CN208247765U

CN208247765U - A kind of automatic rubbing robot of historical relic an inscription on a tablet

Info

Publication number: CN208247765U
Application number: CN201820471179.2U
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-04-03
Filing date: 2018-04-03
Publication date: 2018-12-18
Anticipated expiration: 2028-04-03

Abstract

A kind of automatic rubbing robot of historical relic an inscription on a tablet includes to clamp bracket, paper pressing device, put paper device, rubbing device, inking device and controller, clamps bracket and connect with paper pressing device, put paper device, rubbing device and inking device and connect with paper pressing device；In use, being installed on bracket is clamped on stone tablet, controller control puts paper device and transfers to rice paper before stone tablet, and bletilla striata water is sprayed on rice paper by control water pump；Then controller control platen bracket compresses rice paper, and control inscription rubbing vertical movement apparatus and the horizontal translation of inscription rubbing move device and drives a hairbrush mobile, and control inscription rubbing swats device and its hairbrush is driven to swat rice paper, displays an inscription on a tablet of stone tablet in rice paper；Then it controls inking vertical movement apparatus and packet movement is opened up in the drive of inking horizontally moving device, control ink, which swats device it is driven to open up, is wrapped in rice paper inscription rubbing inking, by the text inscription rubbing of an inscription on a tablet on rice paper；Solve the problems, such as that historical relic an inscription on a tablet rubbing duplicating efficiency is low.

Description

A kind of automatic rubbing robot of historical relic an inscription on a tablet

Technical field

The utility model relates to a kind of reproduction of the cultural relics device, in particular to a kind of automatic rubbing robot of historical relic an inscription on a tablet.

Background technique

Currently, historical relic an inscription on a tablet is replicated with rubbing technique, since the technical requirements of rubbing are high, the efficiency of historical relic an inscription on a tablet is replicated It is lower, the higher cost of rubbing is manufactured, quantity is few, can not meet the requirement that people appreciate historical relic an inscription on a tablet, a kind of historical relic an inscription on a tablet Automatic rubbing robot, it has also become the needs of people's appreciation historical relic an inscription on a tablet duplicate.

Summary of the invention

The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of automatic rubbing robot of historical relic an inscription on a tablet, The needs of historical relic an inscription on a tablet duplicate are appreciated for meeting people.

The utility model is adopted the technical scheme that: a kind of automatic rubbing robot of historical relic an inscription on a tablet includes to clamp branch Frame, paper pressing device put paper device, rubbing device, inking device and controller, clamp bracket and connect with paper pressing device, put paper Device, rubbing device and inking device are connect with paper pressing device；Clamp bracket include left support, right support, upper screw rod with And lower screw rod, left support are connect by upper screw rod and lower screw rod with right support；Paper pressing device includes platen bracket, the first electricity Dynamic pull rod, the second electronic tie rod, third electronic tie rod and the 4th electronic tie rod, the first electronic tie rod, the second electronic tie rod, the The shell of three electronic tie rods and the 4th electronic tie rod is fixedly connected with platen bracket, the first electronic tie rod, the second electronic tie rod, The pull rod of third electronic tie rod and the 4th electronic tie rod is fixedly connected with bracket is clamped；Put paper device include reel, rice paper, Paper motor and spraying device are put, reel and platen bracket are hinged, and rice paper is rolled up in the motor shaft and reel of on reel, putting paper motor Connection, the base for putting paper motor is connect with platen bracket, for transferring to rice paper before stone tablet；Spraying device includes spray Head, connecting tube, water pump and liquid reserve tank, spray head are connect by connecting tube with water pump, and water pump is connect with liquid reserve tank, and liquid reserve tank is equipped with Bletilla striata water, spray head are fixed on platen bracket；Rubbing device includes inscription rubbing vertical movement apparatus, the horizontal straight mobile device of inscription rubbing And device is swatted in inscription rubbing, moves device using inscription rubbing vertical movement apparatus and the horizontal translation of inscription rubbing and inscription rubbing is driven to swat device shifting It is dynamic；Inscription rubbing vertical movement apparatus includes inscription rubbing motor vertical, inscription rubbing first gear, inscription rubbing vertical track, inscription rubbing vertical sliding And first rack gear, inscription rubbing vertical track and the first rack gear are fixedly connected with platen bracket, inscription rubbing vertical sliding and inscription rubbing are hung down Straight rail is dynamic to be cooperatively connected, and the shell of inscription rubbing motor vertical is connect with inscription rubbing vertical sliding, the motor shaft of inscription rubbing motor vertical and Inscription rubbing first gear is fixedly connected, and inscription rubbing first gear is engaged with the first rack gear, for driving inscription rubbing using inscription rubbing motor vertical Vertical sliding is moved along inscription rubbing vertical track；Inscription rubbing horizontally moving device includes inscription rubbing horizontal motor, inscription rubbing second gear, opens up Horizontal rail, inscription rubbing horizontal slide and the second rack gear are printed, inscription rubbing horizontal rail and the second rack gear and inscription rubbing vertical sliding are consolidated Fixed connection, inscription rubbing horizontal slide and the dynamic mating connection of inscription rubbing horizontal rail, the shell and inscription rubbing horizontal slide of inscription rubbing horizontal motor It is fixedly connected, the motor shaft of inscription rubbing horizontal motor is fixedly connected with inscription rubbing second gear, and inscription rubbing second gear is nibbled with the second rack gear It closes, for being moved using inscription rubbing horizontal motor driving inscription rubbing horizontal slide along inscription rubbing horizontal rail；Device is swatted in inscription rubbing Inscription rubbing electric pushrod and hairbrush, the shell of inscription rubbing electric pushrod are fixedly connected with inscription rubbing horizontal slide, inscription rubbing electric pushrod Inscription rubbing drive rod connect with hairbrush, inscription rubbing horizontal slide is equipped with inscription rubbing guide hole, and inscription rubbing drive rod is opened up across inscription rubbing guide hole is flutterred Drive rod and the dynamic mating connection of inscription rubbing guide hole are printed, for driving a hairbrush inscription rubbing rice paper 17 using inscription rubbing electric pushrod；Inking dress Setting includes inking vertical movement apparatus, device is moved in upper ink level translation and inking swats device, is vertically moved using inking Device and upper ink level translation move device and inking are driven to swat device movement；Inking vertical movement apparatus includes that inking is vertical Motor, inking first gear and inking vertical sliding, inking vertical sliding and inscription rubbing vertical track are dynamic to be cooperatively connected, and inking is hung down The shell of straight motor is connect with inking vertical sliding, and the motor shaft of inking motor vertical is fixedly connected with inking first gear, on Black first gear is engaged with the first rack gear, for being moved using inking motor vertical driving inking vertical sliding along inscription rubbing vertical track It is dynamic；Inking horizontally moving device includes inking horizontal motor, inking second gear, inking horizontal rail, inking horizontal slide And third rack gear, inking horizontal rail and third rack gear are fixedly connected with inking vertical sliding, inking horizontal slide with it is upper Ink level track is dynamic to be cooperatively connected, and the shell of inking horizontal motor is fixedly connected with inking horizontal slide, inking horizontal motor Motor shaft is fixedly connected with inking second gear, and inking second gear is engaged with third rack gear, is driven using inking horizontal motor Inking horizontal slide is moved along inking horizontal rail；Inking swats device and includes inking electric pushrod and open up packet, and inking is electric The shell of dynamic push rod is fixedly connected with inking horizontal slide, and the inking drive rod of inking electric pushrod is connected with packet is opened up, upper ink Smooth seat is equipped with inking guide hole, and inking drive rod passes through inking guide hole, and inking drive rod and inking guide hole, which move, to be cooperatively connected, and is used for Packet, which is opened up, using the drive of inking electric pushrod swats rice paper inking；Controller include programmable device, CPU, signal input interface and Executive component output interface；Controller includes sensor after platen front sensor, platen, platen induction pieces, in vertical inscription rubbing Sensor, vertical inscription rubbing lower sensor, vertical inscription rubbing induction pieces, the left sensor of horizontal inscription rubbing, the right sensor of horizontal inscription rubbing, level Sensor on inscription rubbing induction pieces, vertical inking, vertical inking lower sensor, vertical inking induction pieces, the left sensor of horizontal inking, The right sensor of horizontal inking, horizontal inking induction pieces, automatic switch and shutdown switch；It is sensed after platen front sensor, platen Device, which is installed on, to be clamped on bracket, and platen front sensor is located at the front of sensor after platen, and platen induction pieces are installed on platen branch On frame；Platen bracket is connected with inscription rubbing guide post, and sensor and vertical inscription rubbing lower sensor are installed on inscription rubbing and lead in vertical inscription rubbing On column, sensor is located at the top of vertical inscription rubbing lower sensor in vertical inscription rubbing, and it is vertical that vertical inscription rubbing induction pieces are installed on inscription rubbing On slide；The horizontal left sensor of inscription rubbing and the right sensor of horizontal inscription rubbing are installed in inscription rubbing horizontal rail, horizontal inscription rubbing induction Part is installed on inscription rubbing horizontal slide, and the horizontal left sensor of inscription rubbing is located at the horizontal inscription rubbing induction pieces left side, the horizontal right sensing of inscription rubbing Device is located on the right of horizontal inscription rubbing induction pieces；Platen bracket is connected with inking guide post, sensor and vertical inking in vertical inking Lower sensor is installed on inking guide post, and sensor is located at the top of vertical inking lower sensor, vertical inking in vertical inking Induction pieces are installed in inking vertical sliding；The horizontal left sensor of inking and the right sensor of horizontal inking are installed on ink level On track, horizontal inking induction pieces are installed on inking horizontal slide, and the horizontal left sensor of inking is located at horizontal inking induction pieces The left side, the horizontal right sensor of inking is located at the right of horizontal inking induction pieces；The signal input interface of controller passes through input Control line and sensor, vertical inscription rubbing lower sensor, horizontal inscription rubbing in sensor after platen front sensor, platen, vertical inscription rubbing On left sensor, the right sensor vertical inking of horizontal inscription rubbing sensor, vertical inking lower sensor, the left sensor of horizontal inking with And the horizontal right sensor connection of inking；The executive component output interface of controller by output control line and the first electronic tie rod, Second electronic tie rod, third electronic tie rod and the 4th electronic tie rod put paper motor, water pump, inscription rubbing motor vertical, inscription rubbing level Motor, inscription rubbing electric pushrod, inking motor vertical, inking horizontal motor and the connection of inking electric pushrod；Controller is equipped with electricity Pond power supply and charger to facilitate outdoor application, and utilize alternating current to charge to battery；Platen branch is provided with print cartridge, print cartridge Ink-absorbing pad in have ink, be used for rice paper inking.

A kind of application method of the automatic rubbing robot of historical relic an inscription on a tablet is: in use, it is first that stone tablet is clean, in utilization The left support for clamping bracket and right support are fixed on stone tablet by screw rod and lower screw rod；Bracket is clamped to be installed on stone tablet Afterwards, it by platen bracket and is clamped using the first electronic tie rod, the second electronic tie rod, third electronic tie rod and the 4th electronic tie rod Bracket connection；After platen bracket is connect with clamping bracket, sensor in vertical inscription rubbing is adjusted according to the position of an inscription on a tablet of stone tablet, is hung down Straight inscription rubbing lower sensor, the left sensor of horizontal inscription rubbing are passed under sensor, vertical inking in the right sensor vertical inking of horizontal inscription rubbing The position of sensor, the left sensor of horizontal inking and the right sensor of horizontal inking, the range of fixed rubbing；The range of rubbing is fixed Afterwards, after pressing automatic switch, controller enters automatic control program；After controller enters automatic control program, controller control It puts paper motor and drives spool turns, reel transfers to the rice paper on reel before stone tablet；While reel puts down rice paper, Controller controls pump working, and water pump will be sprayed on the rice paper that stone tablet front is moved by spray head after bletilla striata water atomization；Under rice paper After being put into before stone tablet, paper motor is put in controller control and water pump stops；After putting paper motor and water pump stopping, controller It controls the firstth electronic tie rod, the second electronic tie rod, third electronic tie rod and the 4th electronic tie rod and pushes paper bracket to stone tablet The rice paper of front is mobile, and after before the stone tablet that rice paper is pressed in by platen bracket, controller controls the first electronic tie rod, second Electronic tie rod, third electronic tie rod and the 4th electronic tie rod stop, and rice paper is pressed in front of stone tablet using platen bracket； After rice paper is pressed in front of an inscription on a tablet of stone tablet by platen bracket, controller controls the inscription rubbing motor vertical of inscription rubbing vertical movement apparatus Inscription rubbing vertical sliding is driven to move along inscription rubbing vertical track, the inscription rubbing horizontal rail being fixedly connected with inscription rubbing vertical sliding, which follows, opens up It is mobile to print vertical sliding；Meanwhile the inscription rubbing horizontal motor of controller control inscription rubbing horizontally moving device drives inscription rubbing horizontal slide It is moved along inscription rubbing horizontal rail；Meanwhile the inscription rubbing electric pushrod operation of device, inscription rubbing electric pushrod are swatted in controller control inscription rubbing Drive a time hairbrush to move back and forth, using reciprocal continuous rice paper of the tapping on stone tablet face of hairbrush, make an inscription on a tablet on stone tablet in Rice paper is shown, is bonded rice paper closely with an inscription on a tablet of stone tablet, and it is all uniformly recessed to make to open up body an inscription on a tablet, and an inscription on a tablet is opened up in rice paper On, show an inscription on a tablet writing clearly in rice paper, automatic inscription rubbing is carried out to the rice paper on stone tablet face using hairbrush；Rice paper and stone tablet An inscription on a tablet be bonded closely after, controller control rubbing device reset to initial position；Controller controls inscription rubbing vertical movement apparatus And inscription rubbing horizontally moving device drive inscription rubbing swat device hairbrush reset to initial position after stop；The hairbrush that pauses is reset to After initial position, packet reset movement is opened up in the inking electric pushrod drive that controller control inking swats device, is made to open up packet and is dipped in inking The ink of box；After opening up the ink that packet dips in print cartridge, the inking motor vertical that controller controls inking vertical movement apparatus drives inking vertical Slide is moved along inscription rubbing vertical track, and the inking horizontal rail being fixedly connected with inking vertical sliding follows inking vertical sliding to move It is dynamic；Meanwhile the inking horizontal motor of controller control inking horizontally moving device drives inking horizontal slide along upper ink level rail Road is mobile；Meanwhile controller control inking swat device inking electric pushrod operation, inking electric pushrod drive open up packet make it is past It is multiple mobile, the ink wrapped will be opened up and gently flutterred on the rice paper before stone tablet, show an inscription on a tablet on stone tablet in rice paper；Before stone tablet After the rice paper in face gently flutters inking, controller control inking vertical movement apparatus and inking horizontally moving device drive inking to swat Opening up after packet returns to initial position for device stops；It opens up after packet returns to initial position, controller controls the first electronic tie rod, the second electricity Dynamic pull rod, third electronic tie rod and the 4th electronic tie rod traction platen bracket leave rice paper；It, will after platen bracket leaves rice paper Inscription rubbing has the rice paper of an inscription on a tablet text to cut；Solve the problems, such as that an inscription on a tablet duplicating efficiency of stone tablet is slow.

The beneficial effects of the utility model are: a kind of automatic rubbing robot of historical relic an inscription on a tablet, includes to clamp bracket, platen Device puts paper device, rubbing device, inking device and controller, clamps bracket and connect with paper pressing device, puts paper device, opens up Printing equipment is set and inking device is connect with paper pressing device；In use, being installed on bracket is clamped on stone tablet, by platen bracket, put After paper device is connect with clamping bracket, rice paper is transferred to stone tablet with movable reel by the paper motor of putting that paper device is put in controller control Before an inscription on a tablet, and bletilla striata water is sprayed on rice paper by control water pump；Then controller controls platen bracket and rice paper is pressed in stone On upright stone tablet, and control inscription rubbing vertical movement apparatus and the horizontal translation of inscription rubbing are moved the hairbrush that device drives inscription rubbing to swat device and are moved Dynamic, control inscription rubbing swats device and its hairbrush is driven to swat rice paper, displays an inscription on a tablet of stone tablet in rice paper；Inking is controlled again The packet of opening up that vertical movement apparatus and inking horizontally moving device drive inking to swat device moves, and control ink swats device drive It, which is opened up, is wrapped in rice paper inscription rubbing inking, by the text inscription rubbing of an inscription on a tablet on rice paper；It is low to solve historical relic an inscription on a tablet rubbing duplicating efficiency Problem enables more people to enjoy the duplicate of historical relic an inscription on a tablet, passes on the traditional culture of China.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of automatic rubbing robot of historical relic an inscription on a tablet；

Fig. 2 is the left view of Fig. 1.

Specific embodiment

The utility model is further detailed with specific embodiment with reference to the accompanying drawing:

A kind of structural schematic diagram of the automatic rubbing robot of historical relic an inscription on a tablet as shown in Figure 1 and a left side of Fig. 1 shown in Fig. 2 View；A kind of automatic rubbing robot of historical relic an inscription on a tablet includes to clamp bracket 1, paper pressing device 2, put paper device 3, rubbing device 4, inking device 5 and controller 6 clamp bracket 1 and connect with paper pressing device 2, put paper device 3, rubbing device 4 and inking dress 5 are set to connect with paper pressing device 2；Clamping bracket 1 includes left support 7, right support 8, upper screw rod 9 and lower screw rod 10, left support 7 It is connect by upper screw rod 9 and lower screw rod 10 with right support 8；Paper pressing device 2 includes platen bracket 11, the first electronic tie rod 12, the second electronic tie rod 13, third electronic tie rod 14 and the 4th electronic tie rod 15, the first electronic tie rod 12, the second electronic drawing The shell of bar 13, third electronic tie rod 14 and the 4th electronic tie rod 15 is fixedly connected with platen bracket 11 and clamping bracket 1, Platen bracket 11 and reel 16 are equipped with different specifications, to be suitble to the stone tablet 19 of different in width；Putting paper device 3 includes reel 16, rice paper 17, put paper motor 18 and spraying device 37, reel 16 and platen bracket 11 are hinged, rice paper volume 17 on reel 16, The motor shaft for putting paper motor 18 is connect with reel 16, and the base for putting paper motor 18 is connect with platen bracket 11, is used for rice paper 17 Transfer to 19 front of stone tablet；Spraying device 37 includes spray head 38, connecting tube 39, water pump 40 and liquid reserve tank 41, and spray head 38 is logical It crosses connecting tube 39 to connect with water pump 40, water pump 40 is connect with liquid reserve tank 41, and spray head 38 is fixed on platen bracket 11, spraying device 37 liquid reserve tank 41 is equipped with bletilla striata water, the rice paper 17 of the spout of spray head 38 against 19 surface of stone tablet；Rubbing device 4 includes inscription rubbing Device 22 is swatted in vertical movement apparatus 20, the horizontal straight mobile device 21 of inscription rubbing and inscription rubbing, utilizes inscription rubbing vertical movement apparatus 20 And the horizontal straight mobile device 21 of inscription rubbing drives inscription rubbing to swat the movement of device 22；Inscription rubbing vertical movement apparatus 20 includes that inscription rubbing is hung down Straight motor 23, inscription rubbing first gear 24, inscription rubbing vertical track 25, inscription rubbing vertical sliding 26 and the first rack gear 27, inscription rubbing is vertical Track 25 and the first rack gear 27 are fixedly connected with platen bracket 11, inscription rubbing vertical sliding 26 and the dynamic cooperation of inscription rubbing vertical track 25 Connection, the shell of inscription rubbing motor vertical 23 connect with inscription rubbing vertical sliding 26, the motor shaft of inscription rubbing motor vertical 23 and inscription rubbing the One gear 24 is fixedly connected, and inscription rubbing first gear 24 is engaged with the first rack gear 27, for being opened up using the driving of inscription rubbing motor vertical 23 Print vertical sliding 26 is moved along inscription rubbing vertical track 25；Inscription rubbing horizontally moving device 21 includes inscription rubbing horizontal motor 28, inscription rubbing Second gear 29, inscription rubbing horizontal rail 30, inscription rubbing horizontal slide 31 and the second rack gear 32, inscription rubbing horizontal rail 30 and second Rack gear 32 is fixedly connected with inscription rubbing vertical sliding 26, inscription rubbing horizontal slide 31 and the dynamic mating connection of inscription rubbing horizontal rail 30, inscription rubbing The shell of horizontal motor 28 is fixedly connected with inscription rubbing horizontal slide 31, the motor shaft and inscription rubbing second gear of inscription rubbing horizontal motor 28 29 are fixedly connected, and inscription rubbing second gear 29 is engaged with the second rack gear 32, for driving inscription rubbing horizontal using inscription rubbing horizontal motor 28 Slide 31 is moved along inscription rubbing horizontal rail 30；It includes inscription rubbing electric pushrod 33 and hairbrush 34 that device 22 is swatted in inscription rubbing, is opened up The shell of print electric pushrod 33 is fixedly connected with inscription rubbing horizontal slide 31, the inscription rubbing drive rod 35 of inscription rubbing electric pushrod 33 and a hair 34 connection of brush, inscription rubbing horizontal slide 31 are equipped with inscription rubbing guide hole 36, and inscription rubbing drive rod 35 passes through and flutters inscription rubbing guide hole 36, inscription rubbing drive rod 35 move mating connection with inscription rubbing guide hole 36, for driving the 34 inscription rubbing rice paper 17 of hairbrush that times using inscription rubbing electric pushrod 33；Inking dress Setting 5 includes that inking vertical movement apparatus 42, the dynamic device 43 of upper ink level translation and inking swat device 44, is hung down using inking Straight mobile device 42 and upper ink level translation move device 43 and inking are driven to swat the movement of device 44；Inking vertical movement apparatus 42 It include inking motor vertical 45, inking first gear 46 and inking vertical sliding 48, inking vertical sliding 48 and inscription rubbing are hung down Straight rail 25 is dynamic to be cooperatively connected, and the shell of inking motor vertical 45 is connect with inking vertical sliding 48, inking motor vertical 45 Motor shaft is fixedly connected with inking first gear 46, and inking first gear 46 is engaged with the first rack gear 27, for being hung down using inking Straight motor 45 drives inking vertical sliding 48 to move along inscription rubbing vertical track 25；Inking horizontally moving device 43 includes upper ink Flat telegram machine 50, inking second gear 51, inking horizontal rail 52, inking horizontal slide 53 and third rack gear 54, upper ink level Track 52 and third rack gear 54 are fixedly connected with inking vertical sliding 48, and inking horizontal slide 53 and inking horizontal rail 52 are dynamic It is cooperatively connected, the shell of inking horizontal motor 50 is fixedly connected with inking horizontal slide 53, the motor shaft of inking horizontal motor 50 It is fixedly connected with inking second gear 51, inking second gear 51 is engaged with third rack gear 54, is driven using inking horizontal motor 50 Dynamic inking horizontal slide 53 is moved along inking horizontal rail 52；Inking swats device 44 and includes inking electric pushrod 55 and open up Packet 56, the shell of inking electric pushrod 55 is fixedly connected with inking horizontal slide 53, the inking drive rod of inking electric pushrod 55 57 connect with packet 56 is opened up, and inking horizontal slide 53 is equipped with inking guide hole 58, and inking drive rod 57 passes through inking guide hole 58, and inking is driven Lever 57 and the dynamic mating connection of inking guide hole 58, swat 17 inking of rice paper for opening up packet 56 using the drive of inking electric pushrod 55； Controller 6 includes programmable device, CPU, signal input interface and executive component output interface；Before controller 6 includes platen Sensor 60 after sensor 59, platen, platen induction pieces 61, vertical inscription rubbing lower sensor 63, hang down at sensor 62 in vertical inscription rubbing Straight inscription rubbing induction pieces 64, the left sensor 65 of horizontal inscription rubbing, the right sensor 66 of horizontal inscription rubbing, horizontal inscription rubbing induction pieces 67, it is vertical on Sensor 68, vertical inking lower sensor 69, vertical inking induction pieces 70, the left sensor 71 of horizontal inking, horizontal inking on ink Right sensor 72, horizontal inking induction pieces 73, automatic switch 74 and shutdown switch 75；It is passed after platen front sensor 59, platen Sensor 60, which is installed on, to be clamped on bracket 1, and platen front sensor 59 is located at the front of sensor 60 after platen, and platen induction pieces 61 are pacified Loaded on platen bracket 11；Platen bracket 11 is connected with inscription rubbing guide post 76, in vertical inscription rubbing under sensor 62 and vertical inscription rubbing Sensor 63 is installed on inscription rubbing guide post 76, and sensor 62 is located at the top of vertical inscription rubbing lower sensor 63 in vertical inscription rubbing, is hung down Straight inscription rubbing induction pieces 64 are installed in inscription rubbing vertical sliding 26；The horizontal left sensor 65 of inscription rubbing and the right sensor 66 of horizontal inscription rubbing It is installed in inscription rubbing horizontal rail 30, horizontal inscription rubbing induction pieces 67 are installed on inscription rubbing horizontal slide 31, the horizontal left sensing of inscription rubbing Device 65 is located at horizontal 67 left side of inscription rubbing induction pieces, and the horizontal right sensor 66 of inscription rubbing is located at horizontal 67 the right of inscription rubbing induction pieces；Platen Bracket 11 is connected with inking guide post 77, and sensor 68 and vertical inking lower sensor 69 are installed on inking guide post in vertical inking On 77, sensor 68 is located at the top of vertical inking lower sensor 69 in vertical inking, and vertical inking induction pieces 70 are installed on In black vertical sliding 48；The horizontal left sensor 71 of inking and the right sensor 72 of horizontal inking are installed on inking horizontal rail 52 On, horizontal inking induction pieces 73 are installed on inking horizontal slide 53, and the horizontal left sensor 71 of inking is located at the induction of horizontal inking The left side of part 73, the horizontal right sensor 72 of inking are located at the right of horizontal inking induction pieces 73；The signal input interface of controller 6 By being passed under input control line and sensor 62, vertical inscription rubbing in sensor 60 after platen front sensor 59, platen, vertical inscription rubbing Sensor 63, the left sensor 65 of horizontal inscription rubbing are sensed under sensor 68, vertical inking in the vertical inking of the right sensor 66 of horizontal inscription rubbing The left sensor 71 of device 69, horizontal inking and the right sensor 72 of horizontal inking connect；The executive component output interface of controller 6 is logical Cross output control line and the first electronic tie rod 12, the second electronic tie rod 13, third electronic tie rod 14 and the 4th electronic tie rod 15, Put paper motor 18, water pump 40, inscription rubbing motor vertical 23, inscription rubbing horizontal motor 28, inscription rubbing electric pushrod 33, inking motor vertical 45, inking horizontal motor 50 and inking electric pushrod 55 connect；Controller 6 is equipped with battery supply and charger, with convenient Outdoor application, and charged using alternating current to battery；Platen bracket 11 is equipped with print cartridge 78, has ink in the ink-absorbing pad 79 of print cartridge 78, For 17 inking of rice paper.

The original state of the platen induction pieces 61 of controller 6 is: platen induction pieces 61 are close to platen front sensor 59；Inscription rubbing The original state of device 4 is: rubbing device 4 is located at the top of platen bracket 11, the vertical inscription rubbing sense in inscription rubbing vertical sliding 26 Answer part 64 close to sensor 62 in vertical inscription rubbing；Inscription rubbing horizontal slide 31 is located at the left side of platen bracket 11, and device is swatted in inscription rubbing 22 hairbrush 34 is located at the left side of platen bracket 11, and the left sensor 65 of horizontal inscription rubbing in inscription rubbing horizontal rail 30 is close to inscription rubbing Horizontal inscription rubbing induction pieces 67 on horizontal slide 31；Inscription rubbing swat the hairbrush 34 of device 22 not with the rice paper 17 on 19 face of stone tablet Contact；The original state of inking device 5 is: inking device 5 is located at the lower part of platen bracket 11, hanging down in inking vertical sliding 48 For straight inking induction pieces 70 close to vertical inking lower sensor 69, inking vertical sliding 48 is located at the left side of platen bracket 11, inking The left side of device 44 opened up packet 56 and be located at platen bracket 11 is swatted, the left sensor 71 of horizontal inking in inking horizontal rail 52 connects Horizontal inking induction pieces 73 on nearly inking horizontal slide 53；Inking swat device 44 open up packet 56 not with a surname on 19 face of stone tablet Paper 17 contacts.

In order to implement device 22 is swatted in inscription rubbing and hairbrush 34 and what inking swatted device 44 opens up packet 56 in stone tablet 19 It is moved on face, the second rack gear 32 of inscription rubbing horizontally moving device 21 is parallel with inscription rubbing horizontal rail 30, inking horizontally moving device 43 third rack gear 54 is parallel with inking horizontal rail 52, and inscription rubbing horizontal rail 30 and inking horizontal rail 52 are vertical with inscription rubbing Track 25 is vertical, and the first rack gear 27 is vertical with the second rack gear 32 and third rack gear 54, inscription rubbing vertical track 25 and the first rack gear 27 is parallel.

In order to implement the steady movement of inscription rubbing vertical sliding 26 and inking vertical sliding 48, inscription rubbing vertical track 25 includes There are left inscription rubbing vertical track 80 and right inscription rubbing vertical track 81, left inscription rubbing vertical track 80 and right inscription rubbing vertical track 81 are flat Row；Inscription rubbing vertical sliding 26 includes left inscription rubbing vertical sliding 82 and right inscription rubbing vertical sliding 83, left inscription rubbing vertical sliding 82 With the dynamic mating connection of left inscription rubbing vertical track 80, right inscription rubbing vertical sliding 83 and the dynamic mating connection of right inscription rubbing vertical track 81；On Black vertical sliding 48 includes upper left ink vertical sliding 84 and upper right ink vertical sliding 85, and upper left ink vertical sliding 84 is opened up with a left side The dynamic mating connection of vertical track 80 is printed, upper right ink vertical sliding 85 and right inscription rubbing vertical track 81 are moved and be cooperatively connected.

In order to implement the steady movement of inscription rubbing horizontal slide 31 and inking horizontal slide 53, inscription rubbing horizontal rail 30 is cut Face is that perhaps square inscription rubbing horizontal slide 31 is equipped with rectangle or square slide opening, inscription rubbing horizontal rail 30 to rectangle It moves and is cooperatively connected with the slide opening of inscription rubbing horizontal slide 31；The section of inking horizontal rail 52 is rectangle or square, inking The slide opening of slide opening of the horizontal slide 53 equipped with rectangle or square, inking horizontal rail 52 and inking horizontal slide 53 is dynamic to match Close connection；The second rack gear 32 and inscription rubbing horizontal rail 30 of inscription rubbing horizontally moving device 21 and left inscription rubbing vertical sliding 82 and Right inscription rubbing vertical sliding 83 is fixedly connected；The third rack gear 54 and inking horizontal rail 52 of inking horizontally moving device 43 and a left side Inking vertical sliding 84 and upper right ink vertical sliding 85 are fixedly connected.

The hairbrush 34 that device 22 is swatted to implement inscription rubbing carries out inscription rubbing to rice paper 17, and an inscription on a tablet 86 is made to be apparent in rice paper 17 On, the inscription rubbing drive rod 35 of the inscription rubbing electric pushrod 33 of device 22 and stone tablet 19 are swatted in inscription rubbing 86 front vertical of an inscription on a tablet, inscription rubbing Drive rod 35 is equipped with inscription rubbing connector 87, and inscription rubbing connector 87 is equipped with inscription rubbing guide hole 88, inscription rubbing guide post 89 and inscription rubbing spring 90, inscription rubbing Guide post 89 and the dynamic mating connection of inscription rubbing guide hole 88, inscription rubbing spring 90 are set in inscription rubbing guide hole 88, and inscription rubbing spring 90, which is in, to be compressed State, inscription rubbing connector 87 are fixedly connected with inscription rubbing drive rod 35, and inscription rubbing guide post 89 is fixedly connected with a hairbrush 34.

56 pairs of rice paper 17 of packet of opening up that device 44 is swatted to implement inking carry out inking, and an inscription on a tablet 86 is made to be apparent in rice paper 17 On, inking, which swats the inking drive rod 57 of the inking electric pushrod 55 of device 44 and stone tablet 19,86 front vertical of an inscription on a tablet, inking Drive rod 57 is equipped with inking connector 91, and inking connector 91 is equipped with inking guide hole 92, inking guide post 47 and inking spring 49, inking Guide post 47 and the dynamic mating connection of inking guide hole 92, inking spring 49 are set in inking guide hole 92, and inking spring 49, which is in, to be compressed State, inking connector 91 are fixedly connected with inking drive rod 57, and inking guide post 47 is fixedly connected with packet 56 is opened up.

A kind of application method of the automatic rubbing robot of historical relic an inscription on a tablet is: in use, it is first that stone tablet 19 is clean, it utilizes The left support 7 for clamping bracket 1 and right support 8 are fixed on stone tablet 19 by upper screw rod 9 and lower screw rod 10；Bracket 1 is clamped to pacify After on stone tablet 19, the first electronic tie rod 12, the second electronic tie rod 13, third electronic tie rod 14 and the 4th electronic drawing are utilized Platen bracket 11 is connect by bar 15 with bracket 1 is clamped；After platen bracket 11 is connect with clamping bracket 1, according to an inscription on a tablet of stone tablet 19 86 position adjusts sensor 62, vertical inscription rubbing lower sensor 63, the left sensor 65 of horizontal inscription rubbing, horizontal inscription rubbing in vertical inscription rubbing In the vertical inking of right sensor 66 in sensor 68, vertical inking lower sensor 69, the left sensor 71 of horizontal inking and level The position of the right sensor 72 of ink, the range of fixed rubbing；After the range of rubbing is fixed, after pressing automatic switch 74, controller 6 into Enter automatic control program；After controller 6 enters automatic control program, the control of controller 6 is put paper motor 18 and is rotated with movable reel 16, Reel 16 transfers to the rice paper 17 on reel 16 before stone tablet 19；While reel 16 puts down rice paper 17, controller 6 is controlled Water pump 40 processed works, and water pump 40 will be sprayed on the rice paper 17 that 19 front of stone tablet is moved by spray head 38 after bletilla striata water atomization；Rice paper After 17 transfer to before stone tablet 19, paper motor 18 is put in the control of controller 6 and water pump 29 stops；Put paper motor 18 and water pump After 29 stop, controller 6 controls the firstth electronic tie rod 12, the second electronic tie rod 13, third electronic tie rod 14 and the 4th electricity The rice paper 17 that dynamic pull rod 15 pushes paper bracket 11 to 19 front of stone tablet is mobile, when the stone tablet that rice paper 17 is pressed in by platen bracket 11 Behind 19 fronts, it is electronic that controller 6 controls the first electronic tie rod 12, the second electronic tie rod 13, third electronic tie rod 14 and the 4th Pull rod 15 stops, and rice paper 17 is pressed in front of stone tablet 19 using platen bracket 11；Rice paper 17 is pressed in by platen bracket 11 Behind 86 front of an inscription on a tablet of stone tablet 19, the inscription rubbing motor vertical 23 that controller 6 controls inscription rubbing vertical movement apparatus 20 drives inscription rubbing to hang down Straight slide 26 is moved along inscription rubbing vertical track 25, and the inscription rubbing horizontal rail 30 being fixedly connected with inscription rubbing vertical sliding 26 follows inscription rubbing Vertical sliding 26 is mobile；Meanwhile controller 6 controls the drive inscription rubbing level of inscription rubbing horizontal motor 28 of inscription rubbing horizontally moving device 21 Slide 31 is moved along inscription rubbing horizontal rail 30；Meanwhile controller 6 controls the fortune of inscription rubbing electric pushrod 33 that device 22 is swatted in inscription rubbing Row, inscription rubbing electric pushrod 33 drive a hairbrush 34 to move back and forth, using the reciprocal constantly tapping of hairbrush 34 on 19 face of stone tablet Rice paper 17, show an inscription on a tablet 86 on stone tablet 19 in rice paper 17, be bonded rice paper 17 closely with an inscription on a tablet 86 of stone tablet 19, It is all uniformly recessed to make to open up body an inscription on a tablet 86, an inscription on a tablet 86 is opened up on rice paper 17, shows 86 writing of an inscription on a tablet clearly in rice paper 77, benefit Automatic inscription rubbing is carried out to the rice paper 17 on 19 face of stone tablet with a hairbrush 34；After rice paper 17 is bonded closely with an inscription on a tablet 86 of stone tablet 19, Controller 6 controls rubbing device 4 and resets to initial position；Controller 6 controls inscription rubbing vertical movement apparatus 20 and inscription rubbing is horizontal The hairbrush 34 that device 22 is swatted in the drive inscription rubbing of mobile device 21 stops after resetting to initial position；The hairbrush 34 that pauses is reset to initially Behind position, controller 6, which controls inking, to be swatted the drive of inking electric pushrod 55 of device 44 and opens up 56 reset movements of packet, is made to open up packet 56 and is dipped in The ink of upper print cartridge 78；After opening up the ink that packet 56 dips in print cartridge 78, controller 6 controls the inking motor vertical of inking vertical movement apparatus 42 45 drive inking vertical slidings 48 are moved along inscription rubbing vertical track 25, the upper ink level rail being fixedly connected with inking vertical sliding 48 Road 52 follows inking vertical sliding 48 mobile；Meanwhile controller 6 controls the inking horizontal motor 50 of inking horizontally moving device 43 Inking horizontal slide 53 is driven to move along inking horizontal rail 52；Meanwhile controller 6 controls the inking electricity that inking swats device 44 Dynamic push rod 55 is run, and the drive of inking electric pushrod 55 is opened up packet 56 and moved back and forth, and the ink opened up on packet 56 is gently flutterred before stone tablet 19 On the rice paper 17 in face, show an inscription on a tablet 86 on stone tablet 19 in rice paper 17；After the rice paper 17 of 19 front of stone tablet gently flutters inking, Controller 6 controls inking vertical movement apparatus 42 and inking horizontally moving device 43 and drives what inking swatted device 44 to open up packet 56 Stop after returning to initial position；Open up packet 43 return to initial position after, controller 6 control the first electronic tie rod 12, the second electronic drawing Bar 13, third electronic tie rod 14 and the 4th electronic tie rod 15 traction platen bracket 11 leave rice paper 17；Platen bracket 11 leaves After rice paper 17, there is the rice paper 17 of 86 text of an inscription on a tablet to cut inscription rubbing；86 duplicating efficiency of an inscription on a tablet for solving stone tablet 19 is slow Problem.

In order to implement that rice paper 17 is pressed on stone tablet 19, a kind of historical relic an inscription on a tablet automatic rubbing robot in use, control When device 6 processed control puts paper motor 18 and rotates in a clockwise direction with movable reel 17, controller 6 controls water pump 29 simultaneously and passes through spray head 27 spray the bletilla striata water of atomization to the mobile rice paper 17 of decentralization, keep rice paper 17 wet；After the decentralization in place of rice paper 17, controller 6 is controlled The first electronic tie rod 12, the second electronic tie rod 13, third electronic tie rod 14 and the 4th electronic tie rod 15 is made to compress rice paper 17 In on stone tablet 19；Meanwhile sensor 60 after the close platen clamped on bracket 1 of platen induction pieces 61 of platen bracket 11, platen Its signal is transferred to controller 6 by sensor 60 afterwards, and controller 6 controls the first electronic tie rod 12, the second electronic tie rod 13, third Electronic tie rod 14 and the 4th electronic tie rod 15 stop.

In order to control the length that reel 17 transfers rice paper 17, a kind of historical relic an inscription on a tablet automatic rubbing robot in use, root According to an inscription on a tablet 86 height determine decentralization rice paper 17 length, using programmable device to controller 6 input put paper motor 18 run when Between parameter come control decentralization rice paper 17 length, transfer rice paper 17 length with put paper motor 18 run time it is directly proportional.

In order to control the mobile range of inscription rubbing vertical sliding 26, and the range that control inscription rubbing horizontal slide 31 is mobile, control When the hairbrush 34 that device 22 is swatted in the control of device 6 inscription rubbing processed swats rice paper 17, controller 6 controls inscription rubbing vertical movement apparatus 20 Inscription rubbing motor vertical 23 drives inscription rubbing vertical sliding 26 to move down along inscription rubbing vertical track 25, hanging down in inscription rubbing vertical sliding 26 Straight inscription rubbing induction pieces 64 follow inscription rubbing vertical sliding 26 to move down, and vertical inscription rubbing induction pieces 64 are close on inscription rubbing vertical track 25 Vertical inscription rubbing lower sensor 63 when, its signal is transferred to controller 6 by vertical inscription rubbing lower sensor 63, and the control of controller 6 is opened up Motor vertical 23 is printed to stop；The inscription rubbing motor vertical 23 that controller 6 controls inscription rubbing vertical movement apparatus 20 drives inscription rubbing vertically to slide When seat 26 is moved up along inscription rubbing vertical track 25, the vertical inscription rubbing induction pieces 64 in inscription rubbing vertical sliding 26 follow inscription rubbing vertical Slide 26 moves up, and vertical inscription rubbing induction pieces 64 hang down close in the vertical inscription rubbing on inscription rubbing vertical track 25 when sensor 62 Its signal is transferred to controller 6 by sensor 62 in straight inscription rubbing, and controller 6, which controls inscription rubbing motor vertical 23, to be stopped；Controller 6 is controlled When the hairbrush 34 that device 22 is swatted in inscription rubbing processed swats rice paper 17, controller 6 controls the inscription rubbing water of inscription rubbing horizontally moving device 21 Flat telegram machine 28 drives inscription rubbing horizontal slide 31 to move right along inscription rubbing horizontal rail 30, the horizontal inscription rubbing on inscription rubbing horizontal slide 31 Induction pieces 67 follow inscription rubbing horizontal slide 31 to move right, the close level of the horizontal inscription rubbing induction pieces 67 on inscription rubbing horizontal slide 31 When the right sensor 66 of inscription rubbing, its signal is transferred to controller 6 by the horizontal right sensor 66 of inscription rubbing, and it is horizontal that controller 6 controls inscription rubbing Motor 28 stops；Controller 6 controls inscription rubbing horizontal motor 28 and drives inscription rubbing horizontal slide 31 along inscription rubbing horizontal rail 30 to moving to left When dynamic, the horizontal inscription rubbing induction pieces 67 on inscription rubbing horizontal slide 31 follow inscription rubbing horizontal slide 31 to be moved to the left, and inscription rubbing level is sliding When left close to the horizontal inscription rubbing of inscription rubbing horizontal rail 30 sensor 65 of horizontal inscription rubbing induction pieces 67 on seat 31, the horizontal left sensing of inscription rubbing Its signal is transferred to controller 6 by device 65, and controller 6, which controls inscription rubbing horizontal motor 28, to be stopped.

In order to control the mobile range of inking vertical sliding 48, and the range that control inking horizontal slide 53 is mobile, control Device 6 processed controls inking and swats when opening up 56 inscription rubbing rice paper 17 of packet of device 44, and controller 6 controls the upper of inking vertical movement apparatus 42 Black motor vertical 45 drives inking vertical sliding 48 to move up along inscription rubbing vertical track 25, vertical in inking vertical sliding 48 Inking induction pieces 70 follow inscription rubbing vertical sliding 26 to move up, and vertical inking induction pieces 70 are close on inscription rubbing vertical track 25 In vertical inking when sensor 68, its signal is transferred to controller 6 by sensor 68 in vertical inking, and controller 6 controls inking Motor vertical 45 stops；The inking motor vertical 45 that controller 6 controls inking vertical movement apparatus 42 drives inking vertical sliding 48 along inscription rubbing vertical track 25 when moving down, and the vertical inking induction pieces 70 in inking vertical sliding 48 follow inking vertically to slide Seat 48 moves down, vertical inking induction pieces 70 close to the vertical inking lower sensor 69 on inscription rubbing vertical track 25, it is vertical on Its signal is transferred to controller 6 by black lower sensor 69, and controller 6, which controls inking motor vertical 45, to be stopped；In the control of controller 6 Ink swats when opening up 56 inscription rubbing rice paper 17 of packet of device 44, and controller 6 controls the inking horizontal motor of inking horizontally moving device 43 50 drive inking horizontal slides 53 move right along inking horizontal rail 52, the horizontal inking induction pieces on inking horizontal slide 53 73 follow inking horizontal slide 53 to move right, and the horizontal inking induction pieces 73 on inking horizontal slide 53 are right close to horizontal inking When sensor 72, its signal is transferred to controller 6 by the horizontal right sensor 72 of inking, and controller 6 controls inking horizontal motor 50 Stop；The inking horizontal motor 50 that controller 6 controls inking horizontally moving device 43 drives inking horizontal slide 53 along ink level When track 52 is moved to the left, the horizontal inking induction pieces 73 on inking horizontal slide 53 follow inking horizontal slide 53 to moving to left It is dynamic, when left close to the horizontal inking sensor 71 of horizontal inking induction pieces 73 on inking horizontal slide 53, the horizontal left sensing of inking Its signal is transferred to controller 6 by device 71, and controller 6, which controls inking horizontal motor 50, to be stopped.

In order to implement by black inscription rubbing on the rice paper 17 on 19 surface of stone tablet, the movement of hairbrush 34 of device 22 is swatted in inscription rubbing Track is synthesized by the mobile track of inscription rubbing vertical movement apparatus 20 and inscription rubbing horizontally moving device 21；A kind of historical relic an inscription on a tablet is automatic Rubbing robot inputs inscription rubbing vertical movement apparatus 20 to controller 6 by running programmable device in use, according to the range of an inscription on a tablet 86 And the track data that inscription rubbing horizontally moving device 21 is mobile；When the 34 inscription rubbing rice paper 17 of hairbrush of device 22 is swatted in inscription rubbing, control Device 6 processed controls inscription rubbing vertical movement apparatus 20 by the above-mentioned track data of input and inscription rubbing horizontally moving device 21 is mobile, will 86 inscription rubbing of an inscription on a tablet is on rice paper 17.

In order to implement by black inscription rubbing on the rice paper 17 on 19 surface of stone tablet, inking swats the rail for opening up 56 movement of packet of device 44 Mark is synthesized by the mobile track of inking vertical movement apparatus 42 and inking horizontally moving device 43；A kind of historical relic an inscription on a tablet is opened up automatically Piece robot in use, according to the range of an inscription on a tablet 86, by programmable device to controller 6 input inking vertical movement apparatus 42 and The mobile track data of inking horizontally moving device 43；Inking swats when opening up 56 inscription rubbing rice paper 17 of packet of device 44, and controller 6 is pressed The above-mentioned track data control inking vertical movement apparatus 42 and inking horizontally moving device 43 of input are mobile, and an inscription on a tablet 86 is opened up It is imprinted on rice paper 17.

The multiple of packet 56 of opening up that device 44 is swatted to implement inking dips in ink, meets the needs for opening up 56 inscription rubbing rice paper 17 of packet, Controller 6 be equipped with dip in black program, when open up packet 56 swat rice paper 17 number reach the parameter of setting when, controller 6 control inking Electric pushrod 55 stops, and opens up packet 43 at this time and stops swatting rice paper 17, controller 6 controls inking vertical movement apparatus 42 and inking The packet 56 of opening up that horizontally moving device 43 drives inking to swat device 44 stops swatting the position of rice paper 17 by opening up packet 56 and returns to initially Position；Packet 56 is opened up when returning to initial position, the horizontal inking induction pieces 73 on inking horizontal slide 53 are close to the left biography of horizontal inking Its signal is transferred to controller 6 by sensor 71, the horizontal left sensor 71 of inking, and controller 6 controls inking electric pushrod 55 and drives Opening up packet 56 and back and forth swatting the ink-absorbing pads 79 of print cartridge 78 makes to open up packet 43 and dips in inking；Inking swat device 44 open up packet 56 dip in inking after, Controller 6 drives what inking swatted device 44 to open up packet by control inking vertical movement apparatus 42 and inking horizontally moving device 43 56 return to the above-mentioned position opened up packet 56 and stop swatting rice paper 17 by initial position；Open up packet 56 return to it is above-mentioned open up packet 56 stop swat a surname Behind the position of paper 17, controller 6 controls the rice paper 17 opening up packet 56 and swatting on stone tablet 19 that inking swats device 44, meanwhile, control Device 6 controls inking vertical movement apparatus 42 and inking horizontally moving device 43 drives inking to swat device 44 by setting track number According to movement；It so constantly recycles, until whole an inscription on a tablets 86 is swatted completion.

In order to implement 86 inscription rubbing of an inscription on a tablet of stone tablet 19 on rice paper 17, the hairbrush 34 that device 22 is swatted in inscription rubbing swats upright stone tablet After the rice paper 17 of 86 front of text, wet rice paper 17 follows the recessed position of an inscription on a tablet 86 to be recessed；What inking swatted device 44 opens up packet 56 when swatting the rice paper 17 on stone tablet 19, opens up packet 56 by black tip-tap on rice paper 17, rice paper 17 be recessed text position not with open up 56 contact of packet, the position of the recess text of rice paper 17 retain original color, and packet 56 dozens is opened up in the position of the non-recess text of rice paper 17 Inking, so that the inscription rubbing of 19 an inscription on a tablet 86 of stone tablet is implemented, by 86 inscription rubbing of an inscription on a tablet on rice paper 17.

Claims

1. a kind of automatic rubbing robot of historical relic an inscription on a tablet, it is characterised in that: the automatic rubbing robot of a kind of historical relic an inscription on a tablet It include to clamp bracket (1), paper pressing device (2), put paper device (3), rubbing device (4), inking device (5) and controller (6), it clamps bracket (1) to connect with paper pressing device (2), puts paper device (3), rubbing device (4) and inking device (5) and platen Device (2) connection；Clamping bracket (1) includes left support (7), right support (8), upper screw rod (9) and lower screw rod (10), left branch Frame (7) is connect by upper screw rod (9) and lower screw rod (10) with right support (8)；Paper pressing device (2) includes platen bracket (11), the first electronic tie rod (12), the second electronic tie rod (13), third electronic tie rod (14) and the 4th electronic tie rod (15), First electronic tie rod (12), the second electronic tie rod (13), third electronic tie rod (14) and the 4th electronic tie rod (15) and platen Bracket (11) and clamping bracket (1) connection；Put paper device (3) include reel (16), rice paper (17), put paper motor (18) with And spraying device (37), hingedly, rice paper (17) is rolled up on reel (16) for reel (16) and platen bracket (11), puts paper motor (18) Motor shaft connect with reel (16), the base for putting paper motor (18) is connect with platen bracket (11)；Spraying device (37) includes There are spray head (38), connecting tube (39), water pump (40) and liquid reserve tank (41), spray head (38) passes through connecting tube (39) and water pump (40) Connection, water pump (40) are connect with liquid reserve tank (41)；Rubbing device (4) includes inscription rubbing vertical movement apparatus (20), inscription rubbing level Device (22) are swatted in straight mobile device (21) and inscription rubbing；Inscription rubbing vertical movement apparatus (20) includes inscription rubbing motor vertical (23), inscription rubbing first gear (24), inscription rubbing vertical track (25), inscription rubbing vertical sliding (26) and the first rack gear (27), inscription rubbing Vertical track (25) and the first rack gear (27) are connect with platen bracket (11), inscription rubbing vertical sliding (26) and inscription rubbing vertical track (25) it moves and is cooperatively connected, the shell of inscription rubbing motor vertical (23) is connect with inscription rubbing vertical sliding (26), inscription rubbing motor vertical (23) Motor shaft be fixedly connected with inscription rubbing first gear (24), inscription rubbing first gear (24) is engaged with the first rack gear (27)；Inscription rubbing water Flat mobile device (21) includes inscription rubbing horizontal motor (28), inscription rubbing second gear (29), inscription rubbing horizontal rail (30), inscription rubbing water Smooth seat (31) and the second rack gear (32), inscription rubbing horizontal rail (30) and the second rack gear (32) and inscription rubbing vertical sliding (26) Connection, inscription rubbing horizontal slide (31) and inscription rubbing horizontal rail (30) are dynamic to be cooperatively connected, the shell of inscription rubbing horizontal motor (28) with open up Horizontal slide (31) connection is printed, the motor shaft of inscription rubbing horizontal motor (28) is connect with inscription rubbing second gear (29), the second tooth of inscription rubbing Wheel (29) is engaged with the second rack gear (32)；It includes inscription rubbing electric pushrod (33) and hairbrush that device (22) is swatted in inscription rubbing (34), the shell of inscription rubbing electric pushrod (33) is connect with inscription rubbing horizontal slide (31), the inscription rubbing driving of inscription rubbing electric pushrod (33) Bar (35) is connect with hairbrush (34)；Inking device (5) includes inking vertical movement apparatus (42), the dynamic dress of upper ink level translation It sets (43) and inking swats device (44)；Inking vertical movement apparatus (42) includes inking motor vertical (45), inking One gear (46) and inking vertical sliding (48), inking vertical sliding (48) and inscription rubbing vertical track (25) dynamic mating connection, The shell of inking motor vertical (45) is connect with inking vertical sliding (48), the motor shaft of inking motor vertical (45) and inking the One gear (46) is fixedly connected, and inking first gear (46) is engaged with the first rack gear (27)；Inking horizontally moving device (43) packet Inking horizontal motor (50), inking second gear (51), inking horizontal rail (52), inking horizontal slide (53) and are included Three rack gears (54), inking horizontal rail (52) and third rack gear (54) are connect with inking vertical sliding (48), and upper ink level is sliding Seat (53) and inking horizontal rail (52) dynamic mating connection, the shell of inking horizontal motor (50) and inking horizontal slide (53) are even It connects, the motor shaft of inking horizontal motor (50) is connect with inking second gear (51), inking second gear (51) and third rack gear (54) it engages；Inking swats device (44) and includes inking electric pushrod (55) and open up packet (56), inking electric pushrod (55) Shell connect with inking horizontal slide (53), the inking drive rod (57) of inking electric pushrod (55) with open up packet (56) connect； Controller (6) includes programmable device, CPU, signal input interface and executive component output interface；Controller (6) includes pressure Sensor (60) after paper front sensor (59), platen, platen induction pieces (61), sensor (62), vertical inscription rubbing in vertical inscription rubbing Lower sensor (63), vertical inscription rubbing induction pieces (64), the left sensor of horizontal inscription rubbing (65), the right sensor of horizontal inscription rubbing (66), water Sensor (68), vertical inking lower sensor (69), vertical inking induction pieces on flat inscription rubbing induction pieces (67), vertical inking (70), the left sensor of horizontal inking (71), the right sensor of horizontal inking (72), horizontal inking induction pieces (73), automatic switch (74) and shutdown switch (75)；Sensor (60), which is installed on, after platen front sensor (59), platen clamps on bracket (1), pressure Paper induction pieces (61) are installed on platen bracket (11)；Platen bracket (11) is connected with inscription rubbing guide post (76), and vertical inscription rubbing uploads Sensor (62) and vertical inscription rubbing lower sensor (63) are installed on inscription rubbing guide post (76), and vertical inscription rubbing induction pieces (64) are installed on In inscription rubbing vertical sliding (26)；The horizontal left sensor of inscription rubbing (65) and the right sensor of horizontal inscription rubbing (66) are installed on inscription rubbing level On track (30), horizontal inscription rubbing induction pieces (67) are installed on inscription rubbing horizontal slide (31)；Platen bracket (11) is connected with inking Guide post (77), sensor (68) and vertical inking lower sensor (69) are installed on inking guide post (77) in vertical inking, are hung down Straight inking induction pieces (70) are installed on inking vertical sliding (48)；The horizontal left sensor of inking (71) and the right biography of horizontal inking Sensor (72) is installed on inking horizontal rail (52), and horizontal inking induction pieces (73) are installed on inking horizontal slide (53)； The signal input interface of controller (6) passes through input control line and sensor (60) after platen front sensor (59), platen, vertical Sensor (62), vertical inscription rubbing lower sensor (63), the left sensor of horizontal inscription rubbing (65), the right sensor of horizontal inscription rubbing in inscription rubbing (66) in vertical inking in sensor (68), vertical inking lower sensor (69), the left sensor of horizontal inking (71) and level Right sensor (72) connection of ink；The executive component output interface of controller (6) passes through output control line and the first electronic tie rod (12), the second electronic tie rod (13), third electronic tie rod (14) and the 4th electronic tie rod (15), put paper motor (18), water pump (40), inscription rubbing motor vertical (23), inscription rubbing horizontal motor (28), inscription rubbing electric pushrod (33), inking motor vertical (45), inking Horizontal motor (50) and inking electric pushrod (55) connection；Platen bracket (11) is equipped with print cartridge (78).

2. the automatic rubbing robot of a kind of historical relic an inscription on a tablet according to claim 1, it is characterised in that: the platen induction The original state of part (61) is: platen induction pieces (61) are close to platen front sensor (59)；The original state of rubbing device (4) Be: rubbing device (4) is located at the top of platen bracket (11), and hairbrush (34) that device (22) is swatted in inscription rubbing are located at platen bracket (11) the left side, hairbrush (34) that device (22) is swatted in inscription rubbing are not contacted with the rice paper (17) on stone tablet (19) face；Inking dress The original state for setting (5) is: inking device (5) is located at the lower part of platen bracket (11), and what inking swatted device (44) opens up packet (56) be located at platen bracket (11) the left side, inking swat device (44) open up packet (56) not with the rice paper on stone tablet (19) face (17) it contacts.

3. the automatic rubbing robot of a kind of historical relic an inscription on a tablet according to claim 2, it is characterised in that: the inscription rubbing is horizontal The second rack gear (32) of mobile device (21) is parallel with inscription rubbing horizontal rail (30), the third tooth of inking horizontally moving device (43) Item (54) is parallel with inking horizontal rail (52), inscription rubbing horizontal rail (30) and inking horizontal rail (52) and inscription rubbing vertical rails Vertically, the first rack gear (27) is vertical with the second rack gear (32) and third rack gear (54) in road (25).

4. the automatic rubbing robot of a kind of historical relic an inscription on a tablet according to claim 3, it is characterised in that: the inscription rubbing is vertical Track (25) includes left inscription rubbing vertical track (80) and right inscription rubbing vertical track (81), and inscription rubbing vertical sliding (26) includes Left inscription rubbing vertical sliding (82) and right inscription rubbing vertical sliding (83), inking vertical sliding (48) include upper left ink vertical sliding (84) and upper right ink vertical sliding (85).

5. the automatic rubbing robot of a kind of historical relic an inscription on a tablet according to claim 4, it is characterised in that: the inscription rubbing is horizontal The section of track (30) is that perhaps square inscription rubbing horizontal slide (31) is equipped with rectangle or square slide opening to rectangle； The section of inking horizontal rail (52) is that perhaps square inking horizontal slide (53) is equipped with rectangle or square to rectangle Slide opening.

6. the automatic rubbing robot of a kind of historical relic an inscription on a tablet according to claim 5, it is characterised in that: the inscription rubbing is horizontal The second rack gear (32) and inscription rubbing horizontal rail (30) of mobile device (21) and left inscription rubbing vertical sliding (82) and right inscription rubbing Vertical sliding (83) connection；The third rack gear (54) and inking horizontal rail (52) of inking horizontally moving device (43) and upper left Black vertical sliding (84) and upper right ink vertical sliding (85) connection.

7. the automatic rubbing robot of a kind of historical relic an inscription on a tablet according to claim 6, it is characterised in that: the inscription rubbing driving Bar (35) is equipped with inscription rubbing connector (87), and inscription rubbing connector (87) is equipped with inscription rubbing guide hole (88), inscription rubbing guide post (89) and inscription rubbing spring (90), inscription rubbing spring (90) is set in inscription rubbing guide hole (88), and inscription rubbing spring (90) be in confined state, inscription rubbing connector (87) and Inscription rubbing drive rod (35) is fixedly connected, and inscription rubbing guide post (89) is fixedly connected with hairbrush (34).

8. the automatic rubbing robot of a kind of historical relic an inscription on a tablet according to claim 7, it is characterised in that: the inking driving Bar (57) is equipped with inking connector (91), and inking connector (91) is equipped with inking guide hole (92), inking guide post (47) and inking spring (49), inking spring (49) is set in inking guide hole (92), and inking spring (49) be in confined state, inking connector (91) and Inking drive rod (57) is fixedly connected, and inking guide post (47) is fixedly connected with packet (56) is opened up.

9. the automatic rubbing robot of a kind of historical relic an inscription on a tablet according to claim 8, it is characterised in that: the spraying device (37) liquid reserve tank (41) is equipped with bletilla striata water.