CN105015255B - It is a kind of that the husky performance platform drawn is drawn based on mechanical arm - Google Patents
It is a kind of that the husky performance platform drawn is drawn based on mechanical arm Download PDFInfo
- Publication number
- CN105015255B CN105015255B CN201510478086.3A CN201510478086A CN105015255B CN 105015255 B CN105015255 B CN 105015255B CN 201510478086 A CN201510478086 A CN 201510478086A CN 105015255 B CN105015255 B CN 105015255B
- Authority
- CN
- China
- Prior art keywords
- husky
- mechanical arm
- draw
- platform
- sand
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Landscapes
- Toys (AREA)
- Spray Control Apparatus (AREA)
Abstract
The husky performance platform drawn is drawn based on mechanical arm the invention discloses a kind of, including robotic workstation, husky the drawing platform and paintbrush table apparatus that are arranged in robotic workstation, the clear husky device being arranged on husky drawing platform, husky storage drying device and robot body with mechanical arm are drawn, robot body is provided with mechanical arm controller and the grip device being connected with mechanical arm；Drawing husky storage drying device includes cylinder and drying device；Grip device includes the clamp fixing plate being connected with mechanical arm and pen clip device and hourglass body in clamp fixing plate, hourglass body are located at the lower section of sand outlet, and hourglass body is provided with controlling switch；Clear husky device is including being fixed on the husky fixation bottom plate drawn a picture on platform, the husky picture stage body on fixed bottom plate, funnel, directive slide track, turn-screw and clear husky plate installed in husky picture stage body both sides.Stable performance of the present invention, simple to operate without on duty, cost is low.
Description
Technical field
The husky performance platform drawn is drawn based on mechanical arm the present invention relates to a kind of, belongs to robotic technology field.
Background technology
In the modern life, robot is had been applied in a variety of industry environments, but its use range is still limited
Property and professional.Traditional husky draw is performed by husky painter to create performance, and the husky of husky painter draws creation technical ability needs
Its long-term study and training, and performance each time needs the cumbersome work such as early-stage preparations, consumes great manpower money
Source and cost, while lacked the novelty and appreciation effect of robot.
The content of the invention
To be put down in view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of performance that husky picture is drawn based on mechanical arm
Platform, stable performance, simple to operate without on duty, cost is low.
To achieve these goals, the present invention is to realize by the following technical solutions：
The a kind of of the present invention draws the husky performance platform drawn based on mechanical arm, including robotic workstation, is arranged on robot
Husky drawing platform and paintbrush table apparatus on workbench, the clear husky device being arranged on husky drawing platform, draw husky storage drying device and
Robot body with mechanical arm, the robot body are provided with mechanical arm controller and the fixture being connected with mechanical arm
Device；Drawing husky storage drying device includes cylinder and drying device；Cylinder includes the cylinder body with sand inlet and sand outlet, carried
The piston rod and piston of temperature controller, drying device are arranged on cylinder body；Grip device includes what is be connected with mechanical arm axial end
Pen clip device and the hourglass body being connected with pen clip device, the hourglass body are located at the lower section of sand outlet, on hourglass body
Provided with the controlling switch for controlling cylinder to act；Clear husky device includes being fixed on the husky fixation bottom plate drawn a picture on platform, is arranged on
Husky picture stage body, funnel on fixed bottom plate, the directive slide track installed in husky picture stage body both sides, the biography being be arranged in parallel with directive slide track
Dynamic leading screw and the clear husky plate on directive slide track and turn-screw；The connection suitable for reading of funnel is husky to draw stage body, the lower mouth of funnel
Connect sand inlet.
Present invention additionally comprises the computer with touch-screen, the vision sensor being connected with computer input end and with meter
Calculation machine output end, which is connected, creates the display of husky picture process for real-time display robot, and the input of mechanical arm controller connects
Connect computer.
Above-mentioned sand inlet is provided with the sensor for being used for sensing sand.
Anti-block apparatus and filter are additionally provided with above-mentioned hourglass body.
Above-mentioned drying device is connected using annular electric heater, the annular electric heater input with temperature controller
Connect.When annular electric heater heats, temperature controller controls the temperature that it is heated in the temperature range of setting, will not too high or mistake
It is low.
Beneficial effects of the present invention：The blank of Sha Hua robots currently on the market is filled up, it is automatic as global First
Sand draws performance robot, without the preparation before performance, the auxiliary without staff, reduces working strength and the people of staff
Power cost, improve the intelligent of robot.
Brief description of the drawings
Fig. 1 is the performance platform overall structure diagram that husky picture is drawn based on mechanical arm of the present invention；
Fig. 2 is the husky storage drying device structural representation of picture in Fig. 1；
Fig. 3 is the clear husky apparatus structure schematic diagram in Fig. 1；
Fig. 4 is the grip device structural representation in Fig. 1；
Each label in figure：Robotic workstation 1, robot body 2, display 3, vision sensor 4, paintbrush table apparatus 5,
Sand drawing platform 6, husky picture stage body 6.1, turn-screw 6.2, directive slide track 6.3, fixed bottom plate 6.4, clear husky plate 6.5, grip device
7th, controlling switch 7.1, hourglass body 7.2, anti-block apparatus 7.3, pen clip device 7.4, clamp fixing plate 7.5, computer 8, cylinder
9th, piston rod 10, piston 11, drying device 12, cylinder body 13
Embodiment
To be easy to understand the technical means, the inventive features, the objects and the advantages of the present invention, with reference to
Embodiment, the present invention is expanded on further.
A kind of performance platform that husky picture is drawn based on mechanical arm of the present invention can realize that Full-automatic circulation makes the husky machine drawn
People.
Referring to Fig. 1, the present invention includes robotic workstation 1, robot body 2, husky drawing platform 6, paintbrush table apparatus 5, sand
Leakage device, clear husky device, draw husky storage drying device, paintbrush grip device 7, vision collecting seizure system, (this reality of display 3
Example is applied using background TV) and computer 8 with touch-screen.
Referring to Fig. 2, the sand storage drying device of drawing includes cylinder 9 and drying device 12；Cylinder 9 includes carrying sand inlet
And the cylinder body 13 of sand outlet, the piston rod 10 with temperature controller and piston 11, drying device 12 are arranged on cylinder body 13.
Referring to Fig. 3, fixation bottom plate 6.4 that clear husky device includes being fixed on husky drawing platform 6, installed in fixed bottom plate 6.4
On husky draw stage body 6.1, funnel, be arranged in parallel installed in the husky directive slide track 6.3 for drawing the both sides of stage body 6.1, with directive slide track 6.3
Turn-screw 6.2 and the clear husky plate 6.5 on directive slide track 6.3 and turn-screw 6.2；The connection suitable for reading of funnel is husky to draw
Stage body 6.1, the lower mouth connection sand inlet of funnel.
Referring to Fig. 4, grip device 7 include the pen clip device 7.4 that is connected with mechanical arm axial end and with pen clip device 7.4
The hourglass body 7.2 being connected, hourglass body 7.2 are located at the lower section of sand outlet, and hourglass body 7.2, which is provided with, to be used to control cylinder
The controlling switch 7.1 of 9 actions.
In the present embodiment, drying device 12 is using annular electric heater, annular electric heater input and temperature controller
It is connected.
Participant selects husky picture show content by touch-screen, when robot receives the instruction of participant's click transmission
Afterwards, robot carries out taking the steps such as husky, leakage is husky, carefully retouches automatically, carries out the creation performance of husky picture.Vision collecting catches system, will
Robot creates husky picture process and showed in real time in display screen, allows the visitor on periphery to watch the work of robot
Picture process.After performance terminates, robot issues a command to clear husky device, and husky device clearly starts after receiving instruction, and sand is drawn into platform and draws sand
It is clear to store drying device to picture is husky, draw the husky drying device that stores and be dried, filter, store to drawing sand, wait and performing next time.
The present invention is simple to operate, and unattended and stable performance can be achieved, and saves human resources, is widely portable to
Science and technology center, exhibition center and major amusement and recreation etc. show place.
The specific course of work is as follows：Participant selects husky picture show content by touch-screen, when robot receives ginseng
After clicking on the instruction sent with person, touch screen interface automatically switches to interactive interface, and now robot is adopted by vision sensor 4
Collect the head portrait of spectators, and the head portrait of spectators is shown on head, just look like that spectators oneself are drawing husky picture, it is on the spot in person to spectators
Feel.
Participant press " it is determined that " after key, grip device 7 is moved to the husky storage drying device end of picture and carries out connecing sand by robot,
After controlling switch 7.1 senses, switch is opened, piston 11 works, and starts to connect sand, after picture sand fills, piston 11 returns, controlling switch
7.1 close, and connect sand and terminate.
Now, background music sounds, and the sand drawing background light of platform 6 lights, and robot starts husky draw along with the music of gracefulness
The leakage of creation is husky, and background TV now also plays husky picture creation real-time.After leakage sand terminates, robot sends a command to pen clip
Device 7.4, pen clip device 7.4 grip paintbrush after receiving instruction, carefully retouched.After carefully retouching end, sand is drawn creation and terminated.Stop one
Minute, robot sends a command to clear husky device, and clear husky device starts after receiving instruction, and turn-screw 6.2 drives clear husky plate 6.5
The husky leftmost side toward husky drawing platform 6 of picture on husky drawing platform 6 is cleaned, there is a funnel, the husky drawing platform of funnel connection suitable for reading herein
6, the lower husky storage drying device of mouth connection picture, the sand that sand is drawn on platform is finally flow in the husky storage drying device of picture via funnel,
Sensor sensing sends a signal to drying device 12 to after sand, and drying device 12 starts, and sand is drawn performance and terminated.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
1. a kind of draw the husky performance platform drawn based on mechanical arm, it is characterised in that including robotic workstation (1), is arranged on machine
Husky drawing platform (6) and paintbrush table apparatus (5) on device people workbench (1), the clear husky device being arranged on husky drawing platform (6), picture
Sand storage drying device and the robot body (2) with mechanical arm, the robot body (2) are provided with mechanical arm controller
The grip device (7) being connected with mechanical arm；
It is described to draw husky storage drying device and include cylinder (9) and drying device (12), the cylinder (9) including carry sand inlet and
The cylinder body (13) of sand outlet, the piston rod (10) with temperature controller and piston (11), the drying device (12) are arranged on cylinder body
(13) on；
The grip device (7) include the pen clip device (7.4) that is connected with mechanical arm axial end and with pen clip device (7.4) phase
The hourglass body (7.2) of connection, the hourglass body (7.2) are located at the lower section of sand outlet, and hourglass body (7.2), which is provided with, to be used for
Control the controlling switch (7.1) of cylinder (9) action；
Fixation bottom plate (6.4) that the clear husky device includes being fixed on husky drawing platform (6), on fixed bottom plate (6.4)
It is husky draw stage body (6.1), funnel, installed in the husky directive slide track (6.3) for drawing stage body (6.1) both sides, it is flat with directive slide track (6.3)
The turn-screw (6.2) and the clear husky plate (6.5) on directive slide track (6.3) and turn-screw (6.2) that row is set；It is described
The connection suitable for reading of funnel is husky to draw stage body (6.1), the lower mouth connection sand inlet of funnel.
2. according to claim 1 draw the husky performance platform drawn based on mechanical arm, it is characterised in that is also touched including carrying
The computer (8) of screen, the vision sensor (4) being connected with computer (8) input and it is connected with computer (8) output end
The display (3) of husky picture process, the input connection computer of the mechanical arm controller are created for real-time display robot
(8)。
3. according to claim 1 draw the husky performance platform drawn based on mechanical arm, it is characterised in that the sand inlet is provided with
For sensing the sensor of sand.
4. according to claim 1 draw the husky performance platform drawn based on mechanical arm, it is characterised in that the hourglass body
(7.2) anti-block apparatus (7.3) and filter are additionally provided with.
5. according to claim 1 draw the husky performance platform drawn based on mechanical arm, it is characterised in that the drying device
(12) it is connected using annular electric heater, the annular electric heater input with temperature controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510478086.3A CN105015255B (en) | 2015-08-07 | 2015-08-07 | It is a kind of that the husky performance platform drawn is drawn based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510478086.3A CN105015255B (en) | 2015-08-07 | 2015-08-07 | It is a kind of that the husky performance platform drawn is drawn based on mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105015255A CN105015255A (en) | 2015-11-04 |
| CN105015255B true CN105015255B (en) | 2017-12-12 |
Family
ID=54405707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510478086.3A Active CN105015255B (en) | 2015-08-07 | 2015-08-07 | It is a kind of that the husky performance platform drawn is drawn based on mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105015255B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101899050B1 (en) * | 2017-02-20 | 2018-09-14 | 연세대학교 산학협력단 | Automatic Drawing Machine of Sand Art |
| CN107243912A (en) * | 2017-08-07 | 2017-10-13 | 武汉需要智能技术有限公司 | Sha Hua robots |
| CN114571906B (en) * | 2022-03-30 | 2023-02-07 | 重庆科技学院 | Auxiliary assembly that sand paintings were drawn |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5315275B2 (en) * | 2010-03-23 | 2013-10-16 | 大日本スクリーン製造株式会社 | Exposure equipment |
| CN103955166A (en) * | 2014-05-20 | 2014-07-30 | 大连理工大学 | Sand painting performance robot and image processing and motion control method thereof |
| CN204820898U (en) * | 2015-08-07 | 2015-12-02 | 昆山塔米机器人有限公司 | Performance platform based on husky drawing is drawn to arm |
-
2015
- 2015-08-07 CN CN201510478086.3A patent/CN105015255B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5315275B2 (en) * | 2010-03-23 | 2013-10-16 | 大日本スクリーン製造株式会社 | Exposure equipment |
| CN103955166A (en) * | 2014-05-20 | 2014-07-30 | 大连理工大学 | Sand painting performance robot and image processing and motion control method thereof |
| CN204820898U (en) * | 2015-08-07 | 2015-12-02 | 昆山塔米机器人有限公司 | Performance platform based on husky drawing is drawn to arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105015255A (en) | 2015-11-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204820898U (en) | Performance platform based on husky drawing is drawn to arm | |
| CN105015255B (en) | It is a kind of that the husky performance platform drawn is drawn based on mechanical arm | |
| CN104858852B (en) | Humanoid robot imitates optimization and the constrained procedure of human upper limb action in real time | |
| WO2020177318A1 (en) | Virtual reality-based craft-beer saccharification operation system and method | |
| CN206441445U (en) | A kind of minimally invasive valve surgery training system | |
| CN106814923A (en) | A kind of integrated interactive electronic whiteboard | |
| CN107785017A (en) | A kind of interactive system based on Sign Language Recognition | |
| CN208542479U (en) | A kind of novel and portable glue | |
| CN206148000U (en) | Model display device for mathematical education | |
| CN210963872U (en) | Psychological sand table instrument for recording and analyzing | |
| CN206463008U (en) | A kind of Ultrasonic-B probe with direct mark function | |
| CN205905031U (en) | Nurse robot | |
| CN203085064U (en) | Virtual starry sky teaching device | |
| CN203324924U (en) | Wall-surface interactive system | |
| CN106155017B (en) | The method of simulation sand table and production scene Rapid transplant towards industrial control system | |
| CN205924555U (en) | Medical aspirator head | |
| CN207502256U (en) | A kind of automatic blood smear device | |
| CN104337664A (en) | Single freedom degree intelligent arm rehabilitating device coordinated with somatosensory games | |
| CN206388420U (en) | Simple head mould for clinical oral simulation teching | |
| CN209283333U (en) | A kind of industrial camera | |
| CN203324963U (en) | Virtual electronic page-turning system | |
| CN208538086U (en) | Multi-way contral component and Medical Devices | |
| CN205941432U (en) | Medical CO2 determination appearance | |
| CN207859804U (en) | A kind of construction information managing device based on Building Information Model | |
| CN204498221U (en) | A kind of redwood handicraft three-dimensional design system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 215300 5th floor, building 1, No. 619, Xintang Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Suzhou Tami robot Co.,Ltd. Address before: 215347 12th floor, complex building, No. 1699, Zuchongzhi South Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee before: KUNSHAN TAMI ROBOT Co.,Ltd. |