Intelligent painting and calligraphy repairing robot arm

Abstract

The invention discloses an intelligent painting and calligraphy repairing robot arm, and relates to the technical field of painting and calligraphy repairing, the intelligent painting and calligraphy repairing robot arm comprises a fixing plate, the top of the fixing plate is fixedly connected with a first steering engine, the output end of the first steering engine is fixedly connected with a vertical arm, and the interior of the top end of the vertical arm is rotatably connected with a vertical arm; the intelligent painting and calligraphy repairing robot arm comprises a vertical arm, a second steering engine is fixedly connected to one side of the vertical arm, the output end of the second steering engine is connected with the outer side of the vertical arm, a cross arm is rotationally connected to the interior of the top end of the vertical arm, a third steering engine is fixedly connected to one side of the vertical arm, and the output end of the third steering engine is fixedly connected with the outer side of the cross arm. By arranging the vertical arm, the vertical arm and the cross arm, the arm of the robot can be driven to operate, the painting and calligraphy can be repaired, through cooperation with the three fixing bases, cleaning, gluing reinforcement and cleaning work of the painting and calligraphy can be achieved, manual work can be replaced to conduct part of painting and calligraphy repairing work, and the painting and calligraphy repairing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of calligraphy and painting restoration, and specifically to an intelligent robot arm for calligraphy and painting restoration. Background Art

[0002] Calligraphy and painting restoration is a delicate traditional technique that requires a combination of scientific methods and empirical judgment. When performing calligraphy and painting restoration, it is necessary to clean the surface of the calligraphy and painting, then apply glue to reinforce the ink on the surface of the calligraphy and painting, then rinse the calligraphy and painting with water, and then perform subsequent operations such as removing the old mounting. In this process, it needs to be processed manually throughout, resulting in low efficiency of calligraphy and painting restoration. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides an intelligent robot arm for calligraphy and painting restoration, which solves the problems raised in the above background art.

[0004] To achieve the above objectives, the present invention is realized through the following technical solutions: An intelligent robot arm for calligraphy and painting restoration, including a fixed plate, a first servo motor is fixedly connected to the top of the fixed plate, the output end of the first servo motor is fixedly connected to a vertical arm, a vertical shaft is rotatably connected inside the top end of the vertical arm, a second servo motor is fixedly connected to one side of the vertical arm, the output end of the second servo motor is connected to the outside of the vertical shaft, a horizontal arm is rotatably connected inside the top end of the vertical shaft, a third servo motor is fixedly connected to one side of the vertical shaft, the output end of the third servo motor is fixedly connected to the outside of the horizontal arm, a first electric telescopic rod is rotatably connected inside one end of the horizontal arm, a fourth servo motor is fixedly connected to one side of the horizontal arm, and the output end of the fourth servo motor is connected to the outside of the first electric telescopic rod.

[0005] Optionally, a third servo motor is fixedly connected to one side of the inner cavity of the fixed plate, a threaded shaft is rotatably connected to the other side of the inner cavity of the fixed plate, the output end of the third servo motor is fixedly connected to one end of the threaded shaft, a fixed table is threadedly connected to the outside of the threaded shaft, the top end of the fixed table extends above the fixed plate and is fixedly connected to a drive motor, and the output end of the drive motor is fixedly connected to a rotating disk.

[0006] Optionally, three mounting seats are fixedly connected to the top of the rotating disk, second electric telescopic rods are fixedly connected inside the mounting seats, the telescopic ends of the second electric telescopic rods all extend to the outside of the mounting seats and are fixedly connected to storage boxes, placement cavities are respectively opened inside the storage boxes, fixing seats are placed inside the three placement cavities, storage cavities are respectively opened on both sides of the placement cavities inside the storage boxes, third electric telescopic rods are fixedly connected to one ends of both sides of the storage boxes and located in the storage cavities, the telescopic ends of the third electric telescopic rods all extend into the storage cavities and are fixedly connected to inserting columns, and one ends of the inserting columns are respectively inserted into the fixing seats.

[0007] Optionally, a connecting seat is fixedly connected to the telescopic end of the first electric telescopic rod. A fixing cavity is formed at the bottom of the connecting seat. Fixing grooves are formed on both sides of the interior of the connecting seat and located on both sides of the fixing cavity. One side of the inner cavity of each fixing groove is rotatably connected to a threaded rod. Second motors are fixedly connected to the other sides of the inner cavities of the fixing grooves. The output ends of the second motors are fixedly connected to one ends of the threaded rods. Plug blocks are threadedly connected to the outer sides of the threaded rods. One ends of the plug blocks extend into the fixing cavity and are all matched with the fixing seats.

[0008] Optionally, a connecting cavity is formed in the interior of the connecting seat and located above the fixing cavity. A first servo motor is fixedly connected to the top of the inner cavity of the connecting cavity. A lead screw is rotatably connected to the bottom of the inner cavity of the connecting cavity. The output end of the first servo motor is fixedly connected to the top end of the lead screw. A moving block is threadedly connected to the outer side of the lead screw. A plug is fixedly connected to the bottom of the moving block. The interior of the connecting cavity is communicated with the interior of the fixing cavity. A flexible hose is fixedly connected to the top end of the plug. One end of the flexible hose passes through the plug and extends to one side of the vertical arm.

[0009] Optionally, a fourth electric telescopic rod is fixedly connected to one side of the vertical arm. A connecting head is fixedly connected to the telescopic end of the fourth electric telescopic rod. A water tank is fixedly connected to the top of the fixing plate and located on one side of the first steering gear. A straw is inserted into the interior of the water tank. The top end of the straw extends above the water tank. The bottom end of the connecting head is inserted into the straw. A water pump is fixedly connected to one side of the vertical arm. One end of the water pump is connected to one end of the connecting head through an elastic tube. The other end of the water pump is fixedly connected to the other end of the flexible hose.

[0010] Optionally, a plurality of cleaning bristles are fixedly connected to the bottom of one of the fixing seats, a plurality of glue-applying hairs are fixedly connected to the bottom of another fixing seat, and a plurality of nozzles are fixedly connected to the bottom of the remaining fixing seat. A guiding brush is fixedly connected to one side of the fixing seat. One end of the guiding brush is located below the fixing seat. The nozzles are all communicated with the interior of the fixing seat.

[0011] Optionally, a glue placing table is placed on the top of the fixing plate and in front of the first steering gear.

[0012] The present invention provides an intelligent calligraphy and painting restoration robot arm, which has the following beneficial effects:

[0013] 1. For this intelligent calligraphy and painting restoration robot arm, by providing a vertical arm, a vertical arm and a horizontal arm, the operation of this robot arm can be driven to perform restoration work on calligraphy and paintings. Through cooperation with the three fixing seats, cleaning, glue application and reinforcement, and cleaning work on calligraphy and paintings can be realized, and a part of the calligraphy and painting restoration work can be replaced by manual labor, improving the efficiency of calligraphy and painting restoration.

[0014] 2. The intelligent calligraphy and painting restoration robot arm is equipped with a driving motor, a rotating disk and a storage box. It can store three fixed seats through the three storage boxes to form a tool library. When a certain restoration work is needed, the corresponding fixed seat can be used to perform the calligraphy and painting restoration work without manual replacement and installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 This is a schematic diagram of the internal structure of the connecting socket of the present invention;

[0017] Figure 3 This is a schematic diagram of the structure of the fixing seat, the guide brush and the nozzle of the present invention;

[0018] Figure 4 This is a schematic diagram of the internal structure of the mounting base and the storage box of the present invention;

[0019] Figure 5 It is a schematic diagram of the top view of the fixing plate of the present invention;

[0020] Figure 6 For the present invention Figure 1 A magnified image of point A;

[0021] Figure 7 For the present invention Figure 1 Enlarged view of point B.

[0022] In the figure: 1, fixed plate; 2, first steering gear; 3, vertical arm; 4, vertical arm; 5, second steering gear; 6, third steering gear; 7, horizontal arm; 8, fourth steering gear; 9, first electric telescopic rod; 10, connecting seat; 11, connecting cavity; 12, first servo motor; 13, screw rod; 14, moving block; 15, plug; 16, hose; 17, fixed seat; 18, fixed groove; 19, threaded rod; 20, second motor; 21, plug block; 22, cleaning brush; 27, glue coating 1. Hair; 28. The third servo motor; 29. ​​The threaded shaft; 30. The fixed platform; 31. The driving motor; 32. The rotating disk; 33. The mounting seat; 34. The second electric telescopic rod; 35. The placement cavity; 36. The third electric telescopic rod; 37. The storage cavity; 38. The plug; 40. The guide brush; 41. The nozzle; 42. The fourth electric telescopic rod; 43. The connector; 44. The water tank; 45. The suction pipe; 46. The glue placing platform; 50. The storage box; 51. The fixed cavity; 52. The water pump. DETAILED DESCRIPTION

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0024] Embodiment 1

[0025] Please refer to Figures 1 to 7 , the present invention provides a technical solution: an intelligent calligraphy and painting restoration robot arm, including a fixing plate 1, a first servo motor 2 is fixedly connected to the top of the fixing plate 1, a vertical arm 3 is fixedly connected to the output end of the first servo motor 2, a vertical arm 4 is rotatably connected to the top end inside the vertical arm 3, a second servo motor 5 is fixedly connected to one side of the vertical arm 3, the output end of the second servo motor 5 is connected to the outside of the vertical arm 4, a cross arm 7 is rotatably connected to the top end inside the vertical arm 4, a third servo motor 6 is fixedly connected to one side of the vertical arm 4, the output end of the third servo motor 6 is fixedly connected to the outside of the cross arm 7, a first electric telescopic rod 9 is rotatably connected to one end inside the cross arm 7, a fourth servo motor 8 is fixedly connected to one side of the cross arm 7, and the output end of the fourth servo motor 8 is connected to the outside of the first electric telescopic rod 9.

[0026] Among them, a third servo motor 28 is fixedly connected to one side of the inner cavity of the fixing plate 1, a threaded shaft 29 is rotatably connected to the other side of the inner cavity of the fixing plate 1, the output end of the third servo motor 28 is fixedly connected to one end of the threaded shaft 29, a fixing table 30 is threadedly connected to the outside of the threaded shaft 29, the top end of the fixing table 30 extends above the fixing plate 1 and is fixedly connected to a driving motor 31, and the output end of the driving motor 31 is fixedly connected to a rotating disk 32. The rotating disk 32 can be driven to rotate by the output end of the driving motor 31.

[0027] Among them, three mounting seats 33 are fixedly connected to the top of the rotating disk 32, second electric telescopic rods 34 are fixedly connected inside the mounting seats 33, the telescopic ends of the second electric telescopic rods 34 all extend to the outside of the mounting seats 33 and are fixedly connected to storage boxes 50, placing cavities 35 are opened inside the storage boxes 50, fixing seats 17 are placed inside the three placing cavities 35, storage cavities 37 are opened on both sides of the placing cavities 35 inside the storage boxes 50, third electric telescopic rods 36 are fixedly connected to one end of both sides of the storage boxes 50 and located in the storage cavities 37, the telescopic ends of the third electric telescopic rods 36 all extend into the storage cavities 37 and are fixedly connected to inserting columns 38, and one ends of the inserting columns 38 are inserted into the fixing seats 17. The position of the fixing seat 17 can be limited and fixed by the inserting columns 38.

[0028] Among them, the telescopic end of the first electric telescopic rod 9 is fixedly connected with a connecting seat 10. A fixing cavity 51 is opened at the bottom of the connecting seat 10. Fixing grooves 18 are opened on both sides of the connecting seat 10 and inside the fixing cavity 51. One side of the inner cavity of the fixing groove 18 is rotatably connected with a threaded rod 19. The other side of the inner cavity of the fixing groove 18 is fixedly connected with a second motor 20. The output ends of the second motors 20 are fixedly connected with one ends of the threaded rods 19. Plug blocks 21 are threadedly connected to the outer sides of the threaded rods 19. One ends of the plug blocks 21 extend into the fixing cavity 51 and are all matched with the fixing seat 17, and the position of the fixing seat 17 is limited and fixed by the plug blocks 21.

[0029] Among them, a connecting cavity 11 is opened above the fixing cavity 51 inside the connecting seat 10. The top of the inner cavity of the connecting cavity 11 is fixedly connected with a first servo motor 12. The bottom of the inner cavity of the connecting cavity 11 is rotatably connected with a lead screw 13. The output end of the first servo motor 12 is fixedly connected with the top end of the lead screw 13. A moving block 14 is threadedly connected to the outer side of the lead screw 13. The bottom of the moving block 14 is fixedly connected with a plug 15. The inside of the connecting cavity 11 is communicated with the inside of the fixing cavity 51. The top end of the plug 15 is fixedly connected with a hose 16. One end of the hose 16 passes through the plug 15 and extends to one side of the vertical arm 3. Cleaning water can be input into the fixing seat 17 and the nozzle 41 through the hose 16.

[0030] Among them, a fourth electric telescopic rod 42 is fixedly connected to one side of the vertical arm 3. The telescopic end of the fourth electric telescopic rod 42 is fixedly connected with a connecting head 43. A water tank 44 is fixedly connected to the top of the fixing plate 1 and on one side of the first steering gear 2. A straw 45 is inserted into the water tank 44. The top end of the straw 45 extends above the water tank 44. The bottom end of the connecting head 43 is inserted into the straw 45. A water pump 52 is fixedly connected to one side of the vertical arm 3. One end of the water pump 52 is connected to one end of the connecting head 43 through an elastic tube. The other end of the water pump 52 is fixedly connected to the other end of the hose 16. When it is necessary to clean the calligraphy and painting, the connecting head 43 can be connected to the straw 45. When cleaning is not required, the connecting head 43 can be moved out of the straw 45 and separated from the straw 45.

[0031] Among them, a plurality of cleaning bristles 22 are fixedly connected to the bottom of one fixing seat 17. A plurality of glue-applying hairs 27 are fixedly connected to the bottom of the other fixing seat 17. A plurality of nozzles 41 are fixedly connected to the bottom of the remaining one fixing seat 17. A diversion brush 40 is fixedly connected to one side of the fixing seat 17. One end of the diversion brush 40 is located below the fixing seat 17. The nozzles 41 are all communicated with the inside of the fixing seat 17, so as to perform cleaning, glue application and cleaning work on the calligraphy and painting.

[0032] Embodiment 2

[0033] Please refer to Figure 1 AndFigure 7 The present invention provides a technical solution: a glue placing table 46 is placed on the top of the fixing plate 1 and in front of the first servo 2, and the glue for coating is stored through the glue placing table 46.

[0034] In summary, when the intelligent calligraphy and painting restoration robot arm is in use, the vertical arm 3 is driven to rotate by the first servo 2, the vertical arm 4 is driven to rotate by the second servo 5, the horizontal arm 7 is driven to rotate by the third servo 6, the output end of the fourth servo 8 drives the first electric telescopic rod 9 to rotate, and the first electric telescopic rod 9 drives the restoration component below to move to restore the calligraphy and painting.

[0035] During the restoration, first, the first electric telescopic rod 9 is rotated above the storage box 50, and then the output end of the driving motor 31 drives the rotating disc 32 to rotate, so that the fixing seat 17 on the cleaning brush bristles 22 rotates below the connecting seat 10. Then, the telescopic end of the second electric telescopic rod 34 pushes the storage box 50 to move to adjust the position of the fixing seat 17. Then, the telescopic end of the first electric telescopic rod 9 pushes the connecting seat 10 downward, so that the top end of the fixing seat 17 is located inside the fixing cavity 51. Then, the output end of the second motor 20 drives the threaded rod 19 to rotate, so that the threaded rod 19 drives one end of the plug 21 to insert into the fixing seat 17. Then, the telescopic end of the third electric telescopic rod 36 drives the plug post 38 to move into the storage cavity 37, and one end of the plug post 38 is moved out of the fixing seat 17 to release the limit on the fixing seat 17. Then, the telescopic end of the first electric telescopic rod 9 drives the connecting seat 10, the fixing seat 17 and the cleaning brush bristles 22 to move to sweep the dust on the surface of the calligraphy and painting.

[0036] After the dust sweeping, the fixing seat 17 is rotated above the storage box 50, and then the telescopic end of the first electric telescopic rod 9 pushes the connecting seat 10 and the fixing seat 17 into the placing cavity 35. The telescopic end of the third electric telescopic rod 36 pushes one end of the plug post 38 to insert into the fixing seat 17 to fix the fixing seat 17. Then, the output end of the second motor 20 drives the threaded rod 19 to rotate in the reverse direction, so that the threaded rod 19 drives one end of the plug 21 to move out of the fixing seat 17 to release the limit on the fixing seat 17. Then, the telescopic end of the first electric telescopic rod 9 drives the connecting seat 10 to move upward, and the telescopic end of the second electric telescopic rod 34 drives the storage box 50 to move back to its original position. Then, the storage box 50 containing the glue applying hair 27 is rotated below the connecting seat 10 to continue the installation work. The glue applying hair 27 dips the glue inside the glue placing table 46 to apply glue to the ink on the calligraphy and painting and reinforce it.

[0037] After the rubber sheet is reinforced, the glue applicator brush 27 and the fixing base 17 are placed back inside the placement cavity 35 on the storage box 50. Then, the fixing base 17 on the nozzle 41 is installed on the connecting seat 10. After installation, the output end of the first servo motor 12 drives the lead screw 13 to rotate, so that the lead screw 13 drives the moving block 14 to push one end of the plug 15 into the fixing base 17. Then, the first servo motor 2 drives the vertical arm 3 to rotate to the working position. Next, the telescopic end of the fourth electric telescopic rod 42 pushes the connecting head 43 downward, so that the bottom end of the connecting head 43 is inserted into the suction pipe 45. Then, the water in the water tank 44 is pumped out through the suction pipe 45 by the water pump 52, and then discharged into the plug 15 through the connecting head 43 and the hose 16. The water is discharged into the fixing base 17, and then discharged into the nozzle 41 through the fixing base 17, and then sprayed on the diversion brush 40 through the nozzle 41. The water is diverted to the surface of the calligraphy and painting through the diversion brush 40 to clean the calligraphy and painting. After cleaning, the water pump 52 stops working. Then, the telescopic end of the fourth electric telescopic rod 42 drives one end of the connecting head 43 to move out of the suction pipe 45. At the same time, the output end of the first servo motor 12 drives the lead screw 13 to rotate in the reverse direction, so that the lead screw 13 drives the moving block 14 to drive the plug 15 to move out of the fixing base 17. Then, the fixing base 17, the nozzle 41 and the diversion brush 40 are placed in the placement cavity 35 inside the storage box 50 for storage. Then, subsequent restoration work is carried out on the calligraphy and painting.

[0038] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An intelligent calligraphy and painting restoration robot arm, comprising a fixing plate (1), characterized in that: The top of the fixed plate (1) is fixedly connected to a first servo motor (2). The output end of the first servo motor (2) is fixedly connected to a vertical arm (3). The top end of the vertical arm (3) is rotatably connected to a vertical shaft (4). One side of the vertical arm (3) is fixedly connected to a second servo motor (5). The output end of the second servo motor (5) is connected to the outside of the vertical shaft (4). The top end of the vertical shaft (4) is rotatably connected to a horizontal arm (7). One side of the vertical shaft (4) is fixedly connected to a third servo motor (6). The output end of the third servo motor (6) is fixedly connected to the outside of the horizontal arm (7). One end of the horizontal arm (7) is rotatably connected to a first electric telescopic rod (9). One side of the horizontal arm (7) is fixedly connected to a fourth servo motor (8). The output end of the fourth servo motor (8) is connected to the outside of the first electric telescopic rod (9).

2. The intelligent calligraphy and painting restoration robot arm according to claim 1, wherein: One side of the inner cavity of the fixed plate (1) is fixedly connected to a third servo motor (28). The other side of the inner cavity of the fixed plate (1) is rotatably connected to a threaded shaft (29). The output end of the third servo motor (28) is fixedly connected to one end of the threaded shaft (29). The outside of the threaded shaft (29) is threadedly connected to a fixed platform (30). The top end of the fixed platform (30) extends above the fixed plate (1) and is fixedly connected to a driving motor (31). The output end of the driving motor (31) is fixedly connected to a rotating disk (32).

3. The intelligent calligraphy and painting restoration robot arm according to claim 2, characterized in that: The top of the rotating disk (32) is fixedly connected to three mounting seats (33). Second electric telescopic rods (34) are fixedly connected inside the mounting seats (33). The telescopic ends of the second electric telescopic rods (34) all extend outside the mounting seats (33) and are fixedly connected to storage boxes (50). Placement cavities (35) are respectively opened inside the storage boxes (50). Fixed seats (17) are placed inside the three placement cavities (35). Storage cavities (37) are respectively opened on both sides of the placement cavities (35) inside the storage boxes (50). Third electric telescopic rods (36) are fixedly connected to one ends of both sides of the storage boxes (50) and located in the storage cavities (37). The telescopic ends of the third electric telescopic rods (36) all extend into the storage cavities (37) and are fixedly connected to insertion posts (38). One ends of the insertion posts (38) are inserted into the fixed seats (17).

4. The intelligent calligraphy and painting restoration robot arm according to claim 1, characterized in that: The telescopic end of the first electric telescopic rod (9) is fixedly connected to a connection seat (10). A fixed cavity (51) is opened at the bottom of the connection seat (10). Fixed grooves (18) are respectively opened on both sides of the connection seat (10) and located inside the fixed cavity (51). One side of the inner cavity of each fixed groove (18) is rotatably connected to a threaded rod (19). The other side of the inner cavity of each fixed groove (18) is fixedly connected to a second motor (20). The output end of the second motor (20) is fixedly connected to one end of the threaded rod (19). The outside of each threaded rod (19) is threadedly connected to an insertion block (21). One ends of the insertion blocks (21) all extend into the fixed cavity (51) and are matched with the fixed seats (17).

5. An intelligent calligraphy and painting restoration robot arm according to claim 4, characterized in that: A connection cavity (11) is provided inside the connection base (10) and above the fixed cavity (51). A first servo motor (12) is fixedly connected to the top of the inner cavity of the connection cavity (11). A lead screw (13) is rotatably connected to the bottom of the inner cavity of the connection cavity (11). The output end of the first servo motor (12) is fixedly connected to the top end of the lead screw (13). A moving block (14) is threadedly connected to the outside of the lead screw (13). A plug (15) is fixedly connected to the bottom of the moving block (14). The inside of the connection cavity (11) is communicated with the inside of the fixed cavity (51). A flexible hose (16) is fixedly connected to the top end of the plug (15). One end of the flexible hose (16) passes through the plug (15) and extends to one side of the vertical arm (3).

6. An intelligent calligraphy and painting restoration robot arm according to claim 1, characterized in that: A fourth electric telescopic rod (42) is fixedly connected to one side of the vertical arm (3). A connection head (43) is fixedly connected to the telescopic end of the fourth electric telescopic rod (42). A water tank (44) is fixedly connected to the top of the fixed plate (1) and on one side of the first steering gear (2). A straw (45) is inserted into the water tank (44). The top end of the straw (45) extends above the water tank (44). The bottom end of the connection head (43) is inserted into the straw (45). A water pump (52) is fixedly connected to one side of the vertical arm (3). One end of the water pump (52) is connected to one end of the connection head (43) through an elastic tube. The other end of the water pump (52) is fixedly connected to the other end of the flexible hose (16).

7. The intelligent calligraphy and painting restoration robot arm according to claim 3, characterized in that: A plurality of cleaning bristles (22) are fixedly connected to the bottom of one of the fixed seats (17). A plurality of glue-applying hairs (27) are fixedly connected to the bottom of the other fixed seat (17). A plurality of nozzles (41) are fixedly connected to the bottom of the remaining fixed seat (17). A flow guide brush (40) is fixedly connected to one side of the fixed seat (17). One end of the flow guide brush (40) is located below the fixed seat (17). The nozzles (41) are all communicated with the inside of the fixed seat (17).

8. An intelligent calligraphy and painting restoration robot arm according to claim 1, characterized in that: A glue placing table (46) is placed in front of the first steering gear (2) on the top of the fixed plate (1).

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