Stone cultural relic repairing device
The integration of a climbing robot and controlled injection system for microorganism-induced calcium carbonate formation addresses the lack of effective M I CP technology in stone artifact restoration, improving efficiency and quality while maintaining stone integrity and breathability.
Patent Information
- Application Number
- CN202421614431.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-09
- Publication Date
- 2025-07-15
- Estimated Expiration
- 2034-07-09
AI Technical Summary
The lack of cultural relics restoration devices with integrated microbial induced calcium carbonate deposition (M I CP) technology in the prior art limits its application breadth and efficiency in the field of stone cultural relics restoration.
A stone cultural relics restoration device was designed, including a flying robot, a stone sand storage box, a microbial bacterial fluid storage box, a telescopic injection device, a controller and a remote control. The precise injection of microbial bacterial fluid and stone sand is achieved through automated control, and calcium carbonate crystals with good compatibility with stone are generated for repair.
It improves the efficiency and quality of stone cultural relics restoration, reduces manual operation, and the generated calcium carbonate crystals are compatible with the stone, and have a certain breathability after repair. The device structure is flexible and easy to maintain and clean.
Smart Images
Figure CN223102907U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of cultural relics restoration, in particular to a stone cultural relic restoration device. Background Art
[0002] As an important carrier of human history and culture, the preservation and restoration of stone cultural relics has always been an important topic in the field of cultural relic protection. Traditional methods of restoring stone cultural relics mainly include the use of various filling materials for physical reinforcement, such as lime, polymer synthetic resin, etc., but these methods have many shortcomings. These include the mismatch between the physical and chemical properties of the materials and the original stone, resulting in differences in the appearance and structure of the restored cultural relics from the original stone base, and secondary damage may also occur in the long term due to aging and weathering of the materials.
[0003] In recent years, with the application and development of microbial technology in many fields, people have gradually realized the potential value of microorganisms in the restoration process of stone materials. In particular, through the microbial induced calcium carbonate deposition (Microplasm) technology, urease produced during microbial metabolism is used to decompose urea, triggering carbonate ions to react with metal cations to form calcium carbonate crystals, thereby achieving the purpose of repairing stone cultural relics. Microplasm not only provides a repair material with good compatibility with stone and strong durability, but also the product of the process is non-toxic and harmless, and is environmentally friendly, providing a new environmentally friendly option for the restoration of stone cultural relics.
[0004] Although the potential of MI CP technology has been recognized, there is currently no cultural relic restoration device on the market that effectively integrates this technology. The lack of such a device limits the breadth and efficiency of the application of MI CP technology in the field of cultural relic restoration.
[0005] The disclosure of the above background technology content is only used to assist in understanding the concept and technical solution of the utility model. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Utility Model Content
[0006] The present application provides a stone cultural relic restoration device, which effectively integrates MI CP technology and is conducive to improving the efficiency and quality of stone cultural relic restoration.
[0007] In order to achieve the above purpose, this application adopts the following technical solutions:
[0008] A stone cultural relic restoration device includes a flying and climbing robot, a stone sand storage tank, a microbial liquid storage tank, a telescopic injection device, a controller and a remote control. The stone sand storage tank has a sand filling port and a sand outlet, and a sand outlet solenoid valve is arranged at the sand outlet. The microbial liquid storage tank has a liquid inlet and a liquid outlet, and a liquid outlet solenoid valve is arranged at the liquid outlet. The input end of one telescopic injection device is communicated with the output port of the sand outlet solenoid valve, and the input end of the other telescopic injection device and the output port of the liquid outlet solenoid valve are communicated. The controller is electrically connected to the flying and climbing robot, the sand outlet solenoid valve, the liquid outlet solenoid valve and the telescopic injection device. The remote control is wirelessly communicatively connected to the controller.
[0009] In the embodiment of the present application, the flying and climbing robot is responsible for moving and positioning. The controller receives instructions through the remote control and controls the opening and closing of the sand outlet solenoid valve and the liquid outlet solenoid valve. The telescopic injection device is responsible for accurately injecting the stone sand and the microbial liquid into the damaged part to achieve restoration. In addition, the stone cultural relic restoration device has a high degree of automation, can reduce manual operation and improve the restoration efficiency. In addition, with the MICP technology, the final gelling product (calcium carbonate) has good compatibility with the stone, the viscosity of the microbial liquid and the nutrient salt solution is low and is convenient for penetration, and there is still a certain degree of air permeability after restoration. The telescopic design can make the injection position more flexible to adapt to various complex environments.
[0010] In some possible implementation manners, the stone sand storage tank and the microbial liquid storage tank are installed on the top surface of the flying and climbing robot. The telescopic injection device connected to the output port of the sand outlet solenoid valve is rotatably connected to the outer wall surface of one side of the stone sand storage tank, and the telescopic injection device connected to the output port of the liquid outlet solenoid valve is rotatably connected to the outer wall surface of one side of the microbial liquid storage tank. In this way, the layout is more reasonable and is beneficial to providing the stability of the device.
[0011] In some possible implementation manners, a first pressurized air inlet is opened on the stone sand storage tank, a first pressurized pump is arranged on the outer wall surface of the stone sand storage tank, and the output end of the first pressurized pump is communicated with the first pressurized air inlet; the first pressurized pump is electrically connected to the controller;
[0012] A second pressurized air inlet is opened on the microbial liquid storage tank, a second pressurized pump is arranged on the outer wall surface of the microbial liquid storage tank, the output end of the second pressurized pump is communicated with the second pressurized air inlet, and the second pressurized pump is electrically connected to the controller. In this way, the first pressurized pump and the second pressurized pump can be started through the controller to press gas into the box body through the pressurized air inlet, push the stone sand and the microbial liquid to flow, avoid blockage or insufficient flow, make the injection process smoother, and improve the restoration efficiency.
[0013] In some possible embodiments, the retractable injection device includes: a liquid inlet chamber, a liquid injection pipeline, and a retractable injection tube. The liquid inlet chamber has an input port and an output port; one end of the liquid injection pipeline is communicated with the output port of the liquid inlet chamber; the retractable injection tube is communicated with the other end of the liquid injection pipeline; the input port of the liquid inlet chamber of the retractable injection device connected to the sand discharge solenoid valve is communicated with the output port of the sand discharge solenoid valve; the input port of the liquid inlet chamber of the retractable injection device connected to the liquid discharge solenoid valve is communicated with the output port of the liquid discharge solenoid valve.
[0014] In this way, the sand and microbial liquid can be received from the sand discharge solenoid valve and the liquid discharge solenoid valve through the liquid inlet chamber, the mixture can be transported to the retractable injection tube through the liquid injection pipeline, and the retractable injection tube injects the mixture into the damaged part.
[0015] In some possible embodiments, the input ports of the liquid inlet chambers of the two retractable injection devices are respectively detachably communicated with the output port of the sand discharge solenoid valve and the output port of the liquid discharge solenoid valve. In this way, connection or disconnection can be carried out as needed, which improves the flexibility of the device, facilitates the operation and cleaning by the operator, and prolongs the service life of the device.
[0016] In some possible embodiments, a micro camera is installed on the outer wall surface of the retractable injection tube, and the micro camera is electrically connected to the controller. The micro camera provides real-time image feedback to help the operator precisely control the injection position and process.
[0017] In some possible embodiments, the micro camera is integrated with a vision sensor and a lighting device. The vision sensor can enhance the image acquisition effect, and the lighting device can provide sufficient light source. In this way, clear images can be obtained under various light conditions.
[0018] In some possible embodiments, the stone cultural relic restoration device further includes a panoramic camera, which is installed on the flying and crawling robot and is electrically connected to the controller. In this way, a panoramic view can be provided to monitor the entire operation environment in real time.
[0019] In some possible embodiments, the controller is a single-chip microcomputer or a microcomputer terminal. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the description of the embodiments or the prior art. It should be understood that in all the drawings, the same reference numerals represent the same elements. In the drawings, for the sake of clarity and convenience of understanding, the dimensions of some features may be deformed.
[0021] Figure 1Structural schematic diagram of a stone cultural relic restoration device provided by some embodiments of the present application;
[0022] Figure 2 For Figure 1 Schematic diagram of the electrical connection relationship of the stone cultural relic restoration device shown;
[0023] Figure 3 For Figure 1 Enlarged view of the circled part at A of the stone cultural relic restoration device shown;
[0024] Figure 4 For Figure 1 Enlarged view of the circled part at B of the stone cultural relic restoration device shown.
[0025] Explanation of reference numerals:
[0026] 1. Flying and crawling robot; 2. Stone sand storage tank; 21. Sand outlet solenoid valve; 22. First pressure pump; 3. Microbial liquid storage tank; 31. Liquid outlet solenoid valve; 32. Second pressure pump; 4. Telescopic injection device; 41. Liquid inlet chamber; 42. Liquid injection pipeline; 43. Telescopic injection tube; 431. Micro camera; 5. Panoramic camera; 6. Controller; 7. Remote control. Detailed implementation manners
[0027] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0028] It should be noted that in the description of the present utility model, the terms indicating directions or positional relationships such as "in", "on", "under", "horizontal", "inside", etc. are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model.
[0029] In addition, it should be noted that in the description of the present utility model, unless otherwise clearly defined and limited, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.
[0030] Please refer to Figure 1 and combine with Figure 2 , an embodiment of the present application provides a stone cultural relic restoration device, which includes a flying and crawling robot 1, a stone sand storage tank 2, a microbial liquid storage tank 3, a telescopic injection device 4, a controller 6 and a remote controller 7. The stone sand storage tank 2 has a sand adding port and a sand discharging port, and a sand discharging solenoid valve 21 is arranged at the sand discharging port. The microbial liquid storage tank 3 has a liquid inlet and a liquid outlet, and a liquid discharging solenoid valve 31 is arranged at the liquid outlet. The input end of one telescopic injection device 4 is communicated with the output port of the sand discharging solenoid valve 21, and the input end of the other telescopic injection device 4 and the output port of the liquid discharging solenoid valve 31 are communicated. The controller 6 is electrically connected to the flying and crawling robot 1, the sand discharging solenoid valve 21, the liquid discharging solenoid valve 31 and the telescopic injection device 4. The remote controller 7 is wirelessly communicatively connected to the controller 6.
[0031] Among them, the flying and crawling robot 1 is responsible for moving and positioning. The controller 6 receives instructions through the remote controller 7 to control the opening and closing of the sand discharging solenoid valve 21 and the liquid discharging solenoid valve 31. The telescopic injection device 4 is responsible for accurately injecting the stone sand and the microbial liquid into the damaged part to achieve restoration. In addition, the stone cultural relic restoration device has a high degree of automation, can reduce manual operation, and improve the restoration efficiency. In addition, using the Microbially Induced Carbonate Precipitation (hereinafter referred to as MICP) technology, the final gelling product (calcium carbonate) has good compatibility with the stone, the viscosity of the microbial liquid and the nutrient salt solution is low and is convenient for penetration, and it still has a certain air permeability after restoration. Its mechanism can be simply understood as follows: the carbonate ions produced by the hydrolysis of urea by the urease produced by the microorganism combine with calcium ions to mineralize and generate calcium carbonate crystals. The telescopic design can make the injection position more flexible to adapt to various complex environments.
[0032] Please refer to Figure 1 , in some embodiments, the stone sand storage tank 2 and the microbial liquid storage tank 3 are installed on the top surface of the flying and crawling robot 1. The telescopic injection device 4 connected to the output port of the sand discharging solenoid valve 21 is rotatably connected to the outer wall surface of one side of the stone sand storage tank 2, and the telescopic injection device 4 connected to the output port of the liquid discharging solenoid valve 31 is rotatably connected to the outer wall surface of one side of the microbial liquid storage tank 3. In this way, the layout is more reasonable, which is beneficial to improving the stability of the device.
[0033] Please refer to Figure 3 and combine with Figure 4 , in some embodiments, a first pressurized air inlet is opened on the stone sand storage tank 2, and a first pressurized pump 22 is arranged on the outer wall surface of the stone sand storage tank 2. The output end of the first pressurized pump 22 is communicated with the first pressurized air inlet; the first pressurized pump 22 is electrically connected to the controller 6;
[0034] A second pressurized air inlet is formed in the microbial liquid storage tank 3, and a second pressurized pump 32 is arranged on the outer wall surface of the microbial liquid storage tank 3. The output end of the second pressurized pump 32 is communicated with the second pressurized air inlet, and the second pressurized pump 32 is electrically connected with the controller 6. In this way, the first pressurized pump 22 and the second pressurized pump 32 can be started through the controller 6 to press gas into the box body through the pressurized air inlet, so as to promote the flow of stone sand and microbial liquid, avoid blockage or insufficient flow, make the injection process smoother, and improve the repair efficiency.
[0035] Please refer to Figure 3 , in some embodiments, the retractable injection device 4 includes: a liquid inlet chamber 41, a liquid injection pipeline 42, and a retractable injection tube 43. The liquid inlet chamber 41 has an input port and an output port; one end of the liquid injection pipeline 42 is communicated with the output port of the liquid inlet chamber 41; the retractable injection tube 43 is communicated with the other end of the liquid injection pipeline 42; the input port of the liquid inlet chamber 41 of the retractable injection device 4 connected to the sand outlet solenoid valve 21 is communicated with the output port of the sand outlet solenoid valve 21 through a hose; the input port of the liquid inlet chamber 41 of the retractable injection device 4 connected to the liquid outlet solenoid valve 31 is communicated with the output port of the liquid outlet solenoid valve 31 through a hose. In this way, the stone sand and microbial liquid from the sand outlet solenoid valve 21 and the liquid outlet solenoid valve 31 can be received through the liquid inlet chamber 41, the mixture can be transported to the retractable injection tube 43 through the liquid injection pipeline 42, and the retractable injection tube 43 injects the mixture into the damaged part.
[0036] Please refer to Figure 1 , in some embodiments, the input ports of the liquid inlet chambers 41 of the two retractable injection devices 4 are detachably communicated with the output port of the sand outlet solenoid valve 21 and the output port of the liquid outlet solenoid valve 31 respectively through hoses. In this way, connection or disconnection can be carried out according to needs, the flexibility of the device is improved, it is convenient for the operator to carry out maintenance and cleaning, and the service life of the device is prolonged.
[0037] Please refer to Figure 1 , in some embodiments, a micro camera 431 is installed on the outer wall surface of the retractable injection tube 43, and the micro camera 431 is electrically connected with the controller 6. The micro camera 431 provides real-time image feedback to help the operator accurately control the injection position and process.
[0038] On the basis of the above embodiments, the micro camera 431 is integrated with a vision sensor and a lighting device. The vision sensor can enhance the image acquisition effect, and the lighting device can provide sufficient light source. In this way, clear images can be obtained under various light conditions.
[0039] Please refer to Figure 1, in some embodiments, the stone cultural relic restoration device further includes a panoramic camera 5, which is installed on the flying and climbing robot 1 and electrically connected to the controller 6. In this way, a panoramic view can be provided to monitor the entire operating environment in real time.
[0040] During use, the flying and climbing robot 1 flies to the target restoration position through its own rotor assembly, and then combines its own electric suction cup to stably position the flying and climbing robot 1 at the damaged part. The damaged part is observed through the micro camera 431, and the injection device is adjusted to a suitable position. The microbial bacterial liquid and stone sand are injected into the damaged part through the pressure pump to ensure that the two react in the damaged part to form calcium carbonate crystals. After the restoration is completed, the robot switches to the flight mode or the crawling mode and returns to the initial position.
[0041] The above description of the present invention and its implementation manners is not restrictive. What is shown throughout the text is only one of the implementation manners of the present invention, and the actual structure is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and, without departing from the gist of the creation of the present invention, design similar structural modes and embodiments to this technical solution without creative efforts, they shall fall within the protection scope of the present invention.
Claims
1. A stone cultural relic restoration device, characterized in that, Including: A flying and climbing robot (1); A stone sand storage tank (2), the stone sand storage tank (2) having a sand adding port and a sand discharging port, and a sand discharging solenoid valve (21) being arranged at the sand discharging port; A microbial liquid storage tank (3), the microbial liquid storage tank (3) having a liquid inlet and a liquid outlet, and a liquid discharging solenoid valve (31) being arranged at the liquid outlet; Two retractable injection devices (4), the input end of one of the retractable injection devices (4) being communicated with the output port of the sand discharging solenoid valve (21), and the input end of the other retractable injection device (4) being communicated with the output port of the liquid discharging solenoid valve (31); A controller (6), the controller (6) being electrically connected to the flying and climbing robot (1), the sand discharging solenoid valve (21), the liquid discharging solenoid valve (31) and the retractable injection device (4); A remote controller (7), the remote controller (7) being wirelessly communicatively connected to the controller (6).
2. The stone cultural relic restoration device according to claim 1, characterized in that The stone sand storage tank (2) and the microbial liquid storage tank (3) are installed on the top surface of the flying and climbing robot (1), and the retractable injection device (4) connected to the output port of the sand discharging solenoid valve (21) is rotatably connected to an outer wall surface of one side of the stone sand storage tank (2), and the retractable injection device (4) connected to the output port of the liquid discharging solenoid valve (31) is rotatably connected to an outer wall surface of one side of the microbial liquid storage tank (3).
3. The stone cultural relic restoration device according to claim 1, characterized in that, A first pressurized air inlet is formed in the stone sand storage tank (2), and a first pressurized pump (22) is arranged on the outer wall surface of the stone sand storage tank (2), the output end of the first pressurized pump (22) being communicated with the first pressurized air inlet; the first pressurized pump (22) is electrically connected to the controller (6); A second pressurized air inlet is formed in the microbial liquid storage tank (3), and a second pressurized pump (32) is arranged on the outer wall surface of the microbial liquid storage tank (3), the output end of the second pressurized pump (32) being communicated with the second pressurized air inlet, and the second pressurized pump (32) is electrically connected to the controller (6).
4. The stone cultural relic restoration device according to claim 3, characterized in that, The retractable injection device (4) includes: A liquid inlet chamber (41), the liquid inlet chamber (41) having an input port and an output port; A liquid injection pipeline (42), one end of the liquid injection pipeline (42) being communicated with the output port of the liquid inlet chamber (41); A retractable injection tube (43), the retractable injection tube (43) being communicated with the other end of the liquid injection pipeline (42); the input port of the liquid inlet chamber (41) of the retractable injection device (4) connected to the sand discharging solenoid valve (21) is communicated with the output port of the sand discharging solenoid valve (21); the input port of the liquid inlet chamber (41) of the retractable injection device (4) connected to the liquid discharging solenoid valve (31) is communicated with the output port of the liquid discharging solenoid valve (31).
5. The stone cultural relic restoration device according to claim 4, characterized in that, The input ports of the liquid inlet chambers (41) of the two retractable injection devices (4) are detachably communicated with the output port of the sand discharging solenoid valve (21) and the output port of the liquid discharging solenoid valve (31) respectively.
6. The stone cultural relic restoration device according to claim 4, wherein, A micro camera (431) is mounted on the outer wall surface of the telescopic injection tube (43), and the micro camera (431) is electrically connected to the controller (6).
7. The stone cultural relic restoration device according to claim 6, characterized in that, The micro camera (431) is integrated with a vision sensor and a lighting device.
8. A stone cultural relic restoration device according to any one of claims 1-7, characterized in that, It further includes a panoramic camera (5), the panoramic camera (5) is mounted on the flying and climbing robot (1), and the panoramic camera (5) is electrically connected to the controller (6).
9. A stone cultural relic restoration device according to any one of claims 1-7, characterized in that, The controller (6) is a single-chip microcomputer or a microcomputer terminal.