CN116497628B - Automatic damaged paper repair robot and repair control method thereof - Google Patents
Automatic damaged paper repair robot and repair control method thereof Download PDFInfo
- Publication number
- CN116497628B CN116497628B CN202310148973.9A CN202310148973A CN116497628B CN 116497628 B CN116497628 B CN 116497628B CN 202310148973 A CN202310148973 A CN 202310148973A CN 116497628 B CN116497628 B CN 116497628B
- Authority
- CN
- China
- Prior art keywords
- paper
- damaged
- repair
- repairing
- movable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000008439 repair process Effects 0.000 title claims abstract description 74
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 238000003698 laser cutting Methods 0.000 claims abstract description 65
- 238000004026 adhesive bonding Methods 0.000 claims abstract description 61
- 238000005520 cutting process Methods 0.000 claims abstract description 58
- 239000003292 glue Substances 0.000 claims abstract description 54
- 238000001179 sorption measurement Methods 0.000 claims abstract description 52
- 238000003825 pressing Methods 0.000 claims abstract description 22
- 230000008263 repair mechanism Effects 0.000 claims abstract description 22
- 239000006260 foam Substances 0.000 claims abstract description 11
- 230000000694 effects Effects 0.000 claims abstract description 5
- 230000007480 spreading Effects 0.000 claims description 31
- 238000003892 spreading Methods 0.000 claims description 31
- 239000007921 spray Substances 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 description 5
- 238000010073 coating (rubber) Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000012258 culturing Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000020477 pH reduction Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- D—TEXTILES; PAPER
- D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
- D21H—PULP COMPOSITIONS; PREPARATION THEREOF NOT COVERED BY SUBCLASSES D21C OR D21D; IMPREGNATING OR COATING OF PAPER; TREATMENT OF FINISHED PAPER NOT COVERED BY CLASS B31 OR SUBCLASS D21G; PAPER NOT OTHERWISE PROVIDED FOR
- D21H25/00—After-treatment of paper not provided for in groups D21H17/00 - D21H23/00
- D21H25/18—After-treatment of paper not provided for in groups D21H17/00 - D21H23/00 of old paper as in books, documents, e.g. restoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- 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
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/64—Paper recycling
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)
Abstract
The invention discloses an automatic damaged paper repairing robot and a repairing control method thereof, wherein the automatic damaged paper repairing robot comprises a workbench, a damaged paper fixing platform, a repaired paper cutting platform, a movable laser cutting mechanism and a movable gluing repairing mechanism, wherein the damaged paper fixing platform, the repaired paper cutting platform, the movable laser cutting mechanism and the movable gluing repairing mechanism are arranged on the workbench; the movable laser cutting mechanism and the movable gluing repair mechanism comprise a movable mechanism fixed on the workbench, the movable laser cutting mechanism further comprises a laser cutting device fixed on the corresponding movable mechanism, and the movable gluing repair mechanism further comprises a gluing device, an adsorption positioning device and an image acquisition module fixed on the corresponding movable mechanism. The invention can automatically realize the conventional repair work such as cutting the repair paper, smearing foam glue solution, transferring the repair paper to the damaged area of the damaged paper, pressing the repair paper for bonding and positioning, and the like, and does not need a repairman to repair the paper, and has the advantages of quick repair and good repair effect.
Description
Technical Field
The invention relates to the technical field of ancient books repair, in particular to an automatic damaged paper repair robot and a repair control method thereof.
Background
Due to the influence of ancient preservation conditions, most ancient books are damaged to different degrees, and worm damage, acidification, corrosion, water stains and fire are common damage reasons, so that ancient book repair is an important link of the cultural relics industry. In ancient book repairing operation, ancient book repairing operators often rely on abundant experience to identify paper, determine a repairing scheme and implement repairing operation in a traditional mode, however, for ancient books with poor value, the technology and the patience of ancient book repairing operators are examined in any step, the working efficiency is low, the repairing period is often counted in months, and the repairing operators have small burden on lumbar vertebra, vertebra and the like, meanwhile, the talents of professional ancient books repairing operators in China are large, the culturing period is long, and the ancient book protecting work needs of China are difficult to meet. The current computer vision technology, AI technology and automation technology are updated in a rapid iteration way, so that new technology brought by current technological development is more required to be applied to the ancient book restoration industry, and more contribution is made to Chinese cultural inheritance.
Disclosure of Invention
The invention aims to solve the technical problem of providing an automatic damaged paper repair robot and a repair control method thereof, which realize the automatic repair of damaged areas of damaged paper.
The technical scheme of the invention is as follows:
the automatic damaged paper repairing robot comprises a workbench, a damaged paper fixing platform, a paper repairing cutting platform, a movable laser cutting mechanism and a movable gluing repairing mechanism, wherein the damaged paper fixing platform, the paper repairing cutting platform, the movable laser cutting mechanism and the movable gluing repairing mechanism are arranged on the workbench; the movable laser cutting mechanism and the movable gluing repair mechanism comprise a moving mechanism fixed on the workbench, the movable laser cutting mechanism further comprises a laser cutting device fixed on the corresponding moving mechanism, and the movable gluing repair mechanism further comprises a gluing device, an adsorption positioning device and an image acquisition module fixed on the corresponding moving mechanism.
The utility model provides a paper cutting platform is fixed to damaged paper, including vacuum adsorption board and vortex fan, the vacuum adsorption board of damaged paper fixed platform and repair paper cutting platform is fixed in on the top mesa of workstation side by side, the vortex fan of damaged paper fixed platform and repair paper cutting platform is all fixed in on the support of workstation below, a plurality of holes that evenly cover on vacuum adsorption board and link up from top to bottom have all been seted up on the vacuum adsorption board of damaged paper fixed platform and repair paper cutting platform, the bottom of a plurality of holes on the vacuum adsorption board is all connected with the negative pressure side that corresponds the vortex fan through the trachea.
The device is characterized in that a controller is arranged on a support below the workbench, a vortex fan of the damaged paper fixing platform and the repairing paper cutting platform, a moving mechanism of the moving type laser cutting mechanism and the moving type gluing repairing mechanism, a laser cutting device, a driving mechanism of the gluing device and the adsorbing and positioning device and an image acquisition module are all connected with the controller, and the controller is connected with an upper computer through a remote communication module in a wireless communication mode.
The movable laser cutting mechanism and the movable gluing repair mechanism are respectively provided with an H-shaped XY two-axis linear sliding table module, the H-shaped XY two-axis linear sliding table module comprises two X-axis linear sliding table modules and a Y-axis linear sliding table module connected between X-axis sliding blocks of the two X-axis linear sliding table modules, the two X-axis linear sliding table modules of the movable laser cutting mechanism and the two X-axis linear sliding table modules of the movable gluing repair mechanism are in one-to-one correspondence up and down and are parallel to each other, the damaged paper fixing platform and the repairing paper cutting platform are both positioned between the two X-axis linear sliding table modules of the movable gluing repair mechanism, the repairing paper cutting platform is positioned between the two X-axis linear sliding table modules of the movable laser cutting mechanism, the Y-axis linear sliding table modules of the movable laser cutting mechanism and the Y-axis linear sliding table modules of the movable gluing repair mechanism are parallel to each other, and the laser cutting device is fixed on the Y-axis sliding blocks of the Y-axis linear sliding table modules of the movable laser cutting mechanism.
The workbench is provided with two X-axis brackets which are parallel to each other, two X-axis linear sliding table modules of the movable gluing repair mechanism are respectively fixed at the top ends of the two X-axis brackets, and two X-axis linear sliding table modules of the movable laser cutting mechanism are respectively fixed at the middle parts of the two X-axis brackets.
The laser cutting device comprises a movable laser cutting mechanism, a laser cutting device and a laser cutting device, wherein a laser cutting mounting plate is fixedly connected to a Y-axis sliding block of a Y-axis linear sliding table module of the movable laser cutting mechanism, a cutting lifting sliding table is arranged on the laser cutting mounting plate, and the laser cutting device is fixedly connected to a lifting sliding block of the cutting lifting sliding table; the movable gluing repair mechanism is characterized in that an inverted U-shaped mounting plate is fixed on a Y-axis sliding block of the Y-axis linear sliding table module, gluing devices and adsorption positioning devices are respectively fixed on the outer side walls of two vertical parts of the inverted U-shaped mounting plate, and an image acquisition module is fixed on the horizontal part of the inverted U-shaped mounting plate.
The glue spreading device comprises a glue solution container, a bubbler, a glue spreading lifting sliding table and a glue spreading spray head, wherein the glue solution container, the bubbler and the glue spreading lifting sliding table are all fixed on an inverted U-shaped mounting plate, the glue spreading spray head is connected to a lifting sliding block of the glue spreading lifting sliding table, an outlet of the glue solution container is connected with an inlet of the bubbler through a connecting pipe, a foam outlet of the bubbler is connected with an inlet of the top end of the glue spreading spray head through a flexible connecting pipe, and an outlet of the glue spreading spray head vertically extends downwards.
The adsorption positioning device comprises a sucking disc lifting sliding table, a pressing plate lifting sliding table, a vacuum sucking disc and a spring pressing plate, wherein the sucking disc lifting sliding table and the pressing plate lifting sliding table are fixed on an inverted U-shaped mounting plate side by side, the vacuum sucking disc is fixedly connected to a lifting sliding block of the sucking disc lifting sliding table, the spring pressing plate is fixedly connected to a lifting sliding block of the pressing plate lifting sliding table, a vacuum pump is arranged on a support below the workbench, and the vacuum sucking disc is connected with the vacuum pump through a vacuumizing tube.
The image acquisition module comprises a camera support frame fixed on the horizontal part of the inverted U-shaped mounting plate, a camera mounting seat fixed on the top end of the camera support frame, and a camera and a light source fixed on the camera mounting seat, wherein the camera and the light source face the workbench.
A repair control method of an automatic damaged paper repair robot specifically comprises the following steps:
(1) Firstly, placing the repair paper on a repair paper cutting platform, and positioning the repair paper on the repair paper cutting platform by adopting a negative pressure adsorption function so as to avoid the influence of the movement of the repair paper on the subsequent cutting effect; then placing the damaged paper to be repaired on a damaged paper fixing platform, and positioning the damaged paper to be repaired on the damaged paper fixing platform by adopting a negative pressure adsorption function to avoid movement of the damaged paper to be repaired;
(2) The controller is internally provided with a plane coordinate system of the damaged paper fixing platform and a plane coordinate system of the repairing paper cutting platform, the image acquisition module acquires a damaged image of damaged paper to be repaired on the damaged paper fixing platform, and the controller obtains a closed line coordinate of a damaged contour of the damaged paper on the damaged paper fixing platform according to the damaged image;
(3) The controller calculates the cutting shape and the area of the repair paper according to the closed line coordinates of the broken outline of the broken paper, then drives the moving mechanism of the movable laser cutting mechanism to drive the laser cutting device to cut the repair paper on the repair paper cutting platform, so that the cut repair paper corresponds to the broken area of the broken paper, and the controller records the closed line coordinates of the broken outline of the repair paper on the repair paper cutting platform and generates the adsorption positioning coordinates;
(4) The controller generates gluing contour coordinates according to the closed line coordinates of the damaged contour of the damaged paper, and drives the moving mechanism of the movable gluing repair mechanism to drive the gluing device to move according to the gluing contour coordinates, so that the foam paste glue solution is uniformly coated on the top surface of the periphery of the damaged area of the damaged paper;
(5) After the cutting of the laser cutting device is completed and the gluing of the gluing device is completed, the moving mechanism of the movable gluing repairing mechanism is driven by the controller to drive the adsorption positioning device to move to the adsorption positioning coordinate of the repairing paper cutting platform, the repairing paper is downwards moved and is adsorbed by negative pressure, then the repairing paper is moved to the damaged area of the damaged paper according to the closed line coordinate of the damaged outline of the damaged paper, the damaged area of the damaged paper is completely covered by the repairing paper, then the negative pressure is removed by the adsorption positioning device, the repairing paper is adsorbed on the damaged paper to be repaired, and finally the repairing paper is pressed by the controller along the gluing outline coordinate by the adsorption positioning device, so that the repairing paper is tightly adhered to the damaged paper, and the repairing operation of the damaged paper is completed.
The invention has the advantages that:
(1) The invention can automatically realize the conventional repairing work such as cutting the repairing paper, smearing foam glue along the edge contour of the damaged area of the damaged paper, transferring the repairing paper to the damaged area of the damaged paper, pressing the repairing paper along the gluing contour to carry out bonding positioning and the like, and does not need a repairman to repair the paper, and has quick repair and good repair effect.
(2) The invention is provided with the controller and the image acquisition module, the controller can acquire the position and the image of the damaged area of the damaged paper through the image acquisition module, automatically formulate a repairing scheme and automatically complete the repairing operation of the damaged paper; the controller can be connected with the upper computer through the remote communication module in a wireless communication way, workers can know the situation of damaged areas of damaged paper through the upper computer, and the repairing process of the invention can be observed in real time through the image acquisition module, so that the purpose of remote repairing and monitoring is realized.
(3) The glue spreading device converts glue solution into fine foam paste and uniformly spreads the fine foam paste on the broken edge of broken paper, the glue solution of the foam paste reduces the fluidity of the glue solution, has good space stability, is convenient for the attachment of a fixed point area, ensures stable adhesion and improves the repairing quality.
(4) The vacuum chuck of the adsorption positioning device is convenient for moving the cut repair paper to the damaged position, the spring pressing plate simulates a manual pressing mode, and the consistency and uniformity of the edge pressing force are ensured through edge pressing, so that the bonding stability of the repair paper is improved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of a partial structure under a table of the present invention.
Fig. 3 is a schematic structural view of the movable laser cutting mechanism and the movable glue repairing mechanism of the invention.
Fig. 4 is a schematic structural view of the gumming device, the adsorption positioning device and the image acquisition module fixed on the moving mechanism.
Fig. 5 is a schematic structural view of the adsorption positioning device of the present invention.
Reference numerals: 1-support, 2-workbench, 3-controller, 4-damaged paper fixed platform, 5-repair paper cutting platform, 6-vortex fan, 7-moving mechanism, 8-laser cutting device, 9-rubber coating device, 10-adsorption positioning device, 11-image acquisition module, 12-X axle support, 71-X axle straight line slip table module, 72-Y axle straight line slip table module, 73-inverted U-shaped mounting plate, 91-glue solution container, 92-bubbler, 93-rubber coating lifting slip table, 94-rubber coating shower nozzle, 95-flexible connecting pipe, 101-sucking disc lifting slip table, 102-clamp plate lifting slip table, 103-vacuum sucking disc, 104-spring clamp plate, 111-camera support frame, 112-camera mount pad, 113-camera, 114-light source.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 2, an automatic damaged paper repairing robot comprises a bracket 1, a workbench 2 fixed on the top end of the bracket 1, a controller 3 arranged on the bracket 1, a damaged paper fixing platform 4, a repairing paper cutting platform 5, a movable laser cutting mechanism and a movable gluing repairing mechanism arranged on the workbench 2;
the damaged paper fixing platform 4 and the repairing paper cutting platform 5 comprise vacuum adsorption plates and vortex fans 6, the vacuum adsorption plates of the damaged paper fixing platform 4 and the repairing paper cutting platform 5 are fixed on the top end table top of the workbench 2 side by side, the vortex fans 6 of the damaged paper fixing platform 4 and the repairing paper cutting platform 5 are fixed on the support 1 below the workbench 2, a plurality of holes which are uniformly covered on the vacuum adsorption plates and are penetrated up and down are formed in the vacuum adsorption plates of the damaged paper fixing platform 4 and the repairing paper cutting platform 5, and the bottom ends of the holes in the vacuum adsorption plates are connected with the negative pressure sides of the corresponding vortex fans 6 through air pipes;
the movable laser cutting mechanism and the movable gluing repair mechanism comprise a movable mechanism 7 fixed on the workbench 2, the movable laser cutting mechanism further comprises a laser cutting device 8 fixed on the corresponding movable mechanism 7, and the movable gluing repair mechanism further comprises a gluing device 9, an adsorption positioning device 10 and an image acquisition module 11 fixed on the corresponding movable mechanism 7;
the two vortex fans 6, the movable mechanism 7 of the movable laser cutting mechanism and the movable gluing repair mechanism, the driving mechanism of the laser cutting device 8, the gluing device 9 and the adsorption positioning device 10, and the image acquisition module 11 are all connected with the controller 3, and the controller 3 is connected with the upper computer through a remote communication module in a wireless communication manner.
Referring to fig. 3, two parallel X-axis brackets 12 (see fig. 1) are disposed on the workbench 2, the moving mechanism 7 of the moving laser cutting mechanism and the moving glue repairing mechanism are H-shaped XY two-axis linear sliding table modules, each H-shaped XY two-axis linear sliding table module comprises two X-axis linear sliding table modules 71 and a Y-axis linear sliding table module 72 connected between the two X-axis linear sliding table modules 71 and X, the two X-axis linear sliding table modules 71 of the moving glue repairing mechanism are respectively fixed at the top ends of the two X-axis brackets 12, the two X-axis linear sliding table modules 71 of the moving laser cutting mechanism are respectively fixed at the middle parts of the two X-axis brackets 12, so that the two X-axis linear sliding table modules 71 of the moving laser cutting mechanism and the two X-axis linear sliding table modules 71 of the moving glue repairing mechanism are vertically in one-to-one correspondence and are parallel to each other, the broken paper fixing platform 4 and the paper repairing platform 5 are located between the two X-axis linear sliding table modules 71 of the moving glue repairing mechanism, and the paper cutting platform 5 is located between the two X-axis linear sliding table modules 71 of the moving laser repairing mechanism and the Y-axis linear sliding table modules 72; the movable laser cutting mechanism comprises a Y-axis linear sliding table module 72, a laser cutting mounting plate, a cutting lifting sliding table, a laser cutting device 8 and a laser cutting device.
Referring to fig. 4 and 5, an inverted U-shaped mounting plate 73 is fixed on a Y-axis sliding block of a Y-axis linear sliding table module 72 of the movable gluing repair mechanism, a gluing device 9 and an adsorption positioning device 10 are respectively fixed on the outer side walls of two vertical parts of the inverted U-shaped mounting plate 73, and an image acquisition module 11 is fixed on the horizontal part of the inverted U-shaped mounting plate 73; the glue spreading device 9 comprises a glue solution container 91, a bubbler 92, a glue spreading lifting sliding table 93 and a glue spreading spray head 94, wherein the glue solution container 91, the bubbler 92 and the glue spreading lifting sliding table 93 are all fixed on an inverted U-shaped mounting plate 73, the glue spreading spray head 94 is connected to a lifting sliding block of the glue spreading lifting sliding table 93, an outlet of the glue solution container 91 is connected with an inlet of the bubbler 92 through a connecting pipe, a foam outlet of the bubbler 92 is connected with an inlet at the top end of the glue spreading spray head 94 through a flexible connecting pipe 95, and an outlet of the glue spreading spray head 94 extends vertically downwards; the adsorption positioning device 10 comprises a sucker lifting sliding table 101, a pressing plate lifting sliding table 102, a vacuum sucker 103 and a spring pressing plate 104, wherein the sucker lifting sliding table 101 and the pressing plate lifting sliding table 102 are fixed on an inverted U-shaped mounting plate 73 side by side, the vacuum sucker 103 is fixedly connected to a lifting sliding block of the sucker lifting sliding table 101, the spring pressing plate 104 is fixedly connected to a lifting sliding block of the pressing plate lifting sliding table 102, a vacuum pump is arranged on a support 1 below the workbench 2, and the vacuum sucker 103 is connected with the vacuum pump through a vacuumizing tube; the image acquisition module 11 comprises a camera support 111, a camera mounting seat 112 fixed on the top end of the camera support 111, and a camera 113 and a light source 114 fixed on the camera mounting seat 112, wherein the camera 113 and the light source 114 face the workbench 2.
A repair control method of an automatic damaged paper repair robot specifically comprises the following steps:
(1) Firstly, placing the repair paper on a repair paper cutting platform 5, and positioning the repair paper on the repair paper cutting platform 5 by adopting a negative pressure adsorption function so as to avoid the influence of the movement of the repair paper on the subsequent cutting effect; then placing the damaged paper to be repaired on a damaged paper fixing platform 4, and positioning the damaged paper to be repaired on the damaged paper fixing platform 4 by adopting a negative pressure adsorption function to avoid movement of the damaged paper to be repaired;
(2) The controller 3 is internally provided with a plane coordinate system of the damaged paper fixing platform 4 and a plane coordinate system of the repairing paper cutting platform 5, the image acquisition module 11 acquires a damaged image of damaged paper to be repaired on the damaged paper fixing platform 4, and the controller 3 obtains a closed line coordinate of a damaged contour of the damaged paper on the damaged paper fixing platform 4 according to the damaged image;
(3) The controller 3 calculates the cutting shape and the area of the repair paper according to the closed line coordinates of the broken outline of the broken paper, then drives the moving mechanism 7 of the movable laser cutting mechanism to drive the laser cutting device 8 to cut the repair paper on the repair paper cutting platform 5, so that the cut repair paper corresponds to the broken area of the broken paper, and the controller 3 records the closed line coordinates of the broken outline of the repair paper on the repair paper cutting platform 5 at the same time and generates the adsorption positioning coordinates;
(4) The controller 3 generates gluing contour coordinates (the gluing contour is positioned at the periphery of the contour of a damaged area of the damaged paper) according to the closed line coordinates of the damaged contour of the damaged paper, the controller 3 drives the moving mechanism 7 of the movable gluing repair mechanism to drive the gluing device 9 to move according to the gluing contour coordinates, and the glue solution in the form of foam paste is uniformly coated on the top surface of the periphery of the damaged area of the damaged paper;
(5) After the cutting of the laser cutting device 8 is completed and the gluing of the gluing device 9 is completed, the controller 3 drives the moving mechanism 7 of the movable gluing repair mechanism to drive the vacuum chuck 103 of the adsorption positioning device 10 to move to the adsorption positioning coordinate of the repair paper cutting platform 5, the vacuum chuck moves downwards and adopts negative pressure to adsorb repair paper, then the repair paper is moved to the damaged area of the damaged paper according to the closed line coordinate of the damaged paper damage outline, the repair paper completely covers the damaged area of the damaged paper, then the vacuum chuck 103 of the adsorption positioning device 10 moves downwards and releases the negative pressure, the repair paper is adsorbed on the damaged paper to be repaired, and finally the controller 3 drives the spring pressing plate 104 of the adsorption positioning device 10 to press the repair paper along the gluing outline coordinate, so that the repair paper is tightly adhered to the damaged paper, and the repair operation of the damaged paper is completed.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The utility model provides a damaged paper automatic repair robot which characterized in that: the device comprises a bracket, a workbench fixed on the top end of the bracket, a controller arranged on the bracket, a damaged paper fixing platform, a repairing paper cutting platform, a movable laser cutting mechanism and a movable gluing repairing mechanism which are arranged on the workbench;
the damaged paper fixing platform and the repairing paper cutting platform comprise vacuum adsorption plates and vortex fans, the vacuum adsorption plates of the damaged paper fixing platform and the repairing paper cutting platform are fixed on the top end table top of the workbench side by side, the vortex fans of the damaged paper fixing platform and the repairing paper cutting platform are fixed on a bracket below the workbench, a plurality of holes which are uniformly covered on the vacuum adsorption plates and are vertically penetrated are formed in the vacuum adsorption plates of the damaged paper fixing platform and the repairing paper cutting platform, and the bottom ends of the holes in the vacuum adsorption plates are connected with the negative pressure sides of the corresponding vortex fans through air pipes;
the movable laser cutting mechanism and the movable gluing repair mechanism comprise a movable mechanism fixed on the workbench, the movable laser cutting mechanism further comprises a laser cutting device fixed on the corresponding movable mechanism, and the movable gluing repair mechanism further comprises a gluing device, an adsorption positioning device and an image acquisition module fixed on the corresponding movable mechanism;
the two vortex fans, the movable mechanism of the movable laser cutting mechanism and the movable gluing repair mechanism, the driving mechanism of the laser cutting device, the gluing device and the adsorption positioning device, and the image acquisition module are all connected with the controller, and the controller is in wireless communication connection with the upper computer through the remote communication module;
the movable type glue spreading and repairing device comprises a workbench, a movable type laser cutting mechanism, a movable type glue spreading and repairing mechanism, a paper fixing platform and a paper repairing platform, wherein the workbench is provided with two X-axis brackets which are parallel to each other, the movable type laser cutting mechanism and the movable type glue spreading and repairing mechanism are respectively selected from H-shaped XY two-axis linear slipway modules, the H-shaped XY two-axis linear slipway modules comprise two X-axis linear slipway modules and Y-axis linear slipway modules connected between X-axis sliders of the two X-axis linear slipway modules, the two X-axis linear slipway modules of the movable type glue spreading and repairing mechanism are respectively fixed at the top ends of the two X-axis brackets, the two X-axis linear slipway modules of the movable type laser cutting mechanism are respectively fixed at the middle parts of the two X-axis brackets, so that the two X-axis linear slipway modules of the movable type laser cutting mechanism and the two X-axis linear slipway modules of the movable type glue spreading and repairing mechanism are in one-to-one correspondence with each other, and the paper fixing platform for repairing paper is positioned between the two X-axis linear slipway modules of the movable type glue spreading and the paper cutting platform is positioned between the two X-axis linear slipway modules of the X-axis linear slipway module; a laser cutting mounting plate is fixedly connected to a Y-axis sliding block of the Y-axis linear sliding table module of the movable laser cutting mechanism, a cutting lifting sliding table is arranged on the laser cutting mounting plate, and a laser cutting device is fixedly connected to a lifting sliding block of the cutting lifting sliding table;
an inverted U-shaped mounting plate is fixed on a Y-axis sliding block of the Y-axis linear sliding table module of the movable gluing repair mechanism, a gluing device and an adsorption positioning device are respectively fixed on the outer side walls of two vertical parts of the inverted U-shaped mounting plate, and an image acquisition module is fixed on the horizontal part of the inverted U-shaped mounting plate;
the glue spreading device comprises a glue solution container, a bubbler, a glue spreading lifting sliding table and a glue spreading spray head, wherein the glue solution container, the bubbler and the glue spreading lifting sliding table are all fixed on an inverted U-shaped mounting plate, the glue spreading spray head is connected to a lifting sliding block of the glue spreading lifting sliding table, an outlet of the glue solution container is connected with an inlet of the bubbler through a connecting pipe, a foam outlet of the bubbler is connected with an inlet at the top end of the glue spreading spray head through a flexible connecting pipe, and an outlet of the glue spreading spray head vertically extends downwards;
the adsorption positioning device comprises a sucker lifting slipway, a pressing plate lifting slipway, a vacuum sucker and a spring pressing plate, wherein the sucker lifting slipway and the pressing plate lifting slipway are fixed on the inverted U-shaped mounting plate side by side, the vacuum sucker is fixedly connected to a lifting slide block of the sucker lifting slipway, the spring pressing plate is fixedly connected to a lifting slide block of the pressing plate lifting slipway, a vacuum pump is arranged on a bracket below the workbench, and the vacuum sucker is connected with the vacuum pump through a vacuumizing tube;
the image acquisition module comprises a camera support frame, a camera mounting seat fixed on the top end of the camera support frame, and a camera and a light source fixed on the camera mounting seat, wherein the camera and the light source face the workbench.
2. The repair control method of a damaged paper automatic repair robot according to claim 1, characterized by: the method specifically comprises the following steps:
(1) Firstly, placing the repair paper on a repair paper cutting platform, and positioning the repair paper on the repair paper cutting platform by adopting a negative pressure adsorption function so as to avoid the influence of the movement of the repair paper on the subsequent cutting effect; then placing the damaged paper to be repaired on a damaged paper fixing platform, and positioning the damaged paper to be repaired on the damaged paper fixing platform by adopting a negative pressure adsorption function to avoid movement of the damaged paper to be repaired;
(2) The controller is internally provided with a plane coordinate system of the damaged paper fixing platform and a plane coordinate system of the repairing paper cutting platform, the image acquisition module acquires a damaged image of damaged paper to be repaired on the damaged paper fixing platform, and the controller obtains a closed line coordinate of a damaged contour of the damaged paper on the damaged paper fixing platform according to the damaged image;
(3) The controller calculates the cutting shape and the area of the repair paper according to the closed line coordinates of the broken outline of the broken paper, then drives the moving mechanism of the movable laser cutting mechanism to drive the laser cutting device to cut the repair paper on the repair paper cutting platform, so that the cut repair paper corresponds to the broken area of the broken paper, and the controller records the closed line coordinates of the broken outline of the repair paper on the repair paper cutting platform and generates the adsorption positioning coordinates;
(4) The controller generates gluing contour coordinates according to the closed line coordinates of the damaged contour of the damaged paper, and drives the moving mechanism of the movable gluing repair mechanism to drive the gluing device to move according to the gluing contour coordinates, so that the foam paste glue solution is uniformly coated on the top surface of the periphery of the damaged area of the damaged paper;
(5) After the cutting of the laser cutting device is completed and the gluing of the gluing device is completed, the moving mechanism of the movable gluing repairing mechanism is driven by the controller to drive the adsorption positioning device to move to the adsorption positioning coordinate of the repairing paper cutting platform, the repairing paper is downwards moved and is adsorbed by negative pressure, then the repairing paper is moved to the damaged area of the damaged paper according to the closed line coordinate of the damaged outline of the damaged paper, the damaged area of the damaged paper is completely covered by the repairing paper, then the negative pressure is removed by the adsorption positioning device, the repairing paper is adsorbed on the damaged paper to be repaired, and finally the repairing paper is pressed by the controller along the gluing outline coordinate by the adsorption positioning device, so that the repairing paper is tightly adhered to the damaged paper, and the repairing operation of the damaged paper is completed.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310094310 | 2023-02-10 | ||
| CN2023100943103 | 2023-02-10 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116497628A CN116497628A (en) | 2023-07-28 |
| CN116497628B true CN116497628B (en) | 2023-09-29 |
Family
ID=87327317
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310148973.9A Active CN116497628B (en) | 2023-02-10 | 2023-02-22 | Automatic damaged paper repair robot and repair control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116497628B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203821167U (en) * | 2014-04-04 | 2014-09-10 | 马维理 | High-definition cultural relic and ancient book repairing equipment |
| CN104711899A (en) * | 2015-02-18 | 2015-06-17 | 周迪 | Ancient book repair method based on optical detection machine hand |
| CN108277690A (en) * | 2018-04-12 | 2018-07-13 | 宜春市同茂印务有限公司 | A kind of ancient books calligraphy and painting Digital repair device |
| CN108857104A (en) * | 2018-07-23 | 2018-11-23 | 佛山信卓派思机械科技有限公司 | A kind of blanking splitting mechanism and its working method for laser cutting |
| CN110593006A (en) * | 2019-08-23 | 2019-12-20 | 广东中泉收藏品修复有限责任公司 | Daming currency precious bank note repair process |
| CN216947647U (en) * | 2021-12-30 | 2022-07-12 | 南京华鼎纳米技术研究院有限公司 | Paper repair equipment |
| CN114753187A (en) * | 2022-04-24 | 2022-07-15 | 宋成玲 | Method for repairing damaged paper-cut by blending color with regenerated pulp |
-
2023
- 2023-02-22 CN CN202310148973.9A patent/CN116497628B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203821167U (en) * | 2014-04-04 | 2014-09-10 | 马维理 | High-definition cultural relic and ancient book repairing equipment |
| CN104711899A (en) * | 2015-02-18 | 2015-06-17 | 周迪 | Ancient book repair method based on optical detection machine hand |
| CN108277690A (en) * | 2018-04-12 | 2018-07-13 | 宜春市同茂印务有限公司 | A kind of ancient books calligraphy and painting Digital repair device |
| CN108857104A (en) * | 2018-07-23 | 2018-11-23 | 佛山信卓派思机械科技有限公司 | A kind of blanking splitting mechanism and its working method for laser cutting |
| CN110593006A (en) * | 2019-08-23 | 2019-12-20 | 广东中泉收藏品修复有限责任公司 | Daming currency precious bank note repair process |
| CN216947647U (en) * | 2021-12-30 | 2022-07-12 | 南京华鼎纳米技术研究院有限公司 | Paper repair equipment |
| CN114753187A (en) * | 2022-04-24 | 2022-07-15 | 宋成玲 | Method for repairing damaged paper-cut by blending color with regenerated pulp |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116497628A (en) | 2023-07-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203430940U (en) | Cooling fin automatic assembling machine | |
| CN202421676U (en) | Semi-automatic vacuum laminating machine | |
| CN209334088U (en) | A kind of automatic dispensing device | |
| CN112222713A (en) | Welding table for industrial robot and use method thereof | |
| CN111804516A (en) | Automatic chip mounter | |
| TW201829130A (en) | device and method for Automatically positioning iron PART and adhesive tape | |
| CN116497628B (en) | Automatic damaged paper repair robot and repair control method thereof | |
| CN117328292A (en) | Automatic damaged paper repairing robot | |
| CN209519997U (en) | A kind of abrasive disk automatic adhesive patch device | |
| CN108422283B (en) | Deburring machine for aluminum pot | |
| CN206608772U (en) | LED wall wash lamp lens gluing assembles all-in-one | |
| CN109264074A (en) | Film sticking apparatus | |
| CN104526347A (en) | O/C automatic online equipment applied to module screen | |
| CN105041805A (en) | Assembling and pressure maintaining jig | |
| CN204869987U (en) | Sticking film machine move membrane device | |
| CN204566866U (en) | Capacitive touch screen foam adhering jig | |
| CN206977821U (en) | A kind of high-temp glue for golden finger high-temp glue processing equipment mounts mechanism | |
| CN110465444A (en) | A kind of double LENS Coupling devices | |
| CN203610916U (en) | Mounting device for front windshield of bullet train | |
| CN216296923U (en) | Visual positioning and detection type gluing device | |
| CN212708252U (en) | Wine box top cap pasting device | |
| CN206475547U (en) | A kind of glass heating membrane mounting tool | |
| CN206882633U (en) | Automatic laminating edge banding apparatus | |
| CN111994341A (en) | Film sticking equipment and film sticking machine | |
| CN206595289U (en) | LED projector lamp gluing assembles all-in-one |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |