CN104669277A - Double-arm writing robot and control method thereof - Google Patents
Double-arm writing robot and control method thereof Download PDFInfo
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- CN104669277A CN104669277A CN201510106808.2A CN201510106808A CN104669277A CN 104669277 A CN104669277 A CN 104669277A CN 201510106808 A CN201510106808 A CN 201510106808A CN 104669277 A CN104669277 A CN 104669277A
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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Abstract
The invention discloses a double-arm writing robot and a control method thereof. The double-arm writing robot comprises a support, a left driving mechanism, a left back arm, a left front arm, a right driving mechanism, a right back arm, a right front arm and a pen holder, wherein the left driving mechanism and the right driving mechanism are arranged on the support respectively; the head end of the left back arm is hinged to the left driving mechanism, and rotates along the horizontal direction; the tail end of the left back arm is hinged to the head end of the left front arm; the head end of the right back arm is hinged to the right driving mechanism, and rotates along the horizontal direction; the tail end of the right back arm is hinged to the tail end of the right front arm; the tail end of the left front arm is hinged to the tail end of the right front arm; the pen holder is arranged on the joint of the left front arm and the right front arm. Compared with the prior art, the double-arm writing robot has the advantages that the structure is simple, convenience is brought to use, and the basic writing function can be finished; meanwhile, a convenient writing condition can be created for the life of people, and a large number of writing tasks are finished instead of labor force.
Description
Technical field
The present invention relates to a kind of robot that can write, in particular a kind of Dual-arm Writing robot and control method thereof.
Background technology
With the increase of people's workload, writing task increases gradually, and writes and must complete a large amount of writing tasks by both hands, is difficult to by a kind of high efficiency and mode has been come accurately.The one armed robot that current market is conventional, structure is more complicated also, and the cost of making is higher, and control procedure is comparatively complicated.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, provide a kind of Dual-arm Writing robot and control method thereof, realize simple and effective writing.
The present invention is achieved by the following technical solutions, the present invention includes bearing, left driving mechanism, left back arm, left forearm, right driving mechanism, right back arm, right forearm and pen stand; Described left driving mechanism and right driving mechanism are arranged on bearing respectively, the head end of described left back arm to be hinged on left driving mechanism and to rotate in the horizontal direction, the head end of end and left forearm is hinged, the head end of described right back arm to be hinged on right driving mechanism and to rotate in the horizontal direction, the head end of end and right forearm is hinged, the end of described left forearm and the end of right forearm hinged, described pen stand is arranged at the junction of left forearm and right forearm.
The two ends of described left back arm are by connecting axle hinged left driving mechanism and left forearm respectively, and the two ends of right back arm are by connecting axle hinged right driving mechanism and right forearm respectively.
Described Writing robot also comprises base, carry arm driving mechanism and push rod, and described bearing is hinged on base, and one end of described push rod connects carry arm driving mechanism, and the other end connects bearing.
Described left driving mechanism, right driving mechanism and carry arm driving mechanism are respectively steering wheel.
A control method for Dual-arm Writing robot, comprises the following steps:
(1) will treat that write characters is decomposed into multiple continuous print point successively; (2) pen stand on robot arm is allowed to reach each continuous print point successively in order;
(3) character of multiple stroke needs to judge that the next position is the need of lifting pen, then lifts pen in this way and moves to impact point and then start to write, otherwise move to impact point, and this process circulates, and the character data according to typing completes writing of each point one by one.
As one of effective means of the present invention, in described step (1), the distance of adjacent 2 is less than 1mm.
Described step (2) comprises the following steps:
(21) need the coordinate set of written character by sequential write collection, initial target point is designated as n, and coordinate set is: n, n+1, n+2
(22) utilize the cosine law, draw the angle ban of the line ab of left back arm b point and left driving mechanism a point and the line an of left driving mechanism a point and impact point n point,
nb is the line of impact point n point and left back arm b point end;
(23) according to the coordinate of known a point and n point, obtain the sine value of the angle nae of left back arm and x-axis, recycling antitrigonometric function obtains angle nae;
(24) deduct angle nae and angle ban by 180 °, obtain the rightabout angle baf with angle nae, be the angle that left driving mechanism puts in place;
(25) right arm in like manner.
Although each steering wheel signal independently can calculate signal results, but two arm collaborative work pen stand positions just have unique fixed position, if only have an arm, after so postbrachium rotates to respective angles, forearm arbitrarily can rotate on postbrachium, now add another arm, then the end be equivalent at two postbrachiums is that radius draws circle with forearm, and the intersection point of the far-ends of two circles is pen stand position and unique.
The control principle of steering wheel is return pulse signal, corresponding rotation is to 0 ° ~ 180 ° respectively for the pulsewidth of 5ms ~ 25ms, and angle baf is corresponding with the steering wheel anglec of rotation, then the corresponding baf 0 ° ~ 180 ° of 5ms ~ 25ms pulsewidth, therefore obtain baf angle, just can draw pulsewidth.
The control rotated is according to the counter of single-chip microcomputer, single-chip microcomputer is with the number count in steering wheel cycle, two steering wheels can compare with it respectively, if counting exceedes current demand signal pulsewidth numerical value, export negate, when counter counts again, signal negate, the pulse signal that the moment forming circulation with this upgrades.
The unstability of the quadrangle that the present invention utilizes left forearm, left back arm, right forearm and right back arm to form, rotates two steering wheels, makes pen stand position move to corresponding position and completes action of writing.
The present invention has the following advantages compared to existing technology: structure of the present invention is simple, easy to use, can complete the basic function of writing, and brings can to the life of people simultaneously and write convenience, replace staff to complete a large amount of writing task.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the side view of Fig. 1;
Fig. 3 writes schematic flow sheet;
Fig. 4 is servos control schematic flow sheet;
Fig. 5 is that the present invention writes the schematic diagram of track vector;
Fig. 6 is the schematic diagram of coordinatograph of the present invention.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As depicted in figs. 1 and 2, the present embodiment comprises bearing 1, left driving mechanism 2, left back arm 3, left forearm 4, right driving mechanism 5, right back arm 6, right forearm 7, pen stand 8, base 9, carry arm driving mechanism 10 and push rod 11; Left driving mechanism 2 and right driving mechanism 5 are arranged on bearing 1 respectively, the head end of left back arm 3 to be hinged on left driving mechanism 2 by connecting axle 12 and to rotate in the horizontal direction, the head end of end and left forearm 4 is hinged by connecting axle 12, the head end of right back arm 6 to be hinged on right driving mechanism 5 by connecting axle 12 and to rotate in the horizontal direction, the head end of end and right forearm 7 is hinged by connecting axle 12, it is hinged that the end of left forearm 4 and the end of right forearm 7 pass through connecting axle 12, and pen stand 8 is arranged at the junction of left forearm 4 and right forearm 7.Bearing 1 is hinged on base 9 by connecting axle 12, and one end of push rod 11 connects carry arm driving mechanism 10, and the other end connects bearing 1.Pen stand 8 connects writing pen, is the desktop 13 that writes under pen stand 8.
The left driving mechanism 2 of the present embodiment, right driving mechanism 5 and carry arm driving mechanism 10 are respectively steering wheel, adopt single-chip microcomputer to provide pulse signal to steering wheel.The signal that steering wheel receives through calculating in the process of writing carries out angle rotation, and drive two postbrachiums to rotate, two postbrachiums rotate simultaneously, and the intersection point due to unstability two forearms of quadrangle can drive pen stand 8 to move thereupon, arrives target location.
As shown in Figure 3, a kind of control method of Dual-arm Writing robot, comprises the following steps:
(1) will treat that write characters is decomposed into multiple continuous print point successively, the distance of adjacent 2 is less than 1mm;
(2) pen stand 8 on robot arm is allowed to reach each continuous print point successively in order;
(3) character of multiple stroke needs to judge that the next position is the need of lifting pen, then lifts pen in this way and moves to impact point and then start to write, otherwise move to impact point, and this process circulates, and the character data according to typing completes writing of each point one by one.
As shown in Figure 4 and Figure 6, step (2) comprises the following steps:
(21) need the coordinate set of written character by sequential write collection, initial target point is designated as n, and coordinate set is: n, n+1, n+2
(22) utilize the cosine law, draw the angle ban of the line ab of left back arm 3b point and left driving mechanism 2a point and the line an of left driving mechanism 2a point and impact point n point,
nb is the line of impact point and left back arm 3 end;
(23) according to the coordinate of known a point and n point, obtain the sine value of left back arm 3 and the angle nae of x-axis, recycling antitrigonometric function obtains angle nae;
(24) deduct angle nae and angle ban by 180 °, obtain the rightabout angle baf with angle nae, be the angle that left driving mechanism puts in place;
With angle baf and the proportionate relationship of 180 ° and the pulsewidth numerical value controlling the pulsewidth of steering wheel and the proportionate relationship of pulse period and calculate corresponding control steering wheel; The control principle of steering wheel is return pulse signal, and corresponding rotation is to 0 ° ~ 180 ° respectively for the pulsewidth of 5ms ~ 25ms, and baf is corresponding with the steering wheel anglec of rotation, then the corresponding baf 0 ° ~ 180 ° of 5ms ~ 25ms pulsewidth, therefore obtains baf angle, just can draw pulsewidth;
(25) right arm calculates in like manner.
As shown in Figure 5, write numeral " 7 ", be divided into several at a distance of very short some numeral " 7 ", allow the point that arm reaches recorded successively in order.The character of multiple stroke needs to judge that the next position is the need of lifting pen, is, lifts pen and moves to impact point and then start to write, otherwise move to impact point, and this process circulates, and the shown character data according to typing completes each point one by one.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a Dual-arm Writing robot, is characterized in that, comprises bearing, left driving mechanism, left back arm, left forearm, right driving mechanism, right back arm, right forearm and pen stand; Described left driving mechanism and right driving mechanism are arranged on bearing respectively, the head end of described left back arm to be hinged on left driving mechanism and to rotate in the horizontal direction, the head end of end and left forearm is hinged, the head end of described right back arm to be hinged on right driving mechanism and to rotate in the horizontal direction, the head end of end and right forearm is hinged, the end of described left forearm and the end of right forearm hinged, described pen stand is arranged at the junction of left forearm and right forearm.
2. a kind of Dual-arm Writing robot according to claim 1, is characterized in that, the two ends of described left back arm are by connecting axle hinged left driving mechanism and left forearm respectively, and the two ends of right back arm are by connecting axle hinged right driving mechanism and right forearm respectively.
3. a kind of Dual-arm Writing robot according to claim 1, it is characterized in that, described Writing robot also comprises base, carry arm driving mechanism and push rod, and described bearing is hinged on base, one end of described push rod connects carry arm driving mechanism, and the other end connects bearing.
4. a kind of Dual-arm Writing robot according to claim 3, is characterized in that, described left driving mechanism, right driving mechanism and carry arm driving mechanism are respectively steering wheel.
5. a control method for the Dual-arm Writing robot as described in claim 1 or 4, is characterized in that, comprise the following steps:
(1) will treat that write characters is decomposed into multiple continuous print point successively;
(2) pen stand on robot arm is allowed to reach each continuous print point successively in order;
(3) character of multiple stroke needs to judge that the next position is the need of lifting pen, then lifts pen in this way and moves to impact point and then start to write, otherwise move to impact point, and this process circulates, and the character data according to typing completes writing of each point one by one.
6. the control method of a kind of Dual-arm Writing robot according to claim 5, is characterized in that, in described step (1), the distance of adjacent 2 is less than 1mm.
7. the control method of a kind of Dual-arm Writing robot according to claim 5, described step (2) comprises the following steps:
(21) need the coordinate set of written character by sequential write collection, initial target point is designated as n, and coordinate set is: n, n+1, n+2
(22) utilize the cosine law, draw the angle ban of the line ab of left back arm b point and left driving mechanism a point and the line an of left driving mechanism a point and impact point n point,
nb is the line of impact point n point and left back arm b point end;
(23) according to the coordinate of known a point and n point, obtain the sine value of the angle nae of left back arm and x-axis, recycling antitrigonometric function obtains angle nae;
(24) deduct angle nae and angle ban by 180 °, obtain the rightabout angle baf with angle nae, be the angle that left driving mechanism puts in place;
(25) right arm in like manner.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510106808.2A CN104669277B (en) | 2015-03-11 | 2015-03-11 | A kind of Dual-arm Writing robot and control method thereof |
| PCT/CN2016/071161 WO2016141779A1 (en) | 2015-03-11 | 2016-01-18 | Two-armed writing robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510106808.2A CN104669277B (en) | 2015-03-11 | 2015-03-11 | A kind of Dual-arm Writing robot and control method thereof |
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| Publication Number | Publication Date |
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| CN104669277A true CN104669277A (en) | 2015-06-03 |
| CN104669277B CN104669277B (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510106808.2A Expired - Fee Related CN104669277B (en) | 2015-03-11 | 2015-03-11 | A kind of Dual-arm Writing robot and control method thereof |
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| Country | Link |
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| CN (1) | CN104669277B (en) |
| WO (1) | WO2016141779A1 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500382A (en) * | 2016-02-23 | 2016-04-20 | 北京易诚高科科技发展有限公司 | Integrated double-finger manipulator device for mobile phone testing |
| WO2016141779A1 (en) * | 2015-03-11 | 2016-09-15 | 宿州学院 | Two-armed writing robot and control method thereof |
| CN106346461A (en) * | 2016-11-16 | 2017-01-25 | 西安科技大学 | Servo-controlled 3D drawing robot |
| 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 |
| CN107390630A (en) * | 2017-06-29 | 2017-11-24 | 北京石油化工学院 | A kind of auto-portrait robot control system |
| CN108081827A (en) * | 2018-01-18 | 2018-05-29 | 佛山科学技术学院 | A kind of automatic writing machine |
| CN108748096A (en) * | 2018-06-11 | 2018-11-06 | 深圳市小怪兽教育科技有限公司 | A kind of drawing mechanical arm and its control system |
| CN109278055A (en) * | 2018-11-19 | 2019-01-29 | 重庆科技学院 | A kind of auto-portrait robot |
| CN109773796A (en) * | 2019-03-20 | 2019-05-21 | 河海大学常州校区 | A kind of working method of mechanical arm |
| CN110782710A (en) * | 2019-09-20 | 2020-02-11 | 厦门快商通科技股份有限公司 | Writing teaching method and device based on robot |
| CN110815237A (en) * | 2019-10-23 | 2020-02-21 | 北京信息科技大学 | Drawing robot and drawing system |
| CN109784499B (en) * | 2018-12-21 | 2021-01-05 | 华南理工大学广州学院 | Learning robot and control method |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2016141779A1 (en) * | 2015-03-11 | 2016-09-15 | 宿州学院 | Two-armed writing robot and control method thereof |
| CN105500382A (en) * | 2016-02-23 | 2016-04-20 | 北京易诚高科科技发展有限公司 | Integrated double-finger manipulator device for mobile phone testing |
| CN106346461B (en) * | 2016-11-16 | 2018-07-24 | 西安科技大学 | A kind of SERVO CONTROL 3D drawing robot |
| CN106346461A (en) * | 2016-11-16 | 2017-01-25 | 西安科技大学 | Servo-controlled 3D drawing robot |
| 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 |
| CN107390630A (en) * | 2017-06-29 | 2017-11-24 | 北京石油化工学院 | A kind of auto-portrait robot control system |
| CN107390630B (en) * | 2017-06-29 | 2019-07-26 | 北京石油化工学院 | A kind of auto-portrait robot control system |
| CN108081827A (en) * | 2018-01-18 | 2018-05-29 | 佛山科学技术学院 | A kind of automatic writing machine |
| CN108748096A (en) * | 2018-06-11 | 2018-11-06 | 深圳市小怪兽教育科技有限公司 | A kind of drawing mechanical arm and its control system |
| CN108748096B (en) * | 2018-06-11 | 2020-06-02 | 深圳市小怪兽教育科技有限公司 | Drawing mechanical arm and control system thereof |
| CN109278055A (en) * | 2018-11-19 | 2019-01-29 | 重庆科技学院 | A kind of auto-portrait robot |
| CN109784499B (en) * | 2018-12-21 | 2021-01-05 | 华南理工大学广州学院 | Learning robot and control method |
| CN109773796A (en) * | 2019-03-20 | 2019-05-21 | 河海大学常州校区 | A kind of working method of mechanical arm |
| CN110782710A (en) * | 2019-09-20 | 2020-02-11 | 厦门快商通科技股份有限公司 | Writing teaching method and device based on robot |
| CN110815237A (en) * | 2019-10-23 | 2020-02-21 | 北京信息科技大学 | Drawing robot and drawing system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016141779A1 (en) | 2016-09-15 |
| CN104669277B (en) | 2016-05-11 |
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