CN219095125U

CN219095125U - Motion mechanism and cultural relic detection system

Info

Publication number: CN219095125U
Application number: CN202223436216.1U
Authority: CN
Inventors: 姜全武; 吴世磊; 孙烈
Original assignee: INSTITUTE FOR HISTORY OF NATURAL SCIENCES CHINESE ACADEMY OF SCIENCES
Current assignee: INSTITUTE FOR HISTORY OF NATURAL SCIENCES CHINESE ACADEMY OF SCIENCES
Priority date: 2022-11-15
Filing date: 2022-12-21
Publication date: 2023-05-30
Anticipated expiration: 2032-12-21

Abstract

The utility model relates to the field of cultural relic information acquisition devices, and provides a movement mechanism and a cultural relic detection system, comprising: a rotatable turntable; the cradle head is arranged on at least one side of the turntable and is used for installing detection equipment; the first driving piece is connected with the cradle head and used for driving the cradle head to lift and driving the cradle head to move towards or away from the turntable along a first direction; the second driving piece is used for driving the cradle head to horizontally reciprocate along a second direction, and the second direction is perpendicular to the first direction. By the arrangement, the rotary turntable, the first driving piece and the second driving piece can enable the detection equipment and the cultural relics to form a three-dimensional detection space, and in the detection space, the detection equipment can acquire information of any region of the cultural relics and acquire three-dimensional information of the cultural relics more comprehensively; meanwhile, manual frequent adjustment is not needed, and the efficiency of cultural relic information collection is improved.

Description

Motion mechanism and cultural relic detection system

Technical Field

The utility model relates to the technical field of cultural relic information acquisition devices, in particular to a movement mechanism and a cultural relic detection system.

Background

The cultural relics are remains with historic, artistic and scientific values left by human beings in social activities, and the extraction and research of cultural relic information have important low level for revealing the historic information of human society, culture and the like contained in the cultural relics. The nondestructive analysis of the cultural relics is to obtain relevant information such as the place of production, the age and the like of the cultural relics on the premise of not bringing any macroscopic or potential harm to the cultural relics. Currently, non-destructive analysis of cultural relics includes image analysis for the interior and surface of the cultural relics, microstructural analysis for the surface of the cultural relics, plasma mass spectrometry for chemical composition, and the like.

In the related art, a manual movement detection device is generally adopted, or a guide rail arranged around the cultural relics drives the detection device to move around the cultural relics so as to collect information of the cultural relics in all directions.

However, the space degree of freedom of the detection equipment is low, the to-be-detected area and the detection equipment are difficult to well match, manual continuous adjustment is needed, the information acquisition efficiency is low, and meanwhile, the information of certain parts of the cultural relics is difficult to comprehensively acquire.

Disclosure of Invention

The utility model provides a movement mechanism and a cultural relic detection system, which are used for solving the problems that the space degree of freedom of detection is low, the region to be detected and detection equipment are difficult to well match in the prior art, manual continuous adjustment is needed, the information acquisition efficiency is low, and meanwhile, the information of certain regions of the cultural relic is difficult to comprehensively acquire, so that the degree of freedom of the detection space is improved, and the information acquisition of the cultural relic is more comprehensive and more efficient.

The utility model provides a movement mechanism, which is characterized in that,

a rotatable turntable;

the cradle head is arranged on at least one side of the turntable and is used for installing detection equipment;

the first driving piece is connected with the cradle head and used for driving the cradle head to lift and driving the cradle head to move towards or away from the turntable along a first direction;

the second driving piece is used for driving the cradle head to horizontally reciprocate along a second direction, and the second direction is perpendicular to the first direction.

According to the movement mechanism provided by the utility model, the first driving piece is a mechanical arm, the mechanical arm can extend along the vertical direction, and the mechanical arm can swing towards or away from the turntable along the first direction.

According to the utility model, the movement mechanism further comprises a third driving piece connected with the turntable and used for driving the turntable to horizontally reciprocate along the first direction and/or the second direction.

According to the movement mechanism provided by the utility model, the third driving piece is a cross sliding table, and the rotary table is fixedly connected to the sliding block of the cross sliding table.

According to the movement mechanism provided by the utility model, the cradle head comprises a base and a connecting module group; the base is connected to the first driving piece; the connecting module group comprises a plurality of connecting modules with different specifications and is used for adapting to different detection equipment, and the connecting modules are detachably fixed with the base.

According to the movement mechanism provided by the utility model, the center of one end of the base, which is away from the first driving piece, is convexly provided with the center checking plate.

The utility model also provides a cultural relic detection system, which comprises:

a movement mechanism as claimed in any one of the above;

a driver for generating a driving signal to drive the motion of the motion mechanism;

the detection equipment is fixedly connected to the holder and used for collecting cultural relic information;

and the controller is in communication connection with the driver and is used for sending an instruction to the driver and enabling the driver to generate a driving signal.

According to the cultural relic detection system provided by the utility model, the cradle head is provided with the anti-collision sensor which is used for feeding back the distance between the cradle head and the cultural relic to be detected and generating a distance signal; the anti-collision sensor is in communication connection with the controller and is used for receiving the distance signal and controlling the driver to enable the distance between the cradle head and the cultural relics to be detected to be larger than a preset safety value.

According to the cultural relic detection system provided by the utility model, the cultural relic detection system further comprises a scram circuit connected with scram terminals of each driver, and when the distance between the cradle head and the cultural relic to be detected is smaller than or equal to a preset safety value, the controller sends out a scram instruction, and each driver stops running.

The cultural relic detection system provided by the utility model further comprises a man-machine interaction system; the controller is in communication connection with the man-machine interaction system.

According to the movement mechanism and the cultural relic detection system, the rotatable turntable, the first driving piece and the second driving piece can enable the detection equipment and the cultural relic to form a three-dimensional detection space, and in the detection space, the detection equipment can acquire information of any region of the cultural relic and acquire three-dimensional information of the cultural relic more comprehensively; meanwhile, manual frequent adjustment is not needed, and the efficiency of cultural relic information collection is improved.

Drawings

In order to more clearly illustrate the utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a movement mechanism provided by the present utility model;

fig. 2 is a schematic structural diagram of the cultural relic detection system provided by the utility model.

Reference numerals:

1. a turntable; 10. a placement table; 11. a slewing mechanism; 2. a cradle head; 20. a base; 200. a center checking plate; 3. a first driving member; 30. a first folding arm; 31. a second folding arm; 4. a second driving member; 40. a mounting base; 5. a third driving member; 6. a controller; 7. and a man-machine interaction system.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In order to facilitate understanding of the motion mechanism and the cultural relic detection system provided by the utility model, an application scene of the motion mechanism and the cultural relic detection system is firstly described, and nondestructive detection of the cultural relic comprises various analysis methods such as image analysis, microstructure analysis, plasma mass spectrometry and the like; in the related art, when acquiring cultural relic information, generally, manual movement of a detection device is required, or the detection device is guided to move around the cultural relic through a guide rail arranged around the cultural relic, so that the cultural relic information is comprehensively acquired, but the problem that a to-be-detected area and the detection device are difficult to well match exists, manual continuous adjustment is required, the information acquisition efficiency is low, and meanwhile, the information of certain areas of the cultural relic is difficult to comprehensively acquire. Therefore, the utility model provides the movement mechanism and the cultural relic detection system, so that the space degree of freedom of the detection equipment is improved, the detection equipment is better matched with the area to be detected, and information acquisition is performed on the cultural relics more comprehensively and more efficiently.

The movement mechanism and the cultural relic detection system of the present utility model are described below with reference to fig. 1 to 2.

Referring to fig. 1, a movement mechanism includes a turntable 1, a head 2, a first driving member 3, and a second driving member 4; the turntable 1 can rotate around a central shaft and is used for placing cultural relics to be tested; the cradle head 2 is arranged on at least one side of the rotary table 1 and is used for installing detection equipment, and when the rotary table 1 drives the cultural relics to rotate, the detection equipment can collect information on the periphery of the cultural relics at a specific height.

The first driving piece 3 is connected with the cloud deck 2 and is used for driving the cloud deck 2 to go up and down, so that information acquisition is carried out on the positions of the cultural relics with different heights, the first driving piece 3 can also drive the cloud deck 2 to move towards or away from the rotary table 1 in a reciprocating mode along the first direction, and the distance between detection equipment and the cultural relics is adjusted, so that the method is suitable for information acquisition of the cultural relics with different sizes and shapes, and in addition, the method can also be suitable for different detection equipment.

The second driving piece 4 can drive the cradle head 2 to horizontally reciprocate along a second direction, and the first direction is perpendicular to the second direction; through the rotary turntable 1, the first driving piece 3 and the second driving piece 4, a three-dimensional detection space can be formed between the detection equipment and the cultural relics, and in the detection space, the detection equipment can acquire information of any region of the cultural relics, so that the three-dimensional information of the cultural relics can be obtained more comprehensively; meanwhile, manual frequent adjustment is not needed, and the efficiency of cultural relic information collection is improved.

In a specific embodiment, the turntable 1 mainly comprises a placement table 10 and a swivel mechanism 11; the placing table 10 is fixedly connected to the rotating mechanism 11 and is used for placing cultural relics, and the placing table 10 can be driven to rotate through the rotating mechanism 11. Specifically, the turning mechanism 11 may be a gear type turning drive or a worm wheel turning drive in the related art.

The first driving piece 3 is fixedly connected to the output part of the second driving piece 4; the first driving piece 3 adopts the existing mechanical arm structure, and the cloud deck 2 is connected in the mechanical arm one end of keeping away from the second driving piece 4, and the mechanical arm can extend along vertical direction, can be along first direction orientation or deviate from revolving stage 1 upset simultaneously to drive cloud deck 2 lift and be close to or keep away from revolving stage 1 motion.

Specifically, the output part of the second driving piece 4 is fixedly connected with a mounting seat 40, the mechanical arm is provided with at least two folding arms, namely a first folding arm 30 and a second folding arm 31, wherein one end of the first folding arm 30 is hinged on the mounting seat 40, so that the first folding arm 30 can turn towards or away from the direction of the turntable 1; the second folding arm 31 is hinged to one end of the first folding arm 30 away from the mounting seat 40, so that the mechanical arm can extend along the vertical direction, and the pan-tilt 2 is disposed at one end of the second folding arm 31 away from the first folding arm 30. The turning movement of the first and

second arms

30 and 31 may be driven by a cylinder.

The cradle head 2 is hinged to the second folding arm 31, the hinge shafts of the cradle head 2 and the second folding arm 31 are parallel to the hinge shafts of the first folding arm 30 and the mounting seat 40, and the cradle head 2 is driven to overturn through the air cylinder, so that the angle between the cradle head 2 and the cultural relics to be detected can be conveniently adjusted, and the detection range and the detection efficiency are further improved.

In other embodiments, the pan-tilt 2 may be fixedly connected to the second folding arm 31; the position of the hinge axis of the pan-tilt-head 2 and the second hinge arm 31 may be changed, for example, the hinge axis of the pan-tilt-head 2 and the second hinge arm 31 may be perpendicular to the hinge axis of the first hinge arm 30 and the mount 40. In short, no matter what connection mode is adopted between the cradle head 2 and the second folding arm 31, only the condition that the cradle head 2 is connected with the detection equipment and then can comprehensively collect information of the cultural relics is guaranteed.

In another embodiment, the first driving member 3 may also be a combination of at least two linear driving elements, for example, two cylinders connected end to end, or a combination of a cylinder and a sliding table; in any case, no matter what driving mode is adopted, only the cradle head 2 can be driven to move up and down and get close to or far away from the turntable 1.

Referring to fig. 1, the second driving member 4 may be any linear driving element, and only needs to drive the second driving member 4 and the pan-tilt 2 to perform horizontal linear displacement integrally, for example, the second driving member 4 may be an air cylinder, or may be a gear and a rack matched with a servo motor to perform linear driving. In this embodiment, the second driving member 4 is a ball screw linear sliding table, so as to improve displacement accuracy.

In order to further improve the convenience of information acquisition, a third driving piece 5 is arranged at the bottom of the slewing mechanism 11; the third driving member 5 may drive the turntable 1 to horizontally reciprocate in the first direction and/or the second direction; because the mechanical arm is of a cantilever structure, the motion amplitude is relatively large, and shaking easily occurs in the motion process, the mechanical arm is more suitable for large-angle and large-range adjustment, and the position of the turntable 1 can be finely adjusted through the third driving piece 5, so that the range to be detected can be better matched with the detection equipment.

Specifically, the third driving piece 5 adopts a cross sliding table driven by a servo motor, and the turntable 1 is fixedly connected to a sliding block of the cross sliding table. In other embodiments, the third drive 5 may also employ a single linear drive element to adjust the position of the turntable 1 in the first or second direction; any combination of at least two linear driving elements, such as two cylinders with vertical driving directions, a sliding table matched with the cylinders, and the like, can be adopted to adjust the position of the turntable 1 along the first direction and the second direction, so that the detection equipment on the cradle head 2 can be more conveniently matched with the range to be detected.

The cradle head 2 comprises a base 20 and a connecting module group; wherein, the base 20 is hinged to one end of the second folding arm 31 away from the first folding arm 30; the connection module group includes a plurality of connection modules with different specifications for adapting to different detection devices, and the connection modules can be detachably fixed on the base 20, for example, flange plates can be used for butting. Through the connection module of different specifications, can be convenient connect different equipment on cloud platform 2 to adopt different equipment comprehensive to carry out information acquisition to the historical relics.

Referring to fig. 1, a central check plate 200 is protruded from one end of the base 20 facing away from the second folding arm 31, and correspondingly, a groove may be disposed at a central position of each connection module, and the groove is adapted to the central check plate 200, so that the connection module is located at a central position of the base 20 after the connection module is connected to the base 20. Different connection modules can be adaptively designed according to the detection equipment matched with the connection modules, for example, through fixed connection sites, and the detection equipment is ensured to be positioned in the center of the connection modules after being connected to the connection modules.

So set up, before detecting, at first with check out test set fixed to the connection module on, then install the connection module on the base 20, because check out test set is in the position of centering with the connection module, the connection module is in the position of centering after checking through center check board 200 with the base 20, consequently can guarantee that check out test set is whole to be in the central point of cloud platform 2 put, can control the position of check out test set camera lens through the position of control cloud platform 2 center, improves the precision of detection.

The cultural relic detection system provided by the utility model is described below, and the cultural relic detection system described below and the movement mechanism described above can be correspondingly referred to each other.

Referring to fig. 2, a cultural relic detecting system comprises the above-mentioned moving mechanism, and further comprises a driver, detecting equipment, a controller 6 and a man-machine interaction system 7; the detection equipment is connected to the cradle head 2 and used for collecting cultural relic information; the driver is arranged on each driving element of the movement mechanism, such as a cylinder of the mechanical arm, a servo motor of the sliding table and the like, and is used for generating driving signals and controlling the distance, the angle and the like of the movement of each driving element so as to control the detection equipment to perform information acquisition on specific detection of the cultural relics. Feedback sensors are arranged in the driving elements and are used for feeding back the motion state of the driving elements.

The driver and the feedback sensor are both in communication connection with the controller 6, and the controller 6 is used for receiving feedback signals of the feedback sensor and sending instructions to the driver to control each driving element to move according to the set track. The controller 6 is in communication connection with the man-machine interaction system 7, so that a worker can conveniently position the detection equipment and the position of the cultural relics and input instructions, and the movement mechanism moves according to the designed track, so that different areas of the cultural relics are comprehensively scanned, and the structure and the morphology of the cultural relics are displayed.

The front end of cloud platform 2 is provided with anticollision sensor, and anticollision sensor is connected with controller 6 communication for the distance signal between feedback cloud platform 2 and the historical relic that awaits measuring, and controller 6 is according to the distance signal of anticollision sensor feedback, and control movement mechanism makes the distance of check out test set and historical relic be in the safe value of predetermineeing all the time.

The cultural relic detection system further comprises a scram circuit connected with the scram terminals of the drivers, and when the distance between the cradle head 2 and the cultural relic is smaller than or equal to a preset safety value, the controller 6 sends out a scram instruction, and the drivers stop running, so that the possibility of collision between detection equipment and the cultural relic is reduced.

It should be noted that, the detection device in the present utility model includes, but is not limited to, various devices capable of obtaining information of cultural relics, such as a laser scanner, an infrared camera, an ultraviolet camera, a multispectral camera, a hyperspectral camera, a laser raman spectrometer, or an X-ray diffraction instrument.

The utility model has the following points: through the rotary turntable 1, the first driving piece 3 and the second driving piece 4, a three-dimensional detection space can be formed between the detection equipment and the cultural relics, and in the detection space, the detection equipment can acquire information of any region of the cultural relics, so that the three-dimensional information of the cultural relics can be obtained more comprehensively; meanwhile, manual frequent adjustment is not needed, and the efficiency of cultural relic information collection is improved.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A movement mechanism, comprising:

a rotatable turntable (1);

the cradle head (2) is arranged on at least one side of the turntable (1) and is used for installing detection equipment;

the first driving piece (3) is connected with the cradle head (2) and used for driving the cradle head (2) to lift and driving the cradle head (2) to move towards or away from the turntable (1) along a first direction;

and the second driving piece (4) is used for driving the cradle head (2) to horizontally reciprocate along a second direction, and the second direction is perpendicular to the first direction.

2. A movement mechanism according to claim 1, characterized in that the first drive member (3) is a mechanical arm which is extendable in a vertical direction and which is swingable in the first direction towards or away from the turntable (1).

3. A movement mechanism according to claim 2, further comprising a third drive member (5) connected to the turntable (1) for driving the turntable (1) to reciprocate horizontally in the first direction and/or the second direction.

4. A movement mechanism according to claim 3, characterized in that the third driving member (5) is a cross slide, and the turntable (1) is fixedly connected to the slide of the cross slide.

5. The movement mechanism according to any one of claims 1 to 4, wherein the pan-tilt (2) comprises a base (20) and a set of connection modules; the base (20) is connected to the first driving member (3); the connecting module group comprises a plurality of connecting modules with different specifications and is used for adapting to different detection equipment, and the connecting modules are detachably fixed with the base (20).

6. The movement mechanism according to claim 5, wherein the base (20) is provided with a central check plate (200) protruding from a central position of one end of the first driving member (3).

7. A cultural relic detection system, comprising:

a movement mechanism as claimed in any one of claims 1 to 6;

the detection equipment is fixedly connected to the holder (2) and is used for collecting cultural relic information;

and the controller (6) is in communication connection with the driver and is used for sending an instruction to the driver and enabling the driver to generate a driving signal.

8. The cultural relic detection system according to claim 7, wherein an anti-collision sensor is arranged on the cradle head (2) and used for feeding back the distance between the cradle head (2) and the cultural relic to be detected and generating a distance signal; the anti-collision sensor is in communication connection with the controller (6) and is used for receiving the distance signal and controlling the driver to enable the distance between the cradle head (2) and the cultural relics to be detected to be larger than a preset safety value.

9. The cultural relic detection system according to claim 8, further comprising a scram circuit connected to scram terminals of each driver, wherein when the distance between the cradle head (2) and the cultural relic to be detected is smaller than or equal to a preset safety value, the controller (6) sends out a scram instruction, and each driver stops running.

10. The cultural relic detecting system according to claim 7, wherein: the system also comprises a man-machine interaction system (7); the controller (6) is in communication connection with the man-machine interaction system (7).