CN110076786A - Robot synchronization signatures system - Google Patents
Robot synchronization signatures system Download PDFInfo
- Publication number
- CN110076786A CN110076786A CN201810077187.3A CN201810077187A CN110076786A CN 110076786 A CN110076786 A CN 110076786A CN 201810077187 A CN201810077187 A CN 201810077187A CN 110076786 A CN110076786 A CN 110076786A
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- China
- Prior art keywords
- pen
- fixed wheel
- record
- bridge
- roller bearing
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Position Input By Displaying (AREA)
Abstract
The present invention provides a kind of robot synchronization signatures system, at least two signatures record including communication connection executes terminal, it includes rack, bridge, translation mechanism and style of brushwork mechanism that the signature record, which executes terminal, and translation mechanism is for recording and controlling displacement of the pen on the X/Y plane of three-dimensional cartesian coordinate system；Style of brushwork mechanism is used to record and execute the angle that pen and Z axis are formed, including the feeding portion being mounted on a bridge, deflector and pen clamping part, deflector includes framework and sphere, sphere installation is in framework, it is equipped in framework for recording and controlling sphere three-dimensional three roller bearings rolled in rectangular coordinate system in space, the stem of pen is held in pen clamping part, writer executes the middle part writing that terminal holds pen in a signature record, and penetrate top bay and the visual handwriting trace of bridge, it drives encoder and roll encoder acquisition exercise data and is transferred to another signature record and execute terminal, exercise data is transmitted to corresponding motor and rolls motor by signature actuating station, person's handwriting needed for synchronism output.
Description
Technical field
The present invention relates to a kind of robots using writing implement Mass production person's handwriting, and in particular to robot synchronization signatures
System.
Background technique
For machine of signing, the programming mode of similar numerically-controlled machine tool is generallyd use before, and signature needed for scanning digitizes rail
Mark, then writes coordinate/displacement model program, then to decoding on signature machine, process is more very long, and multiple translation is be easy to cause
The partial distortion of handwriting data, and be only applicable to one signature mass of duplication and sign same file, to the pre- of single file
For signature or remote signing, just seem too troublesome.
However, people write signature when, although each individual has specific writing rules, then due to the fibre of writing medium
The difference of dimensional difference, the degree of wear of writing implement and muscle control, the person's handwriting signed each time have nuance,
If can low cost, easily record signature, so that it may complete signature file humanizedly.
And the remote synchronization of file is signed, if signature machine is provided simultaneously with the label that can witness, facilitate demonstration in real time
The typing and output function of name can be convenient the intersection signature of file, more meet actual habit of transaction, be based on this, design one
Kind facilitates interactive robot synchronization signatures system, just becomes technical problem urgently to be resolved.
Summary of the invention
The technical problem to be solved by the present invention is to design a kind of robot synchronization signatures system.
The technical solution proposed to solve above-mentioned technical problem is robot synchronization signatures system, the translation mechanism
For recording and controlling displacement of the pen on the direction XY of three-dimensional cartesian coordinate system, the style of brushwork mechanism is for recording and controlling
The angle that pen and Z axis are formed；
The translation mechanism includes four driving wheels, four fixed wheels and a closed synchronous belt, and driving wheel is mounted on I-shaped bridge
Four angles on, fixed wheel is mounted on four angles of rack, and synchronous belt is H-shaped to be wound on driving wheel and fixed wheel；
Fixed wheel includes the first fixed wheel, the second fixed wheel, third fixed wheel and the 4th fixed wheel, wherein the first fixed wheel and third fixed wheel are located at the
On one straight line, the second fixed wheel and the 4th fixed wheel are located in second straight line, described bridging be connected to first straight line and second straight line it
Between, the third fixed wheel couples the first encoder and first motor, the 4th fixed wheel connection second encoder and with the second electricity
Machine；
The style of brushwork mechanism is mounted on a bridge, including feeding portion, deflector, laser positioning portion and pen clamping part,
The deflector includes framework and sphere, the sphere installation in framework, be equipped in the framework for record with
Control sphere three-dimensional three roller bearings rolled in rectangular coordinate system in space, each roller bearing with roll encoder and rolling motor
Coaxial connection；
The stem of pen is held in pen clamping part, and the middle part that writer holds pen is write, and penetrates top bay and pen
The visual handwriting trace of bridge drives the first encoder, second encoder and roll encoder to acquire exercise data；
Another signature record executes terminal and receives exercise data, and corresponding motor drives needed for translation mechanism and the output of style of brushwork mechanism
Person's handwriting.
Specifically, the roller bearing includes controlling the first roller bearing for rotate along X-axis of sphere, the second roller bearing rotated along Y-axis, with
And the third roller bearing along Z axis rotation；First roller bearing is parallel with X-coordinate axle, and second roller bearing is parallel with Y-axis, and described
Three roller bearings are parallel with Z axis.
Specifically, the first motor selects servo motor or stepper motor, second motor select servo motor or
Stepper motor.
Specifically, the top hollow out of the rack, rack surrounding are provide with transparent shell, and the transparent shell is equipped with figure
User interface, it is negligible to blocking for the pen of movement since frame structure is simple, cooperate transparent shell, facilitate media/
Participant report alive/witness file remote subscription process etc..
The utility model has the advantages that the present invention is acted using signature record end and signature actuating station remote synchronization signature, can save long-range
Traveling expense needed for file signature, and tracer signal is directly transmitted with signal is executed, and without translation, realizes signature movement
Real-time visual operation, have high confidence level.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of figure wherein style of brushwork control mechanism；
Fig. 3 is the structural schematic diagram of sphere in Fig. 2；
In figure: the first fixed wheel 1, the second fixed wheel 2, third fixed wheel 3, the 4th fixed wheel 4, I-shaped bridge 5, framework 6, sphere 7.
Specific embodiment
Embodiment:
The robot synchronization signatures system of the present embodiment includes that at least two signatures record of communication connection executes terminal, when being used for
When the file signature of two places bilateral agreement class, then one is disposed respectively in signature.When for more ground multilateral accord class file label
When administration, then executing corresponding equipment is arranged.Equipment is identical using general structure, and existing communication is used when information is transmitted
Cryptographic protocol is illustrated so that certain signature record executes terminal as an example below.
As shown in Figure 1, being fixed by being mounted on first fixed wheel 1, the second fixed wheel 2, third at four angles of rack (omitting in figure)
Four driving wheels on wheel the 3, the 4th fixed wheel 4, with I-shaped bridge 5 are formed by connecting by synchronous belt, and style of brushwork control mechanism is fixed on
On synchronous belt, including framework 6 and sphere 7.
In use, translation mechanism is used to that pen to be driven to be displaced in the direction XY of three-dimensional cartesian coordinate system, style of brushwork control mechanism
For driving pen to be displaced in z-direction.Translation mechanism includes four driving wheels, four fixed wheels and a closed synchronous belt, is moved
Wheel is mounted on four angles of bridge, and fixed wheel is mounted on four angles of rack, and synchronous belt is H-shaped to be wound on driving wheel and fixed wheel
On；Rack is by the frame of the end to end formation of four edges, and fixed wheel is arranged in the top of four apex angles of frame, the lower section of four apex angles
Support leg is installed, when inputting torque in the same direction respectively to two fixed wheels, the synchronization strip length at left and right sides of bridge is constant, enables frame
Body Y-direction on bridge is mobile.When inputting reversed torque to two fixed wheels, synchronous belt overall length is constant, but same on the right side of bridge
Step band shortens, and left side increases, and enables entire bridge X to movement.When inputting the torque of different size and direction simultaneously, can drive
Pen on synchronous belt carries out the movement of arbitrary trajectory in X/Y plane coordinate system.
Style of brushwork control mechanism includes feeding portion, deflector, laser positioning portion and pen clamping part, wherein the structure of deflector
As shown in Fig. 2, the principle of similar idler wheel mouse/trace ball, inputs different torsions to roller bearing using three independent motors respectively
Square, roller bearing drive three-dimensional rotation of the sphere 7 in framework 6.
The structure of sphere 7 is as shown in figure 3, center wears through-hole, and setting pen clamping part, is used for clamping pen in through-hole,
The three-jaw chuck of similar lathe can be used in pen clamping part, and laser positioning portion uses the laser emitter of three Y shapes arrangement, three beams
Laser crosses to a bit, positions the position of pen tip with joint in clamping pen.Feeding portion is arranged in clamping portion and sphere
Between, and pressure sensor is set, is kept a record to the pressure sensitivity between pen and writing surface and feedback control.
In order to reach better effect of visualization when writing, in frame top hollow out, surrounding is provide with transparent cover, in machine
Full-automatic inlet device is arranged in frame bottom, can also will need signature file that rolling is made, and moves paper to need by the feeding of idler wheel
It signs position, is cut again after signature.
First fixed wheel and third fixed wheel are located in first straight line, and the second fixed wheel and the 4th fixed wheel are located in second straight line, institute
It states a bridging to be connected between first straight line and second straight line, wherein third fixed wheel coaxially joins with first motor and the first encoder
It connects, the 4th fixed wheel coaxially couples with the second motor and second encoder.There is 4 ~ 8 ° of folder between first straight line and second straight line
Angle.
The power resources that H-shaped synchronous belt is translated as pen stand, bridge is as pen stand in plane right-angle coordinate Y direction
Guide rail, while the straight guide rail of X-direction being installed between bridge and rack, entire bridge of guiding is translated in X-direction.
Several mutually isostructural signature records provided by the invention execute the synchronization signatures system, robot of terminal networking composition
System, signature record execute terminal and are mainly made of rack, bridge, pen stand, translation mechanism and style of brushwork control mechanism, and translation mechanism is used
It is sealed in recording and executing pen in the displacement in the direction XY of three-dimensional cartesian coordinate system, including four driving wheels, four fixed wheels and one
The synchronous belt closed, driving wheel are mounted on four angles of I-shaped bridge, and fixed wheel is mounted on four angles of rack, and synchronous belt is in H
Shape is wound on driving wheel and fixed wheel；Fixed wheel includes the first fixed wheel, the second fixed wheel, third fixed wheel and the 4th fixed wheel, wherein first is fixed
Wheel and third fixed wheel are located in first straight line, and the second fixed wheel and the 4th fixed wheel are located in second straight line, and it is straight that a bridging is connected to first
Between line and second straight line, third fixed wheel couples with the first encoder, and the 4th fixed wheel coaxially couples with second encoder；Style of brushwork machine
Structure is used to record and execute the angle that pen and Z axis are formed；Including be mounted on a bridge feeding portion, deflector, laser positioning
Portion and pen clamping part, deflector include framework and sphere, and sphere installation is equipped in framework for recording sphere in framework
Three-dimensional three roller bearings rolled, each roller bearing coaxially couple with roll encoder in rectangular coordinate system in space；The head of pen
Portion is held in pen clamping part, and the middle part that writer holds pen is write, and visually writes rail through top bay and a bridge
Mark, drives the first encoder, second encoder and roll encoder to acquire exercise data, and another of distal end terminal receives signature
The exercise data of record, synchronism output are required person's handwriting.
Unmentioned part can be realized by the prior art in above embodiments.
Claims (5)
1. a kind of robot synchronization signatures system, at least two signatures record including communication connection executes terminal, the signature
It includes rack, bridge, translation mechanism and style of brushwork mechanism that record, which executes terminal, it is characterised in that:
The translation mechanism is for recording and controlling displacement of the pen on the direction XY of three-dimensional cartesian coordinate system, the style of brushwork machine
Structure is used to record and control the angle that pen and Z axis are formed；
The translation mechanism includes four driving wheels, four fixed wheels and a closed synchronous belt, and driving wheel is mounted on I-shaped bridge
Four angles on, fixed wheel is mounted on four angles of rack, and synchronous belt is H-shaped to be wound on driving wheel and fixed wheel；
Fixed wheel includes the first fixed wheel, the second fixed wheel, third fixed wheel and the 4th fixed wheel, wherein the first fixed wheel and third fixed wheel are located at the
On one straight line, the second fixed wheel and the 4th fixed wheel are located in second straight line, described bridging be connected to first straight line and second straight line it
Between, the third fixed wheel couples the first encoder and first motor, the 4th fixed wheel connection second encoder and with the second electricity
Machine；
The style of brushwork mechanism is mounted on a bridge, including feeding portion, deflector, laser positioning portion and pen clamping part,
The deflector includes framework and sphere, the sphere installation in framework, be equipped in the framework for record with
Control sphere three-dimensional three roller bearings rolled in rectangular coordinate system in space, each roller bearing with roll encoder and rolling motor
Coaxial connection；
The stem of pen is held in pen clamping part, and the middle part that writer holds pen is write, and penetrates top bay and pen
The visual handwriting trace of bridge drives the first encoder, second encoder and roll encoder to acquire exercise data；
Another signature record executes terminal and receives exercise data, and corresponding motor drives needed for translation mechanism and the output of style of brushwork mechanism
Person's handwriting.
2. robot synchronization signatures system according to claim 1, it is characterised in that: the roller bearing includes control sphere edge
First roller bearing of X-axis rotation, along the second roller bearing of Y-axis rotation, and along the third roller bearing of Z axis rotation；First roller bearing and X
Reference axis is parallel, and second roller bearing is parallel with Y-axis, and the third roller bearing is parallel with Z axis.
3. robot synchronization signatures system according to claim 1, it is characterised in that: the first motor selects servo electricity
Machine or stepper motor, second motor select servo motor or stepper motor.
4. robot synchronization signatures system according to claim 1, it is characterised in that: the top hollow out of the rack, machine
Frame surrounding is provide with transparent shell, and the transparent shell is equipped with graphic user interface.
5. using the Writing method of robot synchronization signatures system as described in claim 1, it is characterised in that: to actuating station electricity
The signal of machine fan-in record, it is long-range to execute required handwriting signature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810077187.3A CN110076786A (en) | 2018-01-26 | 2018-01-26 | Robot synchronization signatures system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810077187.3A CN110076786A (en) | 2018-01-26 | 2018-01-26 | Robot synchronization signatures system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110076786A true CN110076786A (en) | 2019-08-02 |
Family
ID=67412308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810077187.3A Pending CN110076786A (en) | 2018-01-26 | 2018-01-26 | Robot synchronization signatures system |
Country Status (1)
| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113524953A (en) * | 2021-08-27 | 2021-10-22 | 马前进 | Road route simulation drawing device |
Citations (8)
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|---|---|---|---|---|
| EP0413607A2 (en) * | 1989-08-18 | 1991-02-20 | Matsushita Electric Industrial Co., Ltd. | Pen-type computer input device |
| JPH0916311A (en) * | 1995-06-29 | 1997-01-17 | Sharp Corp | Inclination detector for input pen and pen input device with same |
| EP1615096A1 (en) * | 2004-07-09 | 2006-01-11 | Johan Fahlander | Computer input device |
| CN204374938U (en) * | 2015-02-02 | 2015-06-03 | 金华职业技术学院 | A kind of Digitizing plate preventing shaking during drawing |
| CN105774264A (en) * | 2015-04-03 | 2016-07-20 | 江苏浩宇电子科技有限公司 | Writing mechanism for writing machine |
| CN205439717U (en) * | 2015-12-25 | 2016-08-10 | 绥化学院 | Automatic robot of writing of writing brush |
| CN106383602A (en) * | 2016-09-14 | 2017-02-08 | 北京理工大学 | Device and method for realizing remote signature |
| CN205981214U (en) * | 2016-08-26 | 2017-02-22 | 云南理邦工程技术咨询有限公司 | Novel overcasting staff |
-
2018
- 2018-01-26 CN CN201810077187.3A patent/CN110076786A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0413607A2 (en) * | 1989-08-18 | 1991-02-20 | Matsushita Electric Industrial Co., Ltd. | Pen-type computer input device |
| US5371516A (en) * | 1989-08-18 | 1994-12-06 | Matsushita Electric Industrial Co., Ltd. | Pen-type computer input device |
| JPH0916311A (en) * | 1995-06-29 | 1997-01-17 | Sharp Corp | Inclination detector for input pen and pen input device with same |
| EP1615096A1 (en) * | 2004-07-09 | 2006-01-11 | Johan Fahlander | Computer input device |
| CN204374938U (en) * | 2015-02-02 | 2015-06-03 | 金华职业技术学院 | A kind of Digitizing plate preventing shaking during drawing |
| CN105774264A (en) * | 2015-04-03 | 2016-07-20 | 江苏浩宇电子科技有限公司 | Writing mechanism for writing machine |
| CN205439717U (en) * | 2015-12-25 | 2016-08-10 | 绥化学院 | Automatic robot of writing of writing brush |
| CN205981214U (en) * | 2016-08-26 | 2017-02-22 | 云南理邦工程技术咨询有限公司 | Novel overcasting staff |
| CN106383602A (en) * | 2016-09-14 | 2017-02-08 | 北京理工大学 | Device and method for realizing remote signature |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113524953A (en) * | 2021-08-27 | 2021-10-22 | 马前进 | Road route simulation drawing device |
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Application publication date: 20190802 |
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