WO2018035917A1 - Method for preventing sticking together of book pages during page turning of book file - Google Patents

Method for preventing sticking together of book pages during page turning of book file Download PDF

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Publication number
WO2018035917A1
WO2018035917A1 PCT/CN2016/099889 CN2016099889W WO2018035917A1 WO 2018035917 A1 WO2018035917 A1 WO 2018035917A1 CN 2016099889 W CN2016099889 W CN 2016099889W WO 2018035917 A1 WO2018035917 A1 WO 2018035917A1
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Prior art keywords
page
page turning
book
lifting mechanism
turning
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PCT/CN2016/099889
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French (fr)
Chinese (zh)
Inventor
吕力
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江西伊贝基科技有限公司
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Publication of WO2018035917A1 publication Critical patent/WO2018035917A1/en

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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
    • 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
    • B42D9/06—Leaf turners having an arm reset after each operation

Definitions

  • the invention relates to a method for turning a book file into a page, in particular to a method for preventing a book page sticking during a page file turning process.
  • a book is a book and text bound into a book. In a narrow sense, it is a collection of paper with text and images.
  • books include books, pictures, pictures and other publications.
  • Books are words, pictures and other symbols, which record various knowledge on certain materials, clearly express ideas, and make books in volumes, an important tool for accumulating various knowledge and ideas and accumulating human culture.
  • writing style, materials used and binding forms, and form With the development of history, it is constantly changing and changing in terms of writing style, materials used and binding forms, and form.
  • Another method is to use a set of two to two sets of rubber wheels and paper to be turned through the friction method. Make the paged page separate from the next page, then turn it over. This method relies on friction. For many books and books with long files and time, the paper becomes aging due to aging, and the pages are often damaged during friction, which causes great trouble.
  • the technical problem to be solved by the present invention is that the most common problem in the existing automatic flip book scanner is that the book file cannot be turned over when the page is turned, and the page is often turned over when the page is turned, resulting in scanning. When the page is missing, it provides a method for preventing the book page from sticking during the page turning process.
  • the method overcomes the technical problem of the book page adhesive tape generated when the automatic book flipper turns the page, and also ensures the book page when the page is separated. The integrity of the book will not cause damage to the pages, improving the efficiency of the automatic flip book scanner.
  • a method for preventing a book page sticking during a page file turning process includes the following steps:
  • the page turning robot When the page turning is started, the page turning robot first performs a linear descending motion under the driving of the lifting mechanism, and the lifting mechanism remains stationary after reaching the designated book turning position;
  • the flipping arm starts to deflect, and the flipping robot is biased toward the scanned page by the flipping arm. After the flipping robot contacts and is bonded to the scanned page, the flipping arm keeps the position constant. ;
  • the rotating motor of the turning robot is started to rotate, and the turning robot is rotated counterclockwise by 10° to 20° to complete the separation of the page and the next page which are bonded to the turning robot, and repeat the above actions. , in turn, complete the separation of all pages.
  • Another method of pagination is to use a set of two to two sets of rubber wheels and paper that needs to be turned to rub the page to separate from the next page, and then turn over. This method relies on friction. For many books and books with long files and time, because the paper is aging, it becomes brittle, and the pages are often damaged during friction. The method adopted in this scheme is by bonding.
  • the page bonded with the turning robot will have a certain curvature, forming an arched curved surface, thereby turning the page manipulator
  • the pages that are bonded together are separated from the next page, and the separation process is mechanically controlled throughout, and the multi-point bonding method is used to achieve contact connection with the page to be separated, the page is evenly stressed, and the unit area of the page is subjected to the pressing force. Small, so that the page will not be deformed, especially books or books that are relatively old for a long time. Because the paper is aging, it becomes brittle, and its bearing strength is small.
  • the state of the page formed after bonding only makes the local part bend, forming an arch.
  • the curved surface has a curved curvature that is completely affordable and protects the integrity of the page.
  • the flipping robot can move downward along the guide of the lifting mechanism by 1cm to 3cm under the driving of the lifting mechanism.
  • the distance is smaller than this distance, the curved surface formed by the book page is too small to be Separating it from adjacent pages. If it is larger than this distance, the curved surface of the page will be too large. Although it can be separated from the adjacent pages, too large curved surface will cause the page to bend.
  • the traces of the song are obvious, and even the page is damaged.
  • the present invention has the following advantages and advantages: the method overcomes the technical problem of the book page adhesive tape generated by the automatic book flipper when turning pages, and ensures the integrity of the book page when the page is separated. It will not damage the pages and improve the efficiency of the automatic flip book scanner.
  • Figure 1 is a schematic structural view of the present invention
  • FIG. 2 is a schematic structural view of a page turning arm
  • Figure 3 is a schematic structural view of a page turning robot
  • FIG. 4 is a schematic structural view of a lifting mechanism.
  • the hardware structure involved in the method includes a gantry 1 and a base, the gantry 1 is a squat type, and the bottom end of the gantry 1 is fixed on the base, and two strips are arranged on the base.
  • a through hole, a long through hole is disposed between the gantry 1, a page turning arm 6 is connected to the lifting mechanism 7, and the page turning arm 6 includes a horizontal plate 6-3 and two vertical plates 6-5, a power source 6-1, and
  • the frame hinge seat 6-4, the horizontal plate 6-3 and the two vertical plates 6-5 are formed in a ⁇ type, and the page turning robot 3 is disposed on the inner side of the ⁇ type and connected to the ⁇ type, and the page turning robot 3 can be along
  • the gantry hinge seat 6-4 is symmetrically disposed on the inner side of the cymbal type and connected to the inner wall of the vertical plate 6-5, and the push rod 6 is disposed between the horizontal plate 6-3 and the power source 6-1.
  • the push rod 6-2 is simultaneously connected to the horizontal plate 6-3 and the power source 6-1, and the power source 6-1 is activated to enable the push rod 6-2 to push the page turning arm 6 around the gantry hinge seat
  • the joint of 6-4 is rotated;
  • the vertical plate 6-5 is mounted with a guiding mechanism,
  • the guiding mechanism comprises a linear guide 3-1, and the linear guide 3-1 is fixed on the symmetrical inner wall surface of the turning arm 6, in the linear guide 3- 1 is equipped with a slider 3-4, and the slider 3-4 can It is movable along the wall surface of the linear guide 3-1, and the flipping robot 7 is connected to the flipping robot 7, the flipping robot 3 is mounted on the flipping arm 6, and the flipping robot 3 includes the cross member 3-3, and the cross member 3-3
  • the two ends are respectively provided with positioning blocks 3-2, and the positioning blocks 3-2 are respectively connected with the corresponding sliders 3-4, and one of the positioning blocks 3-2 is provided with a rotating electric machine 2, the rotating electric machine 2 and the positioning block
  • the two ends of the page turning arm 6 respectively pass through one of the long through holes and can move in the long through hole, the gantry hinge seat 6-4 is fixed on the base, and the long timing belt 7-1 passes through the long through hole.
  • the gantry hinge seat 6-4 is capable of fixing the entire flipping mechanism to the base and has a support point when flipped.
  • the lifting mechanism 7 includes a motor 7-2 and a transmission rod 7-4.
  • the motor 7-2 is fixed on the bottom surface of the page turning arm 6.
  • the outer wall of the transmission rod 7-4 is sequentially sleeved with three timing pulleys 7-5.
  • the timing pulley 7-5 is fixed with the transmission rod 7-4, the short timing belt 7-3 is arranged between the timing pulley and the motor, and the short timing belt 7-3 is simultaneously connected with the motor and one of the synchronous pulleys.
  • the other two timing pulleys are respectively fixed at the two ends of the transmission rod 7-4, and the long timing belt 7-1 is respectively sleeved on the two timing pulleys, and the long timing belt 7-1 is located on the page turning arm 6
  • the guide wheel is connected, and the long timing belt 7-1 is provided with a belt connecting seat 7-7, and the long timing belt 7-1 passes through the belt connecting seat 7-7 and is fixed with the belt connecting seat 7-7, and the belt connecting seat 7 -7 is connected to the page turning robot 3, and the belt connecting seat 7-7 is movable with the long timing belt 7-1.
  • Transmission rod 7-4 passes through the bearing housing
  • the page turning arm 6 is fixed, but the transmission rod 7-4 itself can be rotated in the bearing housing.
  • the number of the long timing belts 7-1 is two, which are symmetrically arranged along the outer wall of the page turning arm 6, so that two pages can be turned when the book is turned Simultaneous movement of the end improves the consistency and efficiency of the movement, and the stability is also higher.
  • the belt connecting seat 7-7 is connected with the connecting plate 7-6, and the connecting plate 7-6 is connected with the turning robot 3, turning the page
  • the arm 6 provides a yaw action
  • the page turning robot 3 serves as a page turning manipulator
  • the lifting mechanism provides a lifting action for the page turning manipulator
  • the page turning manipulator realizes a scanning page for extracting the book file.
  • the turning arm and the gantry are the basic frame, and the door frame is formed.
  • the power source is installed at the lower end of the base. Under the driving of the power source, the turning arm 6 can perform the yaw motion; the lifting mechanism 7 is fixed by screws. Mounted on the face of the page turning arm; the page turning robot is a rectangular parallelepiped structure on which a structure for sticking a book page is mounted, through which the pages of the book file are bonded and picked up, and are set at both ends of the page turning robot.
  • the positioning block connected with the lifting mechanism fixes the turning robot in the middle of the lifting mechanism 7 by screw fastening to form a complete flipping device.
  • the book file 4 is placed on the tooling table 5, and the automatic flip book scanner starts pre-preparation, such as a book, a cover, a home page self-test, etc., when the page is turned over, the pager 3 first
  • the linear lowering movement is carried out by the lifting mechanism 7, and the lifting mechanism 7 is held still after reaching the designated turning position; the turning arm 6 starts to deflect, and the turning robot 3 is scanned under the driving of the turning arm 6.
  • the page is yawed, and after the page turning robot 3 contacts and is bonded to the scanned page, the page turning arm 6 keeps the position constant; the lifting mechanism 7 starts to operate again, and the page turning robot 3 is driven along the lifting mechanism.
  • the page adhered to the page turning robot 3 at this time will be bent, forming an arched curved surface, and the lifting mechanism 7 will be locked again; the rotating motor 2 on the page turning robot 3 will be Start to rotate, drive the page turning robot 3 to rotate counterclockwise by 10°, complete the separation of the page and the next page that are bonded to the page turning robot 3, repeat the above actions, and complete the division of all the pages in turn. jobs.
  • the rubber wheel and the paper to be turned are rubbed to separate the page from the next page, and then turn over. This method relies on friction.
  • the friction between the tread and the page is 1N to 2N.
  • the paper will become brittle due to aging, and the pages will often be used in such a large friction. Damage, and when using this method for page separation, the force between adjacent pages is only 0.1N to 0.3N, which greatly reduces the force on the page and protects the integrity and security of the page.
  • the method completely simulates the relative motion relationship between the finger and the page when the book is turned over, and perfectly solves the phenomenon that the book page sticks during the page turning process of the book file, and at the same time, the method can not damage the page of the book file, and the maximum guarantee The security and integrity of the book archives, and greatly improve the scanning efficiency.
  • the solution is basically the same as that of the embodiment 1, except that the page turning robot 3 is moved by the lifting mechanism 7 and then moved downward along the guiding mechanism of the lifting mechanism 7 by 2 cm.
  • Rotating motor 2 drives the turning robot 2 to rotate counterclockwise at an angle of 15°.
  • the friction between the tread and the page is 1.5N to 2.5N. For many books and books with long files and time, the paper will become brittle due to aging.
  • the force between adjacent pages is only 0.2N to 0.4N when the page is separated by the method, which greatly reduces the force on the page and protects the integrity and security of the page.
  • the method completely simulates the relative motion relationship between the finger and the page when the book is turned over, and perfectly solves the phenomenon that the book page sticks during the page turning process of the book file, and at the same time, the method can not damage the page of the book file, and the maximum guarantee The security and integrity of the book archives, and greatly improve the scanning efficiency.
  • the solution is basically the same as the embodiment 1 except that the page turning robot 3 is driven by the lifting mechanism 7 and then moved downward along the guiding mechanism of the lifting mechanism 7 by a distance of 3 cm.
  • Rotating motor 2 drives the turning robot 2 to rotate counterclockwise at an angle of 20°.
  • the rubber wheel and the paper to be turned are rubbed to separate the page from the next page, and then turn over.
  • This method relies on friction.
  • the friction between the tread and the page is 1.8N to 2.5N. For many books and books with long files and time, the paper will become brittle due to aging.
  • the force between adjacent pages is only 0.1N to 0.4N when the page is separated by the method, which greatly reduces the force on the page and protects the integrity and security of the page.
  • the method completely simulates the relative motion relationship between the finger and the page when the book is turned over, and perfectly solves the phenomenon that the book page sticks during the page turning process of the book file, and at the same time, the method can not damage the page of the book file, and the maximum guarantee The security and integrity of the book archives, and greatly improve the scanning efficiency.

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Abstract

A method for preventing sticking together of book pages during page turning of a book file, comprising the following steps: a book file (4) is placed on a tooling platform (5); a page turning manipulator (3) is first driven by a lifting mechanism (7) to descend in a straight line; the page turning manipulator (3) is then driven by a page turning arm (6) to deflect towards a scanned page; the lifting mechanism (7) restarts movement after the page turning manipulator (3) contacts and bonds to a scanned page, and the page turning manipulator (3) is driven by the lifting mechanism (7) to descend along a guide direction of the lifting mechanism (7), at which moment the page bonded to the page turning manipulator (3) bends to form an arch-shaped curved surface, and then the lifting mechanism (7) is locked again; and a rotating motor (2) on the page turning manipulator (3) starts to rotate to drive the page turning manipulator (3) to rotate anticlockwise, thus completing page separation. The method resolves the technical problem wherein pages stick together during page turning of an automatic page turner, thus ensuring that pages remain intact during page separation and that no damage is caused to the pages, while increasing working efficiency of an automatic page turning scanner.

Description

书籍档案翻页过程中防止书页粘带的方法Method for preventing book page sticking during book file turning 技术领域Technical field
本发明涉及一种书籍档案翻页中的方法，具体涉及一种书籍档案翻页过程中防止书页粘带的方法。The invention relates to a method for turning a book file into a page, in particular to a method for preventing a book page sticking during a page file turning process.
背景技术Background technique
书籍，是指装订成册的图书和文字，在狭义上的理解是带有文字和图像的纸张的集合。在中国原指典籍，图书包括书籍、画册、图片等出版物。书籍是用文字、图画和其他符号，在一定材料上记录各种知识，清楚地表达思想，并且制装成卷册的著作物，为传播各种知识和思想，积累人类文化的重要工具。它随着历史的发展，在书写方式、所使用的材料和装帧形式，以及形态方面，也在不断变化与变更。A book is a book and text bound into a book. In a narrow sense, it is a collection of paper with text and images. In the original Chinese classics, books include books, pictures, pictures and other publications. Books are words, pictures and other symbols, which record various knowledge on certain materials, clearly express ideas, and make books in volumes, an important tool for accumulating various knowledge and ideas and accumulating human culture. With the development of history, it is constantly changing and changing in terms of writing style, materials used and binding forms, and form.
随着科技的发展，需要将书籍档案进行扫描来便于阅览和存档，在书籍档案扫描时，人们都是采用自动翻书扫描仪来进行扫描，自动翻书扫描仪以其高效的扫描速度而受到人们欢迎，但是现有自动翻书扫描仪在工作中最常出现的问题就是书籍档案在翻页时无法实现单页的翻篇，由于书页间的吸附力，在翻页时往往会翻几篇，导致扫描时缺页，一旦出现缺页，又要去找出缺页位置进行扫描，大大限制了扫描的整体速度。目前手动的方式翻页可以避免出现这种情况，但是手动翻书效率低，而且还存在安全隐患，还有一种方法是：采用一组到两组橡胶轮和需翻页的纸张通过摩擦的方式使被翻页与下一张页面分离，然后翻篇。这样的方法靠的是摩擦力，对很多档案和时间比较久远的书籍或者账本，由于纸张老化，变脆，在摩擦时常会将书页损坏，因此造成了很***烦。With the development of technology, it is necessary to scan the book files for easy reading and archiving. When the book files are scanned, people use the automatic flip book scanner to scan, and the automatic flip book scanner is subjected to its efficient scanning speed. People are welcome, but the most common problem in the existing automatic flip book scanner is that the book file cannot be turned over when the page is turned. Due to the adsorption between the pages, it is often turned over when turning pages. This leads to the lack of pages during scanning. Once a page fault occurs, it is necessary to find the missing page position for scanning, which greatly limits the overall speed of scanning. At present, manual page turning can avoid this situation, but the manual book turning efficiency is low, and there are still safety hazards. Another method is to use a set of two to two sets of rubber wheels and paper to be turned through the friction method. Make the paged page separate from the next page, then turn it over. This method relies on friction. For many books and books with long files and time, the paper becomes aging due to aging, and the pages are often damaged during friction, which causes great trouble.
发明内容Summary of the invention
本发明所要解决的技术问题是现有自动翻书扫描仪在工作中最常出现的问题就是书籍档案在翻页时无法实现单页的翻篇，在翻页时往往会翻几篇，导致扫描时缺页，提供了一种书籍档案翻页过程中防止书页粘带的方法，该方法克服了自动翻书仪在翻页时产生的书页粘带的技术难题，同时页面分离时也保证了书页的完整性，不会对书页造成损伤，提高了自动翻书扫描仪的工作效率。The technical problem to be solved by the present invention is that the most common problem in the existing automatic flip book scanner is that the book file cannot be turned over when the page is turned, and the page is often turned over when the page is turned, resulting in scanning. When the page is missing, it provides a method for preventing the book page from sticking during the page turning process. The method overcomes the technical problem of the book page adhesive tape generated when the automatic book flipper turns the page, and also ensures the book page when the page is separated. The integrity of the book will not cause damage to the pages, improving the efficiency of the automatic flip book scanner.
本发明通过下述技术方案实现：The invention is achieved by the following technical solutions:
书籍档案翻页过程中防止书页粘带的方法，包括以下步骤：A method for preventing a book page sticking during a page file turning process includes the following steps:
(1)将书籍档案放置在工装台上，自动翻书扫描仪开始进行前期准备并对书籍档案的封面进行固定； (1) Place the book file on the tooling table, and the automatic flip book scanner starts the preliminary preparation and fixes the cover of the book file;
(2)当开始对被扫描件进行翻页时，翻页机械手先在升降机构的带动下进行直线的下降运动，到达指定的翻书位置后升降机构保持不动；(2) When the page turning is started, the page turning robot first performs a linear descending motion under the driving of the lifting mechanism, and the lifting mechanism remains stationary after reaching the designated book turning position;
(3)翻页臂开始进行偏转，翻页机械手在翻页臂的带动下向被扫描页面偏摆，待翻页机械手与被扫描页面接触并粘接后，翻页臂保持该位置恒定不动；(3) The flipping arm starts to deflect, and the flipping robot is biased toward the scanned page by the flipping arm. After the flipping robot contacts and is bonded to the scanned page, the flipping arm keeps the position constant. ;
(4)升降机构再次开始动作，翻页机械手在升降机构的带动下再沿着升降机构的导向向下运动1cm至3cm后，此时和翻页机械手粘接在一起的页面会产生弯曲，形成拱形曲面，再次将升降机构锁定；(4) The lifting mechanism starts to operate again, and the page turning robot moves downwards along the guide of the lifting mechanism 1cm to 3cm under the driving of the lifting mechanism, and then the page bonded with the turning robot will be bent and formed. Arched surface, locking the lifting mechanism again;
(5)将翻页机械手上的旋转电机开始转动，带动翻页机械手逆时针旋转10°至20°的角度，完成与翻页机械手粘接在一起的页面和下一页面发生分离，重复上述动作，依次完成对所有页面的分离工作。(5) The rotating motor of the turning robot is started to rotate, and the turning robot is rotated counterclockwise by 10° to 20° to complete the separation of the page and the next page which are bonded to the turning robot, and repeat the above actions. , in turn, complete the separation of all pages.
人们都是采用自动翻书扫描仪来进行扫描，需要将书籍档案进行扫描来便于阅览和存档，自动翻书扫描仪以其高效的扫描速度而受到人们欢迎，但是现有自动翻书扫描仪在工作中最常出现的问题就是书籍档案在翻页时无法实现单页的翻篇，由于书页之间的吸附力，在翻页时往往会翻几篇，导致扫描时缺页，一旦出现缺页，又要去找出缺页位置进行扫描，不但麻烦，而且大大限制了扫描的整体速度。目前采用手动翻页的方式可以避免出现这种情况，但是手动翻书效率低，而且还存在安全隐患，容易对纸张造成污损，如果书籍档案长时间未整理，其中还含有大量灰尘或者细菌，会造成工人手指过敏或者其它不良反应，还有一种分页方法是：采用一组到两组橡胶轮和需翻页的纸张通过摩擦的方式使被翻页与下一张页面分离，然后翻篇。这样的方法靠的是摩擦力，对很多档案和时间比较久远的书籍或者账本，由于纸张老化，变脆，在摩擦时常会将书页损坏，本方案采用的方法，则是通过粘接的方式，利用升降机构的多次不同距离的运动以及翻页机械手不同方向和不同角度的转动，使得和翻页机械手粘接在一起的页面会产生一定弯曲，形成一段拱形曲面，从而将与翻页机械手粘接在一起的页面和下一页面发生分离，分离过程全程采用机械控制，而且是采用多点粘接方式来实现与待分离页面接触连接，页面受力均匀，页面的单位面积受到的压迫力小，使得页面不会产生变形，尤其是一些时间比较久远的书籍或者账本，由于纸张老化，变脆，其承受力度小，粘接后形成的搓页状态仅仅让局部产生一定弯曲，形成一段拱形曲面，其弯曲弧度完全在能够承受的范围，保护了页面的完整性。而根据对书籍进行搓页形成弯曲的需要，翻页机械手在升降机构的带动下再沿着升降机构的导向向下运动1cm至3cm即可，小于这个距离时书页形成的弯曲面太小，无法将其与相邻书页进行分离，大于这个距离，则会造成书页弯曲面过大，虽然能够将其与相邻书页进行分离，但是过大的弯曲面会造成页面弯 曲痕迹明显，甚至造成页面破损，尤其是一些时间比较久远的书籍或者账本，由于纸张老化，变脆，其承受力度小，过大的弯曲量将造成页面损伤甚至破裂，书籍由于年代久远或者储存条件不好，页面之间粘附力大，太小的弯曲量使得靠近缝线处还是粘在一起，强行翻页将不能分离或者造成页面撕裂，经过多次试验后发现，其翻页机械手在升降机构的带动下再沿着升降机构的导向向下运动2cm时，所有书籍档案页面形成的弯曲量能够对完成书页分离而不会损伤页面。在机械手下降的过程中，书页和机械手粘性会降低，旋转后书页曲率的改变会贴合着机械手。旋转过多一是对机械手的机械机构造成损坏，二是对书籍的页面在受过大的力下造成破坏；旋转角度过小，相近书页间的曲率差异小，无法轻易分开，为了帮助后面机械手偏摆实现自动翻页时增强机械手和页面之间的粘性，因此需要对翻页机械手逆时针旋转角度进行设定，当逆时针旋转角度小于10°时，相近书页间的曲率差异小，无法轻易分开，造成分页失败，页面还是会较大的损坏概率，当逆时针旋转角度大于20°时，其造成机械手内部扭矩过大，对机械手的机械机构造成损坏，同时对书籍的页面在受过大的力下造成破坏，导致整个扫描进程受到拖延，经过多次试验后发现，在旋转电机带动翻页机械手逆时针旋转10°至20°时，恰好能够克服上述问题，而在逆时针旋转15°时，书籍的页面曲率合适，受到的力恰好能够实现页面分离而不会造成页面破坏，机械手内部的结构也不会受到破坏，能够实现自动翻页，并且翻页机械手运动的行程属于最佳距离位置，不会拖慢整个扫描进程。People use automatic flip book scanners for scanning. They need to scan book files for easy reading and archiving. Automatic flip book scanners are popular for their efficient scanning speed, but existing automatic flip book scanners are The most common problem in the work is that the book file cannot be turned over when the page is turned. Due to the adsorption between the pages, the page is often turned over when the page is turned, resulting in missing pages during scanning. It is not only troublesome to find the missing page position for scanning, but also greatly limits the overall speed of scanning. At present, the manual page turning method can avoid this situation, but the manual book turning efficiency is low, and there are still hidden dangers, which are easy to cause stain on the paper. If the book file is not finished for a long time, it also contains a lot of dust or bacteria. It can cause finger allergies or other adverse reactions in workers. Another method of pagination is to use a set of two to two sets of rubber wheels and paper that needs to be turned to rub the page to separate from the next page, and then turn over. This method relies on friction. For many books and books with long files and time, because the paper is aging, it becomes brittle, and the pages are often damaged during friction. The method adopted in this scheme is by bonding. By using the movement of the lifting mechanism for a plurality of different distances and the rotation of the turning robot in different directions and at different angles, the page bonded with the turning robot will have a certain curvature, forming an arched curved surface, thereby turning the page manipulator The pages that are bonded together are separated from the next page, and the separation process is mechanically controlled throughout, and the multi-point bonding method is used to achieve contact connection with the page to be separated, the page is evenly stressed, and the unit area of the page is subjected to the pressing force. Small, so that the page will not be deformed, especially books or books that are relatively old for a long time. Because the paper is aging, it becomes brittle, and its bearing strength is small. The state of the page formed after bonding only makes the local part bend, forming an arch. The curved surface has a curved curvature that is completely affordable and protects the integrity of the page. According to the need to form a curved page for the book, the flipping robot can move downward along the guide of the lifting mechanism by 1cm to 3cm under the driving of the lifting mechanism. When the distance is smaller than this distance, the curved surface formed by the book page is too small to be Separating it from adjacent pages. If it is larger than this distance, the curved surface of the page will be too large. Although it can be separated from the adjacent pages, too large curved surface will cause the page to bend. The traces of the song are obvious, and even the page is damaged. Especially the books or books that are relatively old for a long time. Because the paper is aging and becomes brittle, its bearing strength is small. Excessive bending will cause the page to be damaged or even broken. The books are old or stored due to age. The conditions are not good, the adhesion between the pages is large, the amount of bending is too small to make the glue close to the seam, and the forced page turning will not be able to separate or cause the page to tear. After many experiments, it is found that the page turning robot When the lifting mechanism is driven by the lifting mechanism to move down 2 cm along the guide of the lifting mechanism, the amount of bending formed by all the book archive pages can separate the completed pages without damaging the pages. During the process of the robot's descent, the book page and the manipulator's viscosity will decrease, and the curvature of the book page will change to fit the robot. Excessive rotation is caused by damage to the mechanical mechanism of the robot. Secondly, the page of the book is damaged by excessive force; the angle of rotation is too small, and the curvature difference between similar pages is small, and cannot be easily separated, in order to help the robot behind The pendulum realizes the stickiness between the robot and the page when the page is automatically turned. Therefore, it is necessary to set the counterclockwise rotation angle of the page turning robot. When the counterclockwise rotation angle is less than 10°, the curvature difference between the adjacent pages is small and cannot be easily separated. If the paging fails, the page will still have a large probability of damage. When the counterclockwise rotation angle is greater than 20°, the internal torque of the robot is too large, causing damage to the mechanical mechanism of the robot, and the page of the book is subjected to excessive force. The damage caused by the whole process caused the whole scanning process to be delayed. After many tests, it was found that when the rotating motor drives the turning robot to rotate counterclockwise by 10° to 20°, the above problem can be overcome, and when rotated counterclockwise by 15°, The page curvature of the book is appropriate, and the force is just enough to achieve page separation without causing page damage. Internal structure of the robot is not destroyed, the automatic page turning, and the turning motion of the manipulator belonging to the optimum travel distance position, without slowing down the entire scanning process.
本发明与现有技术相比，具有如下的优点和有益效果：该方法克服了自动翻书仪在翻页时产生的书页粘带的技术难题，同时页面分离时也保证了书页的完整性，不会对书页造成损伤，提高了自动翻书扫描仪的工作效率。Compared with the prior art, the present invention has the following advantages and advantages: the method overcomes the technical problem of the book page adhesive tape generated by the automatic book flipper when turning pages, and ensures the integrity of the book page when the page is separated. It will not damage the pages and improve the efficiency of the automatic flip book scanner.
附图说明DRAWINGS
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：The drawings are intended to provide a further understanding of the embodiments of the present invention, and are not intended to limit the embodiments of the invention. In the drawing:
图1为本发明结构示意图；Figure 1 is a schematic structural view of the present invention;
图2为翻页臂的结构示意图；2 is a schematic structural view of a page turning arm;
图3为翻页机械手的结构示意图；Figure 3 is a schematic structural view of a page turning robot;
图4为升降机构的结构示意图。4 is a schematic structural view of a lifting mechanism.
附图中标记及对应的零部件名称：Marked and corresponding part names in the drawing:
1-龙门架，2-旋转电机，3-翻页机械手，3-1-直线导轨，3-2-定位块，3-3-横梁，3-4-滑块，3-5-电机安装座，4-书籍档案，5-工装台，6-翻页臂，6-1-动力源，6-2-推动杆，6-3-横板，6-4- 门架铰链座，6-5-立板，7-升降机构，7-1-长同步带，7-2-电机，7-3-短同步带，7-4-传动杆，7-5-同步带轮，7-6-连接板，7-7-皮带连接座。1- gantry, 2-rotary motor, 3-turn manipulator, 3-1-linear guide, 3-2-positioning block, 3-3-beam, 3-4-slider, 3-5-motor mount , 4-book archive, 5-work bench, 6-turn arm, 6-1-power source, 6-2- pusher, 6-3- horizontal plate, 6-4- Gantry hinge seat, 6-5-vertical plate, 7-lifting mechanism, 7-1-long timing belt, 7-2-motor, 7-3-short timing belt, 7-4-drive rod, 7-5- Timing pulley, 7-6-connector, 7-7-belt connector.
具体实施方式detailed description
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。The present invention will be further described in detail below with reference to the embodiments and the accompanying drawings. As a limitation of the invention.
实施例1：Example 1:
如图1至图4所示，本方法涉及到的硬件结构包括龙门架1和底座，龙门架1呈冂型，龙门架1的底端固定在底座上，在底座上设置有两个长条通孔，长条通孔设置在龙门架1之间，翻页臂6与升降机构7连接，翻页臂6包括横板6-3和两块立板6-5、动力源6-1和门架铰链座6-4，横板6-3和两块立板6-5构成的结构呈凵型，翻页机械手3设置在凵型内侧并与凵型连接，且翻页机械手3能够沿着凵型的内侧移动，门架铰链座6-4对称设置在凵型的内侧并与立板6-5的内壁连接，横板6-3和动力源6-1之间设置有推动杆6-2，推动杆6-2同时与横板6-3和动力源6-1连接，且动力源6-1启动后能够使得推动杆6-2推动翻页臂6绕着与门架铰链座6-4的连接处转动；立板6-5上安装有导向机构，导向机构包括直线导轨3-1，直线导轨3-1固定在翻页臂6的对称内壁面上，在直线导轨3-1上安装有滑块3-4，且滑块3-4能够沿着直线导轨3-1的壁面移动，在升降机构7连接有翻页机械手3，翻页机械手3安装在翻页臂6上，翻页机械手3包括横梁3-3，在横梁3-3的两端均设置有定位块3-2，定位块3-2分别与对应的滑块3-4连接，在其中一个定位块3-2上设置有旋转电机2，旋转电机2与定位块3-2连接，横梁3-3与定位块3-2连接，在旋转电机2的带动下横梁3-3能够其中心线转动。翻页臂6的两端分别穿过其中一个长条通孔并且能够在长条通孔中移动，门架铰链座6-4固定在底座上，长同步带7-1穿过长条通孔，门架铰链座6-4是将整个翻书机构能够固定在底座上，在翻转时有支撑点。As shown in FIG. 1 to FIG. 4, the hardware structure involved in the method includes a gantry 1 and a base, the gantry 1 is a squat type, and the bottom end of the gantry 1 is fixed on the base, and two strips are arranged on the base. a through hole, a long through hole is disposed between the gantry 1, a page turning arm 6 is connected to the lifting mechanism 7, and the page turning arm 6 includes a horizontal plate 6-3 and two vertical plates 6-5, a power source 6-1, and The frame hinge seat 6-4, the horizontal plate 6-3 and the two vertical plates 6-5 are formed in a 凵 type, and the page turning robot 3 is disposed on the inner side of the 凵 type and connected to the 凵 type, and the page turning robot 3 can be along With the inner side movement of the cymbal type, the gantry hinge seat 6-4 is symmetrically disposed on the inner side of the cymbal type and connected to the inner wall of the vertical plate 6-5, and the push rod 6 is disposed between the horizontal plate 6-3 and the power source 6-1. -2, the push rod 6-2 is simultaneously connected to the horizontal plate 6-3 and the power source 6-1, and the power source 6-1 is activated to enable the push rod 6-2 to push the page turning arm 6 around the gantry hinge seat The joint of 6-4 is rotated; the vertical plate 6-5 is mounted with a guiding mechanism, the guiding mechanism comprises a linear guide 3-1, and the linear guide 3-1 is fixed on the symmetrical inner wall surface of the turning arm 6, in the linear guide 3- 1 is equipped with a slider 3-4, and the slider 3-4 can It is movable along the wall surface of the linear guide 3-1, and the flipping robot 7 is connected to the flipping robot 7, the flipping robot 3 is mounted on the flipping arm 6, and the flipping robot 3 includes the cross member 3-3, and the cross member 3-3 The two ends are respectively provided with positioning blocks 3-2, and the positioning blocks 3-2 are respectively connected with the corresponding sliders 3-4, and one of the positioning blocks 3-2 is provided with a rotating electric machine 2, the rotating electric machine 2 and the positioning block 3 The -2 connection, the beam 3-3 is connected to the positioning block 3-2, and the beam 3-3 can be rotated by the center line of the rotating motor 2. The two ends of the page turning arm 6 respectively pass through one of the long through holes and can move in the long through hole, the gantry hinge seat 6-4 is fixed on the base, and the long timing belt 7-1 passes through the long through hole. The gantry hinge seat 6-4 is capable of fixing the entire flipping mechanism to the base and has a support point when flipped.
其中升降机构7包括电机7-2和传动杆7-4，电机7-2固定在翻页臂6的底面上，传动杆7-4的外壁上依次套合有三个同步带轮7-5，且同步带轮7-5均与传动杆7-4固定，同步带轮和电机之间设置有短同步带7-3，且短同步带7-3同时与电机和其中一个同步带轮连接，另外两个同步带轮分别固定在传动杆7-4的两端，并且在该两个同步带轮上分别套有长同步带7-1，长同步带7-1与位于翻页臂6上的导向轮连接，在长同步带7-1上设置有皮带连接座7-7，长同步带7-1穿过皮带连接座7-7并与皮带连接座7-7固定，皮带连接座7-7与翻页机械手3连接，并且皮带连接座7-7能够随着长同步带7-1移动。传动杆7-4通过轴承座与 翻页臂6固定，但是传动杆7-4自身能够在轴承座中转动，长同步带7-1的数量为两条，其沿着翻页臂6的外壁对称设置，使得翻书时能够两端同时动作，既提高运动的连贯性和效率，同时平稳性也更高，皮带连接座7-7与连接板7-6连接，而连接板7-6是与翻页机械手3连接，翻页臂6提供偏摆的动作，翻页机械手3作为翻页机械手，升降机构为翻页机械手提供升降动作，翻页机械手实现提取书籍档案的扫描页面。在整体结构中翻页臂和龙门架为基础框架，成门框形，动力源安装在底座的下端，在动力源的带动下，翻页臂6可以进行偏摆的动作；升降机构7通过螺钉固定安装在翻页臂的面上；翻页机械手为一长方体的结构，在其上面安装有粘取书页的结构，通过该结构对书籍档案的页面进行粘接拾取，在翻页机械手的两端设置有和升降机构连接的定位块，通过螺钉紧固将翻页机械手固定在升降机构7的中间，形成完整的翻书装置。The lifting mechanism 7 includes a motor 7-2 and a transmission rod 7-4. The motor 7-2 is fixed on the bottom surface of the page turning arm 6. The outer wall of the transmission rod 7-4 is sequentially sleeved with three timing pulleys 7-5. And the timing pulley 7-5 is fixed with the transmission rod 7-4, the short timing belt 7-3 is arranged between the timing pulley and the motor, and the short timing belt 7-3 is simultaneously connected with the motor and one of the synchronous pulleys. The other two timing pulleys are respectively fixed at the two ends of the transmission rod 7-4, and the long timing belt 7-1 is respectively sleeved on the two timing pulleys, and the long timing belt 7-1 is located on the page turning arm 6 The guide wheel is connected, and the long timing belt 7-1 is provided with a belt connecting seat 7-7, and the long timing belt 7-1 passes through the belt connecting seat 7-7 and is fixed with the belt connecting seat 7-7, and the belt connecting seat 7 -7 is connected to the page turning robot 3, and the belt connecting seat 7-7 is movable with the long timing belt 7-1. Transmission rod 7-4 passes through the bearing housing The page turning arm 6 is fixed, but the transmission rod 7-4 itself can be rotated in the bearing housing. The number of the long timing belts 7-1 is two, which are symmetrically arranged along the outer wall of the page turning arm 6, so that two pages can be turned when the book is turned Simultaneous movement of the end improves the consistency and efficiency of the movement, and the stability is also higher. The belt connecting seat 7-7 is connected with the connecting plate 7-6, and the connecting plate 7-6 is connected with the turning robot 3, turning the page The arm 6 provides a yaw action, the page turning robot 3 serves as a page turning manipulator, the lifting mechanism provides a lifting action for the page turning manipulator, and the page turning manipulator realizes a scanning page for extracting the book file. In the overall structure, the turning arm and the gantry are the basic frame, and the door frame is formed. The power source is installed at the lower end of the base. Under the driving of the power source, the turning arm 6 can perform the yaw motion; the lifting mechanism 7 is fixed by screws. Mounted on the face of the page turning arm; the page turning robot is a rectangular parallelepiped structure on which a structure for sticking a book page is mounted, through which the pages of the book file are bonded and picked up, and are set at both ends of the page turning robot. The positioning block connected with the lifting mechanism fixes the turning robot in the middle of the lifting mechanism 7 by screw fastening to form a complete flipping device.
将书籍档案4放置在工装台5上，自动翻书扫描仪开始进行前期准备，如揉书、封面固定、首页自检等等，当开始对被扫描件进行翻页时，翻页机械手3先在升降机构7的带动下进行直线的下降运动，到达指定的翻书位置后升降机构7保持不动；翻页臂6开始进行偏转，翻页机械手3在翻页臂6的带动下向被扫描页面偏摆，待翻页机械手3与被扫描页面接触并粘接后，翻页臂6保持该位置恒定不动；升降机构7再次开始动作，翻页机械手3在升降机构的带动下再沿着升降机构7的导向向下运动1cm后，此时和翻页机械手3粘接在一起的页面会产生弯曲，形成拱形曲面，再次将升降机构7锁定；将翻页机械手3上的旋转电机2开始转动，带动翻页机械手3逆时针旋转10°的角度，完成与翻页机械手3粘接在一起的页面和下一页面发生分离，重复上述动作，依次完成对所有页面的分离工作。采用橡胶轮和需翻页的纸张通过摩擦的方式使被翻页与下一张页面分离，然后翻篇。这样的方法靠的是摩擦力，轮面与页面接触的摩擦力为1N至2N，对很多档案和时间比较久远的书籍或者账本，由于纸张老化，变脆，在这样大的摩擦时常会将书页损坏，而采用本方法进行页面分离时，相邻页面之间受到的力仅为0.1N至0.3N，大大减少了页面受到的力，保护了页面的完整和安全。该方法完全模拟了人在翻书时手指与页面的相对运动关系，完美的解决了书籍档案翻页过程中书页粘带的现象，同时采用该方法可以不损伤书籍档案的页面，最大限度的保证了书籍档案的安全和完整，而且大大提高扫描效率。The book file 4 is placed on the tooling table 5, and the automatic flip book scanner starts pre-preparation, such as a book, a cover, a home page self-test, etc., when the page is turned over, the pager 3 first The linear lowering movement is carried out by the lifting mechanism 7, and the lifting mechanism 7 is held still after reaching the designated turning position; the turning arm 6 starts to deflect, and the turning robot 3 is scanned under the driving of the turning arm 6. The page is yawed, and after the page turning robot 3 contacts and is bonded to the scanned page, the page turning arm 6 keeps the position constant; the lifting mechanism 7 starts to operate again, and the page turning robot 3 is driven along the lifting mechanism. After the guide of the lifting mechanism 7 moves downward by 1 cm, the page adhered to the page turning robot 3 at this time will be bent, forming an arched curved surface, and the lifting mechanism 7 will be locked again; the rotating motor 2 on the page turning robot 3 will be Start to rotate, drive the page turning robot 3 to rotate counterclockwise by 10°, complete the separation of the page and the next page that are bonded to the page turning robot 3, repeat the above actions, and complete the division of all the pages in turn. jobs. The rubber wheel and the paper to be turned are rubbed to separate the page from the next page, and then turn over. This method relies on friction. The friction between the tread and the page is 1N to 2N. For many books and books with long files and time, the paper will become brittle due to aging, and the pages will often be used in such a large friction. Damage, and when using this method for page separation, the force between adjacent pages is only 0.1N to 0.3N, which greatly reduces the force on the page and protects the integrity and security of the page. The method completely simulates the relative motion relationship between the finger and the page when the book is turned over, and perfectly solves the phenomenon that the book page sticks during the page turning process of the book file, and at the same time, the method can not damage the page of the book file, and the maximum guarantee The security and integrity of the book archives, and greatly improve the scanning efficiency.
实施例2：Example 2:
如图1至图4所示，本方案与实施例1的方案基本相同，不同之处在于：翻页机械手3在升降机构7的带动下再沿着升降机构7的导向向下运动距离为2cm；旋转电机2带动翻页机械手2逆时针旋转角度为15°。采用橡胶轮和需翻页的纸张通过摩擦的方式使被翻页与下一 张页面分离，然后翻篇。这样的方法靠的是摩擦力，轮面与页面接触的摩擦力为1.5N至2.5N，对很多档案和时间比较久远的书籍或者账本，由于纸张老化，变脆，在这样大的摩擦时常会将书页损坏，而采用本方法进行页面分离时，相邻页面之间受到的力仅为0.2N至0.4N，大大减少了页面受到的力，保护了页面的完整和安全。该方法完全模拟了人在翻书时手指与页面的相对运动关系，完美的解决了书籍档案翻页过程中书页粘带的现象，同时采用该方法可以不损伤书籍档案的页面，最大限度的保证了书籍档案的安全和完整，而且大大提高扫描效率。As shown in FIG. 1 to FIG. 4, the solution is basically the same as that of the embodiment 1, except that the page turning robot 3 is moved by the lifting mechanism 7 and then moved downward along the guiding mechanism of the lifting mechanism 7 by 2 cm. Rotating motor 2 drives the turning robot 2 to rotate counterclockwise at an angle of 15°. Use rubber wheels and paper that needs to be turned to rub the page to turn the page and next The page is separated and then turned over. This method relies on friction. The friction between the tread and the page is 1.5N to 2.5N. For many books and books with long files and time, the paper will become brittle due to aging. When the page is damaged, the force between adjacent pages is only 0.2N to 0.4N when the page is separated by the method, which greatly reduces the force on the page and protects the integrity and security of the page. The method completely simulates the relative motion relationship between the finger and the page when the book is turned over, and perfectly solves the phenomenon that the book page sticks during the page turning process of the book file, and at the same time, the method can not damage the page of the book file, and the maximum guarantee The security and integrity of the book archives, and greatly improve the scanning efficiency.
实施例3：Example 3:
如图1至图4所示，本方案与实施例1的方案基本相同，不同之处在于：翻页机械手3在升降机构7的带动下再沿着升降机构7的导向向下运动距离为3cm；旋转电机2带动翻页机械手2逆时针旋转角度为20°。采用橡胶轮和需翻页的纸张通过摩擦的方式使被翻页与下一张页面分离，然后翻篇。这样的方法靠的是摩擦力，轮面与页面接触的摩擦力为1.8N至2.5N，对很多档案和时间比较久远的书籍或者账本，由于纸张老化，变脆，在这样大的摩擦时常会将书页损坏，而采用本方法进行页面分离时，相邻页面之间受到的力仅为0.1N至0.4N，大大减少了页面受到的力，保护了页面的完整和安全。该方法完全模拟了人在翻书时手指与页面的相对运动关系，完美的解决了书籍档案翻页过程中书页粘带的现象，同时采用该方法可以不损伤书籍档案的页面，最大限度的保证了书籍档案的安全和完整，而且大大提高扫描效率。As shown in FIG. 1 to FIG. 4, the solution is basically the same as the embodiment 1 except that the page turning robot 3 is driven by the lifting mechanism 7 and then moved downward along the guiding mechanism of the lifting mechanism 7 by a distance of 3 cm. Rotating motor 2 drives the turning robot 2 to rotate counterclockwise at an angle of 20°. The rubber wheel and the paper to be turned are rubbed to separate the page from the next page, and then turn over. This method relies on friction. The friction between the tread and the page is 1.8N to 2.5N. For many books and books with long files and time, the paper will become brittle due to aging. When the page is damaged, the force between adjacent pages is only 0.1N to 0.4N when the page is separated by the method, which greatly reduces the force on the page and protects the integrity and security of the page. The method completely simulates the relative motion relationship between the finger and the page when the book is turned over, and perfectly solves the phenomenon that the book page sticks during the page turning process of the book file, and at the same time, the method can not damage the page of the book file, and the maximum guarantee The security and integrity of the book archives, and greatly improve the scanning efficiency.
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。 The specific embodiments of the present invention have been described in detail with reference to the preferred embodiments of the present invention. All modifications, equivalent substitutions, improvements, etc., made within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims (3)

  1. 书籍档案翻页过程中防止书页粘带的方法，其特征在于，包括以下步骤：A method for preventing a book page sticking during a page file turning process, characterized in that the method comprises the following steps:
    (1)将书籍档案(4)放置在工装台(5)上，自动翻书扫描仪开始进行前期准备并对书籍档案(4)的封面进行固定；(1) Place the book file (4) on the tooling table (5), and the automatic flip book scanner starts the preliminary preparation and fixes the cover of the book file (4);
    (2)当开始对被扫描件进行翻页时，翻页机械手(3)先在升降机构(7)的带动下进行直线的下降运动，到达指定的翻书位置后升降机构(7)保持不动；(2) When the page turning is started, the page turning robot (3) first performs a linear descending motion by the lifting mechanism (7), and the lifting mechanism (7) remains after reaching the designated book turning position. move;
    (3)翻页臂(6)开始进行偏转，翻页机械手(3)在翻页臂(6)的带动下向被扫描页面偏摆，待翻页机械手(3)与被扫描页面接触并粘接后，翻页臂(6)保持该位置恒定不动；(3) The page turning arm (6) starts to deflect, and the page turning robot (3) is biased toward the scanned page by the page turning arm (6), and the page turning robot (3) is in contact with the scanned page and sticks. After the connection, the flipping arm (6) keeps the position constant;
    (4)升降机构(7)再次开始动作，翻页机械手(3)在升降机构的带动下再沿着升降机构(7)的导向向下运动1cm至3cm后，此时和翻页机械手(3)粘接在一起的页面会产生弯曲，形成拱形曲面，再次将升降机构(7)锁定；(4) The lifting mechanism (7) starts to operate again, and the page turning robot (3) moves downwards along the guide of the lifting mechanism (7) by 1cm to 3cm, and then the page turning robot (3). The pages bonded together will bend and form an arched surface, and the lifting mechanism (7) will be locked again;
    (5)将翻页机械手(3)上的旋转电机(2)开始转动，带动翻页机械手(3)逆时针旋转10°至20°的角度，完成与翻页机械手(3)粘接在一起的页面和下一页面发生分离，重复上述动作，依次完成对所有页面的分离工作。(5) Start turning the rotating motor (2) on the page turning robot (3), and drive the page turning robot (3) to rotate counterclockwise by an angle of 10° to 20° to complete bonding with the page turning robot (3). The page is separated from the next page, and the above actions are repeated, and the separation of all the pages is completed in sequence.
  2. 根据权利要求1所述的书籍档案翻页过程中防止书页粘带的方法，其特征在于，所述翻页机械手(3)在升降机构(7)的带动下再沿着升降机构(7)的导向向下运动距离为2cm。The method for preventing a book page adhesive tape during a page file turning process according to claim 1, wherein the page turning robot (3) is further driven along the lifting mechanism (7) by the lifting mechanism (7) The guiding downward movement distance is 2 cm.
  3. 根据权利要求1所述的书籍档案翻页过程中防止书页粘带的方法，其特征在于，所述旋转电机(2)带动翻页机械手(3)逆时针旋转角度为15°。 The method for preventing a bookbinding tape during the page turning of a book according to claim 1, wherein the rotating electrical machine (2) drives the turning robot (3) to rotate counterclockwise at an angle of 15°.
PCT/CN2016/099889 2016-08-23 2016-09-23 Method for preventing sticking together of book pages during page turning of book file WO2018035917A1 (en)

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