CN104108100A - Device capable of substituting for manual writing - Google Patents

Device capable of substituting for manual writing Download PDF

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Publication number
CN104108100A
CN104108100A CN201410366735.6A CN201410366735A CN104108100A CN 104108100 A CN104108100 A CN 104108100A CN 201410366735 A CN201410366735 A CN 201410366735A CN 104108100 A CN104108100 A CN 104108100A
Authority
CN
China
Prior art keywords
steering wheel
arm
hand
writing
matrix
Prior art date
Application number
CN201410366735.6A
Other languages
Chinese (zh)
Inventor
唐宁
叶海波
卢健
容达樑
隋欣梦
Original Assignee
桂林电子科技大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 桂林电子科技大学 filed Critical 桂林电子科技大学
Priority to CN201410366735.6A priority Critical patent/CN104108100A/en
Publication of CN104108100A publication Critical patent/CN104108100A/en

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Abstract

The invention discloses a device capable of substituting for manual writing. The device comprises a writing pen, a mechanical arm and a control terminal, the mechanical arm comprises a hand portion, an arm portion and a base, the hand portion is used for holding the arm portion, the arm portion is connected with the hand portion, the base is used for holding the arm portion and is provided with a communication module and a control module, the base receives instructions of the control terminals, and the control module is used for controlling the arm portion and the hand portion to finish writing. According to the device, the instructions and writing behaviors or content transmitted from the control terminal are transmitted to the mechanical arm and are executed or synchronized by the mechanical arm by writing on a blackboard, and the device is small in size, stable in performance, high in reliability and fast in writing. By the device, risks from dust can be reduced, and working intensity of teachers is lowered; the control terminal is sufficiently spaced from the mechanical arm, so that the device can also be applied to places inconvenient for operation such as tall and large wall painting, ceiling painting and carving; the device can also be used for manual painting, tall building cleaning, dirt cleaning and the like after functions of the device are expanded effectively.

Description

The alternative device of manually writing
Technical field
The present invention relates to robot, relate in particular to a kind of alternative device of manually writing.
Background technology
Teaching practice field, take under the environment that multimedia teaching is main flow, and traditional blackboard traditional instruction mode is still occupied very important status.This teaching method is vivid, and flexibility and workable can be played good teaching purpose.
In can traditional instruction process, the person of giving lessons will utilize chalk manually to write, and when breadth switches, need use blackboard brush manual erase, waste time and energy, and the dust that chalk falls is harmful to the healthy of people; Existing research is all to reduce the harm of dust to teacher by the mode of improvement erasing blackboard or raising efficiency of erasing and use new material black and white (as magnet board) etc.This class is improved certain effect of having played, but or has following 2 subject matters.The first, blackboard eraser removal apparatus complex structure, complex operation, the person that much do not give lessons is unwilling to use; The second, the person of giving lessons still must manually write, and working strength is still very large.
Summary of the invention
In order to reduce the harm of dust to human body, also, in order to alleviate teacher's working strength and blackboard writing amount, the invention provides a kind of alternative device of manually writing.
The alternative device of manually writing of the present invention, consists of lettering pen, mechanical arm and control terminal; Mechanical arm comprises the matrix that clamps the hand of lettering pen, the arm being connected with hand and settle arm;
Matrix also arranges communication module and control module, and matrix receives the instruction of control terminal, by control module control arm and hand, is completed and is write.
For ease of writing at facade, device of the present invention, also arranges sucker in matrix bottom.Sucker can be absorbed and fixed at mechanical arm on facade blackboard (comprising various blackboards vertical or that tilt and blank etc.) and complete and write, and mechanical arm is located simultaneously.
As a kind of embodiment, sucker of the present invention is one or more magnechucks.In this case, the plate face of being write need to be the magnet body that maybe can be magnetized, and the magnet body that maybe can be magnetized also can be set in the behind of the plate face of being write.
In addition, device of the present invention, is also provided for the wheel of walking in matrix bottom, to realize mechanical arm, moves, and adjusts writing position.
One of described lettering pen is writing end, and other end, for wiping end, can be write and can wipe to realize.
In the present invention, control terminal is communicated by letter with matrix implementation wired connection or wireless connections are communicated by letter.Wired connection communication can adopt parallel port or serial ports, and this mode is applicable to the occasion of close together.Wireless connections communication comprises bluetooth, infrared or radio, and this mode is applicable to occasion distant and that line is inconvenient, and wireless connections communication is convenient flexibly.
Control terminal in the present invention comprises communications portion, operation push-button part and touch screen portion.
For making clamping more firm, the retaining part indention of hand of the present invention.
For making clamping more flexibly and reliably controlled, the present invention is also provided with an activity template at hand simultaneously, activity template under the drive of motor, realize and stator between clamping and loosen.
The arm of the mechanical arm in device of the present invention comprises steering wheel one, Connection Block one, steering wheel two, Connection Block two, steering wheel three, Connection Block three, steering wheel four and steering wheel five; Between steering wheel one and steering wheel two, by Connection Block one transition, connected, between steering wheel two and steering wheel three, by Connection Block two transition, connected, between steering wheel three and steering wheel four, by Connection Block three transition, connected, steering wheel four is directly connected with steering wheel five; Steering wheel one is placed in matrix and driven by the control module in matrix, and the other one end of steering wheel five is connected with hand.
For wheels walking better, in the solution of the present invention, be to the direct configuration driven motor of wheel, wheel is realized advancing, retreating of mechanical arm and is turned to walking under drive motors effect.Such mode is simple, direct, reliable.
Device of the present invention, can be by control terminal order, write behavior or content, is transferred to mechanical arm, by mechanical arm, carried out again or synchronously, write at blackboard (comprising blank) above, reduce the harm of dust to teacher, reduce teacher's working strength and alleviate and write workload.Small product size is little, stable performance, reliability are high, writing speed matches in excellence or beauty writing speed manually.
Because control terminal can leave enough distances with mechanical arm, imparting knowledge to students, upper class hour, control terminal can be placed in classroom Anywhere, if particularly adopt handheld terminal and wireless connections communication, teacher just can stand on dais and give lessons so, but may stand in the middle of student, can make school hear teacher's sound, also be convenient to teacher and observe student's situation, in classroom, form good interaction, obtain the effect of attending class and cannot obtain in dais.
The alternative device of manually writing of the present invention, can also complete automatic imitation creation in the occasion of drawing a picture such as tall and big mural painting, ceiling and the people such as engraving is inconvenient to operate, for people's work provides a great convenience.Also can be widely used in teaching practice, creation is auxiliary, and the fields such as scientific exhibit and the support of movable meeting field device, not only have certain interest, and have high efficiency and accuracy.
The alternative device of manually writing of the present invention, except being mainly used in teaching writing aspect, can also to its function, effectively expand according to actual conditions, for example can replace artificial mopping, not only can reduce the injury of toxicant to human body, and can make mopping quality be protected.Because the flexibility of this mechanical arm is extremely strong, this robot can also be applied to the aspects such as high building cleaning, dirty cleaning.
Accompanying drawing explanation
Fig. 1 is the structure chart of mechanical arm in the alternative device of manually writing of the present invention.
Fig. 2 is the structure chart of another angle of mechanical arm shown in Fig. 1.
Fig. 3 is lettering pen schematic diagram.
the specific embodiment:
An alternative device of manually writing, consists of lettering pen, mechanical arm and control terminal.
See Fig. 1,2.Mechanical arm comprises the matrix (parts at power switch 1, start button 2, electromagnet 3, drive motors 7 and wheel 8 places) that clamps the hand (parts at activity template 5 and motor 4 places) of lettering pen, the arm (part from steering wheel 1 to steering wheel 5 16 places) being connected with hand and settle arm;
Matrix also arranges communication module and control module (not shown in FIG.), and matrix receives the instruction of control terminal, by control module control arm and hand, is completed and is write.
Matrix shell is formed by titanium alloy sheet riveted joint, and structure is square.The weight of the whole mechanical arm of main carrying.Four magnechucks 3 are arranged at matrix bottom, are evenly arranged on mechanical arm matrix, and it can be adsorbed on blackboard whole mechanical arm.
Four wheels 8 is arranged at matrix bottom, two trailing wheels of two front-wheels, be arranged symmetrically between two on matrix, each takes turns outer ring by rubber coated, 7, four drive motors 7 of the equal configuration driven motor of each wheel have two preposition, two postposition, drive separately each wheel turns and turn to, realization is advanced, is retreated and turns to walking, realizes the freely-movable of mechanical arm on blackboard.
Communication module in matrix receives the order data that control terminal sends with bluetooth approach.
Control module in matrix is resolved the order data receiving to generate all kinds of operational orders, comprises that order is write, touch screen is followed and write, lifts pen, puts down pen, wipes, moves instructions such as adjusting writing position.
Arm comprises steering wheel 1, Connection Block 1, steering wheel 2 11, Connection Block 2 12, steering wheel 3 13, Connection Block 3 14, steering wheel 4 15 and steering wheel 5 16; Between steering wheel 1 and steering wheel 2 11, by Connection Block one 10 transition, connected, between steering wheel 2 11 and steering wheel 3 13, by Connection Block 2 12 transition, connected, between steering wheel 3 13 and steering wheel 4 15, by Connection Block 3 14 transition, connected, steering wheel 4 15 is directly connected with steering wheel 5 16; Steering wheel 1 is placed in matrix and driven by the control module in matrix, and steering wheel five other one end of 16d are connected with hand.
The retaining part indention of hand, hand has an activity template 5, activity template 5 under the drive of motor 4, realize and stator between clamping and loosen.
See Fig. 3.One of lettering pen 6 is writing end 17, and other end, for wiping end 18, can be write and can wipe to realize.
Control terminal and matrix are carried out Bluetooth communication.
Hand-holdable control terminal: mainly comprise and control communications portion, operation push-button part and touch screen portion, its small volume and less weight, can be by the hand-held use of teacher.
The command mode that this alternative device of manually writing is different according to control terminal, can complete in a different manner to substitute and write.Exemplify two kinds below.
One, mandamus WriteMode:
First turn on the power switch 1 and start button 2, power on to electromagnet 3, utilize magnetic force that whole mechanical arm is adsorbed on to blackboard (blackboard material is ferrimagnet)) on; Hand motor 4 drives activity template 5 to unclamp, and lettering pen 6 is put into, and the writing end 17 of lettering pen 6, over against blackboard, then hand motor 4 drives activity template 5 to clamp lettering pen 6; Afterwards, controlling drive motors 7 drives wheel 8 to make mechanical arm run to predetermined writing position;
Teacher is the selected required word of writing on hand-holdable control terminal, by selected word, the coding of the ordinal number in character library is sent to mechanical arm to control terminal, the control module of mechanical arm generates type matrix coding by ordinal number code parsing, and stroke writing is carried out to scanning analysis, calculate stroke coordinate a little and the angle of corresponding steering wheel, then calculate corresponding writing and control each steering wheel action of parameter rear drive.Then, steering wheel 1 drives steering wheel 2 11 actions by being attached thereto the Connection Block 1 connecing, in like manner, steering wheel two drives steering wheel 3 13 by being attached thereto the Connection Block 2 12 connecing, steering wheel three drives steering wheel 4 15 by being attached thereto the Connection Block 3 14 connecing, the steering wheel four-tape is moved steering wheel 5 16, and steering wheel five drives and is attached thereto the hand exercise connecing, and lettering pen can complete and write accordingly work.
Two, touch screen is followed ways of writing:
Teacher's touch screen on hand-holdable control terminal is write or is drawn, hand-holdable control terminal can in time touch screen be write or draw operation mid point coordinate data be sent to mechanical arm, the control module of mechanical arm is calculated steering wheel angle according to coordinate data, drive steering wheel to navigate to writing position, and follow control terminal and follow and write, the speed that its writing speed is write on touch screen with teacher is synchronizeed.
All the other functions: " erasing blackboard function " is consistent with " touch screen is followed and write " principle, under " erasing blackboard function " order, control steering wheel 5 16 and drive hand Rotate 180 degree, make to wipe end 18 over against blackboard, get final product the written trace on erasing blackboard.

Claims (10)

1. the alternative device of manually writing, is characterized in that: lettering pen, mechanical arm and control terminal, consist of; Mechanical arm comprises the matrix that clamps the hand of lettering pen, the arm being connected with hand and settle arm;
Matrix also arranges communication module and control module, and matrix receives the instruction of control terminal, by control module control arm and hand, is completed and is write.
2. device according to claim 1, is characterized in that: matrix bottom also arranges sucker and the wheel for walking, and to realize, controls and adjust writing position.
3. device according to claim 1, is characterized in that: one of lettering pen is writing end, and other end, for wiping end, can be write and can wipe to realize.
4. device according to claim 1, is characterized in that: control terminal is communicated by letter with matrix implementation wired connection or wireless connections are communicated by letter.
5. device according to claim 4, is characterized in that: wireless connections communication comprises bluetooth, infrared or radio.
6. device according to claim 1, is characterized in that: control terminal comprises communications portion, operation push-button part and touch screen portion.
7. device according to claim 2, is characterized in that: sucker is one or more magnechucks.
8. device according to claim 1, is characterized in that: the retaining part indention of hand, hand has an activity template, activity template under the drive of motor, realize and stator between clamping and loosen.
9. device according to claim 1, is characterized in that: arm comprises steering wheel one, Connection Block one, steering wheel two, Connection Block two, steering wheel three, Connection Block three, steering wheel four and steering wheel five; Between steering wheel one and steering wheel two, by Connection Block one transition, connected, between steering wheel two and steering wheel three, by Connection Block two transition, connected, between steering wheel three and steering wheel four, by Connection Block three transition, connected, steering wheel four is directly connected with steering wheel five; Steering wheel one is placed in matrix and driven by the control module in matrix, and the other one end of steering wheel five is connected with hand.
10. device according to claim 2, is characterized in that: wheel arrangement drive motors, wheel is realized advancing, retreating of mechanical arm and turned to walking under drive motors effect.
CN201410366735.6A 2014-07-30 2014-07-30 Device capable of substituting for manual writing CN104108100A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410366735.6A CN104108100A (en) 2014-07-30 2014-07-30 Device capable of substituting for manual writing

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Application Number Priority Date Filing Date Title
CN201410366735.6A CN104108100A (en) 2014-07-30 2014-07-30 Device capable of substituting for manual writing

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Publication Number Publication Date
CN104108100A true CN104108100A (en) 2014-10-22

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105538324A (en) * 2015-12-28 2016-05-04 浙江大学 Acoustic control robot based on DTMF signals
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
CN106347520A (en) * 2016-10-31 2017-01-25 榆林学院 Trolley assisting device
CN106963165A (en) * 2017-04-19 2017-07-21 许建芹 A kind of teacher's chair special
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
CN108363975A (en) * 2018-02-09 2018-08-03 黑龙江大学 A kind of writing removing system and method based on camera vision-based detection
CN108673525A (en) * 2018-05-31 2018-10-19 湖北新清科教育科技有限公司 A kind of automatic writing system based on service robot
CN109129447A (en) * 2018-08-27 2019-01-04 湖北新清科教育科技有限公司 A kind of mechanical rival's arm configuration for writing erasing
CN110576439A (en) * 2019-09-04 2019-12-17 华南理工大学广州学院 Multi-control writing robot and control method thereof

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JPS6048275A (en) * 1983-08-24 1985-03-15 Taito Kk Writing robot device
JPH01228899A (en) * 1988-03-09 1989-09-12 Gakken Co Ltd Writing robot
JP2003182289A (en) * 2001-12-19 2003-07-03 Masaru Aoki Drawing robot
CN2654293Y (en) * 2003-11-10 2004-11-10 重庆大学 Writing robot
DE102004051224A1 (en) * 2004-10-20 2006-05-04 Matthias Gommel Object drawing generation method, has computer-controlled robotic system with video camera to scan object and has writing head to produce drawing
CN2915406Y (en) * 2006-06-02 2007-06-27 上海市奉贤中学 Robot capable of writing
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JPH01228899A (en) * 1988-03-09 1989-09-12 Gakken Co Ltd Writing robot
JP2003182289A (en) * 2001-12-19 2003-07-03 Masaru Aoki Drawing robot
CN2654293Y (en) * 2003-11-10 2004-11-10 重庆大学 Writing robot
DE102004051224A1 (en) * 2004-10-20 2006-05-04 Matthias Gommel Object drawing generation method, has computer-controlled robotic system with video camera to scan object and has writing head to produce drawing
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105538324A (en) * 2015-12-28 2016-05-04 浙江大学 Acoustic control robot based on DTMF signals
CN105538324B (en) * 2015-12-28 2018-01-30 浙江大学 Televox based on dtmf signal
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
CN106347520A (en) * 2016-10-31 2017-01-25 榆林学院 Trolley assisting device
CN106963165A (en) * 2017-04-19 2017-07-21 许建芹 A kind of teacher's chair special
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
CN108363975A (en) * 2018-02-09 2018-08-03 黑龙江大学 A kind of writing removing system and method based on camera vision-based detection
CN108673525A (en) * 2018-05-31 2018-10-19 湖北新清科教育科技有限公司 A kind of automatic writing system based on service robot
CN109129447A (en) * 2018-08-27 2019-01-04 湖北新清科教育科技有限公司 A kind of mechanical rival's arm configuration for writing erasing
CN110576439A (en) * 2019-09-04 2019-12-17 华南理工大学广州学院 Multi-control writing robot and control method thereof

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Application publication date: 20141022