CN106113982A - A kind of page page turning catching robot - Google Patents
A kind of page page turning catching robot Download PDFInfo
- Publication number
- CN106113982A CN106113982A CN201610706269.0A CN201610706269A CN106113982A CN 106113982 A CN106113982 A CN 106113982A CN 201610706269 A CN201610706269 A CN 201610706269A CN 106113982 A CN106113982 A CN 106113982A
- Authority
- CN
- China
- Prior art keywords
- page
- crossbeam
- page turning
- vacuum
- catching robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B42—BOOKBINDING; ALBUMS; FILES; SPECIAL PRINTED MATTER
- B42D—BOOKS; BOOK COVERS; LOOSE LEAVES; PRINTED MATTER CHARACTERISED BY IDENTIFICATION OR SECURITY FEATURES; PRINTED MATTER OF SPECIAL FORMAT OR STYLE NOT OTHERWISE PROVIDED FOR; DEVICES FOR USE THEREWITH AND NOT OTHERWISE PROVIDED FOR; MOVABLE-STRIP WRITING OR READING APPARATUS
- B42D9/00—Bookmarkers; Spot indicators; Devices for holding books open; Leaf turners
- B42D9/04—Leaf turners
Landscapes
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of page page turning catching robot, including crossbeam, several adsorbent equipments that can adsorb the page it are provided with on described crossbeam, and adsorbent equipment can synchronize to rotate along with crossbeam, crossbeam is arranged in the inner chamber of page turning arm, and the two ends of crossbeam are respectively connected with spill spin block, and spill spin block is connected with crossbeam, crossbeam axis around himself can rotate between spill spin block, and spill spin block all inwalls with page turning arm are connected；Being provided with line slideway on the inwall of page turning arm, line slideway is provided with slide block, and slide block can move along the surface of line slideway, spill spin block is fixed with corresponding slide block respectively.This mechanical hand have employed vac sorb structure and page carried out page turning, paper will not be caused damage, the most convenient and swift, improves page turning efficiency, and can recycle, and reduces use cost.
Description
Technical field
The present invention relates to a kind of crawl machinery, be specifically related to a kind of page page turning catching robot.
Background technology
Modern society develops rapidly along with the Internet, and study and the reading method of many people are gradually become by the books of papery
Become the reading of e-book, being conveniently apparent from of e-book, need not walk with heavy books with oneself, it is only necessary to one
Mobile device just can read data interested the most heartily.E-book is increasingly liked by youthful, and such as
Former books even archives are converted into e-book by what just becomes a difficult mode of comparison.It is right that present technology uses mostly
The mode that books archives are taken pictures page by page, in the face of thousands of even more this modes of books archives often seem that power is not
From the heart, occurred in that the instrument of energy automatic page turning scanning later, but there is bigger difficulty in this action of page turning always.
Damage paper with artificial low being also easy to of mode efficiency, use the mode of adhesive tape, also there will be and damage the probability of paper simultaneously
Adhesive tape can not recycle, and needs to change adhesive tape, user causes the increase of use cost.
Summary of the invention
The technical problem to be solved is that existing automatic page turning instrument is cumbersome in this action of page turning, holds
Fragile paper, it is provided that a kind of page page turning catching robot, this mechanical hand have employed vac sorb structure and enters page
Row page turning, will not cause damage to paper, the most convenient and swift, improves page turning efficiency, and can recycle, and reduction makes
Use cost.
The present invention is achieved through the following technical solutions:
A kind of page page turning catching robot, including crossbeam, described crossbeam is provided with several absorption that can adsorb the page
Device, and adsorbent equipment can along with crossbeam synchronize rotate.Present technology uses to books archives page by page mostly
The mode taken pictures, in the face of thousands of even more this modes of books archives often seem unable to do what one wishes, occurred in that later
The instrument of energy automatic page turning scanning, but there is bigger difficulty in this action of page turning always.Imitate by artificial mode
Low being also easy to of rate damages paper, uses the mode of adhesive tape, and the while of also there will be the probability damaging paper, adhesive tape can not circulate and make
With, need to change adhesive tape, user is caused the increase of use cost, and the page page turning catching robot of this programme design,
By using adsorbent equipment that the page is adsorbed so that capture firmly, and be swift in motion, paper will not be caused damage.Now
Can the instrument of automatic page turning scanning, during its flipbook be all use adhesive tape mode that the page bond to complete page turning, owing to bonding
Time discontinuity and other problem, all easily cause paper and damage, especially some books precious or of the remote past,
The material difference of its page itself or Conservation environment are poor, and page embrittlement or toughness are not enough, are easy to make when using adhesive tape bonding
Become the page to tear to shreds, cause irretrievable loss, and use the mode of absorption, be then to utilize the negative pressure produced that the page is inhaled
Attached, the page will not be produced cross shear, its stress acting surface is big, and unit are is little to the impact of the page, and use
Being flexible contact, the toughness of the page own can bear absorption stress, it is possible to protects the page, the most pollution-free, special ring
Protecting, do not pollute the environment, do not have light, heat, electromagnetism etc. produces, and therefore uses the page page turning mechanical hand of suction type will become not
Carry out main occupation mode, greatly developed.
Also including the page turning arm in Qian shape, described crossbeam is arranged in the inner chamber of page turning arm, and the two ends of crossbeam are respectively connected with
Spill spin block, and spill spin block is connected with crossbeam, crossbeam axis around himself can rotate between spill spin block, spill spin block all with
The inwall of page turning arm connects；It is provided with line slideway on the inwall of page turning arm, line slideway is provided with slide block, and slide block can
Surface along line slideway is moved, and spill spin block is fixed with corresponding slide block respectively.This programme is provided and supports by page turning arm
Parts, himself can carry out rotating thus carry out page turning work, when carrying out page turning crossbeam between spill spin block around its from
The axis of body rotates so that the center of gravity of the page climbs over its centrage, and page turning can smooth and easy be carried out.Line slideway and slide block combination shape
The guiding mechanism become is to guide cross beam movement process so that its motion track remains on the same line, prevents
Mobile jiggly phenomenon occurs, it is to avoid when causing flipbook, accurate page turning can not be carried out, by passing through to rotate by the two ends of crossbeam
Block is attached with slide block, it is possible to move along line slideway in company with slide block, thus define that absorption page turning moves steadily and
Smoothness, and the two ends of crossbeam can keep being synchronized with the movement so that all the time crossbeam is maintained at vertical with the riser of page turning arm
State.
Adsorbent equipment includes vacuum generator and vacuum cup, is provided with trachea between vacuum generator and vacuum cup,
Trachea connects with vacuum generator and vacuum cup simultaneously；Being provided with corrugated tubing on vacuum cup, corrugated tubing one end is inhaled with vacuum
Dish is fixed and connects, and the outer wall of corrugated tubing is sheathed with nut, is provided with valve at corrugated tubing away from one end of vacuum cup, and
Valve connects away from one end of vacuum generator with trachea；Sucker mounting blocks it is provided with on crossbeam, and sucker mounting blocks and crossbeam
Fixing, the corrugated tubing fixing with vacuum cup is through sucker mounting blocks, and nut contacts with sucker mounting blocks.The mode of absorption has many
Kind, use the mode of negative pressure of vacuum absorption, it is possible to make to adsorb more tight, the mode of negative-pressure adsorption simultaneously, it is possible to the page
Protecting, prevent the page from being damaged by cross shear, this programme uses the vacuum cup that multiple structures are identical,
Same the page can be adsorbed during page turning, then along with crossbeam rotates around spill spin block, thus complete to capture page turning work,
Vacuum generator is the parts producing vacuum, is carried by air-flow by trachea, and valve is to carry out accurate connection with trachea, prevents out
Now leak gas and cause negative pressure to lose efficacy, and vacuum cup is fixed on crossbeam by sucker mounting blocks, improve stability.
Adsorbent equipment includes that vacuum generator and vacuum inhale rod, is provided with trachea between vacuum generator and vacuum suction rod,
Trachea is inhaled rod with vacuum generator and vacuum simultaneously and is connected；Vacuum is inhaled rod and is arranged on crossbeam, vacuum suction rod is provided with some
The individual gentle mouth of suction pore, suction pore all connects with valve, and valve connects away from one end of vacuum generator with trachea.For
The books of some little formats, the most do not use the sucker mode that area is bigger, the general suction bar structure using band suction pore.Sucker
Usually tackle harder surface, and some paper be soft, use the suction pore in rectangular layout, it is possible to
Absorption time make paper uniform force without damaging, and be difficult to occur leakage phenomenon, adsorption effect is more preferable.
A kind of page page turning grasping means, will treat that flipbook archives are placed on and hold on book plate and be deployed in horizontal lower section,
The vacuum absorption device being arranged on crossbeam is connected by trachea and vacuum generator, crossbeam under the effect of actuating unit along
The outer wall of line slideway moves down, until vacuum absorption device contacts with page, then starts vacuum generator and starts suction, make true
Produce negative pressure in suction adsorption device, thus page is sucked, corresponding page turning action can be started, when page center of gravity climbs over it
During self centrage, smoothly inflate in vacuum absorption device, in making vacuum absorption device, become zero air pressure by negative pressure
Or the most positive air pressure, vacuum absorption device just automatically disengages page, thus completes the action of page page turning.Pass through the party
Method, it is possible to quickly realize the page turning action to page, and during page turning, page captures firmly, and page will not be caused damage
Bad, protect the safety of page, especially some precious books or books of the remote past, its page quality because the time limit or
The structural strengths such as Conservation environment are low, if using the mode of adhesive tape will produce shearing force make page corruption, negative-pressure adsorption
Mode then will not produce shearing force, but the little absorption of page unit area stress is stable, and the page will not be destroyed.
The present invention compared with prior art, has such advantages as and beneficial effect: this mechanical hand have employed vac sorb
Structure carries out page turning to page, paper will not be caused damage, the most convenient and swift, improves page turning efficiency, and can
Recycle, reduce use cost.
Accompanying drawing explanation
Accompanying drawing described herein is used for providing being further appreciated by the embodiment of the present invention, constitutes of the application
Point, it is not intended that the restriction to the embodiment of the present invention.In the accompanying drawings:
Fig. 1 is present configuration schematic diagram；
Fig. 2 is the structural representation of vacuum cup；
Fig. 3 is the structural representation of sucker mounting blocks；
Fig. 4 is the structural representation of crossbeam；
Fig. 5 is the structural representation using vacuum to inhale rod；
Fig. 6 is the structural representation that vacuum inhales rod.
The parts title of labelling and correspondence in accompanying drawing:
1-page turning arm, 2-spill spin block, 3-sucker mounting blocks, 3-1-through hole, 3-2-screwed hole, 4-crossbeam, 4-1-installing hole, 5-is true
Suction dish, 6-trachea, 7-line slideway, 8-slide block, 9-vacuum generator, 10-nut, 11-corrugated tubing, 12-valve, 13-1-
Suction pore, 13-2-screw mounting hole.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with embodiment and accompanying drawing, to this
Invention is described in further detail, and the exemplary embodiment of the present invention and explanation thereof are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment:
As shown in Figures 1 to 4, a kind of page page turning catching robot, including the page turning arm 1 in Qian shape, crossbeam 4 is arranged on page turning
In the inner chamber of arm 1, crossbeam 4 is provided with several adsorbent equipments that can adsorb the page, and adsorbent equipment can be along with crossbeam 4
Synchronization rotates, and the two ends of crossbeam 4 are respectively connected with spill spin block 2, and spill spin block 2 is connected with crossbeam 4, and crossbeam 4 can rotate
Between block 2, the axis around himself rotates, and spill spin block 2 all inwalls with page turning arm 1 are connected.The inwall of page turning arm 1 sets
It is equipped with line slideway 7, line slideway 7 is provided with slide block 8, and slide block 8 can move along the surface of line slideway 7, rotate
Block 2 is fixed with corresponding slide block 8 respectively.Page page turning machinery hand getting has used vacuum cup 5 that page is carried out page turning.Vacuum is inhaled
It is little that dish has volume, easy to use；Pollution-free, special environmental protection, do not pollute the environment, there is no light, heat, electromagnetism etc. produces；Use
Elastomeric material makes, and does not damage the feature of paper.Therefore the page page turning mechanical hand using vacuum cup will become following main
Occupation mode, greatly developed.
Vacuum cup 5 should use small volume, the suitable model of material softer hardness, and quantity can be according to the shape of books archives
Shape size is arranged.The centre of sucker mounting blocks 3 is provided with and the through hole 3-1 of corrugated tubing 11 coupling, is provided with in through hole 3-1 surrounding
Sucker mounting blocks 3 is fixed on crossbeam 4 by screwed hole 3-2.Trachea 7 and vacuum generator 9 all with vacuum cup 5 model
Join.Crossbeam 4 is provided with several for the fixing installing hole 4-1 of sucker mounting blocks 3.Vacuum cup 5 is arranged on sucker mounting blocks 3
On, pin with nut 10.Integral installation is in the installing hole 4-1 of crossbeam 4, and is screwed.Gas after vacuum cup 5
Connecting one end of upper trachea at mouth 12, trachea is fixed along crossbeam band, and the other end is connected at the QI KOU of vacuum generator.Very
Empty generator 9 can be directly placed at suitable position.
Operation principle: vacuum cup 5 is connected with vacuum generator 9 by trachea 7, then contacts with page, starts vacuum
Generator 9 aspirates, and produces negative pressure, thus is sucked by page, can start page turning in making vacuum cup 5.When page center of gravity is turned over
When crossing centrage, smoothly inflate in vacuum cup 5, in making vacuum cup 5, become zero air pressure or the most positive by negative pressure
Air pressure, vacuum cup 5 just departs from page, thus completes the action of page page turning.
Another kind as shown in Figure 5, Figure 6 realizes structure, and adsorbent equipment includes that vacuum generator 9 and vacuum inhale rod 13, very
Empty generator 9 and vacuum are inhaled and are provided with trachea 6 between rod 13, and trachea 6 is inhaled rod 13 with vacuum generator 9 and vacuum simultaneously and connected；
Vacuum is inhaled rod 13 and is arranged on crossbeam 4, and vacuum is inhaled and is provided with several suctions pore 13-1 and valve 12, suction pore on rod 13
13-1 all connects with valve 12, and valve 12 connects away from one end of vacuum generator 9 with trachea.Inhale in vacuum and be provided with on rod 13
Fixing for crossbeam 4 of screw mounting hole 13-2.General in order to look after the books of little format, the most do not use the suction that area is bigger
Dish mode, the general suction bar structure using band suction pore 13-1.Multiple suction pore 13-1 are rectangular setting, it is possible to significantly
Improve the absorption affinity to soft page, and make when multiple less contact point it also avoid single contact point generation gas pressure leak
Become the problem that whole absorption affinity lost efficacy.
This programme have employed the principle of negative pressure of vacuum absorption and page carried out page turning, will not be to paper in conjunction with stress characteristic
Cause damage, the most convenient and swift, improve page turning efficiency, and can recycle, reduce use cost.
Above-described detailed description of the invention, has been carried out the purpose of the present invention, technical scheme and beneficial effect further
Describe in detail, be it should be understood that the detailed description of the invention that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, all within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, all should comprise
Within protection scope of the present invention.
Claims (8)
1. a page page turning catching robot, it is characterised in that include that crossbeam (4), described crossbeam are provided with several on (4)
The adsorbent equipment of the page can be adsorbed, and adsorbent equipment can synchronize to rotate along with crossbeam (4).
A kind of page page turning catching robot the most according to claim 1, it is characterised in that also include the page turning in Qian shape
Arm (1), described crossbeam (4) is arranged in the inner chamber of page turning arm (1), and the two ends of crossbeam (4) are respectively connected with spill spin block (2), and rotation
Switch block (2) is connected with crossbeam (4), and crossbeam (4) can be around the axis rotation of himself, spill spin block (2) between spill spin block (2)
All inwalls with page turning arm (1) are connected.
A kind of page page turning catching robot the most according to claim 2, it is characterised in that described page turning arm (1) interior
It is provided with line slideway (7) on wall, line slideway (7) is provided with slide block (8), and slide block (8) can be along line slideway (7)
Surface move, spill spin block (2) respectively with corresponding slide block (8) fix.
A kind of page page turning catching robot the most according to claim 1, it is characterised in that described adsorbent equipment includes very
Empty generator (9) and vacuum cup (5), be provided with trachea (6), trachea (6) between vacuum generator (9) and vacuum cup (5)
Connect with vacuum generator (9) and vacuum cup (5) simultaneously.
A kind of page page turning catching robot the most according to claim 4, it is characterised in that on described vacuum cup (5)
Being provided with corrugated tubing (11), corrugated tubing (11) one end is fixing with vacuum cup (5) and connects, fit on the outer wall of corrugated tubing (11)
There is nut (10), away from one end of vacuum cup (5) valve (12) is installed at corrugated tubing (11), and valve (12) and trachea
(6) one end away from vacuum generator (9) connects.
A kind of page page turning catching robot the most according to claim 5, it is characterised in that described crossbeam (4) is upper to be arranged
Having sucker mounting blocks (3), and sucker mounting blocks (3) is fixed with crossbeam (4), the corrugated tubing (11) fixing with vacuum cup (5) is worn
Crossing sucker mounting blocks (3), nut (10) contacts with sucker mounting blocks (3).
A kind of page page turning catching robot the most according to claim 1, it is characterised in that described adsorbent equipment includes very
Empty generator (9) and vacuum inhale rod (13), are provided with trachea (6), trachea between vacuum generator (9) and vacuum suction rod (13)
(6) inhale rod (13) with vacuum generator (9) and vacuum to connect simultaneously.
A kind of page page turning catching robot the most according to claim 7, it is characterised in that described vacuum inhales rod (13) peace
Being contained on crossbeam (4), vacuum is inhaled and is provided with several suction pores (13-1) and valve (12), suction pore (13-on rod (13)
1) all connecting with valve (12), valve (12) connects away from one end of vacuum generator (9) with trachea.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610706269.0A CN106113982B (en) | 2016-08-23 | 2016-08-23 | A kind of page page turning catching robot |
| PCT/CN2016/099778 WO2018035912A1 (en) | 2016-08-23 | 2016-09-23 | Grabbing manipulator for page turning of pages of book |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610706269.0A CN106113982B (en) | 2016-08-23 | 2016-08-23 | A kind of page page turning catching robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106113982A true CN106113982A (en) | 2016-11-16 |
| CN106113982B CN106113982B (en) | 2018-02-23 |
Family
ID=57274132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610706269.0A Active CN106113982B (en) | 2016-08-23 | 2016-08-23 | A kind of page page turning catching robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106113982B (en) |
| WO (1) | WO2018035912A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108842514A (en) * | 2018-08-30 | 2018-11-20 | 华南理工大学 | A kind of leaf turner reinforced suitable for ancient books depickling enhancing |
| CN109015732A (en) * | 2018-08-07 | 2018-12-18 | 镇江成泰自动化技术有限公司 | A kind of dynamic lithium battery material catching robot |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108437651B (en) * | 2018-04-28 | 2023-05-30 | 浙江机电职业技术学院 | Automatic page turning device and page turning method thereof |
| CN108366180A (en) * | 2018-05-08 | 2018-08-03 | 无锡中育科教技术有限公司 | A kind of automatic leaf turner that paper is taken pictures |
| CN110910859B (en) * | 2019-12-02 | 2022-04-26 | 郑州师范学院 | Music score page turner for vocal music |
| CN115922765B (en) * | 2023-03-14 | 2023-05-19 | 江苏蓝电环保股份有限公司 | Lifting type auxiliary manipulator for field installation of electric dust collector |
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| CN205951538U (en) * | 2016-08-23 | 2017-02-15 | 江西伊贝基科技有限公司 | Page turns over page or leaf and snatchs manipulator |
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- 2016-09-23 WO PCT/CN2016/099778 patent/WO2018035912A1/en active Application Filing
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| JP2002225461A (en) * | 2001-01-30 | 2002-08-14 | Hitachi Ltd | Page changing device |
| CN1562642A (en) * | 2004-04-15 | 2005-01-12 | 上海交通大学 | Automatic page turning device |
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| CN203520853U (en) * | 2013-10-29 | 2014-04-02 | 重庆师范大学 | Music stand with automatic page turning function |
| CN205468024U (en) * | 2016-03-28 | 2016-08-17 | 单红梅 | Full -automatic book machine that turns over |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015732A (en) * | 2018-08-07 | 2018-12-18 | 镇江成泰自动化技术有限公司 | A kind of dynamic lithium battery material catching robot |
| CN108842514A (en) * | 2018-08-30 | 2018-11-20 | 华南理工大学 | A kind of leaf turner reinforced suitable for ancient books depickling enhancing |
| CN108842514B (en) * | 2018-08-30 | 2023-11-24 | 华南理工大学 | Page turning device suitable for reinforcing ancient book deacidification |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106113982B (en) | 2018-02-23 |
| WO2018035912A1 (en) | 2018-03-01 |
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Effective date of registration: 20201113 Address after: 277300 No.66 Yuejin Road, economic development zone, Yicheng District, Zaozhuang City, Shandong Province Patentee after: Shandong Deloitte Intelligent Equipment Co.,Ltd. Address before: No. 181, erbatou, taimuyang village, Qinyu Town, Fuding City, Ningde City, Fujian Province Patentee before: Deng Weixiao |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A mechanical arm for flipping and grasping pages of books Effective date of registration: 20230915 Granted publication date: 20180223 Pledgee: Zaozhuang rural commercial bank Limited by Share Ltd. Yicheng sub branch Pledgor: Shandong Deloitte Intelligent Equipment Co.,Ltd. Registration number: Y2023980057013 |