CN104875208A - Calligraphy robot - Google Patents
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- CN104875208A CN104875208A CN201510319874.8A CN201510319874A CN104875208A CN 104875208 A CN104875208 A CN 104875208A CN 201510319874 A CN201510319874 A CN 201510319874A CN 104875208 A CN104875208 A CN 104875208A
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- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000013519 translation Methods 0.000 claims abstract description 9
- 238000004364 calculation method Methods 0.000 claims abstract description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 210000002310 elbow joint Anatomy 0.000 claims description 2
- 210000000323 shoulder joint Anatomy 0.000 claims description 2
- 210000003857 wrist joint Anatomy 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 claims 1
- 230000000087 stabilizing effect Effects 0.000 claims 1
- 230000006870 function Effects 0.000 abstract description 2
- 238000001179 sorption measurement Methods 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 238000013461 design Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The invention relates to a calligraphy robot which structurally comprises a mechanical arm, a soft-point writing pen, a pressure sensor, a continuous ink supply pipe, a negative-pressure adsorption and fixation paper plane and personal computer software, wherein the mechanical arm comprises three horizontal rotating shafts and one vertical moving shaft which adopt a series connection structure, the rotating shafts are all driven by a stepper motor and a multi-stage synchronous belt, and the vertical moving shaft which is a translation shaft is driven by a guide rail screw rod; the pressure sensor senses and controls the intensity of the soft pen; ink supply is continuously performed on the basis of a capillary principle; an embedded processor is adopted to form a motion controller, and the repeated positioning accuracy is smaller than 0.1 mm; the motion controller and a motor power driving circuit are embedded into the mechanical arm, and an external control cabinet is not needed; the mechanical arm is connected with a computer through a USB, and writes under control of the personal computer software. The personal computer software comprises typesetting and editing, a character library, character pattern analysis, path data calculation and the like, operation is simple and convenient for a user, and learning is not needed. The calligraphy robot is light in overall structure, low in manufacture cost and suitable for office and home use and has powerful functions.
Description
Technical field
The present invention relates to a kind of calligraphy robot.
Background technology
Chinese character calligraphy has special culture, artistic value, contains civilization and the national sentiments of China.Although Chinese calligraphy has developed more than 2000, replaced by the word that computer printout exports at nearest more than 20 years.The word of printer output only has letter symbol meaning, contacts never again with culture and arts.In recent years there is many calligraphy Robot Design thinkings, mentality of designing has all compared science, but still have larger defect in technology realizes, be thus difficult to extensive use.Existing calligraphy Robot Design scheme has: 1, use standard industrial robot to do executing agency; 2, the engraving machine structure with three translation shafts is used to do executing agency; 3, the Multi-shaft mechanical arm of servo driving is used to do executing agency.Industrial robot uses servomotor to add accurate retarding machine and drives, and precision is high, speed is fast, wrist high flexible, but price at least 10 ten thousand yuan rises, and can only demonstrate.The calligraphy robot volume of similar engraving machine structure is large, heavy, speed is slow, price is also higher, is difficult to be placed on desktop work, can not be widely used in family, office environment.And very large with the low error of mechanical arm precision of servo driving, and because the characteristic word-base data programing work amount of steering wheel is very big as, toy can only be orientated.Therefore be necessary that design one is cheap, excellent performance, precision are high and long-lived calligraphy robot, its using method should with existing printer class seemingly, output should have artistic level, and can be accepted by most of family, office, be positioned over desktop and export instrument as daily word.
Summary of the invention
The present invention's design achieves a high-performance 4DOF calligraphy robot driven by stepper motors.Stepper motor has the advantages that structure is simple, stable and reliable for performance, precision is high, and the driver of stepper motor is reliable and stable equally, and microminiaturizedly can embed motor internal.Mechanical arm 12-24 lies prostrate low-voltage power supply, and average electrical power is less than 50 watts, can powered battery.Repetitive positioning accuracy is high, and error is less than 0.1 millimeter.
Calligraphy robot architecture: be that 3 rotating shaft tandems horizontally rotate mechanical arm, end adds a vertical direction translation shaft.Wherein shoulder joint 1, elbow joint 3 and wrist joint 5 are all made up of stepper motor 13, synchronous pulley reduction gearing mechanism 14; Translation shaft 6 is made up of stepper motor 16, guide rail 18, ball lead screw drive mechanism 19.Soft nib lettering pen 9 is fixed on translation shaft 6, pen is connected with ink-feed channel 4.A pressure sensor 8 is housed, in order to perception, the dynamics controlling nib between translation shaft and lettering pen fixture.A limit switch 26 is respectively housed, for initializing location in one end of each axle.The base of calligraphy robot is designed with territory, paper placement area 11, bottom paper placement area, has array of orifices 10, fixed and smooth paper by negative pressure of vacuum to a certain degree.Negative pressure of vacuum is produced by ventilating fan 12, air duct.
The motion controller that high speed inserted computer is formed controls manipulator motion.Motion controller and analog line driver are embedded into mechanical arm inside, and mechanical arm does not need independent switch board.PC is by USB data line and calligraphy robot communication, and sending controling instruction is to mechanical arm, and manipulator motion controller does corresponding actions according to instruction, carries out interpolation operation, moves to assigned address, and sends status information to PC.The softwares such as PC end mounting equipment driving program, special character library, export to calligraphy robot by sending instruction after Word layout.The path data of each word is calculated by PC end software, and its method extracts font and stroke information according to word-base data, in conjunction with calligraphy wield the pen rule, export font size and calculate path order, key point XYZ coordinate value.
The invention has the beneficial effects as follows: 1, by the mechanical arm of arm action design during simulation person writing's writing brush, it is scientific and reasonable for structure, and precision is high, sturdy and durable and cost is low, is easy to extensive use; 2, mechanical arm uses inserted computer to take exercises controller, interpolation arithmetic accurately fast, efficient stable, to control and drive system is microminiaturized, energy saving, can powered battery; 3, PC end software function is powerful, can analyze Chinese character stroke structure, understands the various skills of wieling the pen under different fonts situation, and calculates the robot path data of Chinese character based on this, is the artistic soul of calligraphy robot.Only font, editing and composing and exportable, easy to use need be selected by Word in user's use procedure.Above beneficial effect make this calligraphy robot have very high performance small volume and less weight is inexpensive again, be applicable to entering family and office application.
Accompanying drawing explanation
The mechanical construction drawing comprised in the following drawings all belongs to illustrative nature, and for illustration of operation principle of the present invention, dimensions of mechanical structures, mounting structure, connected mode etc. can flexible design, and the present invention is by the restriction of diagram machine driving dimensional structure.
Fig. 1: calligraphy robot general effect figure
Fig. 2: calligraphy robot front view
Fig. 3: joint transmission structure chart
Fig. 4: pressure sensor front view
Fig. 5: pressure sensor design sketch
Fig. 6: software module figure
Detailed description of the invention
The mechanical arm size of calligraphy robot and human arm similar, large arm 1 is long 250 millimeters, long 250 millimeters of forearm 3, long 80 millimeters of arm 5, perpendicular displacement axes 6 stroke 80 millimeters.Reduction gear ratio is the highest translational speed that can reach 1 metre per second (m/s) when being 30: 1.Calculate according to the repetitive positioning accuracy of 0.1 millimeter during design, the application for calligraphy action is enough.
The operation of calligraphy robot is realized by PC end software and the work of mechanical arm end software collaboration.PC end software comprises device driver, slot man system, fontlib and character library to movement code conversion program.Mechanical arm end software is exactly the three-dimensional interpolation operation program of inserted computer.Computer is communicated by usb signal line with mechanical arm.
Slot man system and general Word do not have difference, add writing speed setting.Fontlib comprises multiple fonts, and wherein general font such as the Song typeface, regular script, running hand, the tablet of Wei Dynasty etc. are directly obtained by the character library conversion of PC, and famous expert's fontlib that design can be required special according to application is in addition as the character library of the king legendary ruler of great antiquity, the first of the Three August Ones.Movement code conversion program extracts character shape coding, analyzes character form structure, obtains the order of strokes of Chinese character; Three-dimensional motion control data is generated again according to the wieling the pen of different fonts, skill of rising and falling.Software support user preference is arranged, and can be set by the user the feature of oneself, each font can be finely tuned according to the hobby of user on former font basis, forms the user personality font differed from one another.Movement code conversion program can carry out freely playing of controllable degree according to the rule determined in addition, and allowing each to export the stroke write out has change at random amount, avoids thousand times without exception.
Manipulator motion controller receives movement instruction by usb bus, carries out interpolation calculation, then exports to the step actuator control signal of 4 axles, and four rotating shaft interlocks of driving machine mechanical arm, make mechanical arm navigate to impact point according to the speed of directives prescribe.This motion controller algorithm is accurately efficient, can unnecessary encoder feedback, because the light little load torque of structure is low, does not lose step situation occur by widely applying test.The real-time home position information of motion controller to data/address bus to computer end software.
Mechanical arm perpendicular displacement axes is equipped with pressure sensor and soft pen.Pressure sensor 8 sets the Flexible change scope of 2 millimeters (can set 0.1 to 6 millimeters of scopes), touches paper dynamics by pressure sensor senses, the font lines output quality that therefore can maintain a long-term stability.Pressure sensor is made up of pressure regulating spring 33, slip strong magnet 34, fixing Hall element 31 3 part, knob 32 adjustable springs setting pressure sensitive range, the magnetic field that Hall element accepts fixed magnet produces the signal of telecommunication, passes to inserted computer by linear amplifier.Each pressure sensor could outputting standard signal after needing demarcation.
Soft pen is by ink feed conduits 4 continuous ink feeding.Continuous ink feeding adopts capillary principle, by caliber, length, the difference in height of suitable designed channel, can realize uniform and stable lasting ink supply effect.Nib, pipe design are structure easy to assemble, are convenient for changing.
The base of calligraphy robot with put paper apparatus one, paper placement area 11 design size 430*300 millimeter, can 2 A4 paper arranged side by side.Can only put one deck paper, array of orifices 10 is arranged at bottom, produces negative-pressure adsorption by ventilation shaft, makes paper smooth stable.
Claims (8)
1. calligraphy robot architecture comprises: shoulder joint 1, elbow joint 3, wrist joint 5, translation shaft 6, three rotating shafts and a translation shaft are all cascaded structures, and mechanical arm outer end is connected with pressure sensor 8 and soft pen 9, and soft pen has conduit continuous ink feeding, mechanical arm and base plate 11 one, base plate has array of orifices 10 air draft negative pressure 12 to fix paper.
2. robot according to claim 1, is characterized in that: mechanical arm four turning joints all use stepper motor to provide power, 12 to 24 volt low voltage drive.
3. mechanical arm according to claim 2, is characterized in that: rotating shaft 1,3,5 is made up of stepper motor, Timing Belt reductor, bearing, and translation shaft 6 is made up of stepper motor, screw mandrel guide track transmission mechanism.
4. mechanical arm according to claim 1, is characterized in that: have a pressure sensor 8 between mechanical arm and soft pen.
5. robot according to claim 1, is characterized in that: the motion controller controller mechanical arm that inserted computer is formed is four-axle linked, runs by the speed stabilizing of directives prescribe, realizes pivot control by interpolation calculation.
6. robot according to claim 1, is characterized in that: the conduit continuous ink feeding function with capillary principle.
7. robot according to claim 1, is characterized in that: calligraphy robot control system comprises PC end software, usb data bus, motion controller, power driving circuit.
8. pressure sensor according to claim 4, is characterized in that: be made up of Hall element 31, strong magnet 32 and adjustable spring 33, output voltage signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510319874.8A CN104875208A (en) | 2015-06-11 | 2015-06-11 | Calligraphy robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510319874.8A CN104875208A (en) | 2015-06-11 | 2015-06-11 | Calligraphy robot |
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| CN104875208A true CN104875208A (en) | 2015-09-02 |
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| CN201510319874.8A Pending CN104875208A (en) | 2015-06-11 | 2015-06-11 | Calligraphy robot |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105269556A (en) * | 2015-09-20 | 2016-01-27 | 深圳市得意自动化科技有限公司 | Moving foresight method of robot |
| CN106003033A (en) * | 2016-06-16 | 2016-10-12 | 哈尔滨工程大学 | Method of writing standard Chinese characters by using six-degree-of-freedom mechanical arm under control of force |
| CN106166741A (en) * | 2016-05-27 | 2016-11-30 | 宁波创控智能科技有限公司 | High-precision intelligent writing robot |
| CN106393123A (en) * | 2016-05-26 | 2017-02-15 | 陈酒芳 | Robot for cultural inheritance |
| CN107127753A (en) * | 2017-05-05 | 2017-09-05 | 燕山大学 | A kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region |
| CN107390630A (en) * | 2017-06-29 | 2017-11-24 | 北京石油化工学院 | A kind of auto-portrait robot control system |
| CN108001075A (en) * | 2017-11-30 | 2018-05-08 | 桂林理工大学 | A kind of signing machine with new executing agency |
| CN108237544A (en) * | 2018-03-15 | 2018-07-03 | 北京化工大学 | A kind of calligraphy robot of artificial intelligence |
| CN108244205A (en) * | 2018-01-15 | 2018-07-06 | 王晓茗 | A kind of calligraphy biscuit and preparation method thereof |
| CN108312149A (en) * | 2017-12-31 | 2018-07-24 | 天津木牛流马科技发展股份有限公司 | Calligraphy sells robot |
| CN108436917A (en) * | 2018-06-04 | 2018-08-24 | 赖俊峰 | A kind of calligraphy and engraving machine person writing's control method considering end boundaries |
| CN108675023A (en) * | 2018-05-02 | 2018-10-19 | 孝感量子机电科技有限公司 | Write paper transporting apparatus and writing device |
| CN108818565A (en) * | 2018-07-20 | 2018-11-16 | 深圳市幻尔科技有限公司 | A kind of control method and system that the mechanical arm that writes writes |
| CN109773796A (en) * | 2019-03-20 | 2019-05-21 | 河海大学常州校区 | How a robotic arm works |
| CN110076784A (en) * | 2018-01-26 | 2019-08-02 | 南京机器人研究院有限公司 | Robot calligraphy system |
| CN110164238A (en) * | 2019-06-25 | 2019-08-23 | 西北大学 | A kind of intelligence system and working method for calligraphy training |
| CN110271016A (en) * | 2019-06-27 | 2019-09-24 | 华南理工大学 | A kind of mechanical arm calligraphy writing system and method based on boundary and force feedback |
| CN110640756A (en) * | 2019-09-23 | 2020-01-03 | 江汉大学 | Calligraphy robot |
| CN110782710A (en) * | 2019-09-20 | 2020-02-11 | 厦门快商通科技股份有限公司 | Writing teaching method and device based on robot |
| CN110815265A (en) * | 2019-11-09 | 2020-02-21 | 南宁学院 | A robot gripper |
| CN111015695A (en) * | 2019-12-10 | 2020-04-17 | 深圳市优必选科技股份有限公司 | Mechanical arm zero setting method and device and desktop-level mechanical arm |
| CN112113689A (en) * | 2020-09-15 | 2020-12-22 | 智能移动机器人(中山)研究院 | A Hall-based Spring Foot Sensor System |
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Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105269556A (en) * | 2015-09-20 | 2016-01-27 | 深圳市得意自动化科技有限公司 | Moving foresight method of robot |
| CN106393123A (en) * | 2016-05-26 | 2017-02-15 | 陈酒芳 | Robot for cultural inheritance |
| CN106166741A (en) * | 2016-05-27 | 2016-11-30 | 宁波创控智能科技有限公司 | High-precision intelligent writing robot |
| CN106003033A (en) * | 2016-06-16 | 2016-10-12 | 哈尔滨工程大学 | Method of writing standard Chinese characters by using six-degree-of-freedom mechanical arm under control of force |
| CN106003033B (en) * | 2016-06-16 | 2018-04-27 | 哈尔滨工程大学 | A kind of sixdegree-of-freedom simulation standard Chinese character Writing method with power control |
| CN107127753A (en) * | 2017-05-05 | 2017-09-05 | 燕山大学 | A kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region |
| CN107390630A (en) * | 2017-06-29 | 2017-11-24 | 北京石油化工学院 | A kind of auto-portrait robot control system |
| CN107390630B (en) * | 2017-06-29 | 2019-07-26 | 北京石油化工学院 | A painting robot control system |
| CN108001075A (en) * | 2017-11-30 | 2018-05-08 | 桂林理工大学 | A kind of signing machine with new executing agency |
| CN108312149A (en) * | 2017-12-31 | 2018-07-24 | 天津木牛流马科技发展股份有限公司 | Calligraphy sells robot |
| CN108244205A (en) * | 2018-01-15 | 2018-07-06 | 王晓茗 | A kind of calligraphy biscuit and preparation method thereof |
| CN110076784A (en) * | 2018-01-26 | 2019-08-02 | 南京机器人研究院有限公司 | Robot calligraphy system |
| CN108237544A (en) * | 2018-03-15 | 2018-07-03 | 北京化工大学 | A kind of calligraphy robot of artificial intelligence |
| CN108237544B (en) * | 2018-03-15 | 2024-03-26 | 北京化工大学 | Manual intelligent handwriting robot |
| CN108675023A (en) * | 2018-05-02 | 2018-10-19 | 孝感量子机电科技有限公司 | Write paper transporting apparatus and writing device |
| CN108436917A (en) * | 2018-06-04 | 2018-08-24 | 赖俊峰 | A kind of calligraphy and engraving machine person writing's control method considering end boundaries |
| CN108818565A (en) * | 2018-07-20 | 2018-11-16 | 深圳市幻尔科技有限公司 | A kind of control method and system that the mechanical arm that writes writes |
| CN109773796A (en) * | 2019-03-20 | 2019-05-21 | 河海大学常州校区 | How a robotic arm works |
| CN110164238B (en) * | 2019-06-25 | 2020-12-22 | 西北大学 | Intelligent system for calligraphy training and working method |
| CN110164238A (en) * | 2019-06-25 | 2019-08-23 | 西北大学 | A kind of intelligence system and working method for calligraphy training |
| CN110271016A (en) * | 2019-06-27 | 2019-09-24 | 华南理工大学 | A kind of mechanical arm calligraphy writing system and method based on boundary and force feedback |
| CN110271016B (en) * | 2019-06-27 | 2022-08-16 | 华南理工大学 | Mechanical arm calligraphy writing system and method based on boundary and force feedback |
| CN110782710A (en) * | 2019-09-20 | 2020-02-11 | 厦门快商通科技股份有限公司 | Writing teaching method and device based on robot |
| CN110640756A (en) * | 2019-09-23 | 2020-01-03 | 江汉大学 | Calligraphy robot |
| CN110640756B (en) * | 2019-09-23 | 2024-05-28 | 江汉大学 | Handwriting robot |
| CN110815265A (en) * | 2019-11-09 | 2020-02-21 | 南宁学院 | A robot gripper |
| CN111015695A (en) * | 2019-12-10 | 2020-04-17 | 深圳市优必选科技股份有限公司 | Mechanical arm zero setting method and device and desktop-level mechanical arm |
| CN111015695B (en) * | 2019-12-10 | 2021-06-29 | 深圳市优必选科技股份有限公司 | Mechanical arm zero setting method and device and desktop-level mechanical arm |
| CN112113689A (en) * | 2020-09-15 | 2020-12-22 | 智能移动机器人(中山)研究院 | A Hall-based Spring Foot Sensor System |
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Effective date of registration: 20180117 Address after: Pukou District of Nanjing City, Jiangsu province 210000 Pu No. 88, headquarters building, B606 branch Applicant after: Nanjing seed Intelligent Technology Co., Ltd. Address before: 250014 Ji'nan, Shandong Province, No. 17513, No. ten, 7-2-201 Applicant before: Zhao Nan Applicant before: Yang Wenguang Applicant before: Yang Lei |
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Application publication date: 20150902 |