CN108819517A - The application method of the automatic rubbing robot of historical relic an inscription on a tablet - Google Patents

The application method of the automatic rubbing robot of historical relic an inscription on a tablet Download PDF

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Publication number
CN108819517A
CN108819517A CN201810291448.1A CN201810291448A CN108819517A CN 108819517 A CN108819517 A CN 108819517A CN 201810291448 A CN201810291448 A CN 201810291448A CN 108819517 A CN108819517 A CN 108819517A
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CN
China
Prior art keywords
inking
inscription
rubbing
inscription rubbing
vertical
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Withdrawn
Application number
CN201810291448.1A
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Chinese (zh)
Inventor
郑运婷
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Dongguan Haoqi Enterprise Management Services Ltd
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Dongguan Haoqi Enterprise Management Services Ltd
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Dongguan Haoqi Enterprise Management Services Ltd filed Critical Dongguan Haoqi Enterprise Management Services Ltd
Priority to CN201810291448.1A priority Critical patent/CN108819517A/en
Publication of CN108819517A publication Critical patent/CN108819517A/en
Withdrawn legal-status Critical Current

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Classifications

    • 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 application method of the automatic rubbing robot of historical relic an inscription on a tablet, the automatic rubbing robot of the historical relic an inscription on a tablet include to clamp bracket, paper pressing device, put paper device, rubbing device, inking device and controller, clamp bracket and connect with paper pressing device；In use, being installed on bracket is clamped on stone tablet, controller control puts paper device and transfers to rice paper before stone tablet, and bletilla striata water is sprayed on rice paper by control water pump；Then controller control platen bracket compresses rice paper, and control inscription rubbing vertical movement apparatus and the horizontal translation of inscription rubbing move device and drives a hairbrush mobile, and control inscription rubbing swats device and its hairbrush is driven to swat rice paper, displays an inscription on a tablet of stone tablet 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 text 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

The application method of the automatic rubbing robot of historical relic an inscription on a tablet
Technical field
The present invention relates to a kind of application method of reproduction of the cultural relics device, in particular to a kind of automatic rubbing machine of historical relic an inscription on a tablet The application method of people.
Background technique
Currently, historical relic an inscription on a tablet is replicated with rubbing technique, since the technical requirements of rubbing are high, the efficiency of historical relic an inscription on a tablet is replicated It is lower, the higher cost of rubbing is manufactured, 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 The application method of automatic rubbing robot, it has also become the needs of people's appreciation historical relic an inscription on a tablet duplicate.
Summary of the invention
The purpose of the present invention is overcome the deficiencies of the prior art and provide a kind of use of automatic rubbing robot of historical relic an inscription on a tablet Method appreciates the needs of historical relic an inscription on a tablet duplicate for meeting people.
Of the invention is adopted the technical scheme that：The automatic rubbing robot of historical relic an inscription on a tablet includes to clamp bracket, platen Device puts paper device, rubbing device, inking device and controller, clamps bracket and connect with paper pressing device, puts paper device, opens up Printing equipment is set and inking device is connect with paper pressing device；Clamping bracket includes left support, right support, upper screw rod and lower spiral shell Bar, left support are connect by upper screw rod and lower screw rod with right support；Paper pressing device includes platen bracket, 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 bracket, 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 bracket is clamped；Paper device is put to include reel, rice paper, put paper Motor and spraying device, reel and platen bracket are hinged, and rice paper volume connects in the motor shaft and reel on reel, putting paper motor It connects, the base for putting paper motor is connect with platen bracket, for transferring to rice paper before stone tablet；Spraying device include spray head, Connecting tube, water pump and liquid reserve tank, spray head 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, spray head are fixed on platen bracket；Rubbing device include inscription rubbing vertical movement apparatus, the horizontal straight mobile device of inscription rubbing with And device is swatted in inscription rubbing, moves device using inscription rubbing vertical movement apparatus and the horizontal translation of inscription rubbing and inscription rubbing is driven 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 gear, inscription rubbing vertical track and the first rack gear are fixedly connected with platen bracket, inscription rubbing vertical sliding and inscription rubbing are hung down Straight rail is dynamic to be cooperatively 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 gear, 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 gear are printed, inscription rubbing horizontal rail and the second rack gear and inscription rubbing vertical sliding are consolidated Fixed connection, inscription rubbing horizontal slide and the dynamic mating connection of inscription rubbing horizontal rail, the shell and 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 gear It closes, for being moved using inscription rubbing horizontal motor driving inscription rubbing horizontal slide along inscription rubbing horizontal rail；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 dress Setting includes inking vertical movement apparatus, 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 and inscription rubbing vertical track are dynamic to be cooperatively connected, and inking is hung down 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 gear, for being moved using inking motor vertical driving inking vertical sliding along inscription rubbing vertical track It is dynamic；Inking horizontally moving device includes inking horizontal motor, inking second gear, inking horizontal rail, inking horizontal slide And third rack gear, inking horizontal rail and third rack gear are fixedly connected with inking vertical sliding, inking horizontal slide with it is upper Ink level track is dynamic to be cooperatively 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 gear, 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, and inking drive rod and inking guide hole, which move, to be cooperatively connected, and is 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 bracket, 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 bracket 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 bracket 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 support for clamping bracket and right support are fixed on stone tablet by lower screw rod；After clamping bracket is installed on stone tablet, benefit By platen bracket and bracket 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 bracket is connect with clamping bracket, 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, the left sensor of horizontal inscription rubbing are sensed under sensor, vertical inking in the right sensor vertical inking of horizontal inscription rubbing 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 It puts paper motor and drives spool turns, reel transfers 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 on the rice paper that stone tablet front is moved by spray head after bletilla striata water atomization；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 bracket to stone tablet The rice paper of front is mobile, and after before the stone tablet that rice paper is pressed in by platen bracket, 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 front of stone tablet using platen bracket； After rice paper is pressed in front of an inscription on a tablet of stone tablet by platen bracket, controller controls the inscription rubbing motor vertical of inscription rubbing vertical movement apparatus Inscription rubbing vertical sliding is driven to move along inscription rubbing vertical track, the inscription rubbing horizontal rail being fixedly connected with inscription rubbing vertical sliding, which follows, opens up It is mobile to print vertical sliding；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, using reciprocal continuous rice paper of the tapping on stone tablet face of hairbrush, make an inscription on a tablet on stone tablet in Rice paper is shown, is bonded rice paper 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, show an inscription on a tablet writing clearly 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 be bonded closely 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 Road is mobile；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, show an inscription on a tablet on stone tablet 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 bracket leave rice paper；After platen bracket leaves rice paper, There is the rice paper of an inscription on a tablet text 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 bracket, paper pressing device, put Paper device, rubbing device, inking device and controller, clamp bracket connect with paper pressing device, put paper device, rubbing device with And inking device is connect with paper pressing device；In use, by clamp bracket be installed on stone tablet, by platen bracket, put paper device with After clamping bracket connection, the putting before rice paper transferred to an inscription on a tablet of stone tablet with movable reel by paper motor of paper device is put in controller control Bletilla striata water is sprayed on rice paper by face, and control water pump；Then rice paper is pressed on stone tablet by controller control platen bracket, 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, displays an inscription on a tablet of stone tablet 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 text 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.
Detailed description of the invention
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 embodiment
The present invention is further detailed with specific embodiment with reference to the accompanying drawing：
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 bracket 1, paper pressing device 2, put paper device 3, rubbing device 4, inking device 5 And controller 6, it clamps bracket 1 and is connect with paper pressing device 2, put paper device 3, rubbing device 4 and inking device 5 and platen fills Set 2 connections；Clamping bracket 1 includes left support 7, right support 8, upper screw rod 9 and lower screw rod 10, and left support 7 passes through upper screw rod 9 And lower screw rod 10 is connect with right support 8；Paper pressing device 2 includes platen bracket 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 bracket 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 bracket 1 be fixedly connected, platen bracket 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 and platen bracket 11 are hinged, and rice paper volume 17, on reel 16, put the electricity of paper motor 18 Arbor is connect with reel 16, and the base for putting paper motor 18 is connect with platen bracket 11, before rice paper 17 is transferred to stone tablet 19 Face；Spraying device 37 includes spray head 38, connecting tube 39, water pump 40 and liquid reserve tank 41, and spray head 38 passes through connecting tube 39 and water 40 connection of pump, water pump 40 are connect with liquid reserve tank 41, and spray head 38 is fixed on platen bracket 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 spray head 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 It is mobile that straight mobile device 21 drives inscription rubbing to swat 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 gear 27, inscription rubbing vertical track 25 and the One rack gear 27 is fixedly connected with platen bracket 11, and inscription rubbing vertical sliding 26 and the dynamic mating connection of inscription rubbing vertical track 25, inscription rubbing are hung down The shell of straight motor 23 is connect with inscription rubbing vertical sliding 26, and the motor shaft and 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 gear 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 gear 32, inscription rubbing horizontal rail 30 and the second rack gear 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 gear 32, for driving inscription rubbing horizontal slide 31 along inscription rubbing using inscription rubbing horizontal motor 28 Horizontal rail 30 is mobile；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 cooperatively 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 to drive inking to swat device 44 mobile；Inking vertical movement apparatus 42 includes inking Motor vertical 45, inking first gear 46 and inking vertical sliding 48, inking vertical sliding 48 and inscription rubbing vertical track 25 are dynamic Be cooperatively 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 gear 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 gear 54, inking horizontal rail 52 and Third rack gear 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, the motor shaft and inking second of inking horizontal motor 50 Gear 51 is fixedly connected, and inking second gear 51 is engaged with third rack gear 54, drives upper ink level 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 cooperatively connected, and swats 17 inking of rice paper 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 bracket 1, platen front sensor 59 is located at the front of sensor 60 after platen, and platen induction pieces 61 are installed on platen bracket On 11；Platen bracket 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 66 of horizontal inscription rubbing 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 horizontal 67 the right of inscription rubbing induction pieces；Platen bracket 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 72 of horizontal inking 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 vertical inking of the right sensor 66 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 passes through output control 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 using alternating current to battery；Platen bracket 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 bracket 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 bracket 11, and device is swatted in inscription rubbing 22 hairbrush 34 is located at the left side of platen bracket 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 bracket 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 bracket 11, inking The left side of device 44 opened up packet 56 and be located at platen bracket 11 is swatted, the left sensor 71 of horizontal inking in inking horizontal rail 52 connects 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 gear 32 of inscription rubbing horizontally moving device 21 is parallel with inscription rubbing horizontal rail 30, inking horizontally moving device 43 third rack gear 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 gear 27 is vertical with the second rack gear 32 and third rack gear 54, inscription rubbing vertical track 25 and the first rack gear 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 are 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 and right inscription rubbing vertical track 81 are moved and be cooperatively 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 perhaps 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 cooperatively 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 gear 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 gear 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 and the dynamic mating connection of inscription rubbing guide hole 88, inscription rubbing spring 90 are set 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 in inking guide hole 92 with the dynamic mating connection of inking guide hole 92, inking spring 49, 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 support 7 for clamping bracket 1 and right support 8 are fixed on stone tablet 19 by bar 9 and lower screw rod 10；Bracket 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 bracket 11 is connect with bracket 1 is clamped；After platen bracket 11 is connect with clamping bracket 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 the vertical inking of sensor 66 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 on the rice paper 17 that 19 front of stone tablet is moved by spray head 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 The rice paper 17 that bar 15 pushes paper bracket 11 to 19 front of stone tablet is mobile, before the stone tablet 19 that rice paper 17 is pressed in by platen bracket 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 front of stone tablet 19 using platen bracket 11；Rice paper 17 is pressed in stone tablet by platen bracket 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 is mobile；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, it shows an inscription on a tablet 86 on stone tablet 19 in rice paper 17, is bonded rice paper 17 closely with an inscription on a tablet 86 of stone tablet 19, makes 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, shows 86 writing of an inscription on a tablet clearly in rice paper 77, utilizes a hair The rice paper 17 brushed on 34 pairs of 19 faces of stone tablet 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 The hairbrush 34 that device 22 is swatted in 21 drive inscription rubbings stops after resetting to initial position；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 is driven 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 mobile 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, show an inscription on a tablet 86 on stone tablet 19 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 bracket 11 leave rice paper 17；Platen bracket 11 leaves rice paper 17 Afterwards, the rice paper 17 of 86 text 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 rotates in a clockwise direction with movable reel 17, controller 6 control simultaneously water pump 29 pass through spray head 27 to The mobile rice paper 17 of decentralization sprays the bletilla striata water of atomization, keeps rice paper 17 wet；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 bracket 11 approach sensor 60 after the platen clamped on bracket 1, pass after platen Its signal is transferred to controller 6 by sensor 60, and 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 Literary 86 height determines the length of decentralization rice paper 17, is inputted using programmable device to controller 6 and puts the time ginseng that paper motor 18 is run 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 mobile range of inscription rubbing vertical sliding 26, and the range that control inscription rubbing horizontal slide 31 is mobile, 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 move 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, its signal is transferred to controller 6 by vertical inscription rubbing lower sensor 63, and the control of controller 6 is opened up 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 hang down close in the vertical inscription rubbing on inscription rubbing vertical track 25 when sensor 62 Its signal is transferred to controller 6 by sensor 62 in straight inscription rubbing, and controller 6, which controls inscription rubbing motor vertical 23, to be stopped；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, its signal is transferred to controller 6 by the horizontal right sensor 66 of inscription rubbing, and 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 sliding When left close to the horizontal inscription rubbing of inscription rubbing horizontal rail 30 sensor 65 of horizontal inscription rubbing induction pieces 67 on seat 31, the horizontal left sensing of inscription rubbing Its signal is transferred to controller 6 by device 65, and controller 6, which controls inscription rubbing horizontal motor 28, to be stopped.
In order to control the mobile range of inking vertical sliding 48, and the range that control inking horizontal slide 53 is mobile, 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 move 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, its signal is transferred to controller 6 by sensor 68 in vertical inking, and controller 6 controls 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 induction pieces 70 close to the vertical inking lower sensor 69 on inscription rubbing vertical track 25, it is vertical on Its signal is transferred to controller 6 by black lower sensor 69, and controller 6, which controls inking motor vertical 45, to be stopped；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, its signal is transferred to controller 6 by the horizontal right sensor 72 of inking, and 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 left close to the horizontal inking sensor 71 of horizontal inking induction pieces 73 on inking horizontal slide 53, the horizontal left sensing of inking Its signal is transferred to controller 6 by device 71, and controller 6, which controls inking horizontal motor 50, to be stopped.
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 Track is synthesized by the mobile track of inscription rubbing vertical movement apparatus 20 and inscription rubbing horizontally moving device 21；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 mobile track data of inscription rubbing horizontally moving device 21；When the 34 inscription rubbing rice paper 17 of hairbrush of device 22 is swatted in inscription rubbing, controller 6 Inscription rubbing vertical movement apparatus 20 is controlled by the above-mentioned track data of input and inscription rubbing horizontally moving device 21 is mobile, 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 Mark is synthesized by the mobile track of inking vertical movement apparatus 42 and inking horizontally moving device 43；The automatic rubbing machine of historical relic an inscription on a tablet Device people inputs inking vertical movement apparatus 42 and inking to controller 6 by programmable device in use, according to the range of an inscription on a tablet 86 The mobile track data of horizontally moving device 43；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 it is mobile, 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 Its signal is transferred to controller 6 by sensor 71, the horizontal left sensor 71 of inking, and controller 6 controls inking electric pushrod 55 and drives 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 opening up packet 56 and swatting 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, wet rice paper 17 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 text position not with open up 56 contact of packet, the position of the recess text of rice paper 17 retain original color, and packet 56 dozens is opened up in the position of the non-recess text of rice paper 17 Inking, so that the inscription rubbing of 19 an inscription on a tablet 86 of stone tablet is implemented, by 86 inscription rubbing of an inscription on a tablet on rice paper 17.

Claims (10)

1. the application method of the automatic rubbing robot of historical relic an inscription on a tablet, the automatic rubbing robot of the historical relic an inscription on a tablet includes to clamp Bracket（1）, paper pressing device（2）, put paper device（3）, rubbing device（4）, inking device（5）And controller（6）, clamp bracket （1）With paper pressing device（2）Connection, puts paper device（3）, rubbing device（4）And inking device（5）With paper pressing device（2）Connection； Clamp bracket（1）It include left support（7）, right support（8）, upper screw rod（9）And lower screw rod（10）, paper pressing device（2）Including There is platen bracket（11）, the first electronic tie rod（12）, the second electronic tie rod（13）, third electronic tie rod（14）And the 4th is electronic Pull rod（15）, put paper device（3）It include reel（16）, rice paper（17）, put paper motor（18）And spraying device（37）, reel （16）With platen bracket（11）Hingedly, rice paper（17）It rolls up in reel（16）On, spraying device（37）It include spray head（38）, connection Pipe（39）, water pump（40）And liquid reserve tank（41）, rubbing device（4）It include inscription rubbing vertical movement apparatus（20）, inscription rubbing it is horizontal Straight mobile device（21）And device is swatted in inscription rubbing（22）, inscription rubbing vertical movement apparatus（20）It include inscription rubbing motor vertical （23）, inscription rubbing first gear（24）, inscription rubbing vertical track（25）, inscription rubbing vertical sliding（26）And first rack gear（27）, inscription rubbing Horizontally moving device（21）It include inscription rubbing horizontal motor（28）, inscription rubbing second gear（29）, inscription rubbing horizontal rail（30）, inscription rubbing Horizontal slide（31）And second rack gear（32）, inscription rubbing swats device（22）It include inscription rubbing electric pushrod（33）And hairbrush （34）, inking device（5）It include inking vertical movement apparatus（42）, upper ink level translation move device（43）And inking is swatted Device（44）；Inking vertical movement apparatus（42）It include inking motor vertical（45）, inking first gear（46）And inking Vertical sliding（48）, 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 gear（54）, inking swats device（44）It include that inking is electronic Push rod（55）And open up packet（56）；Controller（6）It include that programmable device, CPU, signal input interface and executive component output connect Mouthful；Controller（6）It include platen front sensor（59）, sensor after platen（60）, platen induction pieces（61）, in vertical inscription rubbing Sensor（62）, vertical inscription rubbing lower sensor（63）, vertical inscription rubbing induction pieces（64）, the horizontal left sensor of inscription rubbing（65）, it is horizontal The right sensor of inscription rubbing（66）, horizontal inscription rubbing induction pieces（67）, sensor in vertical 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 sense Answer part（73）, automatic switch（74）And shutdown switch（75）；Platen bracket（11）Equipped with print cartridge（78）, print cartridge（78）Blotting Pad（79）In have ink；Platen induction pieces（61）Original state be：Platen induction pieces（61）Close to platen front sensor（59）；It opens up Printing equipment is set（4）Original state be：Rubbing device（4）Positioned at platen bracket（11）Top, inscription rubbing swats device（22）? Hairbrush（34）Positioned at platen bracket（11）The left side；Inking device（5）Original state be：Inking device（5）Positioned at platen branch Frame（11）Lower part, inking swats device（44）Open up packet（56）Positioned at platen bracket（11）The left side；It is characterized in that：Institute The application method of the automatic rubbing robot of the historical relic an inscription on a tablet stated is：In use, utilizing upper screw rod（9）And lower screw rod（10）It will folder Locking bracket（1）Left support（7）And right support（8）It is fixed on stone tablet（19）On；Clamp bracket（1）It is installed on stone tablet（19）On Afterwards, the first electronic tie rod is utilized（12）, the second electronic tie rod（13）, third electronic tie rod（14）And the 4th electronic tie rod（15） By platen bracket（11）With clamping bracket（1）Connection；Platen bracket（11）With clamping bracket（1）After connection, according to stone tablet（19） An inscription on a tablet（86）Position adjust sensor in vertical inscription rubbing（62）, vertical inscription rubbing lower sensor（63）, the horizontal left sensing of inscription rubbing Device（65）, the horizontal right sensor of inscription rubbing（66）Sensor in vertical inking（68）, vertical inking lower sensor（69）, horizontal inking Left sensor（71）And the horizontal right sensor of inking（72）Position, the range of fixed rubbing；After the range of rubbing is fixed, press Lower automatic switch（74）Afterwards, controller（6）Into automatic control program；Controller（6）Into after automatic control program, controller （6）Paper motor is put in control（18）Band movable reel（16）Rotation, reel（16）By reel（16）On rice paper（17）Transfer to stone tablet （19）Before；In reel（16）Put down rice paper（17）While, controller（6）Control water pump（40）Work, water pump（40）It is logical Cross spray head（38）Stone tablet will be sprayed onto after bletilla striata water atomization（19）The rice paper that front is moved（17）On；Rice paper（17）Transfer to stone tablet （19）Before after, controller（6）Paper motor is put in control（18）And water pump（29）Stop；Put paper motor（18）And water pump （29）After stopping, controller（6）Control the firstth electronic tie rod（12）, the second electronic tie rod（13）, third electronic tie rod（14） And the 4th electronic tie rod（15）Push paper bracket（11）To stone tablet（19）The rice paper of front（17）It is mobile, when platen bracket（11） By rice paper（17）The stone tablet being pressed in（19）Behind front, 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）Stop, utilizing platen bracket（11）By rice paper（17）It compresses In stone tablet（19）Before；Platen bracket（11）By rice paper（17）It is pressed in stone tablet（19）An inscription on a tablet（86）Behind front, controller （6）Control inscription rubbing vertical movement apparatus（20）Inscription rubbing motor vertical（23）Drive inscription rubbing vertical sliding（26）Along inscription rubbing vertical rails Road（25）It is mobile, with inscription rubbing vertical sliding（26）The inscription rubbing horizontal rail being fixedly connected（30）Follow inscription rubbing vertical sliding（26）It moves It is dynamic；Meanwhile controller（6）Control inscription rubbing horizontally moving device（21）Inscription rubbing horizontal motor（28）Drive inscription rubbing horizontal slide （31）Along inscription rubbing horizontal rail（30）It is mobile；Meanwhile controller（6）Device is swatted in control inscription rubbing（22）Inscription rubbing electric pushrod （33）Operation, inscription rubbing electric pushrod（33）Drive a hairbrush（34）It moves back and forth, utilizes a hairbrush（34）Reciprocal constantly tapping In stone tablet（19）Rice paper on face（17）, make stone tablet（19）On an inscription on a tablet（86）In rice paper（17）It shows, makes rice paper（17） With stone tablet（19）An inscription on a tablet（86）Fitting closely, makes to open up body an inscription on a tablet（86）It is all uniformly recessed, by an inscription on a tablet（86）It opens up in rice paper （17）On, make an inscription on a tablet（86）Writing is in rice paper（77）Clearly show, utilizes a hairbrush（34）To stone tablet（19）Rice paper on face （17）Carry out automatic inscription rubbing；Rice paper（17）With stone tablet（19）An inscription on a tablet（86）Closely after fitting, controller（6）Control rubbing device （4）Reset to initial position；Controller（6）Control inscription rubbing vertical movement apparatus（20）And inscription rubbing horizontally moving device（21）Band Device is swatted in dynamic inscription rubbing（22）Hairbrush（34）Stop after resetting to initial position；Pause hairbrush（34）Reset to initial position Afterwards, controller（6）Control inking swats device（44）Inking electric pushrod（55）Packet is opened up in drive（56）Reset movement makes to open up packet （56）Dip in print cartridge（78）Ink；Open up packet（56）Dip in print cartridge（78）Ink after, controller（6）Control inking vertical movement apparatus （42）Inking motor vertical（45）Drive inking vertical sliding（48）Along inscription rubbing vertical track（25）It is mobile, it is vertical with inking to slide Seat（48）The inking horizontal rail being fixedly connected（52）Follow inking vertical sliding（48）It is mobile；Meanwhile controller（6）In control Ink level mobile device（43）Inking horizontal motor（50）Drive inking horizontal slide（53）Along inking horizontal rail（52）It moves It is dynamic；Meanwhile controller（6）Control inking swats device（44）Inking electric pushrod（55）Operation, inking electric pushrod（55） Packet is opened up in drive（56）It moves back and forth, packet will be opened up（56）On ink gently flutter in stone tablet（19）The rice paper of front（17）On, make stone tablet （19）On an inscription on a tablet（86）In rice paper（17）It shows；Stone tablet（19）The rice paper of front（17）After gently flutterring inking, controller （6）Control inking vertical movement apparatus（42）And inking horizontally moving device（43）Inking is driven to swat device（44）Open up packet （56）Stop after returning to initial position；Open up packet（43）After returning to initial position, controller（6）Control the first electronic tie rod（12）, Second electronic tie rod（13）, third electronic tie rod（14）And the 4th electronic tie rod（15）Draw platen bracket（11）Leave rice paper （17）；Platen bracket（11）Leave rice paper（17）Afterwards, inscription rubbing there is into an inscription on a tablet（86）The rice paper of text（17）Cutting is got off；It solves Stone tablet（19）An inscription on a tablet（86）The slow problem of duplicating efficiency.
2. the application method of the automatic rubbing robot of historical relic an inscription on a tablet according to claim 1, it is characterised in that：The text Object an inscription on a tablet automatic rubbing robot in use, controller（6）Paper motor is put in control（18）Band movable reel（17）By side clockwise To rotation when, controller（6）Water pump is controlled simultaneously（29）Pass through spray head（27）The rice paper mobile to decentralization（17）Spray atomization Bletilla striata water, makes rice paper（17）It is wet；Rice paper（17）After decentralization in place, controller（6）Control the first electronic tie rod（12）, second electricity Dynamic pull rod（13）, third electronic tie rod（14）And the 4th electronic tie rod（15）By rice paper（17）It is pressed in stone tablet（19）On；Together When, platen bracket（11）Platen induction pieces（61）Close to clamping bracket（1）On platen after sensor（60）, sense after platen Device（60）Its signal is transferred to controller（6）, 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）Stop.
3. the application method of the automatic rubbing robot of historical relic an inscription on a tablet according to claim 2, it is characterised in that：The text Object an inscription on a tablet automatic rubbing robot in use, according to an inscription on a tablet（86）Height determine decentralization rice paper（17）Length, utilize volume Journey device is to controller（6）Paper motor is put in input（18）The time parameter of operation controls decentralization rice paper（17）Length, decentralization a surname Paper（17）Length and put paper motor（18）The time of operation is directly proportional.
4. the application method of the automatic rubbing robot of historical relic an inscription on a tablet according to claim 3, it is characterised in that：The control Device processed（6）Device is swatted in control inscription rubbing（22）Hairbrush（34）Swat rice paper（17）When, controller（6）Control inscription rubbing vertically moves Dynamic device（20）Inscription rubbing motor vertical（23）Drive inscription rubbing vertical sliding（26）Along inscription rubbing vertical track（25）It moves down, opens up Print vertical sliding（26）On vertical inscription rubbing induction pieces（64）Follow inscription rubbing vertical sliding（26）It moves down, vertical inscription rubbing induction Part（64）Close to inscription rubbing vertical track（25）On vertical inscription rubbing lower sensor（63）When, vertical inscription rubbing lower sensor（63）By its Signal is transferred to controller（6）, controller（6）Control inscription rubbing motor vertical（23）Stop；Controller（6）Control inscription rubbing vertically moves Dynamic device（20）Inscription rubbing motor vertical（23）Drive inscription rubbing vertical sliding（26）Along inscription rubbing vertical track（25）When moving up, Inscription rubbing vertical sliding（26）On vertical inscription rubbing induction pieces（64）Follow inscription rubbing vertical sliding（26）It moves up, vertical inscription rubbing sense Answer part（64）Close to inscription rubbing vertical track（25）On vertical inscription rubbing on sensor（62）When, sensor in vertical inscription rubbing（62）It will Its signal is transferred to controller（6）, controller（6）Control inscription rubbing motor vertical（23）Stop；Controller（6）Control inscription rubbing is swatted Device（22）Hairbrush（34）Swat rice paper（17）When, controller（6）Control inscription rubbing horizontally moving device（21）Inscription rubbing water Flat telegram machine（28）Drive inscription rubbing horizontal slide（31）Along inscription rubbing horizontal rail（30）It moves right, inscription rubbing horizontal slide（31）On Horizontal inscription rubbing induction pieces（67）Follow inscription rubbing horizontal slide（31）It moves right, inscription rubbing horizontal slide（31）On horizontal inscription rubbing sense Answer part（67）Close to the right sensor of horizontal inscription rubbing（66）When, the horizontal right sensor of inscription rubbing（66）Its signal is transferred to controller （6）, controller（6）Control inscription rubbing horizontal motor（28）Stop；Controller（6）Control inscription rubbing horizontal motor（28）Drive inscription rubbing water Smooth seat（31）Along inscription rubbing horizontal rail（30）When being moved to the left, inscription rubbing horizontal slide（31）On horizontal inscription rubbing induction pieces（67） Follow inscription rubbing horizontal slide（31）It is moved to the left, inscription rubbing horizontal slide（31）On horizontal inscription rubbing induction pieces（67）Close to inscription rubbing water Plate rail road（30）The horizontal left sensor of inscription rubbing（65）When, the horizontal left sensor of inscription rubbing（65）Its signal is transferred to controller（6）, Controller（6）Control inscription rubbing horizontal motor（28）Stop.
5. the application method of the automatic rubbing robot of historical relic an inscription on a tablet according to claim 4, it is characterised in that：The control Device processed（6）Control inking swats device（44）Open up packet（56）Inscription rubbing rice paper（17）When, controller（6）Control inking vertically moves Device（42）Inking motor vertical（45）Drive inking vertical sliding（48）Along inscription rubbing vertical track（25）It moves up, inking Vertical sliding（48）On vertical inking induction pieces（70）Follow inscription rubbing vertical sliding（26）It moves up, vertical inking induction pieces （70）Close to inscription rubbing vertical track（25）On vertical inking on sensor（68）When, sensor in vertical inking（68）Believed Number it is transferred to controller（6）, controller（6）Control inking motor vertical（45）Stop；Controller（6）Control inking vertically moves Device（42）Inking motor vertical（45）Drive inking vertical sliding（48）Along inscription rubbing vertical track（25）When moving down, on Black vertical sliding（48）On vertical inking induction pieces（70）Follow inking vertical sliding（48）It moves down, vertical inking induction Part（70）Close to inscription rubbing vertical track（25）On vertical inking lower sensor（69）, vertical inking lower sensor（69）Believed Number it is transferred to controller（6）, controller（6）Control inking motor vertical（45）Stop；Controller（6）Control inking swats device （44）Open up packet（56）Inscription rubbing rice paper（17）When, controller（6）Control inking horizontally moving device（43）Inking horizontal motor （50）Drive inking horizontal slide（53）Along inking horizontal rail（52）It moves right, inking horizontal slide（53）On level on Black induction pieces（73）Follow inking horizontal slide（53）It moves right, inking horizontal slide（53）On horizontal inking induction pieces （73）Close to the right sensor of horizontal inking（72）When, the horizontal right sensor of inking（72）Its signal is transferred to controller（6）, control Device processed（6）Control inking horizontal motor（50）Stop；Controller（6）Control inking horizontally moving device（43）Upper ink level electricity Machine（50）Drive inking horizontal slide（53）Along ink level track（52）When being moved to the left, inking horizontal slide（53）On level Inking induction pieces（73）Follow inking horizontal slide（53）It is moved to the left, inking horizontal slide（53）On horizontal inking induction pieces （73）Close to the left sensor of horizontal inking（71）When, the horizontal left sensor of inking（71）Its signal is transferred to controller（6）, control Device processed（6）Control inking horizontal motor（50）Stop.
6. the application method of the automatic rubbing robot of historical relic an inscription on a tablet according to claim 5, it is characterised in that：Described opens up Print swats device（22）Hairbrush（34）Mobile track is by inscription rubbing vertical movement apparatus（20）And inscription rubbing moves horizontally dress It sets（21）Mobile track synthesis；The automatic rubbing robot of historical relic an inscription on a tablet is in use, according to an inscription on a tablet（86）Range, pass through run compile Journey device is to controller（6）Input inscription rubbing vertical movement apparatus（20）And inscription rubbing horizontally moving device（21）Mobile track number According to；Device is swatted in inscription rubbing（22）Hairbrush（34）Inscription rubbing rice paper（17）When, controller（6）By the above-mentioned track data control of input Inscription rubbing vertical movement apparatus processed（20）And inscription rubbing horizontally moving device（21）It is mobile, by an inscription on a tablet（86）Inscription rubbing is in rice paper（17） On.
7. the application method of the automatic rubbing robot of historical relic an inscription on a tablet according to claim 6, it is characterised in that：Described is upper Ink swats device（44）Open up packet（56）Mobile track is by inking vertical movement apparatus（42）And inking horizontally moving device （43）Mobile track synthesis；The automatic rubbing robot of historical relic an inscription on a tablet is in use, according to an inscription on a tablet（86）Range, pass through programmable device To controller（6）Input inking vertical movement apparatus（42）And inking horizontally moving device（43）Mobile track data；On Ink swats device（44）Open up packet（56）Inscription rubbing rice paper（17）When, controller（6）Inking is controlled by the above-mentioned track data of input Vertical movement apparatus（42）And inking horizontally moving device（43）It is mobile, by an inscription on a tablet（86）Inscription rubbing is in rice paper（17）On.
8. the application method of the automatic rubbing robot of historical relic an inscription on a tablet according to claim 7, it is characterised in that：The control Device processed（6）Equipped with black program is dipped in, wrapped when opening up（56）Swat rice paper（17）Number when reaching the parameter of setting, controller（6）Control Inking electric pushrod processed（55）Stop, opening up packet at this time（43）Rice paper is swatted in stopping（17）, controller（6）Control inking vertically moves Device（42）And inking horizontally moving device（43）Inking is driven to swat device（44）Open up packet（56）By opening up packet（56 stop flutterring Play rice paper（17）Position return to initial position；Open up packet（56）When returning to initial position, inking horizontal slide（53）On level Inking induction pieces（73）Close to the left sensor of horizontal inking（71）, the horizontal left sensor of inking（71）Its signal is transferred to control Device（6）, controller（6）Control inking electric pushrod（55）Packet is opened up in drive（56）Back and forth swat print cartridge（78）Ink-absorbing pad（79）Make Open up packet（43）Dip in inking.
9. the application method of the automatic rubbing robot of historical relic an inscription on a tablet according to claim 8, it is characterised in that：Described is upper Ink swats device（44）Open up packet（56）After dipping in inking, controller（6）By control inking vertical movement apparatus（42）And inking Horizontally moving device（43）Inking is driven to swat device（44）Open up packet（56）It is returned to by initial position and above-mentioned opens up packet（56）Stop Swat rice paper（17）Position；Open up packet（56）It returns to and above-mentioned opens up packet（56）Rice paper is swatted in stopping（17）Position after, controller（6） Control inking swats device（44）Open up packet（56）Swat stone tablet（19）On rice paper（17）, meanwhile, controller（6）Control inking Vertical movement apparatus（42）And inking horizontally moving device（43）Inking is driven to swat device（44）It is moved by setting track data It is dynamic；So continuous circulation, until by whole an inscription on a tablets（86）Swat completion.
10. the application method of the automatic rubbing robot of historical relic an inscription on a tablet according to claim 9, it is characterised in that：Described Device is swatted in inscription rubbing（22）Hairbrush（34）Swat an inscription on a tablet（86）The rice paper of front（17）Afterwards, wet rice paper（17）Follow upright stone tablet Text（86）Recessed position recess；Inking swats device（44）Open up packet（56）Swat stone tablet（19）On rice paper（17）When, it opens up Packet（56）By black tip-tap in rice paper（17）On, rice paper（17）Be recessed text position not with open up packet（56）Contact, rice paper（17）It is recessed The position for falling into text retains original color, rice paper（17）Opened up packet in the position of non-recess text（56）Ink is stamped, to implement Stone tablet（19）An inscription on a tablet（86）Inscription rubbing, by an inscription on a tablet（86）Inscription rubbing is in rice paper（17）On.
CN201810291448.1A 2018-04-03 2018-04-03 The application method of the automatic rubbing robot of historical relic an inscription on a tablet Withdrawn CN108819517A (en)

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CN113619270A (en) * 2021-07-07 2021-11-09 上海发那科机器人有限公司 Automatic rubbing and printing device for vehicle identification code

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Application publication date: 20181116