JPS61100389A - Method of controlling brush writing robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a method for controlling a brush writing robot, in which the robot writes using a brush while controlling the thickness of lines in characters and drawings.

Conventional technology In recent years, robots have come to be used to write letters and drawings.

Hereinafter, a conventional method of controlling a writing point using a brush will be explained.

Figure 3 is a diagram showing a conventional brush writing robot, with 13
1 is a brush, 14 is a grip that supports the brush, 15 is a robot arm that can freely move the grip, and 16 is a paper surface. By moving the arm 15 of the robot, the brush can be pressed against the paper surface 16 and moved back and forth, left and right, and can be moved up and down on the normal line of the paper surface 160.

The operation of the method for controlling the brush writing robot configured as described above will be described below.

That is, in order to control the thickness of the line written on the paper surface 16 by the brush 13, the robot arm 15 is moved so that the brush 13 moves up and down on the normal line of the paper surface 16.
The area where the tip of 3 hits the paper surface 16 can be changed.

Problems to be Solved by the Invention However, with the above configuration, it is not possible to keep up with deterioration such as bending, softening, and hardening of the brush, as well as increases and decreases in the amount of ink. There was a problem in that it was not possible to obtain the reproducibility that would allow writing.

In view of the above-mentioned problems, the present invention provides a method for controlling a brush writing robot that can reproducibly draw any line thickness even if the brush deteriorates or the amount of ink increases or decreases. be.

Means for Solving the Problems In order to solve the above problems, the method of controlling the brush writing robot of the present invention measures the pressure of the brush, feeds back the measured value, and controls the paddle writing with the brush. The robot presses the brush against the paper until it reaches the thickness of a scrap thread.

Function The present invention uses the method described above to measure the pressure with which the brush is pressed against the paper surface, and controls the pressure to be strengthened or weakened. You will also be able to draw lines of the same thickness while maintaining a constant pressure.

DESCRIPTION OF EMBODIMENTS A method for controlling a cape of a brush writing robot, which is an embodiment of the present invention, will be described below with reference to the drawings.

FIG. 1 shows a brush writing robot according to a first embodiment of the present invention. In Fig. 1, 1 is a brush, 2 is a grip part that supports the brush, 3 is a robot arm that can freely move the grip part, 4 is the paper surface, and 6 is the distortion of the member that occurs when the brush is fully pressed against the paper surface. This is a pressure detection unit that measures the pressure of the brush.

The operation of the method for controlling the brush writing robot configured as described above will be described below with reference to FIG. In order to write characters or drawings on the paper surface 4 with a brush 1, the robot lowers its arm and presses the brush 1 against the paper surface 4. At this time, the arm 4 is lowered to the pressure at which the desired line thickness is obtained while measuring the pressing pressure with the pressure detection part 5 in the grip part 2. Draw a line by repeating the above steps.

As described above, according to this embodiment, by providing the pressure detection section in the grip of the brush at the end of the robot's arm,
With a simple configuration, you can draw lines of any thickness by keeping the pressure of the brush constant on any object.

Other embodiments of the present invention will be described below with reference to drawing t#.

Figure @2 shows a brush writing robot according to the second embodiment of the present invention. In Fig. 2, 6 is a brush, 7 is a grip part that supports the brush, 8 is a robot arm that can freely move the grip part, 9 is a paper surface, 10 is a pedestal on which the paper is placed, and 11 is a pressure applied to the paper surface. Pressure detection unit to measure,
12 is a fixed part that supports the frame.

The operation of the method for controlling the brush writing robot configured as described above will be described below.

The arm 9 of the robot is lowered and the brush 6 is pressed against the paper surface 9. At this time, the slight pressure applied to the paper surface is applied to the mount 10.
The arm 4 is lowered completely while measuring it with the pressure detection part 11 at the end of the arm 4 until the desired line thickness is obtained. While repeating the above actions, create a line.

As described above, according to this embodiment, by providing a pressure detection unit on the pedestal on which the paper is placed, the total pressure of the brush can be measured without being affected by the inclination of the brush and the frictional force when moving the brush on the paper surface. By holding the pressure, lines of arbitrary thickness can be drawn.Although the paper surface 4 in the first embodiment is a flat paper, the material and shape are not limited to this.

Effects of the Invention As described above, the present invention measures the pressure of the brush and presses the brush against the paper surface according to the pressure, thereby making it possible to draw lines of any thickness without being affected by deterioration of the brush or changes in the amount of ink. Can write with good reproducibility.

[Brief explanation of drawings]

FIG. 1 is a sectional view of essential parts of a brush writing robot according to a first embodiment of the present invention, FIG. 2 is a front view of a brush writing robot according to a second embodiment of the present invention, and FIG. 3 is a conventional brush writing robot. It is a front view of a writing robot. 1... Brush, 2... Gripping part, 4...
... Paper surface, 6°11 ... Pressure detection section. Name of agent: Patent attorney Toshio Koo and 1 other person
Ahead! 2.Repushi scale 1 4.Diagnosis, surface 57E Saetino

Claims (3)

[Claims] (1) A control method for writing and drawing on paper with a brush held by a robot, in which the pressure of the brush is measured and the measured value is fed back to ensure that the line drawn with the brush has a desired thickness. A method of controlling a brush writing robot in which the robot presses the brush against the paper surface so that it is smooth. (2) A method for controlling a brush writing robot according to claim 1, wherein a pressure sensing portion is provided in the gripping portion of the robot that grips the brush as a means for measuring the pressure of the brush. (3) A method for controlling a brush writing robot according to claim 1, wherein a pressure sensing unit is provided on the pedestal on which the paper is placed as a means for measuring the pressure of the brush.