WO2018035912A1 - 一种书页翻页抓取机械手 - Google Patents

一种书页翻页抓取机械手 Download PDF

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Publication number
WO2018035912A1
WO2018035912A1 PCT/CN2016/099778 CN2016099778W WO2018035912A1 WO 2018035912 A1 WO2018035912 A1 WO 2018035912A1 CN 2016099778 W CN2016099778 W CN 2016099778W WO 2018035912 A1 WO2018035912 A1 WO 2018035912A1
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Prior art keywords
vacuum
page turning
page
book
suction
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PCT/CN2016/099778
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English (en)
French (fr)
Inventor
吕力
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江西伊贝基科技有限公司
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Publication of WO2018035912A1 publication Critical patent/WO2018035912A1/zh

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    • 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

Definitions

  • the invention relates to a grasping machine, in particular to a page turning and grabping robot.
  • the technical problem to be solved by the present invention is that the existing automatic flip book apparatus is troublesome in flipping the page, and is easy to damage the paper, and provides a page turning and grabping robot, and the robot adopts a vacuum adsorption structure to turn the book page.
  • the page does not damage the paper, and it is convenient and quick, which improves the turning efficiency, and can be recycled to reduce the cost of use.
  • a book page flipping gripping robot comprises a beam, the beam is provided with a plurality of adsorption devices capable of adsorbing pages, and the adsorption device can rotate synchronously with the beam.
  • Most of the current technology adopts the method of taking photos of a book file one by one. Faced with thousands or even more books and files, this method often seems to be incapable. Later, an instrument that can automatically scan a book is displayed, but the page is turned. There has always been a big difficulty in this action. The manual method is low in efficiency and easy to damage the paper. In the way of using tape, the possibility of damage to the paper may also occur.
  • the page grabbing robot absorbs the page by using the adsorption device, so that the grasping is firm and the action is rapid, and the paper surface is not damaged. Now it is able to automatically turn the book scanning instrument.
  • the page is glued to the page to complete the page turning. Due to the uneven force and other problems during bonding, the paper is easily damaged, especially some precious. Or a long-standing book, the material of the book itself is poor or the storage environment is poor, the page is brittle or the toughness is insufficient.
  • the adsorption method is Use the generated negative pressure to adsorb the page, not to the page
  • the transverse shear force is generated, the force acting surface is large, the impact per unit area on the page is small, and the flexible contact is adopted, the toughness of the page itself can withstand the adsorption stress, the page can be protected, and the pollution is not pollution, especially environmental protection, It will pollute the environment, and there will be no light, heat, electromagnetic, etc. Therefore, the page-turning manipulator with the adsorption method will become the main mode of use in the future and has been vigorously developed.
  • the utility model further comprises a flipping arm in the shape of a cross, the cross beam is arranged in the inner cavity of the flipping arm, the rotating block is connected at both ends of the cross beam, and the rotating block is connected with the cross beam, and the cross beam can surround the rotating block
  • the axis of rotation rotates, and the rotating block is connected with the inner wall of the page turning arm;
  • the inner wall of the page turning arm is provided with a linear guide rail, the slider is mounted on the linear guide rail, and the slider can move along the surface of the linear guide rail, and the rotating block respectively Fixed with the corresponding slider.
  • the page turning arm is a component that provides support for the solution, and is capable of rotating itself for page turning work.
  • the beam rotates around its own axis between the rotating blocks, so that the center of gravity of the page turns over its center line. , turning pages can be carried out smoothly.
  • the guiding mechanism formed by the combination of the linear guide and the slider guides the moving process of the beam, so that the moving track is always kept on the same straight line, preventing the phenomenon that the movement is unstable, and avoiding the fact that the book cannot be accurately turned when the book is turned over,
  • the two ends of the beam are connected to the slider through the rotating block, and can move along the linear guide along with the slider, thereby limiting the smoothness and smoothness of the movement of the absorbing page, and the two ends of the beam can maintain the synchronous movement, so that the beam is always It is kept perpendicular to the vertical plate of the flip arm.
  • the adsorption device comprises a vacuum generator and a vacuum suction cup, and a gas pipe is arranged between the vacuum generator and the vacuum suction cup, the gas pipe is simultaneously connected with the vacuum generator and the vacuum suction cup;
  • the vacuum suction cup is provided with a threaded pipe, and one end of the threaded pipe is fixed and connected with the vacuum suction cup a nut is sleeved on the outer wall of the threaded pipe, a gas nozzle is installed at one end of the threaded pipe away from the vacuum suction cup, and the gas nozzle is connected with one end of the gas pipe away from the vacuum generator;
  • a suction cup mounting block is arranged on the beam, and the suction cup mounting block and the suction cup are arranged The beam is fixed, and the threaded pipe fixed with the vacuum chuck passes through the suction cup mounting block, and the nut is in contact with the suction cup mounting block.
  • Vacuum vacuum adsorption can make the adsorption more compact, and the negative pressure adsorption method can protect the page and prevent the page from being damaged by the transverse shear force.
  • the vacuum chuck with the same structure can adsorb the same page when turning the page, and then rotates around the rotating block to complete the grasping and turning work.
  • the vacuum generator is a vacuum generating component, and the airflow is transmitted through the air pipe.
  • the gas nozzle is precisely connected with the gas pipe to prevent air leakage and cause negative pressure failure, and the vacuum suction cup is fixed on the beam through the suction cup mounting block to improve stability.
  • the adsorption device comprises a vacuum generator and a vacuum suction rod, and a gas pipe is arranged between the vacuum generator and the vacuum suction rod, and the gas pipe is simultaneously connected with the vacuum generator and the vacuum suction rod; the vacuum suction rod is mounted on the beam, and the vacuum suction rod is provided with A plurality of suction and exhaust holes and a gas nozzle are connected to the gas nozzle, and the gas nozzle is connected to an end of the gas pipe away from the vacuum generator.
  • the suction cups with larger areas are not used, and the suction rod structure with suction and exhaust holes is generally used.
  • the suction cup is generally used for a relatively hard surface, and some of the paper is soft.
  • the suction and exhaust holes arranged in a matrix shape can make the paper force uniform even when it is adsorbed, and it is not easy to leak, and the adsorption effect is not easy. better.
  • a book page flipping method placing a book file to be flipped on a book board and unfolding in a lateral direction, a vacuum adsorption device mounted on the beam is connected to the vacuum generator through a gas pipe, and the beam is in the role of a power mechanism Lower down along the outer wall of the linear guide until the vacuum adsorption device contacts the book page, then start the vacuum generator to start pumping, so that the negative pressure is generated in the vacuum adsorption device, so that the book page is sucked up, and the corresponding page turning action can be started.
  • the vacuum adsorption device When the center of gravity of the book page is turned over its own center line, it is smoothly inflated into the vacuum adsorption device, so that the vacuum adsorption device changes from negative air pressure to zero air pressure or slightly positive air pressure, and the vacuum adsorption device automatically separates from the book page, thereby completing The action of turning pages on the page.
  • the page turning action of the book page can be quickly realized, and the book page is firmly grasped when the page is turned, and the book page is not damaged, and the security of the book page is protected, especially for some precious books or old books, the quality of the book pages.
  • the shear force will cause the page to be damaged, and the negative pressure adsorption method will not produce the shearing force.
  • the unit area of the page is small but the adsorption is stable. Will be destroyed.
  • the manipulator adopts a vacuum adsorption structure to turn pages of a book page without causing damage to the paper, and is convenient and quick, improves page turning efficiency, and can Recycle and reduce the cost of use.
  • Figure 1 is a schematic structural view of the present invention
  • FIG. 2 is a schematic structural view of a vacuum chuck
  • Figure 3 is a schematic structural view of a suction cup mounting block
  • Figure 4 is a schematic structural view of a beam
  • Figure 5 is a schematic view showing the structure of a vacuum suction rod
  • Figure 6 is a schematic view showing the structure of a vacuum suction bar.
  • a book page turning grasping robot includes a flipping arm 1 in the shape of a dome, and the beam 4 is disposed in the inner cavity of the page turning arm 1, and the beam 4 is provided with a plurality of adsorption arms.
  • the adsorption device of the page, and the adsorption device can rotate synchronously with the beam 4, the rotating block 2 is connected to both ends of the beam 4, and the rotating block 2 is connected with the beam 4, and the beam 4 can be wound between the rotating blocks 2
  • the axis of rotation of itself rotates, and the rotary block 2 is connected to the inner wall of the page turning arm 1.
  • a linear guide 7 is disposed on the inner wall of the page turning arm 1, and a slider 8 is attached to the linear guide 7, and the slider 8 is movable along the surface of the linear guide 7, and the rotary block 2 is fixed to the corresponding slider 8, respectively.
  • the page flipping robot uses a vacuum chuck 5 to page the pages.
  • the vacuum chuck has small volume and convenient use; it is non-polluting, environmentally friendly, does not pollute the environment, and has no light, heat, electromagnetic, etc.; it is made of rubber material and does not damage the paper. Therefore, the page turning robot using the vacuum chuck will become the main mode of use in the future and has been vigorously developed.
  • the vacuum chuck 5 should be of a smaller size, suitable for the hardness of the material, and the number can be set according to the shape and size of the book file.
  • a through hole 3-1 matching the threaded pipe 11 is provided in the middle of the suction cup mounting block 3, and a threaded hole 3-2 is provided around the through hole 3-1 to fix the suction cup mounting block 3 to the beam 4.
  • Both the air tube 7 and the vacuum generator 9 are matched to the vacuum chuck 5 model.
  • Mounting holes 4-1 for fixing the suction cup mounting block 3 are provided on the beam 4.
  • the vacuum chuck 5 is mounted on the suction cup mounting block 3 and locked with a nut 10. It is integrally mounted in the mounting hole 4-1 of the beam 4 and fixed by screws.
  • One end of the upper air pipe is connected to the air nozzle 12 at the rear of the vacuum chuck 5, and the air pipe is fixed along the beam with a cable tie, and the other end is connected to the air port of the vacuum generator.
  • the vacuum generator 9 can be placed directly in place.
  • the vacuum chuck 5 is connected to the vacuum generator 9 through the air pipe 7, and then contacts the book page, and the vacuum generator 9 is started to suck, so that a negative air pressure is generated in the vacuum suction cup 5, thereby sucking the book page and starting to turn the page. .
  • the vacuum suction cup 5 is changed from a negative air pressure to a zero air pressure or a slightly positive air pressure, and the vacuum chuck 5 is separated from the book page, thereby completing the page turning. action.
  • the adsorption device includes a vacuum generator 9 and a vacuum suction rod 13, and a gas pipe 6 is disposed between the vacuum generator 9 and the vacuum suction rod 13, and the gas pipe 6 simultaneously occurs with the vacuum.
  • the vacuum absorbing rod 13 is connected to the beam 4, and the vacuum suction rod 13 is provided with a plurality of suction and exhaust holes 13-1 and a gas nozzle 12, and the suction and exhaust holes 13-1 are connected to the gas nozzle 12, and the gas is connected.
  • the mouth 12 is in communication with one end of the air tube remote from the vacuum generator 9.
  • a screw mounting hole 13-2 is provided on the vacuum suction rod 13 for fixing to the beam 4.
  • the suction cup method with a large area is not used, and the suction rod structure with the suction vent 13-1 is generally used.
  • the plurality of suction and exhaust holes 13-1 are arranged in a matrix shape, which can greatly improve the adsorption force to the flexible book pages, and the plurality of smaller contact points also avoid the problem that the entire adsorption force fails when the air pressure is leaked at the single contact point.
  • This scheme adopts the principle of vacuum vacuum adsorption to turn pages of the book, combined with the force characteristics will not cause damage to the paper. Bad, at the same time convenient and fast, improve the efficiency of page turning, and can be recycled, reducing the cost of use.

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  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
  • Manipulator (AREA)

Abstract

一种书页翻页抓取机械手，包括横梁（4），所述横梁（4）上设置有若干个能够吸附页面的吸附装置，且吸附装置能够随着横梁（4）同步进行转动，横梁（4）设置在翻页臂（1）的内腔中，横梁（4）的两端均连接有旋转块（2），且旋转块（2）与横梁（4）连接，横梁（4）能够在旋转块（2）之间绕着其自身的轴线转动，旋转块（2）均与翻页臂（1）的内壁连接，翻页臂（1）的内壁上设置有直线导轨（7），直线导轨（7）上安装有滑块（8），且滑块（8）能够沿着直线导轨（7）的表面移动，旋转块（2）分别与对应的滑块（8）固定。该机械手采用了真空吸附结构来对书页进行翻页，不会对纸张造成损坏，提高翻页效率，降低使用成本。

Description

一种书页翻页抓取机械手 技术领域
本发明涉及一种抓取机械，具体涉及一种书页翻页抓取机械手。
背景技术
现代社会随着互联网的迅速发展，许多人的学习和阅读方式逐渐由纸质的书籍变成电子书的阅读，电子书的方便是显而易见的，不用随身带着沉重的书籍行走，只需要一个移动设备就能随时随地尽情的阅读感兴趣的资料。电子书越来越受到年轻人的喜爱，而如何将以前的书籍甚至档案转换成电子书就成为一个比较难的方式。现在的技术大多采用对书籍档案一页一页拍照的方式，面对成千上万甚至更多的书籍档案这种方式往往显得力不从心，后来出现了能自动翻书扫描的仪器，但在翻页这个动作上却一直存在比较大的困难。用人工的方式效率低还容易损坏纸张，采用胶带的方式，也会出现损坏纸张的可能性同时胶带不能循环使用，需要更换胶带，对使用方造成使用成本的增加。
发明内容
本发明所要解决的技术问题是现有自动翻书仪器在翻页这个动作上比较麻烦，容易损坏纸张，提供了一种书页翻页抓取机械手，该机械手采用了真空吸附结构来对书页进行翻页，不会对纸张造成损坏，同时方便快捷，提高了翻页效率，而且能够循环使用，降低使用成本。
本发明通过下述技术方案实现：
一种书页翻页抓取机械手，包括横梁，所述横梁上设置有若干个能够吸附页面的吸附装置，且吸附装置能够随着横梁同步进行转动。现在的技术大多采用对书籍档案一页一页拍照的方式，面对成千上万甚至更多的书籍档案这种方式往往显得力不从心，后来出现了能自动翻书扫描的仪器，但在翻页这个动作上却一直存在比较大的困难。用人工的方式效率低还容易损坏纸张，采用胶带的方式，也会出现损坏纸张的可能性同时胶带不能循环使用，需要更换胶带，对使用方造成使用成本的增加，而本方案设计的书页翻页抓取机械手，通过采用吸附装置对页面吸附，使得抓取牢固，而且动作迅速，不会对纸面造成损坏。现在能自动翻书扫描的仪器，其翻书时都是采用胶带对页面粘合的方式来完成翻页，由于粘合时受力不均匀以及其它问题，都容易造成纸张损坏，尤其是一些珍贵或者年代久远的书籍，其书页本身的材质差或者保存环境差，页面发脆或者韧性不足，采用胶带粘合时很容易造成页面撕坏，造成不可弥补的损失，而采用吸附的方式，则是利用产生的负压对页面进行吸附，不会对页面 产生横向剪切力，其受力作用面大，单位面积对页面的冲击小，而且采用的是柔性接触，页面本身韧性能够承受吸附应力，能够对页面进行保护，同时无污染，特别环保，不会污染环境，没有光、热，电磁等产生，因此采用吸附方式的书页翻页机械手将成为未来主要的使用方式，得到大力发展。
还包括呈凵形的翻页臂，所述横梁设置在翻页臂的内腔中，横梁的两端均连接有旋转块，且旋转块与横梁连接，横梁能够在旋转块之间绕着其自身的轴线转动，旋转块均与翻页臂的内壁连接；翻页臂的内壁上设置有直线导轨，直线导轨上安装有滑块，且滑块能够沿着直线导轨的表面移动，旋转块分别与对应的滑块固定。翻页臂是对本方案提供支撑的部件，其自身能够进行转动从而进行翻页工作，在进行翻页时横梁在旋转块之间绕着其自身的轴线转动，使得页面的重心翻过其中心线，翻页能够顺畅进行。直线导轨和滑块组合形成的导向机构是对横梁移动过程进行导向，使得其移动轨迹始终保持在同一直线上，防止出现移动不平稳的现象，避免造成翻书时不能进行精确翻页，通过将横梁的两端通过旋转块与滑块进行连接，能够随同滑块沿着直线导轨移动，从而限定了吸附翻页移动的平稳和顺畅性，并且横梁的两端能够保持同步运动，使得始终将横梁与翻页臂的立板保持在垂直状态。
吸附装置包括真空发生器和真空吸盘，真空发生器和真空吸盘之间设置有气管，气管同时与真空发生器和真空吸盘连通；真空吸盘上设置有螺纹管，螺纹管一端与真空吸盘固定且连通，螺纹管的外壁上套合有螺母，在螺纹管远离真空吸盘的一端安装有气嘴，且气嘴与气管远离真空发生器的一端连通；横梁上设置有吸盘安装块，且吸盘安装块与横梁固定，与真空吸盘固定的螺纹管穿过吸盘安装块，螺母与吸盘安装块接触。吸附的方式有多种，采用真空负压吸附的方式，能够使得吸附更加紧密，同时负压吸附的方式，能够对页面进行保护，防止页面受到横向剪切力而造成破坏，本方案采用多个结构相同的真空吸盘，在翻页时能够对同一张页面进行吸附，再随着横梁绕着旋转块转动，从而完成抓取翻页工作，真空发生器是产生真空的部件，通过气管将气流输送，气嘴是与气管进行精密连接，防止出现漏气而导致负压失效，而真空吸盘通过吸盘安装块固定在横梁上，提高稳定性。
吸附装置包括真空发生器和真空吸棒，真空发生器和真空吸棒之间设置有气管，气管同时与真空发生器和真空吸棒连通；真空吸棒安装在横梁上，真空吸棒上设置有若干个吸排气孔和气嘴，吸排气孔均与气嘴连通，气嘴与气管远离真空发生器的一端连通。对于一些小开本的书籍，都不采用面积较大的吸盘方式，一般采用带吸排气孔的吸棒结构。吸盘一般是对付比较硬的表面用的，而有些纸张是柔软的，采用呈矩阵状布置的吸排气孔，能够在吸附时使得纸张受力均匀而不会损伤，并且不易出现泄漏的现象，吸附效果更好。
一种书页翻页抓取方法，将待翻页书籍档案放置在承书板上并展开在横向下方，安装在横梁上的真空吸附装置通过气管与真空发生器接通，横梁在动力机构的作用下沿着直线导轨的外壁下移，直到真空吸附装置与书页接触，然后启动真空发生器开始抽吸，使真空吸附装置内产生负气压，从而将书页吸牢，即可开始相应的翻页动作，当书页重心翻过其自身的中心线时，平稳地充气进真空吸附装置内，使真空吸附装置内由负气压变成零气压或稍为正的气压，真空吸附装置就自动脱离书页，从而完成了书页翻页的动作。通过该方法，能够快速实现对书页的翻页动作，并且翻页时书页抓取牢固，而且不会对书页造成损坏，保护了书页的安全，尤其是一些珍贵书籍或者年代久远书籍，其书页质量因为年限或者保存环境等结构强度低，如果采用胶带的方式就会产生剪切力使得页面损坏，负压吸附的方式则不会产生剪切力，页面单位面积受力小但是吸附稳定，页面不会受到破坏。
本发明与现有技术相比，具有如下的优点和有益效果：该机械手采用了真空吸附结构来对书页进行翻页，不会对纸张造成损坏，同时方便快捷，提高了翻页效率，而且能够循环使用，降低使用成本。
附图说明
此处所说明的附图用来提供对本发明实施例的进一步理解，构成本申请的一部分，并不构成对本发明实施例的限定。在附图中：
图1为本发明结构示意图；
图2为真空吸盘的结构示意图；
图3为吸盘安装块的结构示意图；
图4为横梁的结构示意图；
图5为采用真空吸棒的结构示意图；
图6为真空吸棒的结构示意图。
附图中标记及对应的零部件名称：
1-翻页臂，2-旋转块，3-吸盘安装块，3-1-通孔，3-2-螺纹孔，4-横梁，4-1-安装孔，5-真空吸盘，6-气管，7-直线导轨，8-滑块，9-真空发生器，10-螺母，11-螺纹管，12-气嘴，13-1-吸排气孔，13-2-螺钉安装孔。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明白，下面结合实施例和附图，对本发明作进一步的详细说明，本发明的示意性实施方式及其说明仅用于解释本发明，并不作为对本发明的限定。
实施例：
如图1至图4所示，一种书页翻页抓取机械手，包括呈凵形的翻页臂1，横梁4设置在翻页臂1的内腔中，横梁4上设置有若干个能够吸附页面的吸附装置，且吸附装置能够随着横梁4同步进行转动，横梁4的两端均连接有旋转块2，且旋转块2与横梁4连接，横梁4能够在旋转块2之间绕着其自身的轴线转动，旋转块2均与翻页臂1的内壁连接。在翻页臂1的内壁上设置有直线导轨7，直线导轨7上安装有滑块8，且滑块8能够沿着直线导轨7的表面移动，旋转块2分别与对应的滑块8固定。书页翻页机械手采用了真空吸盘5来对书页进行翻页。真空吸盘具有体积小，使用方便；无污染，特别环保，不会污染环境，没有光、热，电磁等产生；采用橡胶材料制作，不损坏纸张的特点。因此采用真空吸盘的书页翻页机械手将成为未来主要的使用方式，得到大力发展。
真空吸盘5应采用体积较小，材料软硬度合适的型号，数量可以根据书籍档案的形状大小设置。吸盘安装块3的中间设置有和螺纹管11匹配的通孔3-1，在通孔3-1四周设置有螺纹孔3-2来将吸盘安装块3固定在横梁4上。气管7和真空发生器9均与真空吸盘5型号匹配。在横梁4上设置有数个供吸盘安装块3固定的安装孔4-1。真空吸盘5安装在吸盘安装块3上，用螺母10锁住。整体安装在横梁4的安装孔4-1中，并用螺钉固定。在真空吸盘5的后面气嘴12处连接上气管的一端，气管沿着横梁用扎带固定，另一端接在真空发生器的气口处。真空发生器9可直接放置在合适的位置。
工作原理：真空吸盘5通过气管7与真空发生器9接通，然后与书页接触，起动真空发生器9抽吸，使真空吸盘5内产生负气压，从而将书页吸牢，即可开始翻页。当书页重心翻过中心线时，平稳地充气进真空吸盘5内，使真空吸盘5内由负气压变成零气压或稍为正的气压，真空吸盘5就脱离书页,从而完成了书页翻页的动作。
如图5、图6所示的另一种实现结构，吸附装置包括真空发生器9和真空吸棒13，真空发生器9和真空吸棒13之间设置有气管6，气管6同时与真空发生器9和真空吸棒13连通；真空吸棒13安装在横梁4上，真空吸棒13上设置有若干个吸排气孔13-1和气嘴12，吸排气孔13-1均与气嘴12连通，气嘴12与气管远离真空发生器9的一端连通。在真空吸棒13上设置有螺钉安装孔13-2用于与横梁4的固定。一般为了照顾小开本的书籍，都不采用面积较大的吸盘方式，一般采用带吸排气孔13-1的吸棒结构。多个吸排气孔13-1呈矩阵状设置，能够大大提高对柔软书页的吸附力，并且多个较小的接触点也避免了单个接触点发生气压泄漏时造成整个吸附力失效的问题。
本方案采用了真空负压吸附的原理来对书页进行翻页，结合受力特征不会对纸张造成损 坏，同时方便快捷，提高了翻页效率，而且能够循环使用，降低使用成本。
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种书页翻页抓取机械手，其特征在于，包括横梁(4)，所述横梁(4)上设置有若干个能够吸附页面的吸附装置，且吸附装置能够随着横梁(4)同步进行转动。
  2. 根据权利要求1所述的一种书页翻页抓取机械手，其特征在于，还包括呈凵形的翻页臂(1)，所述横梁(4)设置在翻页臂(1)的内腔中，横梁(4)的两端均连接有旋转块(2)，且旋转块(2)与横梁(4)连接，横梁(4)能够在旋转块(2)之间绕着其自身的轴线转动，旋转块(2)均与翻页臂(1)的内壁连接。
  3. 根据权利要求2所述的一种书页翻页抓取机械手，其特征在于，所述翻页臂(1)的内壁上设置有直线导轨(7)，直线导轨(7)上安装有滑块(8)，且滑块(8)能够沿着直线导轨(7)的表面移动，旋转块(2)分别与对应的滑块(8)固定。
  4. 根据权利要求1所述的一种书页翻页抓取机械手，其特征在于，所述吸附装置包括真空发生器(9)和真空吸盘(5)，真空发生器(9)和真空吸盘(5)之间设置有气管(6)，气管(6)同时与真空发生器(9)和真空吸盘(5)连通。
  5. 根据权利要求4所述的一种书页翻页抓取机械手，其特征在于，所述真空吸盘(5)上设置有螺纹管(11)，螺纹管(11)一端与真空吸盘(5)固定且连通，螺纹管(11)的外壁上套合有螺母(10)，在螺纹管(11)远离真空吸盘(5)的一端安装有气嘴(12)，且气嘴(12)与气管(6)远离真空发生器(9)的一端连通。
  6. 根据权利要求5所述的一种书页翻页抓取机械手，其特征在于，所述横梁(4)上设置有吸盘安装块(3)，且吸盘安装块(3)与横梁(4)固定，与真空吸盘(5)固定的螺纹管(11)穿过吸盘安装块(3)，螺母(10)与吸盘安装块(3)接触。
  7. 根据权利要求1所述的一种书页翻页抓取机械手，其特征在于，所述吸附装置包括真空发生器(9)和真空吸棒(13)，真空发生器(9)和真空吸棒(13)之间设置有气管(6)，气管(6)同时与真空发生器(9)和真空吸棒(13)连通。
  8. 根据权利要求7所述的一种书页翻页抓取机械手，其特征在于，所述真空吸棒(13)安装在横梁(4)上，真空吸棒(13)上设置有若干个吸排气孔(13-1)和气嘴(12)，吸排气孔(13-1)均与气嘴(12)连通，气嘴(12)与气管远离真空发生器(9)的一端连通。
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