CN116985270A - Bionic fossil repairing appliance - Google Patents
Bionic fossil repairing appliance Download PDFInfo
- Publication number
- CN116985270A CN116985270A CN202310889125.3A CN202310889125A CN116985270A CN 116985270 A CN116985270 A CN 116985270A CN 202310889125 A CN202310889125 A CN 202310889125A CN 116985270 A CN116985270 A CN 116985270A
- Authority
- CN
- China
- Prior art keywords
- fossil
- repair
- repairing
- biomimetic
- appendage
- 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.)
- Pending
Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 13
- 230000008439 repair process Effects 0.000 claims abstract description 72
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 14
- 229910052757 nitrogen Inorganic materials 0.000 claims abstract description 7
- 239000000463 material Substances 0.000 claims abstract description 6
- 239000000853 adhesive Substances 0.000 claims description 31
- 230000001070 adhesive effect Effects 0.000 claims description 31
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 230000000087 stabilizing effect Effects 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 12
- 230000003592 biomimetic effect Effects 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 10
- 238000012423 maintenance Methods 0.000 claims description 8
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 239000000701 coagulant Substances 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 5
- 238000003331 infrared imaging Methods 0.000 claims description 5
- 230000003287 optical effect Effects 0.000 claims description 5
- 230000006641 stabilisation Effects 0.000 claims description 5
- 238000011105 stabilization Methods 0.000 claims description 5
- 241000238557 Decapoda Species 0.000 claims description 4
- 235000014443 Pyrus communis Nutrition 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 241000143060 Americamysis bahia Species 0.000 claims description 2
- 238000013528 artificial neural network Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 claims description 2
- 230000007774 longterm Effects 0.000 claims description 2
- 238000011022 operating instruction Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 23
- 230000001681 protective effect Effects 0.000 abstract description 6
- 238000007789 sealing Methods 0.000 abstract description 6
- 238000009423 ventilation Methods 0.000 abstract description 6
- 239000007789 gas Substances 0.000 abstract description 5
- 230000003647 oxidation Effects 0.000 abstract description 5
- 238000007254 oxidation reaction Methods 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 description 17
- 239000003381 stabilizer Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 11
- 239000011435 rock Substances 0.000 description 8
- 230000006378 damage Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000005672 electromagnetic field Effects 0.000 description 3
- 238000010894 electron beam technology Methods 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000002633 protecting effect Effects 0.000 description 2
- 210000005239 tubule Anatomy 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000010348 incorporation Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- VRIVJOXICYMTAG-IYEMJOQQSA-L iron(ii) gluconate Chemical compound [Fe+2].OC[C@@H](O)[C@@H](O)[C@H](O)[C@@H](O)C([O-])=O.OC[C@@H](O)[C@@H](O)[C@H](O)[C@@H](O)C([O-])=O VRIVJOXICYMTAG-IYEMJOQQSA-L 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000399 optical microscopy Methods 0.000 description 1
- 230000004792 oxidative damage Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000003223 protective agent Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000004448 titration Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/005—Devices for the automatic drive or the program control of the machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Mining & Mineral Resources (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention belongs to the technical field of fossil repairing, and discloses a bionic fossil repairing appliance, which comprises mechanical facilities and a shell cover; a membranous extensible shell is arranged in a shell cover of the internal facility and is connected with the bottom plate in a sealing way, and the connection part is provided with a detachable design which is convenient for taking and placing internal fossil. The bottom plate is also multidirectional extension type, and is on the bottom plate, and the four corners is connected with the dustcoat with the stereoplasm post on the chassis. Within this are two automated repair arms, one for repairing fossil specimens and two for protective material administration. A nitrogen vent valve is arranged at the rear side of the outer cover, and the gas environment is adjusted in the cover after ventilation, so that the partial oxidation of fossil organisms exposed initially in the repair process is avoided. The shell cover and the bottom plate can be conveniently detached; the mechanical arm is connected to the outer cover, and the mechanical arm is used for transporting the protective material, so that the space is saved; the ventilation valve can adjust the gas environment to avoid the partial oxidation of fossil organisms exposed initially in the repair process; the modified specimen can be stored for a long time.
Description
Technical Field
The invention belongs to the technical field of fossil repairing, and particularly relates to a bionic fossil repairing tool.
Background
In fossil research, surrounding rock covered on fossil is often required to be removed, so that biological information of the fossil is more comprehensively revealed. During this process, especially in some microscopes, the repair pen needs to be reciprocated, during which it is unavoidable to rub against the microscope lens. For smaller stones of the rock, the long-time pen holding repair also brings arm tingling, the influence degree is mastered, and the repair quality is influenced to a certain extent. While for some rigid rocks, the use of force can lead to a degree of fossils and damage to repair tools. At present, the repairing pen needs to reciprocate, and fossil and repairing tools are easily damaged.
Through the above analysis, the problems and defects existing in the prior art are as follows:
1) Reciprocating movement of the repair pen: during the repair process, the repair pen needs to be moved continuously, which may cause a scratch between the microscope lens and the repair pen, thereby damaging the microscope or fossil.
2) Long pen handling results in fatigue for repair personnel: in the repairing process, a repairing person needs to hold the repairing pen for a long time, which may lead to arm tingling, influence on the mastering of the strength, and accordingly the repairing quality is reduced.
3) Repair of rigid rock is difficult: for some rigid rocks, the forces required during repair can cause a degree of damage to the fossil and repair equipment.
4) The repaired fossil biological part is naturally exposed for a long time, and obvious weathering and fading phenomena are generated.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a bionic fossil repairing tool.
The invention is realized in such a way that the bionic fossil repairing device comprises a sol chassis and a membranous extensible shell cover; the front end of the bait is designed to adopt predatory appendages of fierce pear flower shrimps; wherein the two stabilizing devices are Kunming shrimp mouthparts and are multi-rod tightening type binding mouthparts; each securing means is connected to a robotic arm on the housing.
Further, the shell cover adopts a film extensible structure and is connected with the bottom plate in a sealing way. The chassis is arranged on the bottom plate, and four corners of the chassis are connected with the outer cover through hard columns.
Further, a nitrogen vent valve is fixed at the rear side of the outer cover.
Further, the method further comprises the following steps:
micromotor and precision gear system: selecting a proper miniature motor to realize high-precision and high-response speed control; designing a precise gear system to transmit torque generated by a motor to the predatory appendage and the stabilizing device; an encoder is arranged for the motor and the gear system to monitor the rotating speed and the position information of the motor in real time and provide the rotating speed and the position information for the control module to carry out accurate adjustment;
integrated pressure and displacement sensors: selecting an appropriate pressure sensor and mounting it at the contact site of the predatory appendage and the stabilization device; selecting a suitable displacement sensor and installing the displacement sensor in a key position of the predatory appendage and the stabilizing device; and (3) accessing the output signal of the sensor into a control module for real-time data processing and analysis.
Further, the method further comprises the following steps:
and the adaptive control algorithm module: calculating an optimal motor driving signal according to real-time data of the pressure and displacement sensor by adopting fuzzy logic control, neural network control or other advanced control algorithms; the calculated driving signals are sent to a motor controller, so that the self-adaptive adjustment of predation appendages and a stabilizing device is realized; optimizing algorithm parameters to adapt to different fossil materials and repair requirements;
micro-nozzles and adhesive storage bins: is arranged in the internal space of the repair tool; a precise micro nozzle is selected, so that fine adhesive spraying control can be realized; the nozzle is connected with the storage bin and is arranged near the predation appendage or the stabilizing device, so that the adhesive can be conveniently coated in the repairing process.
Further, the method further comprises the following steps:
detachable predation appendage and stabilizing device: connecting the predation appendage and the stabilizing device to a robotic arm of the maintenance tool using a quick change interface; corresponding interfaces are designed for predation appendages and stabilizing devices with different shapes and sizes so as to realize quick replacement; functionality is provided on the user interface for changing the accessory and corresponding operating instructions are provided.
Further, the method further comprises the following steps:
multi-modal viewing system: selecting a suitable optical microscope, infrared imaging and X-ray imaging device and integrating it into the structure of the repair kit; using multi-mode image processing and analysis software to display and process fossil images in different observation modes in real time; the function of switching different observation modes is provided on the user interface, and corresponding image information is displayed.
The shell cover and the bottom plate arranged in the invention can be conveniently detached, are quite convenient, and do not bring inconvenience to users; the mechanical arm is connected to the outer cover, and is used for transporting the protective material, and the mechanical arm can be folded and horizontally arranged, so that the space is saved;
the invention can be used for multiple times, can better fix rock specimens with different shapes, simultaneously avoid damaging fossil specimens, and can repair and protect fossil at the same time; the operation is simple, the use is convenient, and the depth of the pen can be adjusted; the ventilation valve can adjust the gas environment to avoid the partial oxidation of fossil organisms exposed initially in the repair process; the modified specimen can be stored for a long time; the repairing effect is satisfactory.
Second, the biomimetic fossil repairing appliance also has the following advantages and positive effects:
1) Bionic design: by usingLihuacaris feroxPredatory appendage of (a)Anomalocaris kunmingensisThe mouth gag is used as a stabilizing device, the advantage of a biological structure in nature is fully utilized, and the precise control of the fossil repairing process is realized.
2) Adjustable chassis depth: by designing the sol chassis with adjustable depth, fossil specimens with different thicknesses can be adapted, and the universality of the repairing appliance is improved.
3) Is convenient for preserving fossil: the repaired fossil specimen can be modified by adding a coagulant, so that the stability of the repairing effect is improved, and the fossil specimen is convenient for long-term storage and display.
4) And (3) airtight connection: the shell cover is connected with the bottom plate in a sealing way, so that dust, moisture and other impurities can be effectively prevented from entering the repairing tool, the internal mechanical facilities are protected from being polluted, and the service life of the equipment is prolonged. The protective agent is added in combination with the repairing arm to avoid oxidative damage.
5) Multidirectional extension type bottom plate: the bottom plate has multidirectional extension function, can adjust according to fossil sample's size and shape, improves the adaptability of repairing the utensil.
6) Stable support structure: four corners on the chassis are connected with the outer cover through hard columns to form a stable supporting structure, so that maintenance tools are ensured to be stable in the operation process, and the repair accuracy is improved.
In conclusion, the bionic fossil repairing tool has excellent repairing performance, high adaptability and good protecting effect, can meet the repairing requirements of different types of fossil, and has important significance for improving the quality and efficiency of fossil repairing.
Third, the present invention provides a highly innovative and complex device that references biological structures, such asLihuacaris feroxIs attached to the lung by predation of (a)Anomalocaris kunmingensisTo perform its function.
1. Internal mechanical means, a sol chassis, and a membranous malleable outer shell: this design provides the basic structure and functionality of the service implement. The internal mechanical facilities are responsible for operating the repair work, the solvable bottom disc can provide a stable working platform, and the membranous extensible shell cover can provide protection and support.
2. Its front end design adoptsLihuacaris feroxPredatory appendage of (a)Anomalocaris kunmingensisIs a mouthpiece: such a biomimetic design may provide finer and more precise handling capabilities for fossil.
3. The depth of the sol chassis can be adjusted, and the repaired fossil sample can be modified by adding a coagulant: this feature allows greater flexibility in the repair implement and can accommodate fossil of different sizes and shapes.
4. The shell cover is connected with the bottom plate in a sealing way: this design may increase the stability and durability of the device.
5. The bottom plate is multidirectional extension type, and four corners are connected with the dustcoat with the stereoplasm post on the chassis: this design may increase the tuning and adaptation capability of the device to accommodate different operating environments.
6. There are two automated repair arms: this may enable the service implement to perform multiple operations simultaneously, thereby improving efficiency.
7. A nitrogen vent valve is arranged at the rear side of the outer cover: this may be to create a stable, oxygen-free working environment to protect the fossil from possible damage such as oxidation.
The design and function of the bionic fossil repairing tool show remarkable technical progress, and can have profound effects on fossil repairing and protecting work.
Drawings
Fig. 1 is a diagram showing the internal structure of a bionic fossil repairing tool provided by the embodiment of the invention after removing a protective cover.
Fig. 2 is an external schematic view of a bionic fossil repairing apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a predatory appendage incorporation micromotor and precision gear system provided by an embodiment of the present invention.
FIG. 4 is a schematic diagram of a stabilizer incorporating a micro-motor and precision gear system according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of an integrated pressure and displacement sensor on a predatory appendage provided in an embodiment of the present invention.
FIG. 6 is a schematic diagram of an integrated pressure and displacement sensor on a stabilization device according to an embodiment of the present invention.
Fig. 7 is a micro-nozzle and adhesive reservoir provided by an embodiment of the present invention.
Fig. 8 is a schematic view of a detachable predation appendage provided by an embodiment of the present invention.
Fig. 9 is a schematic view showing a detachable fixing device according to an embodiment of the present invention.
Fig. 10 is a block diagram of a multi-modal observation system according to an embodiment of the present invention.
In the figure: 1. a protective shell; 2. a housing cover; 3. repairing the arm; 4. a sol chassis; 5. a mechanical arm; 6. a hard column; 7.Anomalocaris kunmingensisa mouthpiece; 8. a nitrogen vent valve; 9. predation of appendages; 10. a miniature motor and precision gear system; 11. integrating a pressure displacement sensor; 12. a micro nozzle; 13. and an adhesive storage bin.
Description of the embodiments
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In order to fully understand how the invention may be embodied by those skilled in the art, this section is an illustrative embodiment in which the claims are presented for purposes of illustration.
In the present invention，Lihuacaris ferox(fierce pear flower shrimp),Anomalocaris kunmingensis(Kunming shrimp).
As shown in fig. 1, the invention provides a bionic fossil repairing tool, which comprises a sol chassis 4 and a shell cover 2. The chassis 4 is provided with a rigid post 6 connected to the housing cover. The outer shell cover 2 adopts a film extensible structure and is connected with the sol chassis 4 in a sealing way. The shell cover is connected with a mechanical arm 5, and the tail end of the mechanical arm 5 is connected withAnomalocaris kunmingensisThe mouth piece 7 is a multi-rod tightening type binding mouth, the chassis 4 is provided with the mechanical arm 5, the tail end of the mechanical arm 5 is connected with the predation appendage 9, and groove-shaped structures are arranged on two sides of the predation appendage 9, so that the mouth piece has certain biomechanical performance. The invention is provided with the mechanical arm which can be folded and horizontally arranged. The bottom part playing a role in fixing is provided with a sol base plate for placing fossil, the depth of the sol base plate is adjustable, a coagulant can be added into the repaired specimen, and the modified specimen can be stored for a long time.
The working principle of the invention is as follows: the invention is operated manually, when the novel type is used, the novel type is usedAnomalocaris kunmingensis The mouth piece 7 is used for stabilizing the rock, and two sides of the device are respectively provided with a multi-rod tightening type binding mouth. The fixing of rock of different sizes and shapes is accomplished by their application of force from different directions and angles. And well weakens the back-reaction of acting force and avoids damaging fossil specimens. Both of these are designed for stability, with a robot arm 5 attached to the housing shell 2, which robot arm 5 is foldable and flat. The bottom part which plays a role in fixation is provided with a sol base plate 4 for placing fossil, the depth of the sol base plate is adjustable, a coagulant can be added to the repaired specimen,the modified specimen can be stored for a long time.
The shell cover 2 of the internal facility is provided with a membranous extensible shell cover 2 which is connected with the sol chassis 4 in a sealing way, and the connection part is provided with a detachable design which is convenient for taking and placing the internal fossil. The sol chassis 4 is also a multidirectional extension type chassis, the chassis is arranged above the bottom plate, and four corners of the chassis are connected with the shell cover 2 through hard columns. Within this are two automated repair arms, one for repairing fossil specimens and two for protective material administration. A nitrogen vent valve is arranged at the rear side of the shell cover 2, and the gas environment is adjusted in the cover after ventilation, so that the partial oxidation of fossil organisms which are initially exposed in the repair process is avoided.
The invention is disposable, simple in operation, convenient in use and satisfactory in storage effect, and the back side of the outer cover is provided with the nitrogen ventilation valve, so that the gas environment in the cover is adjusted after ventilation, and the primary exposure of fossil organisms in the repair process is avoided. The mechanical arm can be folded and horizontally arranged. The bottom part playing a role in fixing is provided with a sol base plate for placing fossil, the depth of the sol base plate is adjustable, a coagulant can be added into the repaired specimen, and the modified specimen can be stored for a long time.
As an optimization scheme of the embodiment of the invention, an electromagnetic control repair pen can adopt the following specific technical scheme:
1) Designing an electromagnetic coil: a series of electromagnetic coils are designed inside the repair pen, which coils generate an electromagnetic field when energized. The movement and applied force of the repair pen can be achieved by adjusting the strength and direction of the electromagnetic field.
2) Development dynamics control module: a dynamics control module is designed, and the module can receive dynamics parameters set by a user. The control module adjusts the current of the electromagnetic coil according to the parameters, so that the electromagnetic field of the repair pen is changed, and the force control is realized.
3) Integrating a force sensor: a force sensor, such as a strain gauge or pressure sensor, is integrated on the repair pen to monitor in real time the force applied to the fossil. The data of the sensor is sent to the control module for analysis, and the control module can automatically adjust the current of the electromagnetic coil according to the difference between the actual force and the set parameters, so that the actual force of the repair pen is consistent with the set parameters.
4) Developing a user interface: a user-friendly interface is designed to enable a user to conveniently set a force parameter, monitor real-time force and adjust the movement of the repair pen. The interface may be implemented by a touch screen or computer software.
5) Realize the safety protection function: to prevent accidental damage to fossil and repair tools, a safety protection function may be set in the system. When an abnormal condition (such as excessive force or rapid movement) is detected, the control module automatically cuts off the power supply of the electromagnetic coil and stops repairing the pen.
6) And (3) performing system testing and optimization: during development, the system needs to be fully tested and optimized. By simulating different types of fossil repair scenes, system parameters are continuously adjusted and optimized to ensure that the repair pen can realize accurate force control under various conditions.
Through implementing the technical scheme, the repair pen adopting electromagnetic control can be developed, and the automatic adjustment of the strength in the fossil repairing process is realized, so that the damage of fossil and repair tools is reduced.
As an optimization scheme of the embodiment of the present invention, the following specific technical scheme may be adopted:
1) The micro motor and precision gear system 10 is introduced: to increase the accuracy and flexibility of the predatory appendages and fixtures, a micro-motor and precision gear system may be added to the internal mechanical facilities to achieve precise control and smooth movement of the predatory appendages and fixtures. Fig. 3 is a schematic diagram of a predatory appendage lead-in micro motor and precision gear system, and fig. 4 is a schematic diagram of a stabilizer lead-in micro motor and precision gear system.
2) Integrated pressure displacement sensor 11: pressure and displacement sensors are integrated on the predation appendages and stabilizers to monitor in real time the force exerted on the fossil and the position of the appendages and stabilizers. The data of the sensor is sent to the control module for analysis to realize accurate control of the repair tool. Fig. 5 shows a schematic diagram of the integrated pressure and displacement sensor on the predatory appendage, and fig. 6 shows a schematic diagram of the integrated pressure and displacement sensor on the stabilization device.
3) Developing an adaptive control algorithm: an adaptive control algorithm is designed, and the motions and the forces of the predation appendages and the stabilizing device are automatically adjusted according to the forces and the position data monitored in real time so as to adapt to fossil and repairing requirements of different types.
4) Adding micro-nozzles and adhesive storage bins: the micro-nozzle 12 and the adhesive storage bin 13 are added in the structure of the repairing tool so as to conveniently paint the adhesive on the fossil surface in the repairing process, thereby improving the repairing efficiency. The micro-nozzle and adhesive reservoir are shown in fig. 7.
5) Design of detachable predation appendage 9 and stabilizer: in order to adapt to different types of fossil repair tasks, detachable predation appendages 9 and stabilizing devices can be designed, and users can replace the appendages with different shapes and sizes according to actual requirements. Fig. 8 shows a detachable schematic of the predatory appendage, and fig. 9 shows a detachable schematic of the stabilization device.
6) Developing a multi-modal observation system: to improve the accuracy of fossil repair, multimodal viewing systems, including optical microscopy, infrared imaging, X-ray imaging, and the like, may be integrated on the repair implement to provide clearer, comprehensive fossil surface information. A block diagram of the architecture of the multi-modal viewing system is shown in fig. 10.
The specific working principle of each module of the scheme is as follows:
micromotor and precision gear system: the miniature motor usually adopts a direct current motor or a stepping motor, and the rotating speed and the steering of the miniature motor can be adjusted according to the magnitude and the direction of a control signal. Precision gear systems typically consist of a plurality of gears with different linear motion achieved by different sized gear sets. These micro-motors and precision gears can be mounted inside the repair pen, driving their movement by control signals, thus achieving precise control and smooth movement of the fossil.
The micro motor and precision gear system may typically be mounted inside the repair pen to achieve precise control and smooth movement of the fossil. The specific connection relationship is as follows: connection relation of micro motor: the micro-motor typically needs to be connected to a control module that can adjust the rotational speed and steering of the motor via control signals. The power supply end of the motor typically needs to be connected by wires to the power supply port of the control module in order to provide power to the motor. Meanwhile, the output of the motor typically needs to be connected to a precision gear system in order to convert the rotational motion of the motor into linear motion.
Precise gear system connection relationship: precision gear systems typically require connection to a miniature motor in order to convert the rotational motion of the motor into linear motion. In particular, gear systems are typically composed of a plurality of gears, with different sizes of gears being combined to achieve different linear movements. The output of the gear system typically needs to be connected to the working head of the repair pen in order to convert the linear motion into a repair operation on the fossil surface.
In summary, the micro-motor and precision gear system needs to be connected to a control module, power supply and the working head of the repair pen to achieve precise control and smooth movement of the fossil. The specific manner of connection may vary from design to design.
Pressure and displacement sensors: pressure sensors typically employ strain gages or piezoelectric crystals that convert the force exerted on the fossil into an electrical signal for monitoring. Displacement sensors typically employ photoelectric encoders or hall sensors that convert the position of the appendage and the stabilizer into an electrical signal for monitoring. These sensors may be integrated on the predation appendages and the fixtures, and precise control of the repair implement may be achieved by sending the sensor data to a control module for analysis. Pressure and displacement sensors may typically be integrated on predatory appendages and fixtures for precise control during fossil repair.
The specific connection relationship is as follows: pressure sensor connection relationship: the pressure sensor is typically connected to a control module that can receive the electrical signals of the sensor and process and analyze the signals. The output of the sensor is typically connected to the input of the control module by a wire to transmit the pressure data collected by the sensor to the control module for analysis and processing. Meanwhile, sensors are often required to be connected with the fossil surface in order to convert the force exerted on the fossil into an electrical signal for monitoring.
Connection relation of displacement sensors: the displacement sensor is typically connected to a control module that can receive the sensor's electrical signals and process and analyze the signals. The output of the sensor is typically connected to the input of the control module by a wire to transmit the displacement data collected by the sensor to the control module for analysis and processing. Also, sensors are often required to be connected to the appendage and the stabilizer in order to convert the position of the appendage and the stabilizer into an electrical signal for monitoring.
In summary, pressure and displacement sensors need to be connected to the control module and to the fossil surface or appendage and the stabilizer to achieve precise control of the maintenance tool. The specific manner of connection may vary from design to design.
3) Adaptive control algorithm: adaptive control algorithms are typically composed of a number of modules, including data acquisition, data processing, control decisions, and execution control. The data acquisition module is responsible for acquiring real-time data from the pressure and displacement sensors, the data processing module is responsible for analyzing and processing the data, the control decision module makes a decision according to the preset restoration requirement and fossil type, and the execution control module is responsible for sending control signals to the micro motor and the precise gear system so as to realize automatic adjustment of predation appendages and stabilizing devices.
4) Micro-nozzles and adhesive storage bins: the micro-nozzles are usually of spray or titration type design, and the size of the outlet and the injection speed of the nozzles can be adjusted as required. Adhesive storage bins are typically of rotary or roll type design and can store different types and capacities of adhesive. These structural modules may be installed in the structure of a repair implement to facilitate the application of adhesive to fossil surfaces during repair, improving repair efficiency. The micro-nozzles and adhesive reservoirs may typically be integrated into the structure of the repair implement to facilitate application of adhesive to the fossil surface during repair, improving repair efficiency.
The specific connection relation is as follows: micro-nozzle connection relationship: the micro-nozzles typically need to be connected to a nozzle control module that can control the nozzle's outlet size and ejection speed. The nozzle control module is typically connected to the inlet of the micro-nozzle via a tubule to control the flow of adhesive and spray the adhesive through the nozzle onto the fossil surface to be repaired.
Adhesive storage bin connection relationship: the adhesive reservoir is typically connected to an adhesive supply conduit that can be connected to the inlet of the adhesive reservoir by a tubule to deliver adhesive from the reservoir to the micro-nozzle. At the same time, the outlet of the adhesive reservoir is typically connected to a nozzle control module to control the flow of adhesive and thus the spray rate of the nozzle and the thickness of the adhesive.
In summary, the micro-nozzles and adhesive reservoirs need to be connected to the nozzle control module and the tubing for the adhesive to effect the spraying and control of the adhesive. The specific manner of connection may vary from design to design.
5) Detachable predation appendage and stabilizing device: the detachable predatory appendages and stabilizers are typically composed of multiple components, including brackets, joints, appendages, stabilizers, and the like. These components can be assembled and disassembled by threads, bayonet or other connection means so that the user can replace the accessories of different shapes and sizes according to the actual needs.
The detachable predatory appendages and stabilizers are typically composed of multiple pieces, the connection between which can vary from design to design.
The connection between the bracket and the joint is usually a threaded connection or a bayonet connection. The threaded connection is formed by fusing the threads on the bracket and the joint to each other to form a tight connection. The bayonet connection is formed by providing protrusions and recesses on the bracket and the joint, which are engaged with each other to form a firm connection.
The connection between the appendage and the securing device is typically a bayonet connection or other similar connection. The connecting modes can keep the appendages and the stabilizing device stable when in use, and meanwhile, the appendages with different shapes and sizes can be conveniently replaced by users according to actual demands.
In general, the specific connection of the detachable predation appendage and the stabilizer will depend on different designs, which need to be selected and adjusted according to the actual situation.
6) Multi-modal viewing system: multi-modal viewing systems typically consist of a plurality of viewing modules including optical microscopes, infrared imaging, X-ray imaging, scanning electron microscopes, and the like. The observation modules can acquire information of the fossil surface through sensors such as optical lenses, probes and the like, and then perform data processing and presentation through technologies such as image processing and analysis. These observation modules may be integrated on the repair tool so that the user may observe the condition of the fossil surface in real time during the repair process, thereby better guiding the repair process.
A multi-modal viewing system is typically made up of a plurality of viewing modules that can each be connected to the body of the maintenance tool. The specific connection may vary depending on the different viewing modules and the design of the repair implement.
For example, the optical microscope may be connected to the body of the maintenance tool by a bracket that can secure the microscope and an adjustment lever that can be used to adjust the position and angle of the microscope. Infrared imaging and X-ray imaging may be coupled to the body of the maintenance tool via sensors that may be used to obtain information about the fossil surface and signal lines that may transmit the obtained information to a computer or other data processing device for analysis and processing. The scanning electron microscope may be coupled to the body of the maintenance tool by an electron beam emitter, which may be used to emit an electron beam, and a detector, which may be used to detect the reflection of the electron beam from the fossil surface, thereby obtaining information about the fossil surface.
In summary, the specific connection mode of the multi-mode observation system depends on the design of different observation modules and repair tools, and needs to be selected and adjusted according to practical situations.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.
Claims (10)
1. A bionic fossil repairing appliance is characterized by comprising a sol chassis and a membranous extensible shell cover; the front end of the bait is designed to adopt predatory appendages of fierce pear flower shrimps; wherein the two stabilizing devices are Kunming shrimp mouthparts and are multi-rod tightening type binding mouthparts; each securing means is connected to a robotic arm on the housing.
2. The biomimetic fossil repairing apparatus of claim 1, wherein the depth of the sol chassis is adjustable, and the repaired fossil specimen can be modified by adding a coagulant, so that the repairing apparatus is convenient for long-term storage.
3. The biomimetic fossil repair apparatus of claim 1, wherein the housing cover is hermetically connected to the base plate.
4. The biomimetic fossil repairing apparatus as in claim 6, wherein the base plate is a multi-directional extension type, the base plate is arranged above the base plate, and four corners of the base plate are connected with the outer cover through hard posts.
5. The biomimetic fossil repair kit of claim 1, having two automated repair arms.
6. The biomimetic fossil repair apparatus of claim 1, wherein a nitrogen vent valve is provided on the rear side of the housing.
7. The biomimetic fossil repair apparatus of claim 1, further comprising:
micromotor and precision gear system: selecting a proper miniature motor to realize high-precision and high-response speed control; designing a precise gear system to transmit torque generated by a motor to the predatory appendage and the stabilizing device; an encoder is arranged for the motor and the gear system to monitor the rotating speed and the position information of the motor in real time and provide the rotating speed and the position information for the control module to carry out accurate adjustment;
integrated pressure and displacement sensors: selecting an appropriate pressure sensor and mounting it at the contact site of the predatory appendage and the stabilization device; selecting a suitable displacement sensor and installing the displacement sensor in a key position of the predatory appendage and the stabilizing device; and (3) accessing the output signal of the sensor into a control module for real-time data processing and analysis.
8. The biomimetic fossil repair apparatus of claim 1, further comprising:
and the adaptive control algorithm module: calculating an optimal motor driving signal according to real-time data of the pressure and displacement sensor by adopting fuzzy logic control, neural network control or other advanced control algorithms; the calculated driving signals are sent to a motor controller, so that the self-adaptive adjustment of predation appendages and a stabilizing device is realized; optimizing algorithm parameters to adapt to different fossil materials and repair requirements;
micro-nozzles and adhesive storage bins: is arranged in the internal space of the repair tool; a precise micro nozzle is selected, so that fine adhesive spraying control can be realized; the nozzle is connected with the storage bin and is arranged near the predation appendage or the stabilizing device, so that the adhesive can be conveniently coated in the repairing process.
9. The biomimetic fossil repair apparatus of claim 1, further comprising:
detachable predation appendage and stabilizing device: connecting the predation appendage and the stabilizing device to a robotic arm of the maintenance tool using a quick change interface; corresponding interfaces are designed for predation appendages and stabilizing devices with different shapes and sizes so as to realize quick replacement; functionality is provided on the user interface for changing the accessory and corresponding operating instructions are provided.
10. The biomimetic fossil repair apparatus of claim 1, further comprising:
multi-modal viewing system: selecting a suitable optical microscope, infrared imaging and X-ray imaging device and integrating it into the structure of the repair kit; using multi-mode image processing and analysis software to display and process fossil images in different observation modes in real time; the function of switching different observation modes is provided on the user interface, and corresponding image information is displayed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310889125.3A CN116985270A (en) | 2023-07-19 | 2023-07-19 | Bionic fossil repairing appliance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310889125.3A CN116985270A (en) | 2023-07-19 | 2023-07-19 | Bionic fossil repairing appliance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116985270A true CN116985270A (en) | 2023-11-03 |
Family
ID=88533126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310889125.3A Pending CN116985270A (en) | 2023-07-19 | 2023-07-19 | Bionic fossil repairing appliance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116985270A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109016167A (en) * | 2018-07-06 | 2018-12-18 | 北京大学 | The restorative procedure of fossil in limestone |
| CN212385286U (en) * | 2020-07-02 | 2021-01-22 | 合肥明硕文仪科技有限公司 | Intelligent ancient biological fossil, brilliant prosthetic devices in ore deposit |
| CN112873560A (en) * | 2021-03-09 | 2021-06-01 | 安徽理工大学 | Ancient biological fossil prosthetic devices |
| CN217251398U (en) * | 2022-01-11 | 2022-08-23 | 河北省区域地质调查院 | Ancient biological fossil prosthetic devices |
| CN115250745A (en) * | 2022-08-05 | 2022-11-01 | 华南农业大学 | Full-automatic fruit picking robot and picking method based on vision technology |
| CN219235252U (en) * | 2023-02-22 | 2023-06-23 | 重庆地质矿产研究院 | Sample steady loading fixing device |
-
2023
- 2023-07-19 CN CN202310889125.3A patent/CN116985270A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109016167A (en) * | 2018-07-06 | 2018-12-18 | 北京大学 | The restorative procedure of fossil in limestone |
| CN212385286U (en) * | 2020-07-02 | 2021-01-22 | 合肥明硕文仪科技有限公司 | Intelligent ancient biological fossil, brilliant prosthetic devices in ore deposit |
| CN112873560A (en) * | 2021-03-09 | 2021-06-01 | 安徽理工大学 | Ancient biological fossil prosthetic devices |
| CN217251398U (en) * | 2022-01-11 | 2022-08-23 | 河北省区域地质调查院 | Ancient biological fossil prosthetic devices |
| CN115250745A (en) * | 2022-08-05 | 2022-11-01 | 华南农业大学 | Full-automatic fruit picking robot and picking method based on vision technology |
| CN219235252U (en) * | 2023-02-22 | 2023-06-23 | 重庆地质矿产研究院 | Sample steady loading fixing device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6966582B2 (en) | Systems and methods for automatic hand-eye calibration of vision systems for robot motion | |
| US6009189A (en) | Apparatus and method for making accurate three-dimensional size measurements of inaccessible objects | |
| JP5886513B2 (en) | Articulated measuring arm with laser scanner | |
| US20110320039A1 (en) | Robot calibration system and calibrating method thereof | |
| WO2019071157A4 (en) | Generation of one or more edges of luminosity to form three-dimensional models of objects | |
| US6592086B1 (en) | Microscope stand having X-Y-Z adjustment unit | |
| Oh et al. | Guidance of a mobile robot using an omnidirectional vision navigation system | |
| JP6840838B2 (en) | Articulated head for measuring instruments with multiple sensors | |
| JP2004121546A (en) | Endoscope system | |
| CN109834710A (en) | Robot and robot system | |
| WO2009106830A1 (en) | Modular scanning and machining apparatus | |
| CN208012526U (en) | Adjustable portable measuring microscope | |
| CN116985270A (en) | Bionic fossil repairing appliance | |
| JP2017142617A (en) | Cutting machine and method for determining necessity of position correction | |
| CN113043332B (en) | Arm shape measuring system and method of rope-driven flexible robot | |
| JP2010117223A (en) | Three-dimensional position measuring apparatus using camera attached on robot | |
| JP2006297559A (en) | Calibration system and robot's calibration method | |
| KR100576796B1 (en) | Underwater Robot System for Reactor Internals Inspection and Foreign Objects Removal | |
| US9720220B2 (en) | Tomography accessory device for microscopes | |
| JP2009279677A (en) | Robot control apparatus which carries out position teaching of robot using measuring device | |
| JP2017173032A (en) | Nc machining apparatus for bone member | |
| WO2019007427A1 (en) | Mechanical hand structure with viewing function | |
| CN114290330B (en) | Calibration method and calibration device for robot, and readable storage medium | |
| CN112720470B (en) | Mechanical arm TCP manual rapid calibration device and method for additive machining | |
| CN211022767U (en) | Automatic ultrasonic breast scanning apparatus with buffering function |
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 |