Multifunctional all-in-one machine for repairing ancient books

Abstract

The multifunctional all-in-one machine comprises a workbench body, a mechanical arm is arranged at the center of the top of the workbench body, a multifunctional module is arranged at the free end of the mechanical arm, an original part area is arranged on the left side of the mechanical arm, a cutting area is arranged on the right side of the mechanical arm, a control table is arranged on the right side of the workbench body, and an identification mechanism is arranged on the rear side of the original part area. The device is suitable for the technical field of ancient book repair, automatic collection and recognition processing of original notches are achieved by designing the recognition mechanism, function switching and spatial position changing of the multifunctional module are controlled through the mechanical arm, the multifunctional module can achieve cutting of repair paper and adsorption, gluing, pasting and flattening of the repair paper, waste of manpower and material resources is reduced, and the production efficiency is improved. The ancient book repairing efficiency and effect are improved, and use is more convenient.

Description

Technical Field

[0001] The present invention belongs to the technical field of ancient book restoration, and specifically relates to a multi-functional integrated machine for ancient book restoration. Background Art

[0002] Ancient books are books from ancient times. The main carrier of Chinese ancient books is paper. The paper used for books is mostly made by manually treating plant fiber raw materials with lime or alkali.

[0003] During the process of ancient book restoration, it is necessary to cut supplementary paper similar in shape to the damaged part of the ancient book for filling. The whole process involves the collection of defects, the production of supplementary paper, gluing, filling of supplementary paper and flattening. The whole process needs to be completed item by item manually, which is time-consuming and laborious. Based on this, there is an urgent need for a multi-functional integrated machine for ancient book restoration to realize the automated and integrated process of ancient book restoration operations. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide a multi-functional integrated machine for ancient book restoration.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A multi-functional integrated machine for ancient book restoration includes a workbench main body. A robotic arm is provided at the center of the top of the workbench main body. A multi-functional module is provided at the free end of the robotic arm. An original document area is provided on the left side of the robotic arm, and a cutting area is provided on its right side. A console is provided on the right side of the workbench main body. An identification mechanism is provided behind the original document area.

[0007] Preferably, the original document area is used to place the ancient book pages to be repaired. The robotic arm is used to control the function switching and spatial position transformation of the multi-functional module. The multi-functional module can realize the cutting, adsorption, gluing, pasting and flattening of the restoration supplementary paper. The cutting area is used to place the complete supplementary paper. The console is used for the operation of the integrated machine. The identification mechanism is used for image collection of the notch.

[0008] Preferably, both the original document area and the cutting area include adsorption bins. The adsorption bins are clamped on the top of the workbench main body. A number of adsorption holes are opened on the top of the adsorption bins. An air suction pump is provided below the adsorption bins. The air inlet of the air suction pump is connected to the lower end of the adsorption bin;

[0009] Exhaust nets are provided on both the left and right sides of the workbench main body for exhausting the air outlet of the air suction pump;

[0010] A computing power platform window is provided on the front side of the robotic arm, and a computing power control cabinet is provided inside it. It is made of transparent material and is used to observe the operation status of the computing power platform;

[0011] A tool box is provided on the rear side of the robotic arm for placing additional tools;

[0012] A mechanical switch panel is provided on the front side of the cutting area, which is connected to the integrated circuit board inside.

[0013] Preferably, the console includes a first bracket, and an industrial computer is provided at the upper end of the first bracket.

[0014] Preferably, the recognition mechanism includes a fixed bottom rod, a vertical rod is connected to the upper end of the fixed bottom rod, a cross rod is connected to the upper end of the vertical rod, a camera is provided at one end of the cross rod away from the vertical rod, and a ring-shaped LED fill light is provided outside the camera;

[0015] The fixed bottom rod is provided on the workbench surface, and both the fixed bottom rod and the vertical rod adopt a tubular structure.

[0016] Preferably, the multifunctional module includes a housing, the housing adopts a pentagonal structure, and a grinding and cutting mechanism, two suction nozzles of the adsorption mechanism, a glue injection head of the glue application mechanism, and a pressing cylinder of the flattening mechanism are respectively provided on the five side surfaces of the housing;

[0017] An electric air pump is provided on the front side of the housing, two air suction nozzles and two air exhaust nozzles are provided on the electric air pump, the two suction nozzles of the adsorption mechanism are respectively communicated with the two air suction nozzles, and the pressing cylinder of the flattening mechanism is communicated with one of the air exhaust nozzles.

[0018] Preferably, the grinding and cutting mechanism includes a cutting head, the rear end of the cutting head is connected to a rotating shaft, and the rear end of the rotating shaft is connected to the output shaft of a grinding motor;

[0019] The cutting head includes a tailstock, a grinding rod is slidably inserted through the front end of the tailstock, a grinding head is provided at the front end of the grinding rod, and a spring is provided at the rear end of the grinding rod;

[0020] The grinding head adopts a spherical structure; a grinding rod chute is provided at the front end of the tailstock, the rear end of the grinding rod is slidably arranged in the grinding rod chute, and the spring is arranged at the rear end of the grinding rod chute;

[0021] A limiting chute is provided at the front end of the grinding rod chute, a limiting block is provided on the side surface of the front end of the grinding rod, and the limiting block is slidably arranged in the limiting chute;

[0022] A fixing groove is provided at the rear end of the tailstock, the front end of the rotating shaft is inserted into the fixing groove and fixed by bolts, and the rear end of the rotating shaft is in transmission connection with the output shaft of the grinding motor through a coupling;

[0023] The tailstock is rotatably arranged on two rotating seats.

[0024] Preferably, the adsorption mechanism includes two suction nozzles, and both of the two suction nozzles are communicated with the two air suction ports of the electric air pump through air suction pipes;

[0025] One end of the nozzle away from the suction pipe is provided with a nozzle opening, and a suction cup is arranged on the nozzle opening;

[0026] An air suction hole is arranged at the center of the suction cup, and the air suction hole is communicated with the inner cavity of the nozzle opening;

[0027] One end of the nozzle opening away from the suction cup is provided with a nozzle body, one end of the nozzle body away from the nozzle opening is provided with an interface, and the interface is hermetically connected with the suction pipe;

[0028] The outer diameters of the two suction cups are 0.5 - 1 cm and 1 - 2.5 cm respectively, and are respectively used for adsorbing patches of different specifications;

[0029] The suction cup and the nozzle opening are snap - connected through a mortise - and - tenon structure.

[0030] Preferably, the glue - injecting mechanism includes a glue - injecting head arranged on one side of the housing, and the glue - injecting head is communicated with an external peristaltic pump.

[0031] Preferably, the flattening mechanism includes a pressing cylinder, and the pressing cylinder includes a gas supply interface, a pressing cylinder fixing plate and a cylinder body arranged in sequence. The gas supply interface is communicated with the exhaust port of an electric air pump through a gas supply pipe;

[0032] The gas supply interface and the cylinder body are respectively arranged at the centers of both sides of the pressing cylinder fixing plate, and screw holes are arranged at the four corners of the pressing cylinder fixing plate for fixing the pressing cylinder fixing plate;

[0033] The gas supply interface and the cylinder body are both hermetically and fixedly connected with the pressing cylinder fixing plate.

[0034] To sum up, due to the adoption of the above - mentioned technical solution, the beneficial effects of the present invention are as follows:

[0035] In the present invention, through the design of the recognition mechanism, the automatic acquisition and recognition processing of the original component notch are realized. Through the robotic arm, the function switching and spatial position transformation of the multifunctional module are controlled. The multifunctional module can realize the cutting, adsorption, glue - coating, pasting and flattening of the repair patch paper, reducing the waste of manpower and material resources, improving the efficiency and effect of ancient book repair, and being more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is the overall structural schematic diagram of the present invention;

[0037] Figure 2 is the cross - sectional view of the workbench of the present invention;

[0038] Figure 3 is the internal structural schematic diagram of the workbench of the present invention;

[0039] Figure 4 is the structural schematic diagram of the recognition mechanism of the present invention;

[0040] Figure 5 Schematic diagram of the overall structure of the multifunctional module of the present invention;

[0041] Figure 6 Internal schematic diagram of the grinding and cutting mechanism of the present invention;

[0042] Figure 7 Schematic diagram of the overall structure of the grinding and cutting mechanism of the present invention;

[0043] Figure 8 Schematic diagram of the structure of the cutting head of the present invention Figure 1 ;

[0044] Figure 9 Schematic diagram of the structure of the cutting head of the present invention Figure 2 ;

[0045] Figure 10 Cross-sectional view of the cutting head of the present invention;

[0046] Figure 11 Cross-sectional view of the suction nozzle of the present invention Figure 1 ;

[0047] Figure 12 Cross-sectional view of the suction nozzle of the present invention Figure 2 ;

[0048] Figure 13 Cross-sectional view of the pressing cylinder of the present invention;

[0049] Reference numerals: 1, main body of the workbench; 11, exhaust net; 12, computing power platform window; 13, tool bin; 14, mechanical switch panel; 15, adsorption bin; 16, suction pump; 2, component area; 3, robotic arm; 4, cutting area; 5, console; 6, recognition mechanism; 61, fixed bottom rod; 62, vertical rod; 63, horizontal rod; 64, camera; 65, annular LED fill light; 7, multifunctional module; 71, housing; 72, grinding and cutting mechanism; 721, cutting head; 7211, tailstock; 72111, grinding rod chute; 72112, limiting chute; 72113, fixing groove; 7212, grinding rod; 72121, limiting block; 7213, grinding head; 7214, spring; 722, rotating shaft; 7221, rotating seat; 723, grinding motor; 73, adsorption mechanism; 731, suction nozzle; 7311, interface; 7312, suction nozzle body; 7313, suction nozzle opening; 7314, suction cup; 74, glue application mechanism; 741, glue injection head; 75, flattening mechanism; 751, pressing cylinder; 7511, air supply interface; 7512, pressing cylinder fixing plate; 7513, cylinder body; 76, electric air pump. Detailed Description of the Invention

[0050] The following details the specific implementation manners of the present invention.

[0051] The "range" disclosed by the present invention is defined in the form of a lower limit and an upper limit. A given range is defined by selecting a lower limit and an upper limit, and the selected lower limit and upper limit define the boundaries of a particular range. The range defined in this way can include or exclude the end values, and can be combined arbitrarily, that is, any lower limit can be combined with any upper limit to form a range. For example, if a range of 10 to 50 is listed for a specific parameter, it is understood that ranges of 10 to 40 and 20 to 50 are also contemplated. In addition, if the minimum range values 1 and 2 are listed, and if the maximum range values 3, 4, and 5 are listed, then the following ranges are all contemplated: 1 to 3, 1 to 4, 1 to 5, 2 to 3, 2 to 4, and 2 to 5. In this application, unless otherwise specified, the numerical range "a to b" represents an abbreviated representation of any real number combination between a and b, where a and b are both real numbers. For example, the numerical range "0 to 5" means that all real numbers between "0 to 5" have been fully listed herein, and "0 to 5" is only an abbreviated representation of these numerical combinations.

[0052] If there is no special instruction, all embodiments and optional embodiments of this application can be combined with each other to form a new technical solution.

[0053] If there is no special instruction, all technical features and optional technical features of this application can be combined with each other to form a new technical solution.

[0054] If there is no special instruction, all steps of this application can be carried out sequentially or randomly, and preferably sequentially. For example, the method includes steps (a) and (b), which means that the method can include steps (a) and (b) carried out sequentially, or can also include steps (b) and (a) carried out sequentially. For example, it is mentioned that the method may further include step (c), which means that step (c) can be added to the method in any order. For example, the method can include steps (a), (b), and (c), or can also include steps (a), (c), and (b), or can also include steps (c), (a), and (b), etc.

[0055] If there is no special instruction, the "including" and "containing" mentioned in this application mean open-ended or can also be closed-ended. For example, the "including" and "containing" can mean that other components not listed can also be included or contained, or can only include or contain the listed components.

[0056] If there is no special instruction, the reaction is carried out under normal temperature and normal pressure conditions.

[0057] If there is no special instruction, all parts or percentages are parts by weight or percentages by weight.

[0058] In the present invention, all the substances used are known substances, which can be purchased or synthesized by known methods.

[0059] In the present invention, all the devices or equipment used are conventional devices or equipment known in the field, and can be purchased.

[0060] The following further describes the specific implementation manners of a multifunctional integrated machine for ancient book restoration according to the present invention with reference to embodiments. The multifunctional integrated machine for ancient book restoration according to the present invention is not limited to the descriptions of the following embodiments.

[0061] Embodiment 1:

[0062] A multifunctional integrated machine for ancient book restoration, as Figure 1 shown, includes a workbench main body 1. A robotic arm 3 is provided at the center of the top of the workbench main body 1. A multifunctional module 7 is provided at the free end of the robotic arm 3. An original area 2 is provided on the left side of the robotic arm 3, and a cutting area 4 is provided on its right side. A control console 5 is provided on the right side of the workbench main body 1. An identification mechanism 6 is provided at the rear of the original area 2.

[0063] In a possible implementation manner, the original area 2 is used to place the ancient book pages to be repaired. The robotic arm 3 is used to control the function switching and spatial position transformation of the multifunctional module 7. The multifunctional module 7 can realize the cutting of the repair paper, the adsorption, gluing, pasting and flattening of the repair paper. The cutting area 4 is used to place the complete repair paper. The control console 5 is used for the operation of the integrated machine. The identification mechanism 6 is used for the image acquisition of the notch.

[0064] In a possible implementation manner, both the original area 2 and the cutting area 4 include an adsorption bin 15. The adsorption bin 15 is clamped on the top of the workbench main body 1. A plurality of adsorption holes are opened at the top of the adsorption bin 15. An air suction pump 16 is provided below the adsorption bin 15. The air inlet of the air suction pump 16 is communicated with the lower end of the adsorption bin 15;

[0065] Exhaust meshes 11 are provided on both the left and right sides of the workbench main body 1 for exhausting the air outlet of the air suction pump 16;

[0066] A computing power platform window 12 is provided on the front side of the robotic arm 3, and a computing power control cabinet is provided inside it. It is made of a transparent material and is used to observe the running state of the computing power platform;

[0067] A tool box 13 is provided on the rear side of the robotic arm 3 for placing additional tools;

[0068] A mechanical switch panel 14 is provided on the front side of the cutting area 4, which is connected to the integrated circuit board inside.

[0069] In a possible implementation manner, the repair paper on the cutting area 4 is cut by a grinding and cutting mechanism. A buffer sheet is provided below the repair paper. The buffer sheet is an elastic mesh structure or a textile fabric.

[0070] In a possible implementation, the console 5 includes a first bracket, and an industrial computer is provided at the upper end of the first bracket.

[0071] In a possible implementation, the recognition mechanism 6 includes a fixed bottom rod 61. A vertical rod 62 is connected to the upper end of the fixed bottom rod 61. A cross bar 63 is connected to the upper end of the vertical rod 62. A camera 64 is provided at one end of the cross bar 63 away from the vertical rod 62. An annular LED fill light 65 is provided outside the camera 64.

[0072] The fixed bottom rod 61 is disposed on the workbench surface, and both the fixed bottom rod 61 and the vertical rod 62 are of tubular structure.

[0073] In a possible implementation, the multi-functional module 7 includes a housing 71. The housing 71 is of pentagonal structure. A grinding and cutting mechanism 72, two suction nozzles of the adsorption mechanism 73, a glue injection head 741 of the glue application mechanism 74, and a pressing cylinder 751 of the flattening mechanism 75 are respectively provided on the five side surfaces of the housing 71.

[0074] An electric air pump 76 is provided on the front side of the housing 71. Two air suction nozzles and two air exhaust nozzles are provided on the electric air pump 76. The two suction nozzles of the adsorption mechanism 73 are respectively communicated with the two air suction nozzles, and the pressing cylinder 751 of the flattening mechanism 75 is communicated with one of the air exhaust nozzles.

[0075] In a possible implementation, the grinding and cutting mechanism 72 includes a cutting head 721. The rear end of the cutting head 721 is connected to a rotating shaft 722. The rear end of the rotating shaft 722 is connected to the output shaft of a grinding motor 723.

[0076] The cutting head 721 includes a tailstock 7211. A grinding rod 7212 is slidably inserted through the front end of the tailstock 7211. A grinding head 7213 is provided at the front end of the grinding rod 7212. A spring 7214 is provided at the rear end of the grinding rod 7212.

[0077] The grinding head 7213 is of spherical structure. A grinding rod chute 72111 is formed at the front end of the tailstock 7211. The rear end of the grinding rod 7212 is slidably disposed in the grinding rod chute 72111, and the spring 7214 is disposed at the rear end of the grinding rod chute 72111.

[0078] A limiting chute 72112 is formed at the front end of the grinding rod chute 72111. A limiting block 72121 is provided on the side surface of the front end of the grinding rod 7212, and the limiting block 72121 is slidably disposed in the limiting chute 72112.

[0079] A fixing groove 72113 is formed at the rear end of the tailstock 7211. The front end of the rotating shaft 722 is inserted into the fixing groove 72113 and fixed by bolts. The rear end of the rotating shaft 722 is in transmission connection with the output shaft of the grinding motor 723 through a coupling.

[0080] The tailstock 7211 is rotatably disposed on two rotating seats 7221.

[0081] In a possible implementation, the motor 723 includes an electric motor and a speed reducer.

[0082] By adopting the above technical solution:

[0083] The motor 723 drives the rotating shaft 722, which in turn drives the cutting head 721 to rotate. At the same time, during the rotation process, the grinding head 7213 continuously grinds and cuts on the patch paper, and a patch paper with rough edges can be obtained. Moreover, a spring 7214 is provided at the rear end of the grinding rod 7212 to avoid damage to the patch paper caused by excessive force during the grinding process. The structure is simple, the manufacturing and use costs of the equipment are extremely low, and it is more convenient to use.

[0084] In a possible implementation, the adsorption mechanism 73 includes two suction nozzles 71, and both suction nozzles 71 are connected to two suction ports of the electric air pump 76 through suction pipes 72;

[0085] One end of the suction nozzle 71 away from the suction pipe 72 is provided with a suction nozzle opening 713, and a suction cup 714 is provided on the suction nozzle opening 713;

[0086] An air suction hole is provided at the center of the suction cup 7314, and the air suction hole is connected to the inner cavity of the suction nozzle opening 7313;

[0087] One end of the suction nozzle opening 7313 away from the suction cup 7314 is provided with a suction nozzle body 7312, and one end of the suction nozzle body 7312 away from the suction nozzle opening 7313 is provided with an interface 7311, and the interface 7311 is hermetically connected to the suction pipe 732;

[0088] The outer diameters of the two suction cups 7314 are 0.5 - 1 cm and 1 - 2.5 cm respectively, and are used to adsorb different specifications of patches;

[0089] The suction cup 7314 and the suction nozzle opening 7313 are snap - connected through a mortise - and - tenon structure.

[0090] In a possible implementation, the outer diameters of the two suction cups 7314 are 0.5 cm and 1 cm respectively, and are used to adsorb different specifications of patches.

[0091] In a possible implementation, the outer diameters of the two suction cups 7314 are 0.8 cm and 1.5 cm respectively, and are used to adsorb different specifications of patches.

[0092] In a possible implementation, the outer diameters of the two suction cups 7314 are 1 cm and 2.5 cm respectively, and are used to adsorb different specifications of patches.

[0093] In a possible implementation, during use, for different specifications of patches, a suitable suction nozzle 731 is selected.

[0094] In a possible implementation, the glue injection mechanism 74 includes a glue injection head 741 provided on one side of the housing 71, and the glue injection head 741 is communicated with an external peristaltic pump.

[0095] In a possible implementation, the flattening mechanism 75 includes a pressing cylinder 751. The pressing cylinder 751 includes a gas supply interface 7511, a pressing cylinder fixing plate 7512, and a cylinder body 7513 arranged in sequence. The gas supply interface 7511 is communicated with the exhaust port of the electric air pump 76 through a gas supply pipe 752;

[0096] The gas supply interface 7511 and the cylinder body 7513 are respectively arranged at the centers on both sides of the pressing cylinder fixing plate 7512. Four corners of the pressing cylinder fixing plate 7512 are provided with screw holes for fixing the pressing cylinder fixing plate 7512;

[0097] Both the gas supply interface 7511 and the cylinder body 7513 are hermetically and fixedly connected to the pressing cylinder fixing plate 7512.

[0098] In a possible implementation, the cylinder body 7513 is made of rubber material.

[0099] By adopting the above technical solutions:

[0100] The pressing cylinder 751 is communicated with the electric air pump 76 through the gas supply pipe 752. The connection between the supplementary paper and the notch is flattened by the pressing cylinder 751, which greatly reduces the manpower and time, improves the efficiency of ancient book restoration, avoids finger contamination with the glue, and is cleaner and more hygienic.

[0101] In a possible implementation, the console further includes a control system, including:

[0102] An image acquisition module, configured to: perform camera calibration and correction, and capture the original above the original area in real time;

[0103] A notch processing module, configured to: perform notch recognition and notch editing;

[0104] A patch cutting module, configured to: cut out a corresponding patch in the cutting area based on the shape specifications of the selected notch;

[0105] A patch adsorption module, configured to: call the adsorption mechanism of the multi-functional module, and control the robotic arm to adsorb the cut supplementary paper;

[0106] A glue application module, configured to: call the glue application mechanism of the multi-functional module, and control the robotic arm to apply glue to the specified notch of the damaged original;

[0107] A pasting module, configured to: call the adsorption mechanism of the multi-functional module, and control the robotic arm to paste the patch on the notch where the glue has been applied;

[0108] Flattening module, configured to: call the flattening mechanism of the multi-functional module and control the robotic arm to flatten the pasted patch;

[0109] Storage module, configured to: store the photos of the original and the notch.

[0110] Furthermore, the image acquisition module is further configured to:

[0111] Adjust the position of the robotic arm to avoid blocking the original area and perform calibration based on the grid calibration paper in the original area;

[0112] Take and display 4 red ∟ limit marks in the captured picture and judge the correction status of the original area based on its integrity.

[0113] Furthermore, the notch processing module is further configured to:

[0114] Identify the position and shape specifications of the notch on the original, and adjust the notch recognition threshold to cover all notches on the whole page according to the recognition of page defects;

[0115] Select single or multiple notches to merge notches, draw notches manually, expand or shrink the notch boundaries;

[0116] The notch processing module is used to process the images captured in real time by the image acquisition module or externally input images.

[0117] Furthermore, the patch cutting module is further configured to:

[0118] Based on the shape specifications of the selected notch, control the robotic arm and call the grinding and cutting mechanism of the multi-functional module to cut out the corresponding patch in the cutting area.

[0119] Furthermore, the storage module is further configured to:

[0120] Save the book page when the notch is recognized;

[0121] Before completing the notch editing and performing an action, save the selected notch for the stored book page;

[0122] Save the information of the book pages and notch photos taken on site, imported externally, and repaired historically;

[0123] Edit the photo information and import it into an external storage device.

[0124] In a possible implementation, the control system can be applied to the following several types of cutting scenarios:

[0125] Internal scenario of the PARS system:

[0126] Cutting of books after recognizing damaged book pages on site;

[0127] Callback cropping of historically saved books (electronic files);

[0128] External file scenario:

[0129] The physical book is not on site, and it is necessary to import and crop the external book (electronic file - picture);

[0130] Recognition, import and cropping of files processed by external third-party software (such as JPG, SVG, DXF and other files transmitted back by third-party software).

[0131] In a possible implementation manner, a control method of a control system includes the following steps:

[0132] 1 Camera calibration

[0133] Place the grid calibration paper at the center of the left suction table, click the [Anti-blocking] button, the robotic arm will rotate to the right suction table without affecting the camera calibration range, then click [Camera Calibration], check that the grid in the captured picture has no distortion and no missing corners, then the calibration is completed, remove the calibration paper, and click [Reshoot].

[0134] 2 Recognition area correction

[0135] Click the [Recognition Area Correction] button, check that the 4 red ∟ limit marks in the captured picture are complete and there are no missing corners, then the correction is completed, and click [Reshoot].

[0136] 3 Configure processes and parameter packages

[0137] 1) Click [Settings] - [Configuration], and sequentially select the process and the parameter package corresponding to the paper to be repaired;

[0138] 2) The picture resolution dpi and the default resolution can be customized to facilitate the adaptation of on-site shooting or imported pictures to the target resolution;

[0139] 3) The safety height can be set in [Configuration]. After setting, the global robotic arm movement will not be lower than this height value.

[0140] 4 Notch recognition

[0141] Preparation work: Place the flexible breathable gasket above the left suction table and the right suction table, place the damaged book page above the flexible breathable gasket on the left suction table, and place the new paper above the flexible breathable gasket on the right suction table.

[0142] Click [Notch Recognition], and the red area is the recognized notch shape; the notch recognition threshold can be adjusted according to the notch recognition situation of the book page to cover all notches on the whole page.

[0143] 5 Edit notch

[0144] Single or multiple gaps can be selected, and merging gaps, freehand drawing of gaps, expanding or shrinking the gap boundaries are supported.

[0145] 1) Selecting gaps: Single or multiple red gaps can be selected, and the color of the selected gaps will change to green.

[0146] 2) Merging gaps: For two adjacent gaps, if there is an overlapping part at the edges, click [Merge Selected Gaps] to merge the two gaps into one gap.

[0147] 3) Freehand drawing of gaps: Click [Freehand Draw Gap], and gaps of any shape can be drawn freehand. Step-by-step strokes are supported. During the drawing process, [Previous Step] can be clicked to undo; or [Next Step] to restore. Note: The strokes are connected end to end. After drawing, click [Finish Freehand Drawing] to generate a closed gap shape.

[0148] 4) Expanding / shrinking the edges: Select a gap and click [Expand Boundary] or [Shrink Boundary] to expand or shrink the edge boundary. Generally, expand the edge of the gap to the required overlap size.

[0149] 5) Erasing gaps: Parts that do not need to be cut can be erased.

[0150] 5.1 Defining the boundary

[0151] The boundary of the damaged page periphery can be defined. Click [Define Boundary], and the four corner vertices of the page can be manually marked to form the outer boundary, which is convenient for cutting open gaps.

[0152] 6 Cutting

[0153] The selected gaps can be cut. Click [Cut], and the robotic arm will start cutting. During the process, pause, continue, and cancel the cutting actions can be performed.

[0154] 1) Pause: Click the [Pause] button, and the robotic arm will stop moving and hover above the center of the right suction table.

[0155] 2) Continue: Click the [Continue] button, and the robotic arm will return to the original paused position to continue cutting the remaining gap shape.

[0156] 3) Canceling the action: Click the [Cancel Cutting] button, and the robotic arm will stop moving and return to the initial position.

[0157] After cutting is completed, the robotic arm hovers above the right suction table.

[0158] 7 Adsorption

[0159] The cut supplementary paper can be adsorbed. Click [Adsorb], and the robotic arm will pick up the supplementary paper and move it to the left suction table.

[0160] 8 Gluing

[0161] Preparation - Test the glue dispensing effect:

[0162] 1) The glue needs to be prepared in advance;

[0163] 2) Click [Adjustment Tool], and then click [Open Peristaltic Pump 1], [Open Glue Pump 2], [Open Peristaltic Pump 2] in sequence;

[0164] 3) Observe that the effect of the glue bubbles at the end is stable;

[0165] 4) Click [Close Peristaltic Pump 2];

[0166] It is possible to select a specified notch of the damaged component for glue application. Click [Glue Application], and the robotic arm starts to apply glue. After the glue application is completed, the robotic arm stays above the left suction table.

[0167] 9 Pasting

[0168] It is possible to paste a repair paper on the notches where the glue has been applied. Click [Paste], and the robotic arm starts to paste. After the pasting is completed, the robotic arm stays above the left suction table.

[0169] 10 Flattening

[0170] It is possible to flatten the pasted notches. Click [Flatten], and the robotic arm starts to flatten. After the flattening is completed, the robotic arm returns to the initial position.

[0171] 11 Importing Photos

[0172] Preparation:

[0173] 1) Prepare a USB flash drive in FAT-32 format and store the photos in the specified directory folder of the USB flash drive;

[0174] 2) Import the damaged photos of the external book pages through the USB flash drive. First, insert the USB flash drive into the rear USB port of the industrial control screen, click [Settings] - [Import Photos], select the directory folder where the photos are located in the USB flash drive, click [Import]. After the import is completed, the latest imported book page photos can be viewed in [History].

[0175] 12 Storage

[0176] Store book pages: When identifying notches, the book pages can be saved;

[0177] Store notches: Before executing actions after editing the notches, for the stored book pages, the selected notches can be saved.

[0178] 13 History

[0179] Click [History] to view the information of the saved on-site photos, externally imported photos, and historical repaired book pages and notch photos.

[0180] This system also has the following functions:

[0181] Version upgrade: Click [Settings] - [Version upgrade], and you can select [USB flash drive upgrade] or [Automatic update]. After the update is completed, you can view the latest version number in the version upgrade module.

[0182] Adjustment tool: The adjustment tool can turn the tool on and off, and can adjust the speed values of the peristaltic pump, glue injection pump, and cutting motor; it supports adjusting the brightness of the fill light; it supports adjusting the suction force of the left and right adsorption platforms; it supports adjusting the brightness of the fill light.

[0183] Adjust offset: It supports offset compensation for the tool coordinate system position in the five steps of cutting, adsorption, gluing, pasting, and flattening, so that the adjusted position is more accurate.

[0184] This system also includes an adaptive cutting mode: Turn on this mode and set different parameters to achieve height-adaptive fluctuating cutting.

[0185] In a possible implementation manner, the functions of the control system are shown in the following table:

[0186]

[0187]

[0188] The above content is a further detailed description of the present invention in combination with specific preferred implementation manners. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention belongs, without departing from the concept of the present invention, several simple deductions or substitutions can still be made, and all should be regarded as belonging to the protection scope of the present invention.

Claims

1. A multi-functional integrated machine for ancient book restoration, characterized in that: It includes a workbench main body (1), at the center of the top of the workbench main body (1) there is a robotic arm (3), at the free end of the robotic arm (3) there is a multi-functional module (7), on the left side of the robotic arm (3) there is a component area (2), on its right side there is a cutting area (4), on the right side of the workbench main body (1) there is a control console (5), and behind the component area (2) there is an identification mechanism (6).

2. The multifunctional integrated machine for ancient book restoration according to claim 1, characterized in that: The component area (2) is used to place the ancient book pages to be repaired, the robotic arm (3) is used to control the function switching and spatial position transformation of the multi-functional module (7), the multi-functional module (7) can realize the cutting of the repair paper, the adsorption of the repair paper, gluing, pasting and flattening, the cutting area (4) is used to place the complete repair paper, the control console (5) is used for the operation of the integrated machine, and the identification mechanism (6) is used for image acquisition of the notch.

3. The multifunctional integrated machine for ancient book restoration according to claim 1, wherein: Both the component area (2) and the cutting area (4) include an adsorption bin (15), the adsorption bin (15) is clamped on the top of the workbench main body (1), several adsorption holes are opened at the top of the adsorption bin (15), and an air suction pump (16) is arranged below the adsorption bin (15), and the air inlet of the air suction pump (16) is connected to the lower end of the adsorption bin (15); Exhaust nets (11) are arranged on both the left and right sides of the workbench main body (1) for exhausting the air outlet of the air suction pump (16); In front of the robotic arm (3) there is a computing power platform window (12), and inside it there is a computing power control cabinet, which is made of transparent material for observing the operation state of the computing power platform; Behind the robotic arm (3) there is a tool box (13) for placing additional tools; In front of the cutting area (4) there is a mechanical switch panel (14), which is connected to the integrated circuit board inside.

4. The multifunctional integrated machine for ancient book restoration according to claim 1, wherein: The control console (5) includes a first bracket, and an industrial computer is arranged at the upper end of the first bracket.

5. The multifunctional integrated machine for ancient book restoration according to claim 1, characterized in that: The identification mechanism (6) includes a fixed bottom rod (61), at the upper end of the fixed bottom rod (61) there is a vertical rod (62) connected, at the upper end of the vertical rod (62) there is a cross bar (63) connected, at one end of the cross bar (63) far from the vertical rod (62) there is a camera (64), and outside the camera (64) there is an annular LED fill light (65); The fixed bottom rod (61) is arranged on the workbench surface, and both the fixed bottom rod (61) and the vertical rod (62) adopt tubular structures.

6. The multifunctional all-in-one machine for ancient book restoration according to claim 1, wherein: The multi-functional module (7) includes a housing (71), the housing (71) adopts a pentagonal structure, and on the five side surfaces of the housing (71) there are respectively a grinding and cutting mechanism (72), two suction nozzles of the adsorption mechanism (73), a glue injection head (741) of the gluing mechanism (74), and a pressing cylinder (751) of the flattening mechanism (75); In front of the housing (71) there is an electric air pump (76), on the electric air pump (76) there are two air extraction nozzles and two air exhaust nozzles, the two suction nozzles of the adsorption mechanism (73) are respectively connected to the two air extraction nozzles, and the pressing cylinder (751) of the flattening mechanism (75) is connected to one of the air exhaust nozzles.

7. The multifunctional integrated machine for ancient book restoration according to claim 6, characterized in that: The grinding and cutting mechanism (72) comprises a cutting head (721), the rear end of the cutting head (721) is connected to a rotating shaft (722), and the rear end of the rotating shaft (722) is connected to an output shaft of a grinding motor (723); The cutting head (721) comprises a tailstock (7211), a grinding rod (7212) is slidably inserted through the front end of the tailstock (7211), a grinding head (7213) is provided at the front end of the grinding rod (7212), and a spring (7214) is provided at the rear end of the grinding rod (7212); The grinding head (7213) adopts a spherical structure; the front end of the tailstock (7211) is provided with a grinding rod slide groove (72111), the rear end of the grinding rod (7212) is slidably arranged in the grinding rod slide groove (72111), and the spring (7214) is arranged at the rear end of the grinding rod slide groove (72111); A limiting slide groove (72112) is provided at the front end of the grinding rod slide groove (72111), and a limiting block (72121) is provided on the side of the front end of the grinding rod (7212), and the limiting block (72121) is slidably arranged in the limiting slide groove (72112); The rear end of the tailstock (7211) is provided with a fixing groove (72113), the front end of the rotating shaft (722) is inserted into the fixing groove (72113) and fixed by bolts, and the rear end of the rotating shaft (722) is drivingly connected to the output shaft of the grinding motor (723) through a coupling; The tailstock (7211) is rotatably mounted on two rotating seats (7221).

8. The multifunctional integrated machine for ancient book restoration according to claim 6, wherein: The adsorption mechanism (73) comprises two suction nozzles (71), and the two suction nozzles (71) are both connected to two suction ports of the electric air pump (76) through a suction pipe (72); A suction nozzle opening (713) is provided at one end of the suction nozzle (71) away from the suction pipe (72), and a suction cup (714) is provided on the suction nozzle opening (713); An air suction hole is provided at the center of the suction cup (7314), and the air suction hole is connected to the inner cavity of the suction nozzle (7313); A suction nozzle body (7312) is provided at one end of the suction nozzle opening (7313) away from the suction cup (7314), and an interface (7311) is provided at one end of the suction nozzle body (7312) away from the suction nozzle opening (7313), and the interface (7311) is sealedly connected to the suction pipe (732); The outer diameters of the two suction cups (7314) are 0.5-1 cm and 1-2.5 cm respectively, and are used to absorb patches of different specifications respectively; The suction cup (7314) and the suction nozzle (7313) are connected by a mortise and tenon structure.

9. The multifunctional integrated machine for ancient book restoration according to claim 1, wherein: The glue injection mechanism (74) comprises a glue injection head (741) arranged on a side surface of the housing (71), and the glue injection head (741) is connected to an external peristaltic pump.

10. The multi-functional integrated machine for ancient book restoration according to claim 1, characterized in that: The flattening mechanism (75) comprises a pressing cylinder (751), and the pressing cylinder (751) comprises an air supply interface (7511), a pressing cylinder fixing plate (7512) and a cylinder body (7513) which are arranged in sequence, and the air supply interface (7511) is connected to the exhaust port of the electric air pump (76) through an air supply pipe (752); The air supply interface (7511) and the cylinder body (7513) are respectively arranged at the centers on both sides of the pressing cylinder fixing plate (7512), and screw holes are provided at the four corners of the pressing cylinder fixing plate (7512) for fixing the pressing cylinder fixing plate (7512); Both the air supply interface (7511) and the cylinder body (7513) are hermetically and fixedly connected to the pressing cylinder fixing plate (7512).

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