CN105015255A - Performance platform for drawing sand paintings on basis of mechanical arm - Google Patents
Performance platform for drawing sand paintings on basis of mechanical arm Download PDFInfo
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- CN105015255A CN105015255A CN201510478086.3A CN201510478086A CN105015255A CN 105015255 A CN105015255 A CN 105015255A CN 201510478086 A CN201510478086 A CN 201510478086A CN 105015255 A CN105015255 A CN 105015255A
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- sand
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Abstract
The invention discloses a performance platform for drawing sand paintings on the basis of a mechanical arm. The performance platform comprises a robot workbench, a sand paining drawing table, a paintbrush table device, a sand removing device, a painting sand storing and drying device and a robot body with the mechanical arm. The sand paining drawing table and the paintbrush table device are arranged on the robot workbench. The sand removing device is arranged on the sand paining drawing table. The robot body is provided with a mechanical arm controller and a clamp device connected with the mechanical arm. The painting sand storing and drying device comprises a cylinder and a drying device. The clamp device comprises a clamp fixing plate connected with the mechanical arm, a paintbrush clamping device installed on the clamp fixing plate and a sand clock body. The sand clock body is located below a sand outlet. A control switch is arranged on the sand clock body. The sand removing device comprises a fixed bottom plate fixed to the sand painting drawing table, a sand painting table body installed on the fixed bottom plate, a funnel, guiding slide rails installed on the two sides of the sand painting table body, a transmission lead screw and a sand removing plate. The performance platform is stable in performance, easy to operate and low in cost, and does not need to be watched over.
Description
Technical field
The present invention relates to a kind of performance platform drawing husky picture based on mechanical arm, belong to robotics.
Background technology
In the modern life, robot has been applied in multiple industry environment, but its scope of application still limitation and professional to some extent.Traditional sand is drawn performance and is created performance by husky painter, and the study that the sand picture creation technical ability of husky painter needs it long-term and training, and the work that performance each time needs early-stage preparations etc. loaded down with trivial details, consume great human resources and cost, lack novelty and the appreciation effect of robot simultaneously.
Summary of the invention
For the deficiency that prior art exists, the object of the invention is to provide a kind of performance platform drawing husky picture based on mechanical arm, and stable performance, without the need on duty, simple to operate, cost is low.
To achieve these goals, the present invention realizes by the following technical solutions:
A kind of performance platform drawing husky picture based on mechanical arm of the present invention, comprise robotic workstation, the sand be arranged on robotic workstation draws a picture platform and paintbrush table apparatus, the clear husky device be arranged on husky drawing platform, the husky storing and drying device of picture and the robot body with mechanical arm, the grip device that described robot body is provided with mechanical arm controller and is connected with mechanical arm; Draw husky storing and drying device and comprise cylinder and drying device; Cylinder comprises the cylinder body with sand inlet and sand outlet, the piston rod with temperature controller and piston, and drying device is arranged on cylinder body; Grip device comprises the pen clip device be connected with mechanical arm axial end and the hourglass body be connected with pen clip device, and described hourglass body is positioned at the below of sand outlet, and hourglass body is provided with the gauge tap for control cylinder action; Clear husky device comprise be fixed on the fixed base plate on husky drawing platform, the sand be arranged on fixed base plate draws stage body, funnel, be arranged on husky directive slide track, the turn-screw be arranged in parallel with directive slide track and the clear husky plate be arranged on directive slide track and turn-screw of drawing stage body both sides; The connection sand suitable for reading of funnel draws stage body, and the end opening of funnel connects sand inlet.
The present invention also comprise with touch-screen computer, the vision sensor be connected with computer input end and be connected with fanout and create the display of husky picture process for real-time display device people, the input of mechanical arm controller connects computer.
Above-mentioned sand inlet is provided with the sensor for responding to sand.
Above-mentioned hourglass body is also provided with anti-block apparatus and filter.
What above-mentioned drying device adopted is annular electro heater, and described annular electro heater input is connected with temperature controller.When annular electro heater heats, temperature controller controls the temperature range of temperature in setting of its heating, can not be too high or too low.
Beneficial effect of the present invention: the blank filling up existing Sha Hua robot commercially, performance robot is drawn as global First is automatically husky, without the need to the preparation before performance, assisting without the need to staff, the working strength reduced a staff and human cost, improve the intelligent of robot.
Accompanying drawing explanation
Fig. 1 is the performance platform and integrally structural representation drawing husky picture based on mechanical arm of the present invention;
Fig. 2 is the picture husky storing and drying apparatus structure schematic diagram in Fig. 1;
Fig. 3 is the clear husky apparatus structure schematic diagram in Fig. 1;
Fig. 4 is the grip device structural representation in Fig. 1;
Each label in figure: robotic workstation 1, robot body 2, display 3, vision sensor 4, paintbrush table apparatus 5, husky drawing platform 6, husky picture stage body 6.1, turn-screw 6.2, directive slide track 6.3, fixed base plate 6.4, clear husky plate 6.5, grip device 7, gauge tap 7.1, hourglass body 7.2, anti-block apparatus 7.3, pen clip device 7.4, clamp fixing plate 7.5, computer 8, cylinder 9, piston rod 10, piston 11, drying device 12, cylinder body 13
Detailed description of the invention
The technological means realized for making the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with detailed description of the invention, setting forth the present invention further.
A kind of robot that can realize the husky picture of Full-automatic circulation making based on the husky performance platform drawn of mechanical arm picture of the present invention.
See Fig. 1, the present invention includes robotic workstation 1, robot body 2, husky drawing platform 6, paintbrush table apparatus 5, sandglass, clear husky device, the husky storing and drying device of picture, paintbrush grip device 7, vision collecting capture system, display 3 (the present embodiment adopt be background TV) and the computer 8 with touch-screen.
See Fig. 2, the husky storing and drying device of described picture comprises cylinder 9 and drying device 12; Cylinder 9 comprises the cylinder body 13 with sand inlet and sand outlet, the piston rod 10 with temperature controller and piston 11, and drying device 12 is arranged on cylinder body 13.
See Fig. 3, clear husky device comprise be fixed on the fixed base plate 6.4 on husky drawing platform 6, the sand be arranged on fixed base plate 6.4 draws stage body 6.1, funnel, be arranged on husky directive slide track 6.3, the turn-screw 6.2 be arranged in parallel with directive slide track 6.3 and the clear husky plate 6.5 be arranged on directive slide track 6.3 and turn-screw 6.2 of drawing stage body 6.1 both sides; The connection sand suitable for reading of funnel draws stage body 6.1, and the end opening of funnel connects sand inlet.
See Fig. 4, grip device 7 comprises the pen clip device 7.4 be connected with mechanical arm axial end and the hourglass body 7.2 be connected with pen clip device 7.4, hourglass body 7.2 is positioned at the below of sand outlet, and hourglass body 7.2 is provided with the gauge tap 7.1 for control cylinder 9 action.
In the present embodiment, what drying device 12 adopted is annular electro heater, and annular electro heater input is connected with temperature controller.
The steps such as participant selects husky to draw show content by touch-screen, and when robot receives after participant clicks the instruction of transmission, robot carries out getting sand automatically, it is husky to leak, carefully retouch, carry out husky creation performance of drawing.Vision collecting capture system, creates real-time the presenting in display screen of husky picture process by robot, allow the visitor of periphery can watch the process of drawing a picture of robot.After performance terminates, robot sends instructions to clear husky device, starts after clear husky device receives instruction, sand is drawn platform and draws husky clear to drawing husky storing and drying device, draw husky storing and drying device and carry out drying, filtration, storage to picture sand, wait for and performing next time.
The present invention is simple to operation, can realize unmanned and stable performance, saves human resources, can be widely used in science and technology center, exhibition center and each large amusement and recreation etc. and show place.
The concrete course of work is as follows: participant selects husky picture show content by touch-screen, when robot receives after participant clicks the instruction of transmission, touch screen interface automatically switches to interactive interface, now robot gathers the head portrait of spectators by vision sensor 4, and at the head portrait of head display spectators, just look like that spectators oneself draw, to the sensation that spectators are on the spot in person at picture sand.
After participant presses " determination " key, grip device 7 is moved to picture husky storing and drying device end by robot to carry out connecing sand, and gauge tap 7.1 opens switch after responding to, piston 11 works, and starts to connect sand, after picture sand fills, piston 11 returns, and gauge tap 7.1 cuts out, and connects husky end.
Now, background music sounds, and husky drawing platform 6 background light lights, and robot is along with the music of gracefulness, and the leakage of beginning husky picture creation is husky, and background TV now also draws creation at real-time sand of playing.Leak after sand terminates, robot sends instruction to pen clip device 7.4, and pen clip device 7.4 receives gripping paintbrush after instruction, carefully retouches.After carefully retouching end, husky picture creates end.Stop one minute, robot sends instruction to clear husky device, start after clear husky device receives instruction, turn-screw 6.2 drives clear husky plate 6.5 husky for the picture on sand drawing platform 6 leftmost side cleaning toward husky drawing platform 6, there is a funnel herein, funnel connection sand suitable for reading drawing platform 6, end opening connects the husky storing and drying device of picture, the husky sand drawn on platform finally flow in the husky storing and drying device of picture via funnel, after sensor sensing to sand, send a signal to drying device 12, drying device 12 starts, and husky picture performs end.
More than show and describe general principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (5)
1. draw the husky performance platform drawn based on mechanical arm for one kind, it is characterized in that, comprise robotic workstation (1), the sand be arranged on robotic workstation (1) draws a picture platform (6) and paintbrush table apparatus (5), the clear husky device be arranged on husky drawing platform (6), the husky storing and drying device of picture and the robot body (2) with mechanical arm, the grip device (7) that described robot body (2) is provided with mechanical arm controller and is connected with mechanical arm;
The husky storing and drying device of described picture comprises cylinder (9) and drying device (12), described cylinder (9) comprises the cylinder body (13) with sand inlet and sand outlet, the piston rod (10) with temperature controller and piston (11), and described drying device (12) is arranged on cylinder body (13);
Described grip device (7) comprises the pen clip device (7.4) be connected with mechanical arm axial end and the hourglass body (7.2) be connected with pen clip device (7.4), described hourglass body (7.2) is positioned at the below of sand outlet, and hourglass body (7.2) is provided with the gauge tap (7.1) for control cylinder (9) action;
Described clear husky device comprises the fixed base plate (6.4) be fixed on husky drawing platform (6), the sand be arranged on fixed base plate (6.4) draws stage body (6.1), funnel, be arranged on husky directive slide track (6.3), the turn-screw (6.2) be arranged in parallel with directive slide track (6.3) and the clear husky plate (6.5) be arranged on directive slide track (6.3) and turn-screw (6.2) of drawing stage body (6.1) both sides; The connection sand suitable for reading of described funnel draws stage body (6.1), and the end opening of funnel connects sand inlet.
2. the performance platform drawing husky picture based on mechanical arm according to claim 1, it is characterized in that, also comprise with the computer (8) of touch-screen, the vision sensor (4) be connected with computer (8) input and be connected with computer (8) output and create the display (3) of husky picture process for real-time display device people, the input of described mechanical arm controller connects computer (8).
3. the performance platform drawing husky picture based on mechanical arm according to claim 1, it is characterized in that, described sand inlet is provided with the sensor for responding to sand.
4. the performance platform drawing husky picture based on mechanical arm according to claim 1, is characterized in that, described hourglass body (7.2) is also provided with anti-block apparatus (7.3) and filter.
5. the performance platform drawing husky picture based on mechanical arm according to claim 1, it is characterized in that, what described drying device (12) adopted is annular electro heater, and described annular electro heater input is connected with temperature controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510478086.3A CN105015255B (en) | 2015-08-07 | 2015-08-07 | It is a kind of that the husky performance platform drawn is drawn based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510478086.3A CN105015255B (en) | 2015-08-07 | 2015-08-07 | It is a kind of that the husky performance platform drawn is drawn based on mechanical arm |
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| Publication Number | Publication Date |
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| CN105015255A true CN105015255A (en) | 2015-11-04 |
| CN105015255B CN105015255B (en) | 2017-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510478086.3A Active CN105015255B (en) | 2015-08-07 | 2015-08-07 | It is a kind of that the husky performance platform drawn is drawn based on mechanical arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243912A (en) * | 2017-08-07 | 2017-10-13 | 武汉需要智能技术有限公司 | Sha Hua robots |
| KR20180095967A (en) * | 2017-02-20 | 2018-08-29 | 연세대학교 산학협력단 | Automatic Drawing Machine of Sand Art |
| CN114571906A (en) * | 2022-03-30 | 2022-06-03 | 重庆科技学院 | Auxiliary assembly that sand paintings were drawn |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5315275B2 (en) * | 2010-03-23 | 2013-10-16 | 大日本スクリーン製造株式会社 | Exposure equipment |
| CN103955166A (en) * | 2014-05-20 | 2014-07-30 | 大连理工大学 | Sand painting performance robot and image processing and motion control method thereof |
| CN204820898U (en) * | 2015-08-07 | 2015-12-02 | 昆山塔米机器人有限公司 | Performance platform based on husky drawing is drawn to arm |
-
2015
- 2015-08-07 CN CN201510478086.3A patent/CN105015255B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5315275B2 (en) * | 2010-03-23 | 2013-10-16 | 大日本スクリーン製造株式会社 | Exposure equipment |
| CN103955166A (en) * | 2014-05-20 | 2014-07-30 | 大连理工大学 | Sand painting performance robot and image processing and motion control method thereof |
| CN204820898U (en) * | 2015-08-07 | 2015-12-02 | 昆山塔米机器人有限公司 | Performance platform based on husky drawing is drawn to arm |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180095967A (en) * | 2017-02-20 | 2018-08-29 | 연세대학교 산학협력단 | Automatic Drawing Machine of Sand Art |
| KR101899050B1 (en) | 2017-02-20 | 2018-09-14 | 연세대학교 산학협력단 | Automatic Drawing Machine of Sand Art |
| CN107243912A (en) * | 2017-08-07 | 2017-10-13 | 武汉需要智能技术有限公司 | Sha Hua robots |
| CN114571906A (en) * | 2022-03-30 | 2022-06-03 | 重庆科技学院 | Auxiliary assembly that sand paintings were drawn |
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| Publication number | Publication date |
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| CN105015255B (en) | 2017-12-12 |
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Address after: 215300 5th floor, building 1, No. 619, Xintang Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Suzhou Tami robot Co.,Ltd. Address before: 215347 12th floor, complex building, No. 1699, Zuchongzhi South Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee before: KUNSHAN TAMI ROBOT Co.,Ltd. |
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