor include orthogonal first arm and
Second arm；
The base upper surface is equipped with the oblong openings for being used to support arm translation, and driving support arm is equipped in the pedestal along axis
First driving mechanism of line S1 translation, first driving mechanism includes first motor, rotated coaxially with first motor the
One gear and perpendicular to first motor output shaft extending direction and the first translation shaft for being fixedly connected with support arm, described first is flat
Moving axis is parallel to the direction axis S1 and is equipped with the translation tooth being mutually twisted with first gear, and the first motor will by first gear
Power passes to the first translation shaft and drives support arm along axis S1 direction translational by the first translation shaft；
Be equipped with the second driving mechanism in the support arm, second driving mechanism include the second motor and with the second motor coaxle
Second motor output shaft of rotation, the second motor output shaft, which passes through the first arm and the second arm and fixes with the first arm and the second arm, to be connected
It connects, second motor drives the first arm and the second arm to rotate around support arm by the second motor output shaft；
Third driving mechanism is equipped in first arm, the third driving mechanism includes third motor and third motor coaxle
The third gear of rotation and third translation shaft perpendicular to third motor output shaft extending direction, the third translation shaft is along axis
The direction line S3 is equipped with the translation tooth that is mutually twisted with third gear, and the third motor imparts power to the by third gear
Three translation shafts simultaneously make it along axis S3 direction translational；
The 4th driving mechanism is equipped in second arm, the 4th driving mechanism includes the 4th motor and the 4th motor coaxle
The 4th gear rotated and the 4th translation shaft perpendicular to the 4th motor output shaft extending direction, the 4th translation shaft is along axis
The direction line S4 is equipped with the translation tooth that is mutually twisted with the 4th gear, and the 4th motor imparts power to the by the 4th gear
Four translation shafts simultaneously make it along axis S4 direction translational.
2. the quality assessment of books robot according to claim 1 based on cross mechanical arm, it is characterised in that: described
Third translation shaft both ends in first arm are equipped with flipbook blade a1 and flipbook blade a2, the 4th translation shaft two in second arm
End is equipped with flipbook blade b1 and flipbook blade b2.
3. the quality assessment of books robot according to claim 2 based on cross mechanical arm, it is characterised in that: described
Flipbook blade a1, a2, b1 and b2 are in sustained height and each flipbook blade end is each flipbook blade institute to be arc-shaped
It is in 60 ° of angles in plane and books detection platform.
4. the quality assessment of books robot according to claim 1 based on cross mechanical arm, it is characterised in that: described
Supporting baffle right, books monitor station and robotic arm erecting bed intersection are equipped with the positioning baffle perpendicular to books monitor station.
5. the quality assessment of books robot according to claim 1 based on cross mechanical arm, it is characterised in that: described
Supporting baffle is equipped with close to the side of robotic arm is used for the movable groove of flipbook blade, and the supporting baffle right side and books are examined
Scaffold tower face is in 60 ° of angles.
6. the control method of the quality assessment of books robot based on cross mechanical arm as described in claim 1, feature
It is:
Step 1: by books by spine downward, front cover be placed in a manner of leaning against supporting baffle right side on books monitor station,
After infrared distance sensor detects books, book quality assesses robot automatically and starts assessment work, and camera shoots books
Cover afterwards, and cover image after books is sent to remote server；
Step 2: robotic arm is inserted into books by different flipbook blades and is moved right to realize lasting flip；
Step 3: mechanical arm stirs during books page and books front cover in video camera and camera shooting books, obtains figure
Page image and books front cover image in book, and it is sent to remote server；
Step 4: according to cover image after the books of acquisition, by image recognition technology, obtaining the ISBN code and books of books
Relevant information, according to page image in the book cover image and books of acquisition and the original corresponding books figure of remote server
As information compares, to realize the assessment to book quality and fix a price to books；
Step 5: display screen shows the relevant information and price price of books.
7. the control method of the quality assessment of books robot according to claim 6 based on cross mechanical arm, special
Sign is: the specific steps of the step 2 are as follows:
Step 21: the intersecting lens of default supporting baffle right side and books detection platform is S, and flipbook blade a1 is located at S extended line
Surface, support arm is moved to the left L0, then flipbook blade a1 is moved to the left therewith, cover edge after face books；
Step 22: support arm is moved to the left X,
Flipbook blade a1It travels forward, then flipbook blade a1It is inserted into books,
Cursor rotates clockwise, then flipbook blade a1It turns right and flips therewith,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade b1 face books；
Step 23: support arm is moved to the left X,
Flipbook blade b1It travels forward, then flipbook blade b1It is inserted into books,
Cursor rotates clockwise, then flipbook blade b1It turns right and flips therewith,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade a2 face books；
Step 24: support arm is moved to the left X,
Flipbook blade a2 travels forward, then flipbook blade a2 is inserted into books,
Cursor rotates clockwise, then flipbook blade a2 turns right therewith flips,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade b2 face books；
Step 25: support arm is moved to the left X,
Flipbook blade b2It travels forward, then flipbook blade b2It is inserted into books,
Cursor rotates clockwise, then flipbook blade b2It turns right and flips therewith,
Cursor, which is rotated by 90 °, to stop rotating, at this time flipbook blade a1 face books；
Back to step 22.
8. the control method of the quality assessment of books robot according to claim 6 based on cross mechanical arm, special
Sign is: default flipbook blade a1 is H away from books monitor station vertical range, and supporting baffle right side is in books detection platform
60 ° of angles measure books according to the infrared distance sensor of step 1 with a thickness of h, and support arm is moved to the left L0Make flipbook blade pair
After quasi- books when cover edge, the moving distance of support arm:
The mobile total distance of support arm is L during default flipbook1, by can be calculated,
Default flipbook n times, n pages of image of random shooting, then the mobile distance of each support arm is X, then L1=nX；Then
9. the control method of the quality assessment of books robot according to claim 6 based on cross mechanical arm, special
Sign is: the assessment of the book quality includes the assessment of books newness degree, books incompleteness degree and books tidiness.
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