CN108556498A - The automatic rubbing robot of historical relic an inscription on a tablet - Google Patents
The automatic rubbing robot of historical relic an inscription on a tablet Download PDFInfo
- Publication number
- CN108556498A CN108556498A CN201810298691.6A CN201810298691A CN108556498A CN 108556498 A CN108556498 A CN 108556498A CN 201810298691 A CN201810298691 A CN 201810298691A CN 108556498 A CN108556498 A CN 108556498A
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- China
- Prior art keywords
- inking
- inscription rubbing
- inscription
- rubbing
- vertical
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41K—STAMPS; STAMPING OR NUMBERING APPARATUS OR DEVICES
- B41K3/00—Apparatus for stamping articles having integral means for supporting the articles to be stamped
- B41K3/26—Apparatus for stamping articles having integral means for supporting the articles to be stamped with stamping surface located below article-supporting surface
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- Ink Jet (AREA)
Abstract
The automatic rubbing robot of historical relic an inscription on a tablet includes to clamp holder, paper pressing device, put paper device, rubbing device, inking device and controller, clamps holder and connect with paper pressing device, put paper device, rubbing device and inking device and connect with paper pressing device；In use, being installed on holder is clamped on stone tablet, controller control puts paper device and transfers to rice paper before stone tablet, and bletilla striata water is sprayed onto on rice paper by control water pump；Then controller control platen holder compresses rice paper, and control inscription rubbing vertical movement apparatus and the horizontal translation of inscription rubbing move device and a hairbrush movement, control inscription rubbing driven to swat device and its hairbrush is driven to swat rice paper, and an inscription on a tablet of stone tablet is made to be displayed in rice paper；Then it controls inking vertical movement apparatus and packet movement is opened up in the drive of inking horizontally moving device, control ink, which swats device it is driven to open up, is wrapped in rice paper inscription rubbing inking, by the word inscription rubbing of an inscription on a tablet on rice paper；Solve the problems, such as that historical relic an inscription on a tablet rubbing duplicating efficiency is low.
Description
Technical field
The present invention relates to a kind of reproduction of the cultural relics device, more particularly to a kind of automatic rubbing robot of historical relic an inscription on a tablet.
Background technology
Currently, historical relic an inscription on a tablet is replicated with rubbing technique, since the technology of rubbing requires high, the efficiency of duplication historical relic an inscription on a tablet
Relatively low, the cost for manufacturing rubbing is higher, and quantity is few, can not meet the requirement that people appreciate historical relic an inscription on a tablet, a kind of historical relic an inscription on a tablet
Automatic rubbing robot, it has also become people appreciate the needs of historical relic an inscription on a tablet duplicate.
Invention content
The purpose of the present invention is overcoming the deficiencies of the prior art and provide a kind of automatic rubbing robot of historical relic an inscription on a tablet, it is used for
Meet the needs that people appreciate historical relic an inscription on a tablet duplicate.
The present invention's is adopted the technical scheme that：The automatic rubbing robot of historical relic an inscription on a tablet includes to clamp holder, platen
Device puts paper device, rubbing device, inking device and controller, clamps holder and is connect with paper pressing device, puts paper device, opens up
Printing equipment is set and inking device is connect with paper pressing device；It includes left socle, right support, upper screw rod and lower spiral shell to clamp holder
Bar, left socle are connect by upper screw rod and lower screw rod with right support；Paper pressing device includes platen holder, the first electronic drawing
Bar, the second electronic tie rod, third electronic tie rod and the 4th electronic tie rod, the first electronic tie rod, the second electronic tie rod, third electricity
The shell of dynamic pull rod and the 4th electronic tie rod is fixedly connected with platen holder, the first electronic tie rod, the second electronic tie rod, third
The pull rod of electronic tie rod and the 4th electronic tie rod is fixedly connected with holder is clamped；Paper device is put to include reel, rice paper, put paper
Motor and spraying device, reel is hinged with platen holder, and rice paper volume connects in the motor shaft on reel, putting paper motor with reel
It connects, the engine base for putting paper motor is connect with platen holder, for transferring to rice paper before stone tablet；Spraying device include nozzle,
Connecting tube, water pump and liquid reserve tank, nozzle are connect by connecting tube with water pump, and water pump is connect with liquid reserve tank, and liquid reserve tank is equipped with white
Splendid achnatherum water, nozzle are fixed on platen holder；Rubbing device include inscription rubbing vertical movement apparatus, the horizontal straight mobile device of inscription rubbing with
And device is swatted in inscription rubbing, moving device using inscription rubbing vertical movement apparatus and the horizontal translation of inscription rubbing drives inscription rubbing to swat device shifting
It is dynamic；Inscription rubbing vertical movement apparatus includes inscription rubbing motor vertical, inscription rubbing first gear, inscription rubbing vertical track, inscription rubbing vertical sliding
And first rack, inscription rubbing vertical track and the first rack are fixedly connected with platen holder, inscription rubbing vertical sliding is hung down with inscription rubbing
Straight rail is dynamic to be connected, and the shell of inscription rubbing motor vertical is connect with inscription rubbing vertical sliding, the motor shaft of inscription rubbing motor vertical and
Inscription rubbing first gear is fixedly connected, and inscription rubbing first gear is engaged with the first rack, for driving inscription rubbing using inscription rubbing motor vertical
Vertical sliding is moved along inscription rubbing vertical track；Inscription rubbing horizontally moving device includes inscription rubbing horizontal motor, inscription rubbing second gear, opens up
Horizontal rail, inscription rubbing horizontal slide and the second rack are printed, inscription rubbing horizontal rail and the second rack are consolidated with inscription rubbing vertical sliding
Fixed connection, inscription rubbing horizontal slide and the dynamic mating connection of inscription rubbing horizontal rail, shell and the inscription rubbing horizontal slide of inscription rubbing horizontal motor
It is fixedly connected, the motor shaft of inscription rubbing horizontal motor is fixedly connected with inscription rubbing second gear, and inscription rubbing second gear is nibbled with the second rack
It closes, for being moved along inscription rubbing horizontal rail using inscription rubbing horizontal motor driving inscription rubbing horizontal slide；Device is swatted in inscription rubbing
Inscription rubbing electric pushrod and hairbrush, the shell of inscription rubbing electric pushrod are fixedly connected with inscription rubbing horizontal slide, inscription rubbing electric pushrod
Inscription rubbing drive rod connect with hairbrush, inscription rubbing horizontal slide is equipped with inscription rubbing guide hole, and inscription rubbing drive rod is opened up across inscription rubbing guide hole is flutterred
Drive rod and the dynamic mating connection of inscription rubbing guide hole are printed, for driving a hairbrush inscription rubbing rice paper 17 using inscription rubbing electric pushrod；Inking fills
It includes inking vertical movement apparatus to set, device is moved in upper ink level translation and inking swats device, is vertically moved using inking
Device and upper ink level translation move device and inking are driven to swat device movement；Inking vertical movement apparatus includes that inking is vertical
Motor, inking first gear and inking vertical sliding, inking vertical sliding are hung down with the dynamic mating connection of inscription rubbing vertical track, inking
The shell of straight motor is connect with inking vertical sliding, and the motor shaft of inking motor vertical is fixedly connected with inking first gear, on
Black first gear is engaged with the first rack, for being moved along inscription rubbing vertical track using inking motor vertical driving inking vertical sliding
It is dynamic；Inking horizontally moving device includes inking horizontal motor, inking second gear, inking horizontal rail, inking horizontal slide
And third rack, inking horizontal rail and third rack are fixedly connected with inking vertical sliding, inking horizontal slide with it is upper
Ink level track is dynamic to be connected, and the shell of inking horizontal motor is fixedly connected with inking horizontal slide, inking horizontal motor
Motor shaft is fixedly connected with inking second gear, and inking second gear is engaged with third rack, is driven using inking horizontal motor
Inking horizontal slide is moved along inking horizontal rail；Inking swats device and includes inking electric pushrod and open up packet, and inking is electric
The shell of dynamic push rod is fixedly connected with inking horizontal slide, and the inking drive rod of inking electric pushrod is connected with packet is opened up, upper ink
Smooth seat is equipped with inking guide hole, and inking drive rod passes through inking guide hole, inking drive rod to move and be connected with inking guide hole, be used for
Packet, which is opened up, using the drive of inking electric pushrod swats rice paper inking；Controller include programmable device, CPU, signal input interface and
Executive component output interface；Controller includes sensor after platen front sensor, platen, platen induction pieces, in vertical inscription rubbing
Sensor, vertical inscription rubbing lower sensor, vertical inscription rubbing induction pieces, the left sensor of horizontal inscription rubbing, the right sensor of horizontal inscription rubbing, level
Sensor on inscription rubbing induction pieces, vertical inking, vertical inking lower sensor, vertical inking induction pieces, the left sensor of horizontal inking,
The right sensor of horizontal inking, horizontal inking induction pieces, automatic switch and shutdown switch；It is sensed after platen front sensor, platen
Device, which is installed on, to be clamped on holder, and platen front sensor is located at the front of sensor after platen, and platen induction pieces are installed on platen branch
On frame；Platen holder is connected with inscription rubbing guide post, and sensor and vertical inscription rubbing lower sensor are installed on inscription rubbing and lead in vertical inscription rubbing
On column, sensor is located at the top of vertical inscription rubbing lower sensor in vertical inscription rubbing, and it is vertical that vertical inscription rubbing induction pieces are installed on inscription rubbing
On slide；The horizontal left sensor of inscription rubbing and the right sensor of horizontal inscription rubbing are installed in inscription rubbing horizontal rail, horizontal inscription rubbing induction
Part is installed on inscription rubbing horizontal slide, and the horizontal left sensor of inscription rubbing is located at the horizontal inscription rubbing induction pieces left side, the horizontal right sensing of inscription rubbing
Device is located on the right of horizontal inscription rubbing induction pieces；Platen holder is connected with inking guide post, sensor and vertical inking in vertical inking
Lower sensor is installed on inking guide post, and sensor is located at the top of vertical inking lower sensor, vertical inking in vertical inking
Induction pieces are installed in inking vertical sliding；The horizontal left sensor of inking and the right sensor of horizontal inking are installed on ink level
On track, horizontal inking induction pieces are installed on inking horizontal slide, and the horizontal left sensor of inking is located at horizontal inking induction pieces
The left side, the horizontal right sensor of inking is located at the right of horizontal inking induction pieces；The signal input interface of controller passes through input
Control line and sensor, vertical inscription rubbing lower sensor, horizontal inscription rubbing in sensor after platen front sensor, platen, vertical inscription rubbing
On left sensor, the right sensor vertical inking of horizontal inscription rubbing sensor, vertical inking lower sensor, the left sensor of horizontal inking with
And the horizontal right sensor connection of inking；The executive component output interface of controller by output control line and the first electronic tie rod,
Second electronic tie rod, third electronic tie rod and the 4th electronic tie rod put paper motor, water pump, inscription rubbing motor vertical, inscription rubbing level
Motor, inscription rubbing electric pushrod, inking motor vertical, inking horizontal motor and the connection of inking electric pushrod；Controller is equipped with electricity
Pond power supply and charger to facilitate outdoor application, and utilize alternating current to charge to battery；Platen branch is provided with print cartridge, print cartridge
Ink-absorbing pad in have ink, be used for rice paper inking.
The application method of the automatic rubbing robot of historical relic an inscription on a tablet is：In use, it is first that stone tablet is clean, utilize upper screw rod
And the left socle for clamping holder and right support are fixed on stone tablet by lower screw rod；After clamping holder is installed on stone tablet, profit
By platen holder and holder is clamped with the first electronic tie rod, the second electronic tie rod, third electronic tie rod and the 4th electronic tie rod
Connection；After platen holder is connect with clamping holder, sensor in vertical inscription rubbing is adjusted according to the position of an inscription on a tablet of stone tablet, is vertically opened up
Print lower sensor, senses in the right sensor vertical inking of horizontal inscription rubbing the left sensor of horizontal inscription rubbing under sensor, vertical inking
The position of device, the left sensor of horizontal inking and the right sensor of horizontal inking, the range of fixed rubbing；The range of rubbing is fixed
Afterwards, after pressing automatic switch, controller enters automatic control program；After controller enters automatic control program, controller control
Putting paper motor drives spool turns, reel to transfer to the rice paper on reel before stone tablet；While reel puts down rice paper,
Controller controls pump working, and water pump will be sprayed onto after bletilla striata water atomization on the rice paper that stone tablet front is moved by nozzle；Under rice paper
After being put into before stone tablet, paper motor is put in controller control and water pump stops；After putting paper motor and water pump stopping, controller
It controls the firstth electronic tie rod, the second electronic tie rod, third electronic tie rod and the 4th electronic tie rod and pushes paper holder to stone tablet
The rice paper of front moves, and after before the stone tablet that rice paper is pressed in by platen holder, controller controls the first electronic tie rod, second
Electronic tie rod, third electronic tie rod and the 4th electronic tie rod stop, and rice paper is pressed in before stone tablet using platen holder；
After rice paper is pressed in before an inscription on a tablet of stone tablet by platen holder, controller controls the inscription rubbing motor vertical of inscription rubbing vertical movement apparatus
Inscription rubbing vertical sliding is driven to be moved along inscription rubbing vertical track, the inscription rubbing horizontal rail being fixedly connected with inscription rubbing vertical sliding, which follows, opens up
Print vertical sliding movement；Meanwhile the inscription rubbing horizontal motor of controller control inscription rubbing horizontally moving device drives inscription rubbing horizontal slide
It is moved along inscription rubbing horizontal rail；Meanwhile the inscription rubbing electric pushrod operation of device, inscription rubbing electric pushrod are swatted in controller control inscription rubbing
Drive a time hairbrush to move back and forth, the rice paper on stone tablet face back and forth constantly touched using a hairbrush, make an inscription on a tablet on stone tablet in
Rice paper is shown, rice paper is made to be bonded closely with an inscription on a tablet of stone tablet, and it is all uniformly recessed to make to open up body an inscription on a tablet, and an inscription on a tablet is opened up in rice paper
On, so that an inscription on a tablet writing is clearly shown in rice paper, automatic inscription rubbing is carried out to the rice paper on stone tablet face using hairbrush；Rice paper and stone tablet
An inscription on a tablet closely fitting after, controller control rubbing device reset to initial position；Controller controls inscription rubbing vertical movement apparatus
And inscription rubbing horizontally moving device drive inscription rubbing swat device hairbrush reset to initial position after stop；The hairbrush that pauses is reset to
After initial position, packet reset movement is opened up in the inking electric pushrod drive that controller control inking swats device, is made to open up packet and is dipped in inking
The ink of box；After opening up the ink that packet dips in print cartridge, the inking motor vertical that controller controls inking vertical movement apparatus drives inking vertical
Slide is moved along inscription rubbing vertical track, and the inking horizontal rail being fixedly connected with inking vertical sliding follows inking vertical sliding to move
It is dynamic；Meanwhile the inking horizontal motor of controller control inking horizontally moving device drives inking horizontal slide along upper ink level rail
It moves in road；Meanwhile controller control inking swat device inking electric pushrod operation, inking electric pushrod drive open up packet make it is past
It is multiple mobile, the ink wrapped will be opened up and gently flutterred on the rice paper before stone tablet, an inscription on a tablet on stone tablet is made to be shown in rice paper；Before stone tablet
After the rice paper in face gently flutters inking, controller control inking vertical movement apparatus and inking horizontally moving device drive inking to flutter
Opening up after packet returns to initial position for device is beaten to stop；It opens up after packet returns to initial position, controller controls the first electronic tie rod, second
Electronic tie rod, third electronic tie rod and the 4th electronic tie rod traction platen holder leave rice paper；After platen holder leaves rice paper,
There is the rice paper of an inscription on a tablet word to cut inscription rubbing；Solve the problems, such as that an inscription on a tablet duplicating efficiency of stone tablet is slow.
The beneficial effects of the invention are as follows：The automatic rubbing robot of historical relic an inscription on a tablet includes to clamp holder, paper pressing device, put
Paper device, rubbing device, inking device and controller, clamp holder connect with paper pressing device, put paper device, rubbing device with
And inking device is connect with paper pressing device；In use, by clamp holder be installed on stone tablet, by platen holder, put paper device with
After clamping holder connection, the putting before rice paper transferred to an inscription on a tablet of stone tablet by paper motor with movable reel of paper device is put in controller control
Bletilla striata water is sprayed onto on rice paper by face, and control water pump；Then rice paper is pressed on stone tablet by controller control platen holder, with
And the hairbrush movement that device drives inscription rubbing to swat device, control are moved in control inscription rubbing vertical movement apparatus and the horizontal translation of inscription rubbing
Inscription rubbing swats device and its hairbrush is driven to swat rice paper, and an inscription on a tablet of stone tablet is made to be displayed in rice paper；Inking is controlled again vertically to move
The packet of opening up that dynamic device and inking horizontally moving device drive inking to swat device moves, and control ink swats device and it is driven to open up packet
In rice paper inscription rubbing inking, by the word inscription rubbing of an inscription on a tablet on rice paper；It solves the problems, such as that historical relic an inscription on a tablet rubbing duplicating efficiency is low, makes
More people can enjoy the duplicate of historical relic an inscription on a tablet, pass on the traditional culture of China.
Description of the drawings
Fig. 1 is the structural schematic diagram of the automatic rubbing robot of historical relic an inscription on a tablet；
Fig. 2 is the left view of Fig. 1.
Specific implementation mode
The present invention is further detailed with specific embodiment below in conjunction with the accompanying drawings：
The structural schematic diagram of the automatic rubbing robot of historical relic an inscription on a tablet as shown in Figure 1 and the left view of Fig. 1 shown in Fig. 2；Text
The automatic rubbing robot of object an inscription on a tablet includes to clamp holder 1, paper pressing device 2, put paper device 3, rubbing device 4, inking device 5
And controller 6, it clamps holder 1 and is connect with paper pressing device 2, put paper device 3, rubbing device 4 and inking device 5 and filled with platen
Set 2 connections；It includes left socle 7, right support 8, upper screw rod 9 and lower screw rod 10 to clamp holder 1, and left socle 7 passes through upper screw rod 9
And lower screw rod 10 is connect with right support 8；Paper pressing device 2 includes platen holder 11, the first electronic tie rod 12, the second electronic drawing
Bar 13, third electronic tie rod 14 and the 4th electronic tie rod 15, the first electronic tie rod 12, the second electronic tie rod 13, third are electronic
The shell of pull rod 14 and the 4th electronic tie rod 15 is fixedly connected with platen holder 11, the first electronic tie rod 12, the second electronic drawing
The pull rod of bar 13, third electronic tie rod 14 and the 4th electronic tie rod 15 with clamp holder 1 be fixedly connected, platen holder 11 and
Reel 16 is equipped with different specifications, to be suitble to the stone tablet 19 of different in width；Paper device 3 is put to include reel 16, rice paper 17, put paper
Motor 18 and spraying device 37, reel 16 is hinged with platen holder 11, and rice paper volume 17 puts the electricity of paper motor 18 on reel 16
Arbor is connect with reel 16, and the engine base for putting paper motor 18 is connect with platen holder 11, before rice paper 17 is transferred to stone tablet 19
Face；Spraying device 37 includes nozzle 38, connecting tube 39, water pump 40 and liquid reserve tank 41, and nozzle 38 passes through connecting tube 39 and water
40 connection of pump, water pump 40 are connect with liquid reserve tank 41, and nozzle 38 is fixed on platen holder 11, and the liquid reserve tank 41 of spraying device 37 is set
There is bletilla striata water, the rice paper 17 of the spout of nozzle 38 against 19 surface of stone tablet；Rubbing device 4 includes inscription rubbing vertical movement apparatus
20, device 22 is swatted in the horizontal straight mobile device 21 of inscription rubbing and inscription rubbing, horizontal using inscription rubbing vertical movement apparatus 20 and inscription rubbing
Straight mobile device 21 drives inscription rubbing to swat the movement of device 22；Inscription rubbing vertical movement apparatus 20 includes inscription rubbing motor vertical 23, opens up
Print first gear 24, inscription rubbing vertical track 25, inscription rubbing vertical sliding 26 and the first rack 27, inscription rubbing vertical track 25 and the
One rack 27 is fixedly connected with platen holder 11, and inscription rubbing vertical sliding 26 is hung down with the dynamic mating connection of inscription rubbing vertical track 25, inscription rubbing
The shell of straight motor 23 is connect with inscription rubbing vertical sliding 26, and motor shaft and the inscription rubbing first gear 24 of inscription rubbing motor vertical 23 are fixed
Connection, inscription rubbing first gear 24 are engaged with the first rack 27, for driving inscription rubbing vertical sliding 26 using inscription rubbing motor vertical 23
It is moved along inscription rubbing vertical track 25；Inscription rubbing horizontally moving device 21 includes inscription rubbing horizontal motor 28, inscription rubbing second gear 29, opens up
Print horizontal rail 30, inscription rubbing horizontal slide 31 and the second rack 32, inscription rubbing horizontal rail 30 and the second rack 32 and inscription rubbing
Vertical sliding 26 is fixedly connected, inscription rubbing horizontal slide 31 and the dynamic mating connection of inscription rubbing horizontal rail 30, inscription rubbing horizontal motor 28
Shell is fixedly connected with inscription rubbing horizontal slide 31, and the motor shaft of inscription rubbing horizontal motor 28 is fixedly connected with inscription rubbing second gear 29,
Inscription rubbing second gear 29 is engaged with the second rack 32, for driving inscription rubbing horizontal slide 31 along inscription rubbing using inscription rubbing horizontal motor 28
Horizontal rail 30 moves；It includes inscription rubbing electric pushrod 33 and hairbrush 34, inscription rubbing electric pushrod 33 that device 22 is swatted in inscription rubbing
Shell be fixedly connected with inscription rubbing horizontal slide 31, the inscription rubbing drive rod 35 of inscription rubbing electric pushrod 33 is connect with hairbrush 34, is opened up
It prints horizontal slide 31 and is equipped with inscription rubbing guide hole 36, inscription rubbing drive rod 35 passes through and flutters inscription rubbing guide hole 36, and inscription rubbing drive rod 35 is led with inscription rubbing
Hole 36 is dynamic to be connected, for driving a 34 inscription rubbing rice paper 17 of hairbrush using inscription rubbing electric pushrod 33；On inking device 5 includes
Black vertical movement apparatus 42, upper ink level translation move device 43 and inking swats device 44, utilizes inking vertical movement apparatus
42 and upper ink level translation move device 43 drive inking swat device 44 movement；Inking vertical movement apparatus 42 includes inking
Motor vertical 45, inking first gear 46 and inking vertical sliding 48, inking vertical sliding 48 are dynamic with inscription rubbing vertical track 25
Be connected, the shell of inking motor vertical 45 connect with inking vertical sliding 48, the motor shaft of inking motor vertical 45 with it is upper
Black first gear 46 is fixedly connected, and inking first gear 46 is engaged with the first rack 27, for being driven using inking motor vertical 45
Dynamic inking vertical sliding 48 is moved along inscription rubbing vertical track 25；Inking horizontally moving device 43 include inking horizontal motor 50,
Inking second gear 51, inking horizontal rail 52, inking horizontal slide 53 and third rack 54, inking horizontal rail 52 and
Third rack 54 is fixedly connected with inking vertical sliding 48, inking horizontal slide 53 and the dynamic mating connection of inking horizontal rail 52,
The shell of inking horizontal motor 50 is fixedly connected with inking horizontal slide 53, motor shaft and the inking second of inking horizontal motor 50
Gear 51 is fixedly connected, and inking second gear 51 is engaged with third rack 54, and upper ink level is driven using inking horizontal motor 50
Slide 53 is moved along inking horizontal rail 52；Inking swats device 44 and includes inking electric pushrod 55 and open up packet 56, inking
The shell of electric pushrod 55 is fixedly connected with inking horizontal slide 53, the inking drive rod 57 of inking electric pushrod 55 and opens up packet 56
Connection, inking horizontal slide 53 be equipped with inking guide hole 58, inking drive rod 57 pass through inking guide hole 58, inking drive rod 57 with it is upper
Black guide hole 58 is dynamic to be connected, and 17 inking of rice paper is swatted for opening up packet 56 using the drive of inking electric pushrod 55；Controller 6 includes
There are programmable device, CPU, signal input interface and executive component output interface；Controller 6 includes platen front sensor 59, pressure
Sensor 60 after paper, platen induction pieces 61, sensor 62, vertical inscription rubbing lower sensor 63, vertical inscription rubbing induction in vertical inscription rubbing
Part 64, the left sensor 65 of horizontal inscription rubbing, the right sensor 66 of horizontal inscription rubbing, horizontal inscription rubbing induction pieces 67, sensor in vertical inking
68, vertical inking lower sensor 69, vertical inking induction pieces 70, the left sensor 71 of horizontal inking, the right sensor 72 of horizontal inking,
Horizontal inking induction pieces 73, automatic switch 74 and shutdown switch 75；Sensor 60 is installed on after platen front sensor 59, platen
It clamps on holder 1, platen front sensor 59 is located at the front of sensor 60 after platen, and platen induction pieces 61 are installed on platen holder
On 11；Platen holder 11 is connected with inscription rubbing guide post 76, and sensor 62 and vertical inscription rubbing lower sensor 63 are installed in vertical inscription rubbing
In on inscription rubbing guide post 76, sensor 62 is located at the top of vertical inscription rubbing lower sensor 63, vertical inscription rubbing induction pieces in vertical inscription rubbing
64 are installed in inscription rubbing vertical sliding 26；The horizontal left sensor 65 of inscription rubbing and the right sensor of horizontal inscription rubbing 66 are installed on inscription rubbing water
On plate rail road 30, horizontal inscription rubbing induction pieces 67 are installed on inscription rubbing horizontal slide 31, and the horizontal left sensor 65 of inscription rubbing is located at level
67 left side of inscription rubbing induction pieces, the horizontal right sensor 66 of inscription rubbing are located at 67 the right of horizontal inscription rubbing induction pieces；Platen holder 11 is connected with
Inking guide post 77, sensor 68 and vertical inking lower sensor 69 are installed on inking guide post 77 in vertical inking, it is vertical on
Sensor 68 is located at the top of vertical inking lower sensor 69 on ink, and vertical inking induction pieces 70 are installed on inking vertical sliding 48
On；The horizontal left sensor 71 of inking and the right sensor of horizontal inking 72 are installed in inking horizontal rail 52, horizontal inking sense
Part 73 is answered to be installed on inking horizontal slide 53, the horizontal left sensor 71 of inking is located at the left side of horizontal inking induction pieces 73, water
The flat right sensor 72 of inking is located at the right of horizontal inking induction pieces 73；The signal input interface of controller 6 passes through input control
It is line and sensor 62 in sensor 60 after platen front sensor 59, platen, vertical inscription rubbing, vertical inscription rubbing lower sensor 63, horizontal
Sensor 68 on the left sensor 65 of inscription rubbing, the right 66 vertical inking of sensor of horizontal inscription rubbing, vertical inking lower sensor 69, in level
Black left sensor 71 and the right sensor 72 of horizontal inking connect；The executive component output interface of controller 6 is controlled by exporting
Line and the first electronic tie rod 12, the second electronic tie rod 13, third electronic tie rod 14 and the 4th electronic tie rod 15 put paper motor
18, water pump 40, inscription rubbing motor vertical 23, inscription rubbing horizontal motor 28, inscription rubbing electric pushrod 33, inking motor vertical 45, upper ink
Flat telegram machine 50 and inking electric pushrod 55 connect；Controller 6 is equipped with battery supply and charger, to facilitate outdoor application,
And it is charged to battery using alternating current；Platen holder 11 is equipped with print cartridge 78, has ink in the ink-absorbing pad 79 of print cartridge 78, is used for rice paper 17
Inking.
The original state of the platen induction pieces 61 of controller 6 is：Platen induction pieces 61 are close to platen front sensor 59；Inscription rubbing
The original state of device 4 is：Rubbing device 4 is located at the top of platen holder 11, the vertical inscription rubbing sense in inscription rubbing vertical sliding 26
Answer part 64 close to sensor 62 in vertical inscription rubbing；Inscription rubbing horizontal slide 31 is located at the left side of platen holder 11, and device is swatted in inscription rubbing
22 hairbrush 34 is located at the left side of platen holder 11, and the left sensor 65 of horizontal inscription rubbing in inscription rubbing horizontal rail 30 is close to inscription rubbing
Horizontal inscription rubbing induction pieces 67 on horizontal slide 31；Inscription rubbing swat the hairbrush 34 of device 22 not with the rice paper 17 on 19 face of stone tablet
Contact；The original state of inking device 5 is：Inking device 5 is located at the lower part of platen holder 11, hanging down in inking vertical sliding 48
For straight inking induction pieces 70 close to vertical inking lower sensor 69, inking vertical sliding 48 is located at the left side of platen holder 11, inking
The left sides opened up packet 56 and be located at platen holder 11 for swatting device 44, the left sensor of horizontal inking in inking horizontal rail 52 71 connect
Horizontal inking induction pieces 73 on nearly inking horizontal slide 53；Inking swat device 44 open up packet 56 not with a surname on 19 face of stone tablet
Paper 17 contacts.
In order to implement device 22 is swatted in inscription rubbing and hairbrush 34 and what inking swatted device 44 opens up packet 56 in stone tablet 19
It is moved on face, the second rack 32 of inscription rubbing horizontally moving device 21 is parallel with inscription rubbing horizontal rail 30, inking horizontally moving device
43 third rack 54 is parallel with inking horizontal rail 52, and inscription rubbing horizontal rail 30 and inking horizontal rail 52 are vertical with inscription rubbing
Track 25 is vertical, and the first rack 27 is vertical with the second rack 32 and third rack 54, inscription rubbing vertical track 25 and the first rack
27 is parallel.
In order to implement the steady movement of inscription rubbing vertical sliding 26 and inking vertical sliding 48, inscription rubbing vertical track 25 includes
There are left inscription rubbing vertical track 80 and right inscription rubbing vertical track 81, left inscription rubbing vertical track 80 and right inscription rubbing vertical track 81 flat
Row；Inscription rubbing vertical sliding 26 includes left inscription rubbing vertical sliding 82 and right inscription rubbing vertical sliding 83, left inscription rubbing vertical sliding 82
With the dynamic mating connection of left inscription rubbing vertical track 80, right inscription rubbing vertical sliding 83 and the dynamic mating connection of right inscription rubbing vertical track 81；On
Black vertical sliding 48 includes upper left ink vertical sliding 84 and upper right ink vertical sliding 85, and upper left ink vertical sliding 84 is opened up with a left side
The dynamic mating connection of vertical track 80 is printed, upper right ink vertical sliding 85 is moved with right inscription rubbing vertical track 81 and is connected.
In order to implement the steady movement of inscription rubbing horizontal slide 31 and inking horizontal slide 53, inscription rubbing horizontal rail 30 is cut
Face is that either square inscription rubbing horizontal slide 31 is equipped with rectangle or square slide opening, inscription rubbing horizontal rail 30 to rectangle
It moves and is connected with the slide opening of inscription rubbing horizontal slide 31；The section of inking horizontal rail 52 is rectangle or square, inking
The slide opening of slide opening of the horizontal slide 53 equipped with rectangle or square, inking horizontal rail 52 and inking horizontal slide 53 is dynamic to match
Close connection；The second rack 32 and inscription rubbing horizontal rail 30 of inscription rubbing horizontally moving device 21 and left inscription rubbing vertical sliding 82 and
Right inscription rubbing vertical sliding 83 is fixedly connected；The third rack 54 and inking horizontal rail 52 of inking horizontally moving device 43 and a left side
Inking vertical sliding 84 and upper right ink vertical sliding 85 are fixedly connected.
The hairbrush 34 that device 22 is swatted to implement inscription rubbing carries out inscription rubbing to rice paper 17, and an inscription on a tablet 86 is made to be apparent in rice paper 17
On, the inscription rubbing drive rod 35 of the inscription rubbing electric pushrod 33 of device 22 and stone tablet 19 are swatted in inscription rubbing 86 front vertical of an inscription on a tablet, inscription rubbing
Drive rod 35 is equipped with inscription rubbing connector 87, and inscription rubbing connector 87 is equipped with inscription rubbing guide hole 88, inscription rubbing guide post 89 and inscription rubbing spring 90, inscription rubbing
Guide post 89 is set to the dynamic mating connection of inscription rubbing guide hole 88, inscription rubbing spring 90 in inscription rubbing guide hole 68, and inscription rubbing spring 90, which is in, to be compressed
State, inscription rubbing connector 87 are fixedly connected with inscription rubbing drive rod 35, and inscription rubbing guide post 89 is fixedly connected with a hairbrush 34.
56 pairs of rice paper 17 of packet of opening up that device 44 is swatted to implement inking carry out inking, and an inscription on a tablet 86 is made to be apparent in rice paper 17
On, inking, which swats the inking drive rod 57 of the inking electric pushrod 55 of device 44 and stone tablet 19,86 front vertical of an inscription on a tablet, inking
Drive rod 57 is equipped with inking connector 91, and upper ink connector 91 is equipped with inking guide hole 92, inking guide post 47 and inking spring 49, on
Black guide post 47 is set to the dynamic mating connection of inking guide hole 92, inking spring 49 in inking guide hole 92, and inking spring 49 is in and is pressed
Contracting state, inking connector 91 are fixedly connected with inking drive rod 57, and inking guide post 47 is fixedly connected with packet 56 is opened up.
The application method of the automatic rubbing robot of historical relic an inscription on a tablet is：In use, it is first that stone tablet 19 is clean, utilize upper spiral shell
The left socle 7 for clamping holder 1 and right support 8 are fixed on stone tablet 19 by bar 9 and lower screw rod 10；Holder 1 is clamped to be installed on
After on stone tablet 19, the first electronic tie rod 12, the second electronic tie rod 13, third electronic tie rod 14 and the 4th electronic tie rod 15 are utilized
Platen holder 11 is connect with holder 1 is clamped；After platen holder 11 is connect with clamping holder 1, according to an inscription on a tablet 86 of stone tablet 19
Position adjusts sensor 62, vertical inscription rubbing lower sensor 63, the left sensor 65 of horizontal inscription rubbing, the right biography of horizontal inscription rubbing in vertical inscription rubbing
Sensor 68, vertical inking lower sensor 69, the left sensor 71 of horizontal inking and horizontal inking are right in 66 vertical inking of sensor
The position of sensor 72, the range of fixed rubbing；After the range of rubbing is fixed, after pressing automatic switch 74, controller 6 enters certainly
Dynamic control program；After controller 6 enters automatic control program, the control of controller 6 is put paper motor 18 and is rotated with movable reel 16, reel
16 transfer to the rice paper 17 on reel 16 before stone tablet 19；While reel 16 puts down rice paper 17, controller 6 controls water
40 work of pump, water pump 40 will be sprayed onto on the rice paper 17 that 19 front of stone tablet is moved by nozzle 38 after bletilla striata water atomization；Under rice paper 17
After being put into before stone tablet 19, paper motor 18 is put in the control of controller 6 and water pump 29 stops；It puts paper motor 18 and water pump 29 stops
After only, controller 6 controls the firstth electronic tie rod 12, the second electronic tie rod 13, third electronic tie rod 14 and the 4th electronic drawing
Bar 15 pushes paper holder 11 and is moved to the rice paper 17 of 19 front of stone tablet, before the stone tablet 19 that rice paper 17 is pressed in by platen holder 11
Behind face, controller 6 controls the first electronic tie rod 12, the second electronic tie rod 13, third electronic tie rod 14 and the 4th electronic tie rod
15 stop, and rice paper 17 is pressed in before stone tablet 19 using platen holder 11；Rice paper 17 is pressed in stone tablet by platen holder 11
Behind 19 86 front of an inscription on a tablet, the inscription rubbing motor vertical 23 that controller 6 controls inscription rubbing vertical movement apparatus 20 drives inscription rubbing vertically to slide
Seat 26 is moved along inscription rubbing vertical track 25, and the inscription rubbing horizontal rail 30 being fixedly connected with inscription rubbing vertical sliding 26 follows inscription rubbing vertical
Slide 26 moves；Meanwhile controller 6 controls the drive inscription rubbing horizontal slide of inscription rubbing horizontal motor 28 of inscription rubbing horizontally moving device 21
31 move along inscription rubbing horizontal rail 30；Meanwhile controller 6 controls the operation of inscription rubbing electric pushrod 33 that device 22 is swatted in inscription rubbing, opens up
Print electric pushrod 33 drives a hairbrush 34 to move back and forth, and utilizes reciprocal rice paper of the constantly tapping on 19 face of stone tablet of a hairbrush 34
17, so that an inscription on a tablet 86 on stone tablet 19 is shown in rice paper 17, so that rice paper 17 is bonded closely with an inscription on a tablet 86 of stone tablet 19, make to open up body
An inscription on a tablet 86 is all uniformly recessed, and an inscription on a tablet 86 is opened up on rice paper 17,86 writing of an inscription on a tablet is made clearly to show in rice paper 77, utilizes a hair
Rice paper 17 on 34 pairs of 19 faces of stone tablet of brush carries out automatic inscription rubbing；After rice paper 17 is bonded closely with an inscription on a tablet 86 of stone tablet 19, controller 6
Control rubbing device 4 resets to initial position；Controller 6 controls inscription rubbing vertical movement apparatus 20 and inscription rubbing horizontally moving device
21 drive inscription rubbings swat device 22 hairbrush 34 reset to initial position after stop；After the hairbrush 34 that pauses resets to initial position,
Controller 6, which controls inking, to be swatted the drive of inking electric pushrod 55 of device 44 and opens up 56 reset movements of packet, is made to open up packet 56 and is dipped in print cartridge
78 ink；After opening up the ink that packet 56 dips in print cartridge 78, the inking motor vertical 45 that controller 6 controls inking vertical movement apparatus 42 drives
Inking vertical sliding 48 is moved along inscription rubbing vertical track 25, the inking horizontal rail 52 being fixedly connected with inking vertical sliding 48 with
It is moved with inking vertical sliding 48；Meanwhile controller 6 controls in the drive of inking horizontal motor 50 of inking horizontally moving device 43
Ink level slide 53 is moved along inking horizontal rail 52；Meanwhile controller 6 controls the inking electric pushrod that inking swats device 44
55 operations, the drive of inking electric pushrod 55 are opened up packet 56 and are moved back and forth, and the ink opened up on packet 56 is gently flutterred a surname in 19 front of stone tablet
On paper 17, an inscription on a tablet 86 on stone tablet 19 is made to be shown in rice paper 17；After the rice paper 17 of 19 front of stone tablet gently flutters inking, control
Device 6 controls the packet 56 of opening up that inking vertical movement apparatus 42 and inking horizontally moving device 43 drive inking to swat device 44 and returns to
Stop after initial position；Open up packet 43 return to initial position after, controller 6 control the first electronic tie rod 12, the second electronic tie rod 13,
Third electronic tie rod 14 and the 4th electronic tie rod 15 traction platen holder 11 leave rice paper 17；Platen holder 11 leaves rice paper 17
Afterwards, the rice paper 17 of 86 word of an inscription on a tablet cuts inscription rubbing；Solve the problems, such as that 86 duplicating efficiency of an inscription on a tablet of stone tablet 19 is slow.
In order to implement that rice paper 17 is pressed on stone tablet 19, historical relic an inscription on a tablet automatic rubbing robot in use, controller 6
When control puts paper motor 18 and moves in the direction of the clock with movable reel 17, controller 6 control simultaneously water pump 29 by nozzle 27 to
The mobile rice paper 17 of decentralization sprays the bletilla striata water of atomization, and rice paper 17 is made to moisten；After the decentralization in place of rice paper 17, the control of controller 6 the
Rice paper 17 is pressed in stone by one electronic tie rod 12, the second electronic tie rod 13, third electronic tie rod 14 and the 4th electronic tie rod 15
On upright stone tablet 19；Meanwhile the platen induction pieces 61 of platen holder 11 approach sensor 60 after the platen clamped on holder 1, are passed after platen
For sensor 60 by its signal transmission to controller 6, it is electronic that controller 6 controls the first electronic tie rod 12, the second electronic tie rod 13, third
Pull rod 14 and the 4th electronic tie rod 15 stop.
In order to control the length that reel 17 transfers rice paper 17, historical relic an inscription on a tablet automatic rubbing robot in use, according to upright stone tablet
The height of text 86 determines the length of decentralization rice paper 17, and the time for being put the operation of paper motor 18 to the input of controller 6 using programmable device is joined
Number transfers the length of rice paper 17 to control, and the length for transferring rice paper 17 is directly proportional to the time for putting the operation of paper motor 18.
In order to control the range of the movement of inscription rubbing vertical sliding 26, and the range of 31 movement of control inscription rubbing horizontal slide, control
When the hairbrush 34 that device 22 is swatted in the control of device 6 inscription rubbing processed swats rice paper 17, controller 6 controls inscription rubbing vertical movement apparatus 20
Inscription rubbing motor vertical 23 drives inscription rubbing vertical sliding 26 to be moved down along inscription rubbing vertical track 25, hanging down in inscription rubbing vertical sliding 26
Straight inscription rubbing induction pieces 64 follow inscription rubbing vertical sliding 26 to move down, and vertical inscription rubbing induction pieces 64 are close on inscription rubbing vertical track 25
Vertical inscription rubbing lower sensor 63 when, vertical inscription rubbing lower sensor 63 by its signal transmission to controller 6, open up by the control of controller 6
Motor vertical 23 is printed to stop；The inscription rubbing motor vertical 23 that controller 6 controls inscription rubbing vertical movement apparatus 20 drives inscription rubbing vertically to slide
When seat 26 is moved up along inscription rubbing vertical track 25, the vertical inscription rubbing induction pieces 64 in inscription rubbing vertical sliding 26 follow inscription rubbing vertical
Slide 26 moves up, and vertical inscription rubbing induction pieces 64 when sensor 62, hang down in the vertical inscription rubbing close on inscription rubbing vertical track 25
By its signal transmission to controller 6, controller 6 controls inscription rubbing motor vertical 23 to be stopped sensor 62 in straight inscription rubbing；Controller 6 is controlled
When the hairbrush 34 that device 22 is swatted in inscription rubbing processed swats rice paper 17, controller 6 controls the inscription rubbing water of inscription rubbing horizontally moving device 21
Flat telegram machine 28 drives inscription rubbing horizontal slide 31 to move right along inscription rubbing horizontal rail 30, the horizontal inscription rubbing on inscription rubbing horizontal slide 31
Induction pieces 67 follow inscription rubbing horizontal slide 31 to move right, the close level of the horizontal inscription rubbing induction pieces 67 on inscription rubbing horizontal slide 31
When the right sensor 66 of inscription rubbing, for the horizontal right sensor 66 of inscription rubbing by its signal transmission to controller 6, it is horizontal that controller 6 controls inscription rubbing
Motor 28 stops；Controller 6 controls inscription rubbing horizontal motor 28 and drives inscription rubbing horizontal slide 31 along inscription rubbing horizontal rail 30 to moving to left
When dynamic, the horizontal inscription rubbing induction pieces 67 on inscription rubbing horizontal slide 31 follow inscription rubbing horizontal slide 31 to be moved to the left, and inscription rubbing level is slided
When left close to the 30 horizontal inscription rubbing of the inscription rubbing horizontal rail sensor 65 of horizontal inscription rubbing induction pieces 67 on seat 31, the horizontal left sensing of inscription rubbing
By its signal transmission to controller 6, controller 6 controls inscription rubbing horizontal motor 28 to be stopped device 65.
In order to control the range of the movement of inking vertical sliding 48, and the range of 53 movement of control inking horizontal slide, control
Device 6 processed controls inking and swats when opening up 56 inscription rubbing rice paper 17 of packet of device 44, and controller 6 controls the upper of inking vertical movement apparatus 42
Black motor vertical 45 drives inking vertical sliding 48 to be moved up along inscription rubbing vertical track 25, vertical in inking vertical sliding 48
Inking induction pieces 70 follow inscription rubbing vertical sliding 26 to move up, and vertical inking induction pieces 70 are close on inscription rubbing vertical track 25
In vertical inking when sensor 68, for sensor 68 by its signal transmission to controller 6, controller 6 controls inking in vertical inking
Motor vertical 45 stops；The inking motor vertical 45 that controller 6 controls inking vertical movement apparatus 42 drives inking vertical sliding
48 along inscription rubbing vertical track 25 when moving down, and the vertical inking induction pieces 70 in inking vertical sliding 48 follow inking vertically to slide
Seat 48 moves down, vertical inking lower sensor 69 of the vertical inking induction pieces 70 close on inscription rubbing vertical track 25, it is vertical on
By its signal transmission to controller 6, controller 6 controls inking motor vertical 45 to be stopped black lower sensor 69；In the control of controller 6
Ink swats when opening up 56 inscription rubbing rice paper 17 of packet of device 44, and controller 6 controls the inking horizontal motor of inking horizontally moving device 43
50 drive inking horizontal slides 53 move right along inking horizontal rail 52, the horizontal inking induction pieces on inking horizontal slide 53
73 follow inking horizontal slide 53 to move right, and the horizontal inking induction pieces 73 on inking horizontal slide 53 are right close to horizontal inking
When sensor 72, for the horizontal right sensor 72 of inking by its signal transmission to controller 6, controller 6 controls inking horizontal motor 50
Stop；The inking horizontal motor 50 that controller 6 controls inking horizontally moving device 43 drives inking horizontal slide 53 along ink level
When track 52 is moved to the left, the horizontal inking induction pieces 73 on inking horizontal slide 53 follow inking horizontal slide 53 to moving to left
It is dynamic, when 73 sensor 71 left close to horizontal inking of horizontal inking induction pieces on inking horizontal slide 53, the horizontal left sensing of inking
By its signal transmission to controller 6, controller 6 controls inking horizontal motor 50 to be stopped device 71.
In order to implement by black inscription rubbing on the rice paper 17 on 19 surface of stone tablet, the movement of hairbrush 34 of device 22 is swatted in inscription rubbing
The track that track is moved by inscription rubbing vertical movement apparatus 20 and inscription rubbing horizontally moving device 21 synthesizes；The automatic rubbing of historical relic an inscription on a tablet
Robot in use, according to the range of an inscription on a tablet 86, by run programmable device to controller 6 input inscription rubbing vertical movement apparatus 20 and
The track data that inscription rubbing horizontally moving device 21 moves；When the 34 inscription rubbing rice paper 17 of hairbrush of device 22 is swatted in inscription rubbing, controller 6
It is moved by the above-mentioned track data control inscription rubbing vertical movement apparatus 20 and inscription rubbing horizontally moving device 21 of input, by an inscription on a tablet 86
Inscription rubbing is on rice paper 17.
In order to implement by black inscription rubbing on the rice paper 17 on 19 surface of stone tablet, inking swats the rail for opening up 56 movement of packet of device 44
The track that mark is moved by inking vertical movement apparatus 42 and inking horizontally moving device 43 synthesizes；The automatic rubbing machine of historical relic an inscription on a tablet
Device people inputs inking vertical movement apparatus 42 and inking by programmable device in use, according to the range of an inscription on a tablet 86 to controller 6
The track data that horizontally moving device 43 moves；Inking swats when opening up 56 inscription rubbing rice paper 17 of packet of device 44, and controller 6 is by input
Above-mentioned track data control inking vertical movement apparatus 42 and inking horizontally moving device 43 move, 86 inscription rubbing of an inscription on a tablet is existed
On rice paper 17.
The multiple of packet 56 of opening up that device 44 is swatted to implement inking dips in ink, meets the needs for opening up 56 inscription rubbing rice paper 17 of packet,
Controller 6 be equipped with dip in black program, when open up packet 56 swat rice paper 17 number reach the parameter of setting when, controller 6 control inking
Electric pushrod 55 stops, and opens up packet 43 at this time and stops swatting rice paper 17, controller 6 controls inking vertical movement apparatus 42 and inking
The packet 56 of opening up that horizontally moving device 43 drives inking to swat device 44 stops swatting the position of rice paper 17 by opening up packet 56 and returns to initially
Position；Packet 56 is opened up when returning to initial position, the horizontal inking induction pieces 73 on inking horizontal slide 53 are close to the left biography of horizontal inking
Sensor 71, by its signal transmission to controller 6, controller 6 controls inking electric pushrod 55 and drives the horizontal left sensor 71 of inking
Opening up packet 56 and back and forth swatting the ink-absorbing pads 79 of print cartridge 78 makes to open up packet 43 and dips in inking；Inking swat device 44 open up packet 56 dip in inking after,
Controller 6 drives what inking swatted device 44 to open up packet by control inking vertical movement apparatus 42 and inking horizontally moving device 43
56 return to the above-mentioned position opened up packet 56 and stop swatting rice paper 17 by initial position；Open up packet 56 return to it is above-mentioned open up packet 56 stop swat a surname
Behind the position of paper 17, controller 6 controls the rice paper 17 opened up packet 56 and swatted on stone tablet 19 that inking swats device 44, meanwhile, control
Device 6 controls inking vertical movement apparatus 42 and inking horizontally moving device 43 drives inking to swat device 44 by setting track number
According to movement；It so constantly recycles, until whole an inscription on a tablets 86 is swatted completion.
In order to implement 86 inscription rubbing of an inscription on a tablet of stone tablet 19 on rice paper 17, the hairbrush 34 that device 22 is swatted in inscription rubbing swats upright stone tablet
After the rice paper 17 of 86 front of text, the rice paper 17 of moistening follows the recessed position of an inscription on a tablet 86 to be recessed；What inking swatted device 44 opens up packet
56 when swatting the rice paper 17 on stone tablet 19, opens up packet 56 by black tip-tap on rice paper 17, rice paper 17 be recessed word position not with open up
The position of 56 contact of packet, the recess word of rice paper 17 retains original color, and packet 56 dozens is opened up in the position of the non-recess word of rice paper 17
Inking, to implement the inscription rubbing of 19 an inscription on a tablet 86 of stone tablet, by 86 inscription rubbing of an inscription on a tablet on rice paper 17.
Claims (10)
1. the automatic rubbing robot of historical relic an inscription on a tablet, it is characterised in that：The automatic rubbing robot of the historical relic an inscription on a tablet includes folder
Locking bracket（1）, paper pressing device（2）, put paper device（3）, rubbing device（4）, inking device（5）And controller（6）, clamp branch
Frame（1）With paper pressing device（2）Connection, puts paper device（3）, rubbing device（4）And inking device（5）With paper pressing device（2）Even
It connects；Clamp holder（1）It include left socle（7）, right support（8）, upper screw rod（9）And lower screw rod（10）, left socle（7）Pass through
Upper screw rod（9）And lower screw rod（10）With right support（8）Connection；Paper pressing device（2）It include platen holder（11）, it is first electronic
Pull rod（12）, the second electronic tie rod（13）, third electronic tie rod（14）And the 4th electronic tie rod（15）, the first electronic tie rod
（12）, the second electronic tie rod（13）, third electronic tie rod（14）And the 4th electronic tie rod（15）Shell and platen holder
（11）It is fixedly connected, the first electronic tie rod（12）, the second electronic tie rod（13）, third electronic tie rod（14）And the 4th electronic drawing
Bar（15）Pull rod with clamp holder（1）It is fixedly connected；Put paper device（3）It include reel（16）, rice paper（17）, put paper motor
（18）And spraying device（37）, reel（16）With platen holder（11）It is hinged, rice paper（17）It rolls up in reel（16）On, put paper electricity
Machine（18）Motor shaft and reel（16）Connection, puts paper motor（18）Engine base and platen holder（11）Connection is used for rice paper
（17）Transfer to stone tablet（19）Front；Spraying device（37）It include nozzle（38）, connecting tube（39）, water pump（40）And liquid storage
Case（41）, nozzle（38）Pass through connecting tube（39）With water pump（40）Connection, water pump（40）With liquid reserve tank（41）Connection, nozzle（38）
It is fixed on platen holder（11）On；Rubbing device（4）It include inscription rubbing vertical movement apparatus（20）, the horizontal straight mobile device of inscription rubbing
（21）And device is swatted in inscription rubbing（22）, utilize inscription rubbing vertical movement apparatus（20）And the horizontal straight mobile device of inscription rubbing（21）Band
Device is swatted in dynamic inscription rubbing（22）It is mobile；Inscription rubbing vertical movement apparatus（20）It include inscription rubbing motor vertical（23）, the first tooth of inscription rubbing
Wheel（24）, inscription rubbing vertical track（25）, inscription rubbing vertical sliding（26）And first rack（27）, inscription rubbing vertical track（25）And
First rack（27）With platen holder（11）It is fixedly connected, inscription rubbing vertical sliding（26）With inscription rubbing vertical track（25）Dynamic cooperation connects
It connects, inscription rubbing motor vertical（23）Shell and inscription rubbing vertical sliding（26）Connection, inscription rubbing motor vertical（23）Motor shaft with open up
Print first gear（24）It is fixedly connected, inscription rubbing first gear（24）With the first rack（27）Engagement, for vertically electric using inscription rubbing
Machine（23）Drive inscription rubbing vertical sliding（26）Along inscription rubbing vertical track（25）It is mobile；Inscription rubbing horizontally moving device（21）Include to open up
Print horizontal motor（28）, inscription rubbing second gear（29）, inscription rubbing horizontal rail（30）, inscription rubbing horizontal slide（31）And second rack
（32）, inscription rubbing horizontal rail（30）And second rack（32）With inscription rubbing vertical sliding（26）It is fixedly connected, inscription rubbing horizontal slide
（31）With inscription rubbing horizontal rail（30）It is dynamic to be connected, inscription rubbing horizontal motor（28）Shell and inscription rubbing horizontal slide（31）It is fixed
Connection, inscription rubbing horizontal motor（28）Motor shaft and inscription rubbing second gear（29）It is fixedly connected, inscription rubbing second gear（29）With
Two racks（32）Engagement, for utilizing inscription rubbing horizontal motor（28）Drive inscription rubbing horizontal slide（31）Along inscription rubbing horizontal rail（30）
It is mobile；Device is swatted in inscription rubbing（22）It include inscription rubbing electric pushrod（33）And hairbrush（34）, inscription rubbing electric pushrod（33）'s
Shell and inscription rubbing horizontal slide（31）It is fixedly connected, inscription rubbing electric pushrod（33）Inscription rubbing drive rod（35）With a hairbrush（34）Even
It connects, inscription rubbing horizontal slide（31）Equipped with inscription rubbing guide hole（36）, inscription rubbing drive rod（35）Across flutterring inscription rubbing guide hole（36）, inscription rubbing driving
Bar（35）With inscription rubbing guide hole（36）It is dynamic to be connected, for utilizing inscription rubbing electric pushrod（33）Drive a hairbrush（34）Inscription rubbing rice paper
（17）；Inking device（5）It include inking vertical movement apparatus（42）, upper ink level translation move device（43）And inking is swatted
Device（44）, utilize inking vertical movement apparatus（42）And device is moved in upper ink level translation（43）Inking is driven to swat device
（44）It is mobile；Inking vertical movement apparatus（42）It include inking motor vertical（45）, inking first gear（46）And inking
Vertical sliding（48）, inking vertical sliding（48）With inscription rubbing vertical track（25）It is dynamic to be connected, inking motor vertical（45）'s
Shell and inking vertical sliding（48）Connection, inking motor vertical（45）Motor shaft and inking first gear（46）It is fixed to connect
It connects, inking first gear（46）With the first rack（27）Engagement, for utilizing inking motor vertical（45）Driving inking is vertically slided
Seat（48）Along inscription rubbing vertical track（25）It is mobile；Inking horizontally moving device（43）It include inking horizontal motor（50）, inking
Second gear（51）, inking horizontal rail（52）, inking horizontal slide（53）And third rack（54）, inking horizontal rail
（52）And third rack（54）With inking vertical sliding（48）It is fixedly connected, inking horizontal slide（53）With inking horizontal rail
（52）It is dynamic to be connected, inking horizontal motor（50）Shell and inking horizontal slide（53）It is fixedly connected, inking horizontal motor
（50）Motor shaft and inking second gear（51）It is fixedly connected, inking second gear（51）With third rack（54）Engagement, profit
With ink flat telegram machine（50）Drive inking horizontal slide（53）Along inking horizontal rail（52）It is mobile；Inking swats device（44）
It include inking electric pushrod（55）And open up packet（56）, inking electric pushrod（55）Shell and inking horizontal slide（53）Gu
Fixed connection, inking electric pushrod（55）Inking drive rod（57）It is wrapped with opening up（56）Connection, inking horizontal slide（53）Equipped with upper
Black guide hole（58）, inking drive rod（57）Across inking guide hole（58）, inking drive rod（57）With inking guide hole（58）Dynamic cooperation
Connection, for utilizing inking electric pushrod（55）Packet is opened up in drive（56）Swat rice paper（17）Inking；Controller（6）It include programming
Device, CPU, signal input interface and executive component output interface；Controller（6）It include platen front sensor（59）, platen
Sensor afterwards（60）, platen induction pieces（61）, sensor in vertical inscription rubbing（62）, vertical inscription rubbing lower sensor（63）, vertically open up
Print induction pieces（64）, the horizontal left sensor of inscription rubbing（65）, the horizontal right sensor of inscription rubbing（66）, horizontal inscription rubbing induction pieces（67）, hang down
Sensor in straight inking（68）, vertical inking lower sensor（69）, vertical inking induction pieces（70）, the horizontal left sensor of inking
（71）, the horizontal right sensor of inking（72）, horizontal inking induction pieces（73）, automatic switch（74）And shutdown switch（75）；Pressure
Paper front sensor（59）, sensor after platen（60）It is installed on clamping holder（1）On, platen front sensor（59）After platen
Sensor（60）Front, platen induction pieces（61）It is installed on platen holder（11）On；Platen holder（11）Inscription rubbing is connected with to lead
Column（76）, sensor in vertical inscription rubbing（62）And vertical inscription rubbing lower sensor（63）It is installed on inscription rubbing guide post（76）On, vertically
Sensor in inscription rubbing（62）Positioned at vertical inscription rubbing lower sensor（63）Top, vertical inscription rubbing induction pieces（64）Inscription rubbing is installed on to hang down
Straight slide（26）On；The horizontal left sensor of inscription rubbing（65）And the horizontal right sensor of inscription rubbing（66）It is installed on inscription rubbing horizontal rail
（30）On, horizontal inscription rubbing induction pieces（67）It is installed on inscription rubbing horizontal slide（31）On, the horizontal left sensor of inscription rubbing（65）Positioned at water
Flat inscription rubbing induction pieces（67）The left side, the horizontal right sensor of inscription rubbing（66）Positioned at horizontal inscription rubbing induction pieces（67）The right；Platen holder
（11）It is connected with inking guide post（77）, sensor in vertical inking（68）And vertical inking lower sensor（69）It is installed on inking
Guide post（77）On, sensor in vertical inking（68）Positioned at vertical inking lower sensor（69）Top, vertical inking induction pieces
（70）It is installed on inking vertical sliding（48）On；The horizontal left sensor of inking（71）And the horizontal right sensor of inking（72）Installation
In inking horizontal rail（52）On, horizontal inking induction pieces（73）It is installed on inking horizontal slide（53）On, the horizontal left biography of inking
Sensor（71）Positioned at horizontal inking induction pieces（73）The left side, the horizontal right sensor of inking（72）Positioned at horizontal inking induction pieces
（73）The right；Controller（6）Signal input interface pass through input control line and platen front sensor（59）, sense after platen
Device（60）, sensor in vertical inscription rubbing（62）, vertical inscription rubbing lower sensor（63）, the horizontal left sensor of inscription rubbing（65）, level opens up
Print right sensor（66）Sensor in vertical inking（68）, vertical inking lower sensor（69）, the horizontal left sensor of inking（71）
And the horizontal right sensor of inking（72）Connection；Controller（6）Executive component output interface pass through output control line and first
Electronic tie rod（12）, the second electronic tie rod（13）, third electronic tie rod（14）And the 4th electronic tie rod（15）, put paper motor
（18）, water pump（40）, inscription rubbing motor vertical（23）, inscription rubbing horizontal motor（28）, inscription rubbing electric pushrod（33）, inking motor vertical
（45）, inking horizontal motor（50）And inking electric pushrod（55）Connection；Platen holder（11）Equipped with print cartridge（78）, print cartridge
（78）Ink-absorbing pad（79）In have ink, be used for rice paper（17）Inking.
2. the automatic rubbing robot of historical relic an inscription on a tablet according to claim 1, it is characterised in that：The platen induction pieces
（61）Original state be：Platen induction pieces（61）Close to platen front sensor（59）；Rubbing device（4）Original state be：
Rubbing device（4）Positioned at platen holder（11）Top, inscription rubbing vertical sliding（26）On vertical inscription rubbing induction pieces（64）It is close
Sensor in vertical inscription rubbing（62）；Inscription rubbing horizontal slide（31）Positioned at platen holder（11）The left side, inscription rubbing swats device（22）
Hairbrush（34）Positioned at platen holder（11）The left side, inscription rubbing horizontal rail（30）On the left sensor of horizontal inscription rubbing（65）It connects
Nearly inscription rubbing horizontal slide（31）On horizontal inscription rubbing induction pieces（67）；Device is swatted in inscription rubbing（22）Hairbrush（34）Not with stone tablet
（19）Rice paper on face（17）Contact；Inking device（5）Original state be：Inking device（5）Positioned at platen holder（11）'s
Lower part, inking vertical sliding（48）On vertical inking induction pieces（70）Close to vertical inking lower sensor（69）, inking is vertical
Slide（48）Positioned at platen holder（11）The left side, inking swats device（44）Open up packet（56）Positioned at platen holder（11）A left side
Side, inking horizontal rail（52）On the left sensor of horizontal inking（71）Close to inking horizontal slide（53）On horizontal inking sense
Answer part（73）；Inking swats device（44）Open up packet（56）Not with stone tablet（19）Rice paper on face（17）Contact.
3. the automatic rubbing robot of historical relic an inscription on a tablet according to claim 2, it is characterised in that：The inscription rubbing moves horizontally
Device（21）The second rack（32）With inscription rubbing horizontal rail（30）It is parallel, inking horizontally moving device（43）Third rack
（54）With inking horizontal rail（52）It is parallel, inscription rubbing horizontal rail（30）And inking horizontal rail（52）With inscription rubbing vertical track
（25）Vertically, the first rack（27）With the second rack（32）And third rack（54）Vertically, inscription rubbing vertical track（25）With
One rack（27）It is parallel.
4. the automatic rubbing robot of historical relic an inscription on a tablet according to claim 3, it is characterised in that：The inscription rubbing vertical track
（25）It include left inscription rubbing vertical track（80）And right inscription rubbing vertical track（81）, left inscription rubbing vertical track（80）With right inscription rubbing
Vertical track（81）It is parallel；Inscription rubbing vertical sliding（26）It include left inscription rubbing vertical sliding（82）And right inscription rubbing vertical sliding
（83）, left inscription rubbing vertical sliding（82）With left inscription rubbing vertical track（80）It is dynamic to be connected, right inscription rubbing vertical sliding（83）With the right side
Inscription rubbing vertical track（81）It is dynamic to be connected；Inking vertical sliding（48）It include upper left ink vertical sliding（84）And upper right ink
Vertical sliding（85）, upper left ink vertical sliding（84）With left inscription rubbing vertical track（80）It is dynamic to be connected, upper right ink vertical sliding
（85）With right inscription rubbing vertical track（81）It is dynamic to be connected.
5. the automatic rubbing robot of historical relic an inscription on a tablet according to claim 4, it is characterised in that：The inscription rubbing horizontal rail
（30）Section be rectangle or square, inscription rubbing horizontal slide（31）Slide opening equipped with rectangle or square, inscription rubbing
Horizontal rail（30）With inscription rubbing horizontal slide（31）Slide opening dynamic be connected；Inking horizontal rail（52）Section be rectangle
Or square, inking horizontal slide（53）Slide opening equipped with rectangle or square, inking horizontal rail（52）With inking
Horizontal slide（53）Slide opening dynamic be connected.
6. the automatic rubbing robot of historical relic an inscription on a tablet according to claim 5, it is characterised in that：The inscription rubbing moves horizontally
Device（21）The second rack（32）And inscription rubbing horizontal rail（30）With left inscription rubbing vertical sliding（82）And right inscription rubbing is vertical
Slide（83）It is fixedly connected；Inking horizontally moving device（43）Third rack（54）And inking horizontal rail（52）With upper left
Black vertical sliding（84）And upper right ink vertical sliding（85）It is fixedly connected.
7. according to the automatic rubbing robot of historical relic an inscription on a tablet that claim 6 is stated, it is characterised in that：Device is swatted in the inscription rubbing
（22）Inscription rubbing electric pushrod（33）Inscription rubbing drive rod（35）With stone tablet（19）There is an inscription on a tablet（86）Front vertical, inscription rubbing drive rod
（35）Equipped with inscription rubbing connector（87）, inscription rubbing connector（87）Equipped with inscription rubbing guide hole（88）, inscription rubbing guide post（89）And inscription rubbing spring
（90）, inscription rubbing guide post（89）With inscription rubbing guide hole（88）It is dynamic to be connected, inscription rubbing spring（90）Set on inscription rubbing guide hole（68）It is interior, inscription rubbing
Spring（90）In confined state, inscription rubbing connector（87）With inscription rubbing drive rod（35）It is fixedly connected, inscription rubbing guide post（89）With
Hairbrush（34）It is fixedly connected.
8. according to the automatic rubbing robot of historical relic an inscription on a tablet that claim 7 is stated, it is characterised in that：The inking swats device
（44）Inking electric pushrod（55）Inking drive rod（57）With stone tablet（19）There is an inscription on a tablet（86）Front vertical, inking drive rod
（57）Equipped with inking connector（91）, upper ink connector（91）Equipped with inking guide hole（92）, inking guide post（47）And inking spring
（49）, inking guide post（47）With inking guide hole（92）It is dynamic to be connected, inking spring（49）Set on inking guide hole（92）It is interior, inking
Spring（49）In confined state, inking connector（91）With inking drive rod（57）It is fixedly connected, inking guide post（47）With open up
Packet（56）It is fixedly connected.
9. the automatic rubbing robot of historical relic an inscription on a tablet according to claim 8, it is characterised in that：The spraying device（37）
Liquid reserve tank（41）Equipped with bletilla striata water, nozzle（38）Spout against stone tablet（19）The rice paper on surface（17）.
10. the automatic rubbing robot of historical relic an inscription on a tablet according to claim 9, it is characterised in that：The platen holder
（11）And reel（16）Equipped with different specifications, to be suitble to the stone tablet of different in width（19）.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810298691.6A CN108556498A (en) | 2018-04-03 | 2018-04-03 | The automatic rubbing robot of historical relic an inscription on a tablet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810298691.6A CN108556498A (en) | 2018-04-03 | 2018-04-03 | The automatic rubbing robot of historical relic an inscription on a tablet |
Publications (1)
| Publication Number | Publication Date |
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| CN108556498A true CN108556498A (en) | 2018-09-21 |
Family
ID=63534108
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810298691.6A Withdrawn CN108556498A (en) | 2018-04-03 | 2018-04-03 | The automatic rubbing robot of historical relic an inscription on a tablet |
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| Country | Link |
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| CN (1) | CN108556498A (en) |
Cited By (1)
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|---|---|---|---|---|
| CN111634113A (en) * | 2020-06-10 | 2020-09-08 | 山东大学 | Rubbing device with stele protection function |
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Effective date of registration: 20201022 Address after: No.8-3, Nanlan community, Hetoudian Town, Laixi City, Qingdao City, Shandong Province Applicant after: Laixi Weilai Design Center Address before: 523907 Guangdong province Dongguan city Humen town Jinzhou community shatai Road No. 199 Tianyuan computer city four floor shop V-10 Applicant before: DONGGUAN HAOQI ENTERPRISE MANAGEMENT SERVICE Co.,Ltd. |
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Application publication date: 20180921 |
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