CN113649318B - Bionic robot for on-site online cultural relic restoration - Google Patents
Bionic robot for on-site online cultural relic restoration Download PDFInfo
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- CN113649318B CN113649318B CN202110872309.XA CN202110872309A CN113649318B CN 113649318 B CN113649318 B CN 113649318B CN 202110872309 A CN202110872309 A CN 202110872309A CN 113649318 B CN113649318 B CN 113649318B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 17
- 238000004140 cleaning Methods 0.000 claims abstract description 46
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims abstract description 10
- 235000017491 Bambusa tulda Nutrition 0.000 claims abstract description 10
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims abstract description 10
- 241001330002 Bambuseae Species 0.000 claims abstract description 7
- 239000011425 bamboo Substances 0.000 claims abstract description 7
- 244000309464 bull Species 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 239000000428 dust Substances 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000012535 impurity Substances 0.000 claims description 2
- 238000011017 operating method Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 21
- 241000209128 Bambusa Species 0.000 abstract description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000003749 cleanliness Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 239000010977 jade Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
- 238000004544 sputter deposition Methods 0.000 description 1
- 229910052572 stoneware Inorganic materials 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B08B1/12—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention belongs to the technical field of cultural relic restoration equipment, and particularly relates to a bionic robot for on-site online cultural relic restoration. This on-spot online historical relic is restoreed and is used bionic robot, front through setting up the semicircle piece is provided with cleaning device, and cleaning device includes a rectangle section of thick bamboo, the back of two rectangle sections of thick bamboos is the positive fixed connection of symmetric distribution and semicircle piece, it cleans and controls the clean dynamics to the historical relic surface to have reached automation, repair personnel's labour has not only been reduced, and avoided the historical relic because of the too big effect that leads to the damage of clean dynamics, it is when the historical relic surface cleaning to have solved repair personnel, need constantly control the dynamics and the clean dynamics of snatching the historical relic, prevent to cause further damage to the historical relic, thereby the work burden that leads to repair personnel is big, error operation easily appears, the problem of the historical relic damage easily causes.
Description
Technical Field
The invention relates to the technical field of cultural relic repair equipment, in particular to a bionic robot for on-site online cultural relic repair.
Background
The cultural relics are relics and vestiges which are left by human beings in social activities and have historical, artistic and scientific values, mainly comprise metal wares, pottery, porcelain, jade ware, stoneware and the like, and are great creations and intelligent crystals of ancient workers in China.
Present historical relic most all can have the deformation or the damage of different degree after unearthing, need restore the back just can long-term save to it, need clean earlier dust and the dirt on unearthed historical relic surface during restoration, subsequent welding and bonding restoration etc. of being convenient for, nevertheless the repair person is when the surface cleaning to the historical relic, the dynamics and the clean dynamics that need control to snatch the historical relic constantly, prevent to cause further damage to the historical relic, thereby it is big to lead to repair person's work burden, the easy mistake operation that appears, easily cause the problem of historical relic damage.
Based on the problems, the bionic robot for on-site on-line cultural relic restoration is provided.
Disclosure of Invention
The invention provides a bionic robot for on-site online cultural relic repair, which is based on the technical problems that when the surface of the cultural relic is cleaned by the existing repairer, the force for grabbing the cultural relic and the cleaning force need to be controlled constantly, and the cultural relic is prevented from being further damaged, so that the workload of the repairer is large, the operation is easy to make errors, and the cultural relic is easy to damage.
The invention provides a bionic robot for on-site online cultural relic restoration, which comprises a driving shell body, wherein a walking crawler belt is arranged on the lower surface of the driving shell body, a semicircular block is fixedly connected to the upper surface of the driving shell body, a mounting groove is formed in the front surface of the semicircular block, a high-definition camera is fixedly mounted on the inner bottom wall of the mounting groove, a wireless transmission module and a single chip microcomputer module are respectively and fixedly mounted on the inner bottom wall of the semicircular block, and symmetrically distributed gear strips are fixedly connected to the front surface of the semicircular block;
the front of semicircle piece is provided with cleaning device, and cleaning device includes a rectangle section of thick bamboo, two the back of a rectangle section of thick bamboo be the symmetric distribution with the front fixed connection of semicircle piece.
Preferably, the opposite surfaces of the two rectangular cylinders are respectively provided with a first rectangular limiting opening, the inner bottom walls of the two rectangular cylinders are respectively and fixedly provided with a first servo motor, the output shafts of the two first servo motors are respectively and fixedly provided with a first rotating shaft through a coupler, the outer surfaces of the two first rotating shafts are respectively provided with a thread, the outer surfaces of the two first rotating shafts are respectively in threaded sleeve joint with a lifting sleeve, and the outer surfaces of the two lifting sleeves are respectively and fixedly connected with a fixed block;
through above-mentioned technical scheme, walking track plays to drive the effect that the drive shell body moved, and the front of high definition digtal camera is in same horizontal plane with the front of semicircle piece, is convenient for clean.
Preferably, the opposite surfaces of the two fixed blocks are respectively provided with a first mounting port, the inner walls of the two first mounting ports are respectively fixedly sleeved with a rotating rod through a bearing, the outer surface of the rotating rod is fixedly sleeved with symmetrically distributed gear discs, the outer surfaces of the two gear discs are respectively meshed with the tooth surfaces of the gear bars, the outer surface of the rotating rod is fixedly sleeved with a cleaning wheel, and the surfaces of the two sides of the driving shell body are respectively hinged with a first driving arm;
through above-mentioned technical scheme, the cooperation of toothed disc and gear strip is used, plays and drives the cleaning wheel through the bull stick and remove when cleaning and rotate, improves and cleans the effect.
Preferably, the upper surfaces of the two first driving arms are hinged with second driving arms, the front surface of one of the second driving arms is fixedly connected with a first mounting block, the front surface of the first mounting block is provided with a second rectangular limiting opening, the inner wall of one side of the first mounting block is provided with a second mounting opening, and the inner wall of the other side of the first mounting block is fixedly provided with a second servo motor;
through above-mentioned technical scheme, the cooperation of first actuating arm and second actuating arm is used, plays the effect that drives first installation piece angle regulation.
Preferably, a second rotating shaft is fixedly mounted on an output shaft of the second servo motor through a coupler, the outer surface of one end of the second rotating shaft is fixedly sleeved with the inner wall of the second mounting hole through a bearing, the outer surface of the second rotating shaft is provided with a positive thread and a negative thread respectively, and the outer surface of the second rotating shaft is sleeved with a first moving sleeve in a threaded manner;
through above-mentioned technical scheme, second servo motor drives the second pivot and carries out forward and reverse rotation, plays the effect that drives two first movable sleeves inwards or outwards removal simultaneously.
Preferably, the outer surfaces of the two first moving sleeves are fixedly connected with first connecting blocks, one end surfaces of the two first connecting blocks penetrate through and extend to the front surface of the first mounting block, one end surface of one first connecting block is fixedly connected with a first arc-shaped fixture, the two end surfaces of the first arc-shaped fixture are respectively provided with a clamping groove, and one end surface of the other first connecting block is fixedly connected with a second arc-shaped fixture;
through the technical scheme, the first arc-shaped clamp is matched with the second arc-shaped clamp through the clamping groove, so that the cultural relics with different sizes can be clamped conveniently, and the size of the clamped cultural relics is wider.
Preferably, the inner walls of the first arc-shaped fixture and the second arc-shaped fixture are fixedly connected with arc-shaped soft pads, first cavities are arranged inside the two arc-shaped soft pads, the inner wall of one side of each of the two first cavities is fixedly provided with a first pressure sensor, the front surface of the other second driving arm is fixedly connected with a second mounting block, and the front surface of the second mounting block is provided with a third rectangular limiting opening;
through above-mentioned technical scheme, the soft pad of arc is made for the silica gel material, when making first arc anchor clamps and second arc anchor clamps cooperation clamp get the historical relic, carries out the effect of protection to the historical relic surface.
Preferably, a third mounting opening is formed in the inner wall of one side of the second mounting block, a third servo motor is fixedly mounted on the inner wall of the other side of the second mounting block, a third rotating shaft is fixedly mounted on an output shaft of the third servo motor through a coupler, threads are arranged on the outer surface of the third rotating shaft, and a second moving sleeve is sleeved on the outer surface of the third rotating shaft in a threaded manner;
through above-mentioned technical scheme, third servo motor rotates through driving the third pivot, plays the effect that drives the second and remove the cover and carry out the removal.
Preferably, the outer surface of the second moving sleeve is fixedly connected with a second connecting block, one end surface of the second connecting block penetrates through and extends to the front surface of the second mounting block, one end surface of the second connecting block is fixedly connected with a cleaning block, the front surface of the cleaning block is fixedly connected with a rectangular soft pad, a second cavity is arranged inside the rectangular soft pad, a second pressure sensor is fixedly mounted on the rear inner wall of the second cavity, and bristles distributed in a rectangular array are arranged on the front surface of the rectangular soft pad;
through the technical scheme, the second movable sleeve moves through the second connecting block to drive the cleaning block to move, and bristles on the rectangular soft pad are matched to play a role in cleaning the surface of the cultural relic, and the force during cleaning is controlled by the second pressure sensor all the time.
The beneficial effects of the invention are as follows:
1. be provided with cleaning device through the front that sets up the semicircle piece, and cleaning device includes a rectangle section of thick bamboo, the back of two rectangle sections of thick bamboos is the positive fixed connection of symmetric distribution and semicircle piece, it cleans and controls clean dynamics to the historical relic surface to have reached automation, repair personnel's labour has not only been reduced, and the historical relic has been avoided leading to the effect of damage because of clean dynamics is too big, it is when the surface cleaning to the historical relic to have solved repair personnel, need constantly control the dynamics and the clean dynamics of snatching the historical relic, prevent to cause further damage to the historical relic, thereby it is big to lead to repair personnel's work burden, the easy misoperation that appears, easily cause the problem of historical relic damage.
2. Through the cooperation that sets up first arc anchor clamps, chucking groove and second arc anchor clamps use, play and make second arc anchor clamps remove to the less historical relic of chucking inslot wall cooperation first arc anchor clamps ability centre gripping, be applicable to and carry out the effect of centre gripping to the not historical relic of equidimension.
3. Through the cooperation that sets up first servo motor, first pivot, lifting sleeve, fixed block, bull stick and clean wheel, play and clean the effect of carrying out, prevent that the dust when historical relic is clean from sputtering high definition digtal camera and leading to the repair personnel to observe unclear to through the meshing of rack and toothed disc, make it drive clean wheel rotation through the bull stick and clean, thereby improved the effect that high definition digtal camera surface cleaned the cleanliness factor.
Drawings
FIG. 1 is a schematic diagram of a bionic robot for on-site on-line cultural relic restoration;
FIG. 2 is an exploded view of a semicircular block structure of a bionic robot for on-site online cultural relic restoration;
FIG. 3 is an enlarged view of the structure at the position A in FIG. 2 of the bionic robot for on-site on-line cultural relic restoration;
FIG. 4 is an exploded view of a second mounting block of a bionic robot for on-site on-line cultural relic restoration;
fig. 5 is an exploded view of the first mounting block structure of a bionic robot for on-site on-line cultural relic restoration.
In the figure: 1. a drive case body; 2. a walking crawler belt; 3. a semicircular block; 4. a high-definition camera; 5. a wireless transmission module; 6. a single chip module; 7. a gear rack; 8. a rectangular cylinder; 81. a first servo motor; 82. a first rotating shaft; 83. a lifting sleeve; 84. a fixed block; 85. a rotating rod; 86. a gear plate; 87. cleaning the wheel; 88. a first drive arm; 89. a second drive arm; 810. a first mounting block; 811. a second servo motor; 812. a second rotating shaft; 813. a first moving sleeve; 814. a first connection block; 815. a first arc-shaped clamp; 816. a clamping groove; 817. a second arc-shaped clamp; 818. an arc-shaped soft pad; 819. a first pressure sensor; 820. a second mounting block; 821. a third servo motor; 822. a third rotating shaft; 823. a second movable sleeve; 824. a second connecting block; 825. cleaning the block; 826. a rectangular soft pad; 827. a second pressure sensor; 828. and (4) brush hairs.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-5, a bionic robot for on-site online cultural relic restoration comprises a driving shell body 1, wherein a walking crawler 2 is arranged on the lower surface of the driving shell body 1, a semicircular block 3 is fixedly connected to the upper surface of the driving shell body 1, a mounting groove is formed in the front surface of the semicircular block 3, a high-definition camera 4 is fixedly mounted on the inner bottom wall of the mounting groove, a wireless transmission module 5 and a single chip microcomputer module 6 are respectively and fixedly mounted on the inner bottom wall of the semicircular block 3, and symmetrically distributed gear bars 7 are fixedly connected to the front surface of the semicircular block 3;
the front of semicircle piece 3 is provided with cleaning device, and cleaning device includes a rectangular cylinder 8, and the back of two rectangular cylinders 8 is the front fixed connection of symmetric distribution and semicircle piece 3.
Further, the spacing mouth of first rectangle has all been seted up on the relative surface of two rectangular cylinder 8, the equal fixed mounting of the interior diapire of two rectangular cylinder 8 has first servo motor 81, two first servo motor 81's output shaft all has first pivot 82 through shaft coupling fixed mounting, two first pivot 82's surface all is provided with the screw thread, the equal screw thread of surface of two first pivot 82 has cup jointed lifting sleeve 83, the equal fixedly connected with fixed block 84 of surface of two lifting sleeve 83, walking track 2 plays the effect that drives drive shell body 1 and remove, high definition digtal camera 4's front is in on same horizontal plane with the front of semicircle piece, be convenient for clean.
Further, first installing port has all been seted up on the relative surface of two fixed blocks 84, the inner wall of two first installing ports all has cup jointed the bull stick 85 through the bearing fixed cover, the external fixed surface of bull stick 85 has cup jointed the toothed disc 86 that is symmetric distribution, the surface of two toothed disc 86 all with the flank of tooth meshing of gear rack 7, the external fixed surface of bull stick 85 has cup jointed clean wheel 87, the both sides surface of drive shell body 1 all articulates there is first actuating arm 88, toothed disc 86 uses with the cooperation of gear rack 7, play and drive through bull stick 85 and clean wheel 87 and remove when cleaning and rotate, improve and clean the effect.
Further, the upper surfaces of the two first driving arms 88 are hinged to second driving arms 89, a first mounting block 810 is fixedly connected to the front face of one of the second driving arms 89, a second rectangular limiting opening is formed in the front face of the first mounting block 810, a second mounting opening is formed in the inner wall of one side of the first mounting block 810, a second servo motor 811 is fixedly mounted on the inner wall of the other side of the first mounting block 810, the first driving arms 88 and the second driving arms 89 are matched for use, and the effect of driving the first mounting block 810 to adjust the angle is achieved.
Further, the output shaft of second servo motor 811 has second pivot 812 through shaft coupling fixed mounting, the one end surface of second pivot 812 passes through the bearing and cup joints with the inner wall fixed of second installing port, the surface of second pivot 812 is provided with positive screw thread and anti-thread respectively, the equal screw thread of surface of second pivot 812 has cup jointed first removal cover 813, second servo motor 811 drives second pivot 812 and carries out forward and reverse rotation, play and drive the effect that two first removal covers 813 inwards or outwards removed simultaneously.
Further, the equal fixedly connected with first connecting block 814 in surface of two first removal cover 813, the one end surface of two first connecting blocks 814 all runs through and extends to the front of first installation piece 810, the first arc anchor clamps 815 of the one end fixed surface of one of them first connecting block 814, chucking groove 816 has all been seted up on the both ends surface of first arc anchor clamps 815, the one end fixed surface of another first connecting block 814 is connected with second arc anchor clamps 817, first arc anchor clamps 815 uses through chucking groove 816 and second arc anchor clamps 817 cooperation, play and be convenient for carry out the centre gripping to the historical relic of equidimension not, the size of the centre gripping historical relic of messenger is more extensive.
Further, the inner walls of the first arc-shaped clamp 815 and the second arc-shaped clamp 817 are fixedly connected with an arc-shaped soft pad 818, a first cavity is formed inside the two arc-shaped soft pads 818, a first pressure sensor 819 is fixedly mounted on the inner wall of one side of the two first cavities, a second mounting block 820 is fixedly connected to the front face of the other second driving arm 89, a third rectangular limiting opening is formed in the front face of the second mounting block 820, the arc-shaped soft pad 818 is made of silica gel materials, and when the first arc-shaped clamp 815 and the second arc-shaped clamp 817 are matched to clamp a cultural relic, the surface of the cultural relic is protected.
Further, a third mounting opening is formed in the inner wall of one side of the second mounting block 820, a third servo motor 821 is fixedly mounted on the inner wall of the other side of the second mounting block 820, a third rotating shaft 822 is fixedly mounted on an output shaft of the third servo motor 821 through a coupler, threads are arranged on the outer surface of the third rotating shaft 822, a second moving sleeve 823 is sleeved on the outer surface of the third rotating shaft 822 in a threaded mode, the third servo motor 821 rotates through driving the third rotating shaft 822, and the effect of driving the second moving sleeve 823 to move is achieved.
Further, the outer fixed surface of the second movable sleeve 823 is connected with a second connecting block 824, one end surface of the second connecting block 824 penetrates through and extends to the front face of the second mounting block 820, one end surface of the second connecting block 824 is connected with a cleaning block 825, the front face of the cleaning block 825 is fixedly connected with a rectangular soft pad 826, a second cavity is arranged inside the rectangular soft pad 826, a second pressure sensor 827 is fixedly mounted on the rear inner wall of the second cavity, bristles 828 distributed in a rectangular array are arranged on the front face of the rectangular soft pad 826, the second movable sleeve 823 moves by driving the cleaning block 825 through the second connecting block 824, and the bristles 828 on the rectangular soft pad 826 play a role in cleaning the surface of the cultural relic, and constantly control the cleaning force through the second pressure sensor 827.
Be provided with cleaning device through the front that sets up semicircle piece 3, and cleaning device includes a rectangle section of thick bamboo 8, the back of two rectangle section of thick bamboos 8 is symmetric distribution and semicircle piece 3's positive fixed connection, it cleans and controls clean dynamics to the historical relic surface to have reached automation, repair person's labour has not only been reduced, and the historical relic has been avoided leading to the effect of damage because of the clean dynamics is too big, it is when the surface cleaning to the historical relic to have solved repair person, need constantly control the dynamics and the clean dynamics of snatching the historical relic, prevent to lead to the fact further damage to the historical relic, thereby it is big to lead to repair person's work burden, the easy misoperation that appears, easily cause the problem of historical relic damage.
Through the cooperation use of setting up first arc anchor clamps 815, chucking groove 816 and second arc anchor clamps 817, play and make second arc anchor clamps 817 move to the smaller historical relic of chucking groove 816 inner wall cooperation first arc anchor clamps 815 centre gripping, be applicable to the not effect of carrying out the centre gripping to the historical relic of equidimension.
Through setting up first servo motor 81, first pivot 82, lifting sleeve 83, fixed block 84, bull stick 85 and clean wheel 87's cooperation is used, play and clean the effect of carrying out, prevent that the dust when historical relic is clean from spattering high definition digtal camera 4 and leading to the repairing person to observe unclear, and through rack gear 7 and toothed disc 86's meshing, make it drive clean wheel 87 through bull stick 85 and rotate and clean, thereby improved the effect of high definition digtal camera 4 surface cleanliness factor.
The working principle is as follows: the repair personnel firstly connect the device with an external power supply and install a programmable controller matched with the external power supply, when in use, firstly, the controller starts one of the first driving arms 88 to cooperate with one of the second driving arms 89 to drive the first arc-shaped clamp 815 and the second arc-shaped clamp 817 to move to a cultural relic placing place through the first installation block 810, at the moment, the high-definition camera 4 transmits shot information to a background through the wireless transmission module 5, the repair personnel starts the second servo motor 811 through the controller to drive the second rotating shaft 812 to rotate in the forward direction, the forward rotation of the second rotating shaft 812 drives the two first moving sleeves 813 to cooperate with the first connection block 814 to move inwards, the two first connection blocks 814 respectively drive the first arc-shaped clamp 815 and the second arc-shaped clamp 817 to clamp the cultural relic, and when the first pressure sensor 819 senses that the pressure reaches a preset value, the second servo motor 811 is controlled to stop rotating, at this time, the first arc-shaped clamp 815 and the second arc-shaped clamp 817 stably clamp the cultural relic through the arc-shaped soft pad 818;
step two, when the second servo motor 811 stops working, the single chip module 6 controls another first driving arm 88 to cooperate with another second driving arm 89 to drive the cleaning block 825 to move through the second mounting block 820, the cleaning block 825 drives the brush 828 to adhere to and extrude the surface of the cultural relic through the rectangular soft pad 826, the brush 828 is extruded to extrude the second pressure sensor 827 through the rectangular soft pad 826, when the second pressure sensor 827 senses that the pressure reaches a preset value, the single chip module 6 controls the another first driving arm 88 and the another second driving arm 89 to stop moving, and controls the third servo motor 821 to drive the third rotating shaft 822 to rotate forward, the forward rotation of the third rotating shaft 822 drives the second connecting block 824 to move through the second moving sleeve 823, the second connecting block 824 drives the brush 828 to clean the surface of the cultural relic through the cleaning block 825, when the second moving sleeve 823 moves to a certain position, the singlechip module 6 controls the third servo motor 821 to rotate reversely, and the rotation is repeated, so that the brush 828 is driven to repeatedly clean the surface of the cultural relic, and a repairer controls the first driving arm 88 and the second driving arm 89 to move through the controller at the same time and cooperates with the brush 828 to clean the whole surface of the cultural relic;
step three, when dust and impurities of the cleaned cultural relics are splashed to the high-definition camera 4, which causes the repair staff to observe the cultural relics unclearly, at the moment, the controller starts the first servo motor 81 to rotate in the forward direction, the first servo motor 81 drives the lifting sleeve 83 to move upwards through the first rotating shaft 82, the lifting sleeve 83 drives the rotating rod 85 to move upwards through the fixed block 84, the rotating rod 85 moves to drive the gear plate 86 to rotate through the matching of the gear plate 86 and the gear strip 7, thereby driving the cleaning wheel 87 to rotationally wipe the surface of the high-definition camera 4, when the lifting sleeve 83 rises to a certain height, the single chip module 6 controls the first servo motor 81 to drive the first rotating shaft 82 to rotate reversely, and this is repeated, thereby driving the cleaning wheel 87 to clean the surface of the high-definition camera 4 repeatedly, and when the repairman observes clearly, the controller stops the first servo motor 81 to work.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. The utility model provides an on-spot online historical relic is restoreed and is used bionical robot, includes drive shell body (1), its characterized in that: the traveling crawler belt (2) is arranged on the lower surface of the driving shell body (1), the upper surface of the driving shell body (1) is fixedly connected with a semicircular block (3), the front surface of the semicircular block (3) is provided with an installation groove, a high-definition camera (4) is fixedly installed on the inner bottom wall of the installation groove, a wireless transmission module (5) and a single chip microcomputer module (6) are fixedly installed on the inner bottom wall of the semicircular block (3) respectively, and the front surface of the semicircular block (3) is fixedly connected with symmetrically distributed gear strips (7);
the front side of the semicircular block (3) is provided with a cleaning device, the cleaning device comprises rectangular cylinders (8), and the back sides of the two rectangular cylinders (8) are symmetrically distributed and fixedly connected with the front side of the semicircular block (3);
the driving shell comprises a driving shell body (1), wherein first driving arms (88) are hinged to the surfaces of two sides of the driving shell body (1), second driving arms (89) are hinged to the upper surfaces of the two first driving arms (88), a first mounting block (810) is fixedly connected to the front surface of one of the second driving arms (89), a second rectangular limiting port is formed in the front surface of the first mounting block (810), a second mounting port is formed in the inner wall of one side of the first mounting block (810), a second servo motor (811) is fixedly mounted on the inner wall of the other side of the first mounting block (810), a second rotating shaft (812) is fixedly mounted on an output shaft of the second servo motor (811) through a coupler, the outer surface of one end of the second rotating shaft (812) is fixedly sleeved with the inner wall of the second mounting port through a bearing, and positive threads and negative threads are respectively arranged on the outer surface of the second rotating shaft (812), the outer surfaces of the second rotating shafts (812) are respectively sleeved with first movable sleeves (813) in a threaded manner, the outer surfaces of the two first movable sleeves (813) are respectively fixedly connected with first connecting blocks (814), one end surfaces of the two first connecting blocks (814) penetrate through and extend to the front surface of the first mounting block (810), one end surface of one of the first connecting blocks (814) is fixedly connected with a first arc-shaped clamp (815), the two end surfaces of the first arc-shaped clamp (815) are respectively provided with a clamping groove (816), one end surface of the other first connecting block (814) is fixedly connected with a second arc-shaped clamp (817), the inner walls of the first arc-shaped clamp (815) and the second arc-shaped clamp (817) are fixedly connected with arc-shaped soft pads (818), first cavities are arranged inside the two arc-shaped soft pads (818), and first pressure sensors (819) are fixedly mounted on the inner walls of one sides of the two first cavities;
the front surface of the other second driving arm (89) is fixedly connected with a second mounting block (820), the front surface of the second mounting block (820) is provided with a third rectangular limiting port, the inner wall of one side of the second mounting block (820) is provided with a third mounting port, the inner wall of the other side of the second mounting block (820) is fixedly provided with a third servo motor (821), the output shaft of the third servo motor (821) is fixedly provided with a third rotating shaft (822) through a coupler, the outer surface of the third rotating shaft (822) is provided with threads, the outer surface threads of the third rotating shaft (822) are sleeved with a second moving sleeve (823), the outer surface of the second moving sleeve (823) is fixedly connected with a second connecting block (824), one end surface of the second connecting block (824) penetrates through and extends to the front surface of the second mounting block (820), and one end surface of the second connecting block (824) is fixedly connected with a cleaning block (825), the front face of the cleaning block (825) is fixedly connected with a rectangular soft pad (826), a second cavity is arranged inside the rectangular soft pad (826), a second pressure sensor (827) is fixedly mounted on the rear inner wall of the second cavity, and bristles (828) distributed in a rectangular array are arranged on the front face of the rectangular soft pad (826).
2. The bionic robot for on-site on-line cultural relic restoration according to claim 1, which is characterized in that: two the spacing mouth of first rectangle, two has all been seted up on the relative surface of a rectangle section of thick bamboo (8) the equal fixed mounting of inner diapire of a rectangle section of thick bamboo (8) has first servo motor (81), two the output shaft of first servo motor (81) all has first pivot (82), two through shaft coupling fixed mounting the surface of first pivot (82) all is provided with the screw thread, two the equal screw thread of surface of first pivot (82) has cup jointed lifting sleeve (83), two the equal fixedly connected with fixed block (84) of surface of lifting sleeve (83).
3. The bionic robot for on-site on-line cultural relic restoration according to claim 2, which is characterized in that: two first installing port, two have all been seted up on fixed block (84) relative surface the inner wall of first installing port all has cup jointed bull stick (85) through the bearing fixed cover, the external fixed surface of bull stick (85) has cup jointed gear dish (86) that are symmetric distribution, two the surface of gear dish (86) all with the flank of tooth meshing of rack (7), the external fixed surface of bull stick (85) has cup jointed clean wheel (87).
4. The operating method of the bionic robot for on-site on-line cultural relic restoration according to any one of claims 1 to 3, which comprises the following steps: firstly, a repairer connects the device with an external power supply and installs a programmable controller matched with the external power supply, when the device is used, the repairer starts one of the first driving arms (88) through the controller to match one of the second driving arms (89) and drives the first arc-shaped clamp (815) and the second arc-shaped clamp (817) to move to a cultural relic placing position through the first installation block (810), at the moment, the high-definition camera (4) transmits shot information to a background through the wireless transmission module (5), the repairer starts the second servo motor (811) through the controller to drive the second rotating shaft (812) to rotate forwards, the forward rotation of the second rotating shaft (812) drives the two first moving sleeves (813) to move inwards in a matching way with the first connection block (814), and the two first connection blocks (814) respectively drive the first arc-shaped clamp (815) and the second arc-shaped clamp (817) to clamp the cultural relic, when the first pressure sensor (819) senses that the pressure reaches a preset value, the second servo motor (811) is controlled to stop rotating, and at the moment, the first arc-shaped clamp (815) and the second arc-shaped clamp (817) stably clamp the cultural relic through the arc-shaped soft pad (818);
step two, when the second servo motor (811) stops working, the single chip microcomputer module (6) controls the other first driving arm (88) to cooperate with the other second driving arm (89) to drive the cleaning block (825) to move through the second mounting block (820), the cleaning block (825) drives the bristles (828) to be attached to and press the surface of the cultural relic through the rectangular soft pad (826), the bristles (828) are pressed by the rectangular soft pad (826) to press the second pressure sensor (827), when the second pressure sensor (827) senses that the pressure reaches a preset value, the single chip microcomputer module (6) controls the other first driving arm (88) and the other second driving arm (89) to stop moving, controls the third servo motor (821) to drive the third rotating shaft (822) to rotate in the forward direction, and drives the second connecting block (824) to move through the second moving sleeve (823) in the forward rotation of the third rotating shaft (822), the second connecting block (824) drives the bristles (828) to clean the surface of the cultural relic through the cleaning block (825), after the second movable sleeve (823) moves to a certain position, the singlechip module (6) controls the third servo motor (821) to rotate reversely, and the operation is repeated, so that the bristles (828) are driven to clean the surface of the cultural relic repeatedly, and a repairer controls the first driving arm (88) and the second driving arm (89) to move through the controller at the same time to cooperate with the bristles (828) to clean the whole surface of the cultural relic;
thirdly, when dust and impurities of the cleaning cultural relics are splashed to the high-definition camera (4) and cause that repairmen cannot observe clearly, the controller starts the first servo motor (81) to rotate in the forward direction, the first servo motor (81) drives the lifting sleeve (83) to move upwards through the first rotating shaft (82), the lifting sleeve (83) drives the rotating rod (85) to move upwards through the fixing block (84), the rotating rod (85) is driven to rotate through the matching of the gear disc (86) and the gear strip (7) in moving, so that the cleaning wheel (87) is driven to rotationally wipe the surface of the high-definition camera (4), when the lifting sleeve (83) rises to a certain height, the single chip microcomputer module (6) controls the first servo motor (81) to drive the high-definition first rotating shaft (82) to rotate in the reverse direction, the operation is repeated, so that the cleaning wheel (87) is driven to repeatedly wipe the surface of the high-definition camera (4), when the repair personnel observe clearly, the first servo motor (81) is stopped to work through the controller.
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