CN108466272A - A kind of emulation writing and drawing robot and its application method - Google Patents
A kind of emulation writing and drawing robot and its application method Download PDFInfo
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- CN108466272A CN108466272A CN201810380976.4A CN201810380976A CN108466272A CN 108466272 A CN108466272 A CN 108466272A CN 201810380976 A CN201810380976 A CN 201810380976A CN 108466272 A CN108466272 A CN 108466272A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44D—PAINTING OR ARTISTIC DRAWING, NOT OTHERWISE PROVIDED FOR; PRESERVING PAINTINGS; SURFACE TREATMENT TO OBTAIN SPECIAL ARTISTIC SURFACE EFFECTS OR FINISHES
- B44D3/00—Accessories or implements for use in connection with painting or artistic drawing, not otherwise provided for; Methods or devices for colour determination, selection, or synthesis, e.g. use of colour tables
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Abstract
The invention discloses a kind of emulation writing and drawing robot and its application methods, including executing agency and control system；The rectilinear orbit along circular orbit circular motion is equipped in executing agency, rectilinear orbit is equipped with the slide unit moved back and forth along rectilinear orbit, slide unit is equipped with paintbrush, and pressure controller applies paintbrush downward pressure by Fluid pressure, driving paintbrush close to or leave paper.The sequencing for the pixel that sensing module and memory module record in control system are activated.In the present invention, the slide unit of paintbrush is carried, is moved by polar mode, drafting curve is smoother, and drawing straight line will not be smooth vertical and horizontal, and closer to the effect of Freehandhand-drawing, person's handwriting is natural；Movement speed is fast, and invalid amount of movement is few；System accuracy is high, low in energy consumption；Writing strength is controllable, and dynamics adjustment process is smoothly soft, more meets the painting and calligraphy custom of people.Fidelity of the present invention is high, easy to use, simple in structure, is conducive to painting and calligraphy teaching application.
Description
Technical field
The present invention relates to electromechanical integration equipment field, specifically a kind of emulation writing and drawing robot and its user
Method.
Background technology
In recent years, emulation writing and drawing robot starts to occur on the market, but the main purpose of developer be towards
Electrophile and adolescent student, the control by user to the robot understand motor driving, machine driving etc. and know substantially
Know, and function itself is not most important.
Although in fact, the rapid development of computer technology so that ordinary people can draw very exquisite without pen
Picture or write out beautiful word, but can not still substitute the aesthetic feeling of Freehandhand-drawing and calligraphy.And many young personages to calligraphy and
Manual draw is extremely keen to, they throw oneself into practice, and the level of oneself is improved by repeating.In fact, referring in no good teacher
In the case of leading, ordinary people is difficult to grasp the gist of Freehandhand-drawing and calligraphy, and engages the teacher of profession for most people
It is unrealistic.
Therefore, if a kind of emulated robot can be designed, the person's handwriting of professional painting and calligraphy teacher is imitated, user is allowed closely to see
The writing and drawing process for examining robot has good facilitation for quickly improving one's skills.
General emulated robot often relies on two orthogonal tracks in plane, passes through virtual flat square
Coordinate system positions and wields the pen, and in actual use, has the disadvantage that：（1）Largely movement belongs to invalid movement to paintbrush, takes
Greatly.（2）Draw oblique line when it is not smooth enough, draw straight line when be easy it is smooth vertical and horizontal, although precisely, person's handwriting is unnatural.（3）System power dissipation
It is larger.
Invention content
The present invention is exactly to solve the above-mentioned problems, to provide a kind of emulation writing and drawing robot.
The present invention is implemented according to following technical scheme.
A kind of emulation writing and drawing robot, including executing agency and control system；
Executing agency includes pedestal, holder, transmission mechanism；Pedestal include surround rectangle two first frames and two second sides
Frame；Two pressing plates are equipped between two first frames, pressing plate both ends are respectively formed two sections of bendings, two bending part ends with pressing plate middle part
It is parallel and be equipped with circular hole；First frame upper surface middle part Formation cross-section is the groove of T-type, and two fastening spiral shells are respectively provided in groove
Nail, nut are located in groove, and screw rod is pierced by from the circular hole of groove and pressing plate successively, screw rod end nesting fastening nut；Branch
Frame includes the cross frame for being erected above pedestal and being parallel to pedestal, and the end of cross frame is connected by four vertical racks
Four frames of pedestal；The circular orbit for being parallel to pedestal is also set up on vertical rack；Peace below cross frame center
Equipped with first motor, first motor rotor center is located at the center of circle of circular orbit in the upright projection of circular orbit plane；First
The first rotor end of motor connects rectilinear orbit by L-type connecting rod；Rectilinear orbit head end is equipped with motor cabinet, and end is equipped with U
Type holder, pulley is equipped between u-bracket two-arm, and motor cabinet is equipped with third motor；It is equipped between motor cabinet and u-bracket mutual
Parallel slide bar and threaded rod, threaded rod one end are fixed on the rotor of third motor, and the other end is connected U-shaped by second bearing
Holder；Slide bar and threaded rod pass through the slide unit moved along rectilinear orbit；Pulley edge protrusion, intermediate recess, recessed portion are close to ring
Shape track interior walls；It is additionally provided with pressure controller on cross frame, the second motor and first fluid pipe are equipped in pressure controller, the
Second apex rotor of two motors connects first piston by first bearing, and first is formed between first piston and first fluid pipe
Fluid cavity；The second fluid pipe placed vertically is installed, second piston is inserted into second fluid pipe straight up, and second lives on slide unit
Second body cavity is formed between plug and second fluid pipe；Second piston bottom is equipped with casing, and sleeve bottom forms elongated circle
Hole inserts painting and calligraphy pen in circular hole；Sleeve outer wall middle and lower part is equipped with the limiting plate of annular sleeve；Spring is nested on casing, and one
End is fixed on slide unit, and the other end is fixed on limiting plate；It is respectively equipped with fluid outlet on first fluid pipe and second fluid pipe
Pipe and fluid inlet tube are as the channel between first-class body cavity and second body cavity and outside；Fluid outlet pipe and fluid inlet
It is interconnected by flexible duct between pipe；First-class body cavity and second body cavity together form a closing with flexible duct
Cavity, cavity inner sealing fluid；
Control system includes master controller, and master controller connects induction module, display module, memory module, communication interface, motor
Drive module, power module；Motor drive module controls first motor, the second motor, third motor；Communication interface connects PC
Machine, induction module are handwriting pad；Display module is display screen.
Further, the vertical height in the middle part of pressing plate between distal portion is not less than the thickness of the first frame.
Further, rectilinear orbit passes through the center of circle of circular orbit, rectilinear orbit to be located at the part on center of circle both sides, quality phase
Deng.
Further, circular orbit vertical section is in " E " type, and center projections position height is 1~2cm and is higher than pulley edge
The height of protrusion.
Further, communication interface connects PC machine by USB line.
A kind of application method of emulation writing and drawing robot, includes the following steps：
S1：On the induction planes of induction module and on the display plane of display module, coordinate origin is chosen respectively, establishes plane
Rectangular coordinate system XY and AB, and assign the coordinate value based on XY coordinate systems for all available points on induction planes（Xn, Ym）；It is aobvious
Show that all available points assign the coordinate value based on AB coordinate systems in plane（Ap, Bq）；
S2：At each（Xn, Ym）Point and each（Ap, Bq）Mapping relations F is established between point,（Ap, Bq）=F（Xn, Ym,
t）, wherein t is the activation duration；
S3：The activationary time for the coordinate points being each activated in record XY coordinate systems and duration；It, will be every on display module
The corresponding coordinate points activation in AB coordinate systems of a coordinate points being activated；
S4：Using first motor, the second motor, third motor dead-center position as reference point, establish three motors be based on its zero
The mobile step number of position（Z1, Z2, Z3）With（Xn, Ym, t）Between mapping relations；
S5：With the mapping relations determined in S4, according to the numerical value of Xn, Ym and t, three motors are moved into Z1, Z2, Z3 step respectively.
Present invention obtains following advantageous effects.
In the present invention, the slide unit of paintbrush is carried, is moved by polar mode, is replaced base common in existing product
In the moving method of rectangular co-ordinate mode, drafting curve is smoother, and drawing straight line will not be smooth vertical and horizontal, closer to the effect of Freehandhand-drawing
Fruit, person's handwriting are natural；Movement speed is fast, and invalid amount of movement is few；System accuracy is high, low in energy consumption；Writing strength is controllable, and dynamics adjusted
Journey is smoothly soft, more meets the painting and calligraphy custom of people.Fidelity of the present invention is high, easy to use, simple in structure, is conducive to painting and calligraphy
Teaching application, while being also used as the exploitation learning platform of electrophile.
Description of the drawings
Fig. 1 is the vertical view of the present invention；
Fig. 2 is the vertical view of pedestal in the present invention；
Fig. 3 is the structural schematic diagram of center platen of the present invention；
Fig. 4 is the structural schematic diagram of middle pulley of the present invention；
Fig. 5 is the front view of the present invention；
Fig. 6 is the structural schematic diagram of cathetus track of the present invention；
Fig. 7 is the structural schematic diagram of pressure controller in the present invention；
Fig. 8 is the structural schematic diagram that fastening nut fixes pressing plate in the present invention；
Fig. 9 is the structure diagram of control system in the present invention；
Figure 10 is the process for using figure of robot in the present invention.
Wherein, 1. slide unit；2. rectilinear orbit；201. slide bar；202. threaded rod；203.U type holders；204. motor cabinet；3.
Pulley；4. cross frame；5. circular orbit；6. the first frame；7. first motor；8. the second frame；9. pressure controller；901.
Second motor；902. second rotors；903. first bearing；904. first piston；905. first fluid pipes；906. first fluid
Chamber；907. fluid outlet pipe；10. paper；11. pressing plate；12. the first rotor；13.；14. vertical rack；15. flexible duct；
16. third motor；17. fastening nut；18. limiting plate；19. spring；20. casing；21. second fluid pipe；22. second piston；
23. second body cavity；24. fluid inlet tube.
Specific implementation mode
Referring to the drawings and embodiment carries out further technology explanation to the present invention.
As shown in Fig. 1~10, a kind of emulation writing and drawing robot, including executing agency and control system；
Executing agency includes pedestal, holder, transmission mechanism；Pedestal include surround rectangle two first frames 6 and two second
Frame 8；Two pressing plates 11 are equipped between two first frames 6,11 both ends of pressing plate are respectively formed two sections of bendings, two bending part ends with
11 middle part of pressing plate is parallel and is equipped with circular hole；First frame, 6 upper surface middle part Formation cross-section is the groove of T-type, is respectively provided in groove
Two trip bolts, nut are located in groove, and screw rod is pierced by from the circular hole of groove and pressing plate 11 successively, and screw rod end is nested
Fastening nut 17；Holder includes the cross frame 4 for being erected above pedestal and being parallel to pedestal, and the end of cross frame 4 passes through
Four frames of four 14 connect bases of vertical rack；The circular orbit 5 for being parallel to pedestal is also set up on vertical rack 14；Ten
First motor 7, upright projection of 7 rotor center of first motor in 5 plane of circular orbit are installed below 4 center of word holder
Positioned at the center of circle of circular orbit 5；12 end of the first rotor of first motor 7 connects rectilinear orbit 2 by L-type connecting rod；Straight line
2 head end of track is equipped with motor cabinet 204, and end is equipped with u-bracket 203, pulley 3, motor cabinet 204 are equipped between 203 two-arm of u-bracket
It is equipped with third motor 16；The slide bar 201 being mutually parallel and threaded rod 202, spiral shell are equipped between motor cabinet 204 and u-bracket 203
202 one end of rasp bar is fixed on the rotor of third motor 16, and the other end connects u-bracket 203 by second bearing；Slide bar 201
The slide unit 1 moved along rectilinear orbit 2 is passed through with threaded rod 202；3 edge of pulley protrusion, intermediate recess, recessed portion are close to circular rails
5 inner wall of road；It is additionally provided with pressure controller 9 on cross frame 4, the second motor 901 and first fluid pipe are equipped in pressure controller 9
905,902 top of the second rotor of the second motor 901 connects first piston 904 by first bearing 903, first piston 904 with
First-class body cavity 906 is formed between first fluid pipe 905；The second fluid pipe 21 placed vertically is installed, second lives on slide unit 1
Plug 22 is inserted into second fluid pipe 21 straight up, and second body cavity 23 is formed between second piston 22 and second fluid pipe 21；The
Two pistons, 22 bottom is equipped with casing 20, and 20 bottom of casing forms elongated circular hole, painting and calligraphy pen 13 is inserted in circular hole；Casing 20
Outer wall middle and lower part is equipped with the limiting plate 18 of annular sleeve；Spring 19 is nested on casing 20, and one end is fixed on slide unit 1, another
End is fixed on limiting plate 18；It is respectively equipped with fluid outlet pipe 907 on first fluid pipe 905 and second fluid pipe 21 and fluid enters
Mouth pipe 24 is as the channel between first-class body cavity 906 and second body cavity 23 and outside；Fluid outlet pipe 907 and fluid inlet
It is interconnected by flexible duct 15 between pipe 24；First-class body cavity 906 and second body cavity 23 and flexible duct 15 together structure
At a closed cavity, cavity inner sealing fluid；
Control system includes master controller, and master controller connects induction module, display module, memory module, communication interface, motor
Drive module, power module；Motor drive module controls first motor 7, the second motor 901, third motor 16；Communication interface connects
PC machine is connect, induction module is handwriting pad；Display module is display screen.
Vertical height between 11 middle part of pressing plate and distal portion is not less than the thickness of the first frame 6.
Rectilinear orbit 2 passes through the center of circle of circular orbit 5, rectilinear orbit 2 to be located at the part on center of circle both sides, and quality is equal.
5 vertical section of circular orbit is in " E " type, and center projections position height is 1~2cm and higher than 3 edge of pulley protrusion
Highly.
Communication interface connects PC machine by USB line.
A kind of application method of emulation writing and drawing robot, includes the following steps：
S1：On the induction planes of induction module and on the display plane of display module, coordinate origin is chosen respectively, establishes plane
Rectangular coordinate system XY and AB, and assign coordinate value Xn, Ym based on XY coordinate systems for all available points on induction planes；For display
All available points assign coordinate value Ap, Bq based on AB coordinate systems in plane；
S2：In each Xn, Ym points and each Ap establish mapping relations F, Ap, Bq=FXn, Ym, t between Bq points, and wherein t is
Activate the duration；
S3：The activationary time for the coordinate points being each activated in record XY coordinate systems and duration；It, will be every on display module
The corresponding coordinate points activation in AB coordinate systems of a coordinate points being activated；
S4：Using first motor 7, the second motor 901, third motor 16 dead-center position as reference point, establish three motors and be based on
The mobile step number of its dead-center position（Z1, Z2, Z3）With（Xn, Ym, t）Between mapping relations；
S5：With the mapping relations determined in S4, according to the numerical value of Xn, Ym and t, three motors are moved into Z1, Z2, Z3 step respectively.
The principle of the present invention and application method are：
As shown in Figure 1, the rotation angle of first motor 7 is 0~360 degree, the rotation of first motor 7 drives rectilinear orbit 2 indirectly
Rotation, but rotate in any case, the pulley 3 of 2 end of rectilinear orbit is close to circular orbit 5 always；Circular orbit 5 is flat in pedestal
View field on face is exactly the effective coverage drawn, i.e., the region that paintbrush can be moved to.
When mobile pen 13, first motor 7 drives rectilinear orbit 2 to turn to a special angle first, then third motor
16 drive threaded rod 202 to rotate, and then slide unit is driven to be slided along rectilinear orbit 2.
If the moving process of pen 13 need not leave ink marks, control the second motor 901 reversion, as shown in fig. 7, second turn
Son 902 is retracted into motor, and first piston 904 is driven to extract, and due to the effect of atmospheric pressure, corresponding second piston 22 drives set
Pipe 20 moves up, to which pen 13 leaves paper.
If the moving process of pen 13 needs to leave ink marks, the second motor 901 of control rotates forward, as shown in fig. 7, the second rotor
902 stretch out to outside motor, and first piston 904 is driven inwardly to promote, and due to the effect of atmospheric pressure, corresponding second piston 22 drives
Casing 20 moves down, and to which pen 13 is pressed in paper, spring 19 is compressed at this time, prevents pressure excessive, pen tip scratches paper.
When recording painting and calligraphy creation process, by writing pencil in induction module（Electronic handwritten plate）Upper drawing is write, master control
Device processed detects the pixel being activated on electronic handwritten plate in real time, and according to the sequencing of activation and duration, generates row
Table is finally stored in memory module with document form or is sent to PC machine by communication interface.
When needing robot simulation Writing-painting, robot is placed in horizontal table top first, paper 10 is placed in bottom
Four frame intermediate regions of seat, according to paper size, 11 position of adjustment pressing plate is pressed against the edge of paper 10, finally twists
Tight fastening nut 17 makes the fastening positioning of pressing plate 11, and paper 10 is pushed down.
Master controller finds corresponding file, is obtained from file according to the picture to be drawn or the word content to be write
Coordinate a little is taken, and is corresponded to the displacement information of three motors, generates the chained list controlled based on displacement motor, controls three
Motor controls the relative displacement of motor successively according to the sequence of chained list, is finally completed picture drafting or process of writing.
Claims (6)
1. a kind of emulation writing and drawing robot, which is characterized in that including executing agency and control system；
The executing agency includes pedestal, holder, transmission mechanism；The pedestal includes two first frames for surrounding rectangle（6）
With two second frames（8）；Two first frames（6）Between be equipped with two pressing plates（11）, pressing plate（11）Both ends be respectively formed two sections it is curved
Folding, two bending part ends are and pressing plate（11）Middle part is parallel and is equipped with circular hole；First frame（6）Upper surface middle part Formation cross-section is
The groove of T-type is respectively provided with two trip bolts in groove, and nut is located in groove, and screw rod is successively from groove and pressing plate（11）
Circular hole in be pierced by, screw rod end nesting fastening nut（17）；The holder includes being erected above pedestal and being parallel to pedestal
Cross frame（4）, cross frame（4）End pass through four vertical racks（14）Four frames of connect base；It is described perpendicular
Straight bracket（14）On also set up and be parallel to the circular orbit of pedestal（5）；Cross frame（4）It is equipped with first below center
Motor（7）, first motor（7）Rotor center is in circular orbit（5）The upright projection of plane is located at circular orbit（5）The center of circle；
First motor（7）The first rotor（12）End connects rectilinear orbit by L-type connecting rod（2）；The rectilinear orbit（2）Head end
Equipped with motor cabinet（204）, end is equipped with u-bracket（203）, u-bracket（203）Pulley is equipped between two-arm（3）, motor cabinet
（204）It is equipped with third motor（16）；Motor cabinet（204）And u-bracket（203）Between be equipped with the slide bar that is mutually parallel（201）
And threaded rod（202）, threaded rod（202）Third motor is fixed in one end（16）Rotor on, the other end is connected by second bearing
Connect u-bracket（203）；Slide bar（201）And threaded rod（202）Across along rectilinear orbit（2）Mobile slide unit（1）；The pulley
（3）Edge protrusion, intermediate recess, recessed portion are close to circular orbit（5）Inner wall；The cross frame（4）On be additionally provided with pressure control
Device processed（9）, pressure controller（9）In be equipped with the second motor（901）With first fluid pipe（905）, the second motor（901）Second
Rotor（902）Top passes through first bearing（903）Connect first piston（904）, first piston（904）With first fluid pipe
（905）Between form first-class body cavity（906）；Slide unit（1）On the second fluid pipe placed vertically is installed（21）, second piston
（22）It is inserted into second fluid pipe straight up（21）, second piston（22）With second fluid pipe（21）Between formed second body cavity
（23）；Second piston（22）Bottom is equipped with casing（20）, casing（20）Elongated circular hole is formed on bottom, and painting and calligraphy are inserted in circular hole
With pen（13）；Casing（20）Outer wall middle and lower part is equipped with the limiting plate of annular sleeve（18）；Spring（19）It is nested in casing（20）On,
One end is fixed on slide unit（1）On, the other end is fixed on limiting plate（18）On；First fluid pipe（905）With second fluid pipe（21）
On be respectively equipped with fluid outlet pipe（907）And fluid inlet tube（24）As first-class body cavity（906）With second body cavity（23）
Channel between outside；Fluid outlet pipe（907）And fluid inlet tube（24）Between pass through flexible duct（15）It is interconnected；
First-class body cavity（906）With second body cavity（23）With flexible duct（15）A closed cavity is together formed, in cavity
Sealing fluid；
The control system includes master controller, master controller connect induction module, display module, memory module, communication interface,
Motor drive module, power module；The motor drive module controls first motor（7）, the second motor（901）, third motor
（16）；The communication interface connects PC machine, and the induction module is handwriting pad；The display module is display screen.
2. a kind of emulation writing and drawing robot as described in claim 1, which is characterized in that the pressing plate（11）Middle part and end
Vertical height between the position of end is not less than the first frame（6）Thickness.
3. a kind of emulation writing and drawing robot as described in claim 1, which is characterized in that the rectilinear orbit（2）It passes through
Circular orbit（5）The center of circle, rectilinear orbit（2）Part positioned at center of circle both sides, quality are equal.
4. a kind of emulation writing and drawing robot as described in claim 1, which is characterized in that the circular orbit（5）Vertical profile
Face is in " E " type, and center projections position height is 1~2cm and is higher than pulley（3）The height of edge protrusion.
5. a kind of emulation writing and drawing robot as described in claim 1, which is characterized in that the communication interface passes through USB
Line connects PC machine.
6. a kind of application method of emulation writing and drawing robot, which is characterized in that include the following steps：
S1：On the induction planes of induction module and on the display plane of display module, coordinate origin is chosen respectively, establishes plane
Rectangular coordinate system XY and AB, and assign the coordinate value based on XY coordinate systems for all available points on induction planes（Xn, Ym）；It is aobvious
Show that all available points assign the coordinate value based on AB coordinate systems in plane（Ap, Bq）；
S2：At each（Xn, Ym）Point and each（Ap, Bq）Mapping relations F is established between point,（Ap, Bq）=F（Xn, Ym,
t）, wherein t is the activation duration；
S3：The activationary time for the coordinate points being each activated in record XY coordinate systems and duration；It, will be every on display module
The corresponding coordinate points activation in AB coordinate systems of a coordinate points being activated；
S4：With first motor（7）, the second motor（901）, third motor（16）Dead-center position be reference point, establish three electricity
Mobile step number of the machine based on its dead-center position（Z1, Z2, Z3）With（Xn, Ym, t）Between mapping relations；
S5：With the mapping relations determined in S4, according to the numerical value of Xn, Ym and t, three motors are moved into Z1, Z2, Z3 step respectively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810380976.4A CN108466272B (en) | 2018-04-25 | 2018-04-25 | Simulation writing and drawing robot and use method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810380976.4A CN108466272B (en) | 2018-04-25 | 2018-04-25 | Simulation writing and drawing robot and use method thereof |
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| CN108466272A true CN108466272A (en) | 2018-08-31 |
| CN108466272B CN108466272B (en) | 2020-11-13 |
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ID=63263738
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810380976.4A Active CN108466272B (en) | 2018-04-25 | 2018-04-25 | Simulation writing and drawing robot and use method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109093594A (en) * | 2018-10-19 | 2018-12-28 | 斯图加特航空自动化（青岛）有限公司 | Annular planer-type robot moving system |
| CN109140170A (en) * | 2018-09-30 | 2019-01-04 | 四川竞速智能科技有限责任公司 | Shooting equipped system based on wireless remote control |
| CN113968095A (en) * | 2021-10-22 | 2022-01-25 | 胡玉涛 | Surveying and mapping device for three-dimensional structure |
| US11318610B2 (en) | 2020-01-22 | 2022-05-03 | Tata Consultancy Services Limited | Robotic gripper for writing and object creation |
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| CN201135241Y (en) * | 2007-09-14 | 2008-10-22 | 尹国英 | Multifunctional painting table |
| CN107088882A (en) * | 2017-06-18 | 2017-08-25 | 闾天驰 | Robot humanoid handwriting system and its control method |
| CN107506028A (en) * | 2017-07-31 | 2017-12-22 | 上海交通大学 | Robot painting system and method based on self start type brain-computer interface |
| CN107803829A (en) * | 2017-12-12 | 2018-03-16 | 慧灵科技（深圳）有限公司 | A kind of flat articulated mechanical arm of novel and multifunctional straight expelling water |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0421500A (en) * | 1990-05-15 | 1992-01-24 | Kobe Steel Ltd | Drawing robot apparatus |
| CN201135241Y (en) * | 2007-09-14 | 2008-10-22 | 尹国英 | Multifunctional painting table |
| CN107088882A (en) * | 2017-06-18 | 2017-08-25 | 闾天驰 | Robot humanoid handwriting system and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109140170A (en) * | 2018-09-30 | 2019-01-04 | 四川竞速智能科技有限责任公司 | Shooting equipped system based on wireless remote control |
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| US11318610B2 (en) | 2020-01-22 | 2022-05-03 | Tata Consultancy Services Limited | Robotic gripper for writing and object creation |
| CN113968095A (en) * | 2021-10-22 | 2022-01-25 | 胡玉涛 | Surveying and mapping device for three-dimensional structure |
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|---|---|
| CN108466272B (en) | 2020-11-13 |
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