CN107127753A - A kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region - Google Patents

A kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region Download PDF

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Publication number
CN107127753A
CN107127753A CN201710312775.6A CN201710312775A CN107127753A CN 107127753 A CN107127753 A CN 107127753A CN 201710312775 A CN201710312775 A CN 201710312775A CN 107127753 A CN107127753 A CN 107127753A
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CN
China
Prior art keywords
writing
chinese
driving
revolute pair
motor
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Pending
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CN201710312775.6A
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Chinese (zh)
Inventor
刘宝华
周伟科
杜亚鑫
刘俊峰
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Yanshan University
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Yanshan University
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Priority to CN201710312775.6A priority Critical patent/CN107127753A/en
Publication of CN107127753A publication Critical patent/CN107127753A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0084Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/009Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • B25J9/1682Dual arm manipulator; Coordination of several manipulators

Abstract

The present invention discloses a kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region, including Chinese input unit, Chinese-character stroke information extraction and processing unit, write manipulator, Chinese input unit will send Chinese-character stroke information extraction and processing system to by the Chinese character being manually entered, write mechanical hand getting six rod-type transmission mechanisms and constraint push and pull system, whole mechanism is set to become Two-Degree-of-Freedom mechanism by Three Degree Of Freedom mechanism, under motor driving, end parallel arms can be driven to reach the optional position in space plane, and detection amendment is carried out to motor motion by coding disk in real time, complete the writing of stroke.The present invention passes through to the abstract of person writing's mode and simplification, obtain one it is simple in construction, the manipulator of writing function can be realized, the analysis identification and writing process control of Chinese-character stroke are realized with SCM program simultaneously, manipulator is write with higher automation and intelligent level compared to traditional teaching type.

Description

A kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region
Technical field
Write manipulator the present invention relates to one kind, and in particular to a kind of bionical machinery personal letter writing of Chinese characters system of writing.
Background technology
Current educational robot be concentrated mainly on teaching, training finished product & external members, telecar & platform trucks, service robot, Secondary development wiring board etc., its exploitation is concentrated mainly in the exploitation of intelligence software, and hardware development is less, and then causes education There is the ability of poor Environmental change in robot, and an important research direction of the manipulator as educational robot of writing, Because the write mechanical arm of manipulator or six degree of freedom of traditional X-Y coordinate writes that manipulator construction is complicated, cost is high, unfavorable In the popularization and application of educational robot.
The content of the invention
The present invention is intended to provide a kind of bionical machinery personal letter writing of Chinese characters system, the system of writing based on off line Text region By to the abstract of person writing's mode and simplification, obtaining simple in construction, writing function can a be realized manipulator.
The object of the invention is realized by following technical proposals:A kind of bionical manipulator that writes based on off line Text region Writing Chinese characters system, including Chinese input unit, Chinese-character stroke information extraction and processing unit, write manipulator, the Chinese character Stroke information extract and processing unit respectively with Chinese input unit and mechanical palmistry company of writing, the Chinese input unit will be by The Chinese character being manually entered sends Chinese-character stroke information extraction and processing system to, the manipulator that writes extracted by Chinese-character stroke and Processing system is controlled.
Described Chinese input unit is touch-screen, the touch-screen and Chinese-character stroke information extraction and processing unit phase Even, for man-machine interaction, the input of Chinese character is completed, information processing is carried out for Chinese-character stroke information extraction and processing unit.
Described Chinese-character stroke is extracted and processing unit includes:STM32 single-chip microcomputers, motor driving hardware circuit module, left, Right coding disk;The two motor phases of the motor driving hardware circuit module respectively with STM32 single-chip microcomputers and the manipulator that writes Even;The STM32 single-chip microcomputers obtain the dot matrix sequence of Chinese character by application program, by dot matrix sequence according to off line Text region skill Art extracts Chinese-character stroke, and generates the sequential write of Chinese-character stroke, the control signal for the manipulator that is ultimately converted to write, through electricity Machine driving hardware circuit module amplification, drives the manipulator that writes to complete the writing of Chinese character, and passes through left and right coding disk completion stroke Real-time Feedback correction.
The described mechanical hand that writes includes:Flat board is supported, constrained linkage system is made up of main supporting table and motor support plate Robot support platform, left and right driving system, left and right coding disk sensor, by left and right running part and end parallel arms phase Connect the transmission mechanism of composition, a lift motor, pen rising mechanism, writing pen;The constrained linkage system, left and right driving system System, left and right coding disk sensor and transmission mechanism are arranged symmetrically centered on lifting a motor, pen rising mechanism and writing pen; The main supporting table respectively with support flat board and motor support plate it is affixed, the motor support plate simultaneously also with left and right driving system The left and right driving motor of system is connected;The left and right coding disk sensor is connected with the rotating shaft of left and right driving motor respectively, is used for Motor corner is detected, and control system is sent to by detecting circuit accordingly by measured signal;The constrained linkage system System is fixed on support flat board, for carrying out the constraint of one degree of freedom to transmission mechanism, and then realizes the appearance of end parallel arms State is fixed;The pen rising mechanism is connected with transmission mechanism, for supporting a lift motor, and then realizes the folding and unfolding fortune of writing pen It is dynamic.
The constrained linkage system includes:Fixed constraint connecting rod, constrained linkage supporting table, left and right constraint side link, left, Right equilateral triangle frame, left and right constrained linkage;The constrained linkage supporting table is fixed with fixed constraint connecting rod and support flat board respectively Connection, described fixed constraint connecting rod one end is connected by revolute pair with left constraint side link, and the left constraint side link is by turning It is dynamic it is secondary be connected with an end points of left equilateral triangle frame, another end points of the left equilateral triangle frame by revolute pair and it is left about Beam connecting rod is connected, and the left constrained linkage is connected by revolute pair with one end of end parallel arms, and the fixed constraint connecting rod is another One end is connected by revolute pair with right constraint side link, and the right constraint side link passes through revolute pair and the one of right equilateral triangle frame Individual end points is connected;Another end points of the right equilateral triangle frame is connected by revolute pair with right constrained linkage;The right constraint Connecting rod is connected by revolute pair with the other end of end parallel arms.
The left drive system is the double revolute pair kinematic chains of an open type, and it includes:Left Driving Stepping Motor, left driving connection Axle device, left driving side link, left drive link, the axle of the left Driving Stepping Motor and left driving shaft coupling are affixed, the left side Drive shaft coupling and left driving side link affixed, the left driving side link is connected with left drive link by revolute pair;It is described Right drive system is similar with left drive system.
The Left Drive part includes:Left large arm, left forearm, the right running part include:Right large arm, right forearm, institute Left and right large arm is stated, left and right forearm collectively constitutes a six-bar mechanism, the Left Drive with end parallel arms and motor support plate Partial left large arm one end is connected and the axis of the revolute pair and left driving shaft coupling by revolute pair with motor support plate Axis is overlapped, but not affixed, and the other end is connected by revolute pair with left forearm, and the left forearm is one three rotation slave connecting rod, One end of the end parallel arms is connected by revolute pair with left forearm, and the drive link passes through revolute pair and left forearm phase Connection, and then provide a driving force to transmission mechanism;The connection of the right running part is similar with Left Drive part.
The present invention recognizes that the technology of stroke extracts Chinese-character stroke according to direction character, and it is suitable to generate the writing of Chinese-character stroke Sequence, the control signal for the manipulator that is ultimately converted to write, the driving manipulator that writes completes the writing of Chinese character, and complete by coding disk Real-time Feedback into stroke is corrected.
The manipulator that writes of the present invention is there is provided six rod-type transmission mechanisms and constraint push and pull system, the constrained linkage system The rotational freedom of the end parallel arms relative support flat board of composition six-bar mechanism can be limited, makes whole mechanism free by one three Degree mechanism becomes a Two-Degree-of-Freedom mechanism, writes manipulator under the driving of left and right driving motor, end can be driven parallel Arm reaches the optional position in space plane, and detection amendment is carried out to left and right driving motor movement by encoder in real time, complete Into the writing of a stroke, in the presence of control signal, lift pen is completed by lift motor and operated, robot movement is to newly The starting point of stroke, lift motor completes to put pen operation.
The present invention by the abstract of person writing's mode and simplifying, obtain one it is simple in construction, writing function can be realized Manipulator, writing function is realized compared to the mechanical arm of the double ball-screws of common X-Y or six degree of freedom, with cost It is low, the characteristics of small volume.The analysis identification and writing process control of Chinese-character stroke are realized with SCM program simultaneously, compared to Traditional teaching type writes manipulator with higher automation and intelligent level.
Brief description of the drawings
Fig. 1 is system architecture diagram of the invention.
Fig. 2 is the manipulator structural representation that write shown in Fig. 1.
Fig. 3 is the fixed mechanism schematic diagram of manipulator of being write shown in Fig. 2.
Fig. 4 is the left drive system connecting rod installation diagram of manipulator of being write shown in Fig. 2.
Fig. 5 is the left drive system installation diagram of manipulator of being write shown in Fig. 2.
Fig. 6 is the transmission mechanism structural representation of manipulator of being write shown in Fig. 2.
Fig. 7 is the transmission mechanism installation diagram of manipulator of being write shown in Fig. 2.
Fig. 8 is the left equilateral triangle frame connecting structure enlarged drawing of assembling shown in Fig. 7.
In figure:0- supports flat board, 1- constrained linkages system, 11- fixed constraints connecting rod, 12- constrained linkages supporting table, 13- Left constraint side link, the left equilateral triangle framves of 14-, the right constraint side link of the left constrained linkages of 15-, 16-, the right equilateral triangle framves of 17-, The right constrained linkages of 18-, 2- robot supports platform, 21- motor support plates, the main supporting tables of 22-, the left driving of the left drive systems of 3-, 31- The left driving shaft coupling of stepper motor, 32-, the left driving side links of 33-, the left drive links of 34-, the right drive systems of 4-, the left codings of 5- Disk sensor, the right coding disk sensors of 6-, 7- transmission mechanisms, 71- Left Drives part, the left large arm of 711-, the left forearms of 712-, 72- The right running part of end parallel arms, 73-, the right large arm of 731-, the right forearms of 732-, a 8- lift motor, 9- pen rising mechanisms, 10- Writing pen.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention will be further described.
As shown in figure 1, a kind of bionical machinery personal letter writing of Chinese characters that writes based on off line Text region of the embodiment of the present invention System, is made up of Chinese input unit, Chinese-character stroke information extraction and processing unit, the manipulator that writes, wherein, Chinese character input dress Touch-screen is set to, touch-screen is connected with Chinese-character stroke information extraction and processing unit, for man-machine interaction, completes the defeated of Chinese character Enter, information processing is carried out for Chinese-character stroke information extraction and processing unit;Chinese-character stroke information extraction and processing unit include STM32 single-chip microcomputers, motor driving hardware circuit module, left and right coding disk;Motor driving hardware circuit module respectively with STM32 Single-chip microcomputer is connected with two motors of the manipulator that writes, and STM32 single-chip microcomputers obtain the dot matrix sequence of Chinese character by application program Row, then by dot matrix sequence according to off line character recognition technology (according to direction character recognize stroke technology) extract pen for writing Chinese characters Draw, and generate the sequential write of Chinese-character stroke, be ultimately converted to the control signal of manipulator, hardware circuit module is driven through motor Amplification, drives the manipulator that writes to complete the writing of Chinese character, and passes through the Real-time Feedback correction that coding disk completes stroke.
As shown in Fig. 2~8, the mechanical hand that writes includes:Support flat board 0, constrained linkage system 1 (including:Fixed constraint connecting rod 11st, constrained linkage supporting table 12, left constraint side link 13, left equilateral triangle frame 14, left constrained linkage 15, right constraint side link 16th, right equilateral triangle frame 17, right constrained linkage 18), robot support platform 2 (including:Motor support plate 21, main supporting table 22), Left drive system 3 (including:Left Driving Stepping Motor 31, left driving shaft coupling 32, left driving side link 33, left drive link 34), right drive system 4 (similar with left driving system structure), left coding disk sensor 5, right coding disk sensor 6, driver Structure 7 (including:Left Drive part 71, end parallel arms 72, right running part 73), a motor 8 is lifted, pen rising mechanism 9 writes Pen 10;Wherein, constrained linkage system, left and right drive system, left and right coding disk sensor and transmission mechanism 7 are to lift a motor 8th, it is arranged symmetrically centered on pen rising mechanism 9 and writing pen 10;The one end of fixed constraint connecting rod 11 passes through revolute pair and left constraint frame linking Bar 13 is connected, and left constraint side link 13 is connected by revolute pair with an end points of left equilateral triangle frame 14, a left side equilateral three Another end points of corner bracket is connected by revolute pair with left constrained linkage 15, and left constrained linkage 15 is put down by revolute pair and end One end of row arm 72 is connected, the other end of fixed constraint connecting rod 11 by revolute pair with it is right constraint side link 16 be connected, it is right about Beam side link 16 is connected by revolute pair with an end points of right equilateral triangle frame 17;Another end of right equilateral triangle frame 17 Point is connected by revolute pair with right constrained linkage 18;The other end phase that right constrained linkage passes through revolute pair and end parallel arms 72 Connection.Left and right coding disk sensor 5,6 is connected with the rotating shaft of left driving motor 31 and right driving motor respectively, is driven for detecting Dynamic motor corner, and send control system to by detecting circuit accordingly by measured signal;Constrained linkage system 1 is fixed on branch Support on flat board 0, for carrying out the constraint of one degree of freedom to transmission mechanism 7, and then realize that the posture of end parallel arms 72 is fixed; Pen rising mechanism 8 is connected with transmission mechanism 7, for supporting a lift motor 9, and then realizes the folding and unfolding campaign of writing pen 10.
The fixed mechanism component of manipulator of writing includes:Fixed constraint connecting rod 11, constrained linkage supporting table 12, motor support Plate 21, main supporting table 22, main supporting table 22 are affixed with support flat board 0 and motor support plate 21 respectively, and fixed constraint connecting rod is connected In constrained linkage supporting table 12, constrained linkage supporting table 12 with support flat board 0 with being connected, the left driving motor of left drive system 3 31 and the right driving motor of right drive system 4 be connected in motor support plate 21 (referring to Fig. 3).
The left drive system of manipulator of writing is the double revolute pair kinematic chains of an open type, and the axle of left driving motor 31 drives with left Dynamic shaft coupling 32 is affixed, and left driving shaft coupling 32 and left driving side link 33 are affixed, left driving side link 33 and left drive link 34 are connected by revolute pair;Right drive system is similar with left drive system.Left drive link 34 passes through revolute pair and left forearm 712 connections, and then a driving force is provided to transmission mechanism, left coding disk sensor 5 and the rotating shaft of left driving motor 31 are connected, Control system is sent to for detecting motor corner, and by detecting circuit accordingly by measured signal (referring to Fig. 4, Fig. 5).Write The right driving system structure of word manipulator is similar with left drive system.
Write left large arm 711 of the transmission mechanism 7 by Left Drive part 71 of manipulator, left forearm 712, right running part 73 Right large arm 731, right forearm 732, end parallel arms 72 and indirectly be connected in support flat board 0 on common group of motor support plate 21 Into a six-bar mechanism, (order of connection is followed successively by motor support plate 21, left large arm 711, left forearm 712, end parallel arms 72, the right side Large arm 731, right forearm 732).Left one end of large arm 711 be connected by revolute pair with motor support plate 21 and the revolute pair axis Overlapped with the axis of left driving shaft coupling 32, but it is not affixed, and the other end is connected by revolute pair with one end of left forearm 712; Left forearm 712 is one three rotation slave connecting rod, and one constitutes revolute pair with left large arm 711, secondly being constituted with left drive link 33 Revolute pair, the third is constituting revolute pair with end parallel arms 72;The two ends of end parallel arms 72 respectively with left forearm 712 and right forearm 732 constitute revolute pair (referring to Fig. 6, Fig. 7).Because tiled configuration is symmetrical, connection and the Left Drive part of right running part It is similar.
The course of work of present system is as follows:
(1) blank sheet of paper that will be used for writing is fixed on the support flat board 0 for the manipulator that writes.
(2) by man-machine interaction, the Chinese character for wanting writing is inputted via Chinese input unit (touch-screen), write manipulator Automatically Chinese character is sent to Chinese-character stroke information extraction and processing system, while the robot movement that writes is to initial position.
(3) receive after Chinese character, Chinese-character stroke information extraction and processing system can be automatically performed the life of Chinese character dot matrix sequence Into, the extraction of Chinese-character stroke, the generation of Chinese character stroke sequence, stroke writing slickness optimization and the corresponding motor of stroke writing Control signal.
(4) send motor control signal to left and right driving motor, and then drive write robot movement, left and right coding Disk carries out detection amendment to left and right driving motor movement in real time by left and right coding disk sensor, writes after a stroke, In the presence of motor control signal, pen rising mechanism completes lift pen operation, and the starting point of robot movement to new stroke, pen rising mechanism is complete Into pen operation is put, stroke writing process is repeated, until completing the writing of all strokes.

Claims (7)

1. a kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region, it is characterised in that defeated including Chinese character Enter device, Chinese-character stroke information extraction and processing unit, write manipulator, the Chinese-character stroke information extraction and processing unit point It is not connected with Chinese input unit and mechanical palmistry of writing, the Chinese input unit will send the Chinese to by the Chinese character being manually entered Word stroke information extraction and processing system, the manipulator that writes is extracted by Chinese-character stroke and processing system is controlled.
2. a kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region according to claim 1, its It is characterised by, described Chinese input unit is touch-screen, the touch-screen and Chinese-character stroke information extraction and processing unit phase Connection, for man-machine interaction, completes the input of Chinese character, and information processing is carried out for Chinese-character stroke information extraction and processing unit.
3. a kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region according to claim 1, its It is characterised by, described Chinese-character stroke is extracted and processing unit includes:STM32 single-chip microcomputers, motor driving hardware circuit module, Left and right coding disk;Motor driving hardware circuit module respectively with STM32 single-chip microcomputers and two motors of the manipulator that writes It is connected;The STM32 single-chip microcomputers obtain the dot matrix sequence of Chinese character by application program, are known by dot matrix sequence according to off line word Other technology extracts Chinese-character stroke, and generates the sequential write of Chinese-character stroke, the control signal for the manipulator that is ultimately converted to write, Through motor driving hardware circuit module amplification, the manipulator that writes is driven to complete the writing of Chinese character, and completed by left and right coding disk The Real-time Feedback correction of stroke.
4. a kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region according to claim 1, its It is characterised by, the described mechanical hand that writes includes:Support flat board, constrained linkage system, by main supporting table and motor support plate group Into robot support platform, left and right driving system, left and right coding disk sensor, by left and right running part and end parallel arms Be connected the transmission mechanism of composition, a lift motor, pen rising mechanism, writing pen;The constrained linkage system, left and right driving System, left and right coding disk sensor and the transmission mechanism symmetrical cloth centered on lifting a motor, pen rising mechanism and writing pen Put;The main supporting table respectively with support flat board and motor support plate it is affixed, the motor support plate simultaneously also with left and right driving The left and right driving motor of system is connected;The left and right coding disk sensor is connected with the rotating shaft of left and right driving motor respectively, uses Control system is sent in detection motor corner, and by detecting circuit accordingly by measured signal;The constrained linkage System is fixed on support flat board, for carrying out the constraint of one degree of freedom to transmission mechanism, and then realizes end parallel arms Posture is fixed;The pen rising mechanism is connected with transmission mechanism, for supporting a lift motor, and then realizes the receipts of writing pen Put motion.
5. a kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region according to claim 4, its It is characterised by, the constrained linkage system includes:Fixed constraint connecting rod, constrained linkage supporting table, left and right constraint side link, left, Right equilateral triangle frame, left and right constrained linkage;The constrained linkage supporting table is fixed with fixed constraint connecting rod and support flat board respectively Connection, described fixed constraint connecting rod one end is connected by revolute pair with left constraint side link, and the left constraint side link passes through Revolute pair is connected with an end points of left equilateral triangle frame, another end points of the left equilateral triangle frame by revolute pair with Left constrained linkage is connected, and the left constrained linkage is connected by revolute pair with one end of end parallel arms, and the fixation is about The beam connecting rod other end is connected by revolute pair with right constraint side link, and the right constraint side link is equilateral with the right side by revolute pair One end points of tripod is connected;Another end points of the right equilateral triangle frame is connected by revolute pair with right constrained linkage Connect;The right constrained linkage is connected by revolute pair with the other end of end parallel arms.
6. a kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region according to claim 4, its It is characterised by, the left drive system is the double revolute pair kinematic chains of an open type, and it includes:Left Driving Stepping Motor, left driving Shaft coupling, left driving side link, left drive link, the axle of the left Driving Stepping Motor and left driving shaft coupling are affixed, described Left driving shaft coupling and left driving side link are affixed, and the left driving side link is connected with left drive link by revolute pair;Institute State right drive system similar with left drive system.
7. a kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region according to claim 6, its It is characterised by, the Left Drive part includes:Left large arm, left forearm, the right running part include:Right large arm, right forearm, institute Left and right large arm is stated, left and right forearm collectively constitutes a six-bar mechanism, the Left Drive with end parallel arms and motor support plate Partial left large arm one end is connected and the axis of the revolute pair and left driving shaft coupling by revolute pair with motor support plate Axis is overlapped, but not affixed, and the other end is connected by revolute pair with left forearm, and the left forearm is a three revolute pairs company Bar, one end of the end parallel arms is connected by revolute pair with left forearm, and the drive link is small with a left side by revolute pair Arm is connected, and then provides a driving force to transmission mechanism;The connection of the right running part is similar with Left Drive part.
CN201710312775.6A 2017-05-05 2017-05-05 A kind of bionical machinery personal letter writing of Chinese characters system of writing based on off line Text region Pending CN107127753A (en)

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CN108436917A (en) * 2018-06-04 2018-08-24 赖俊峰 A kind of calligraphy and engraving machine person writing's control method considering end boundaries
CN108460369A (en) * 2018-04-04 2018-08-28 南京阿凡达机器人科技有限公司 A kind of drawing practice and system based on machine vision
CN109677167A (en) * 2019-03-07 2019-04-26 郝建树 A kind of high school student's examination auxiliary writing device
CN109774353A (en) * 2019-03-07 2019-05-21 赵木琦 It takes an examination towards high school student and assists the fixed plate and method of writing device
CN110815265A (en) * 2019-11-09 2020-02-21 南宁学院 Robot gripper
CN112959320A (en) * 2021-02-08 2021-06-15 广州富港万嘉智能科技有限公司 Method and device for controlling automatic writing of manipulator, manipulator and system
CN113128470A (en) * 2021-05-13 2021-07-16 北京有竹居网络技术有限公司 Stroke recognition method and device, readable medium and electronic equipment

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CN104875208A (en) * 2015-06-11 2015-09-02 赵楠 Calligraphy robot
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CN108460369A (en) * 2018-04-04 2018-08-28 南京阿凡达机器人科技有限公司 A kind of drawing practice and system based on machine vision
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CN109774353A (en) * 2019-03-07 2019-05-21 赵木琦 It takes an examination towards high school student and assists the fixed plate and method of writing device
CN110815265A (en) * 2019-11-09 2020-02-21 南宁学院 Robot gripper
CN112959320A (en) * 2021-02-08 2021-06-15 广州富港万嘉智能科技有限公司 Method and device for controlling automatic writing of manipulator, manipulator and system
CN113128470A (en) * 2021-05-13 2021-07-16 北京有竹居网络技术有限公司 Stroke recognition method and device, readable medium and electronic equipment

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