CN108466272B - Simulation writing and drawing robot and use method thereof - Google Patents

Simulation writing and drawing robot and use method thereof Download PDF

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Publication number
CN108466272B
CN108466272B CN201810380976.4A CN201810380976A CN108466272B CN 108466272 B CN108466272 B CN 108466272B CN 201810380976 A CN201810380976 A CN 201810380976A CN 108466272 B CN108466272 B CN 108466272B
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motor
fluid
base
track
linear track
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CN108466272A (en
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尤海山
曲仲
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Fujian Sian Intelligent Technology Development Co ltd
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Fujian Sian Intelligent Technology Development Co ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B44DECORATIVE ARTS
    • B44DPAINTING OR ARTISTIC DRAWING, NOT OTHERWISE PROVIDED FOR; PRESERVING PAINTINGS; SURFACE TREATMENT TO OBTAIN SPECIAL ARTISTIC SURFACE EFFECTS OR FINISHES
    • B44D3/00Accessories or implements for use in connection with painting or artistic drawing, not otherwise provided for; Methods or devices for colour determination, selection, or synthesis, e.g. use of colour tables

Abstract

The invention discloses a simulation writing and drawing robot and a use method thereof, wherein the simulation writing and drawing robot comprises an actuating mechanism and a control system; the linear track is arranged in the actuating mechanism and moves along the circumference of the annular track, the linear track is provided with a sliding table which reciprocates along the linear track, a painting brush is arranged on the sliding table, and the pressure controller applies downward pressure to the painting brush through fluid pressure to drive the painting brush to be close to or leave the paper surface. And a sensing module and a storage module in the control system record the sequence of the activated pixel points. In the invention, the sliding table carrying the painting brush moves in a polar coordinate mode, so that a drawing curve is smoother, a drawing straight line cannot be horizontal and vertical, the effect of hand drawing is more approximate, and the handwriting is natural; the moving speed is high, and the invalid moving amount is small; the system has high precision and low power consumption; the pen drawing force is controllable, the force adjusting process is smooth and soft, and the writing and drawing habits of people are met to a greater extent. The invention has high simulation degree, convenient use and simple structure and is beneficial to the application of painting and calligraphy teaching.

Description

Simulation writing and drawing robot and use method thereof
Technical Field
The invention relates to the field of electromechanical integrated equipment, in particular to a simulation writing and drawing robot and a using method thereof.
Background
In recent years, a robot for simulating writing and drawing has started to appear on the market, but the main purpose of developers is to know basic knowledge such as motor drive and mechanical transmission through control of the robot by a user for electronic enthusiasts and adolescents, and the function itself is not the most important.
In fact, although the rapid development of computer technology has enabled the ordinary person to draw very fine drawings or write beautiful words without the use of a pen, it has not been possible to replace the aesthetic feeling of hand-drawing and calligraphy. And many young people are keen about calligraphy and hand-drawing, and they are invested in practice to raise their own level by repetitive exercise. In fact, without the guidance of good teachers, it is difficult for ordinary people to master the pithy of hand-drawing and calligraphy, and it is impractical for most people to hire specialized teachers.
Therefore, if the simulation robot can be designed to simulate the handwriting of a professional painting and calligraphy teacher, a user can observe the writing and painting process of the robot in a short distance, and the simulation robot has a good promotion effect on quickly improving skills.
The general simulation robot usually depends on two mutually perpendicular tracks on a plane, and positions and transports pens through a virtual plane rectangular coordinate system, and in actual use, the following defects exist: (1) the large amount of movement of the brush belongs to invalid movement, and the time consumption is large. (2) The oblique lines are not smooth enough, the straight lines are easy to be horizontal and vertical, and although the oblique lines are accurate, the handwriting is unnatural. (3) The system power consumption is large.
Disclosure of Invention
The invention aims to solve the problems and provides a simulation writing and drawing robot.
The invention is implemented according to the following technical scheme.
A simulation writing and drawing robot comprises an actuating mechanism and a control system;
the actuating mechanism comprises a base, a bracket and a transmission mechanism; the base comprises two first frames and two second frames which are enclosed into a rectangle; two pressing plates are arranged between the two first frames, two ends of each pressing plate are bent in two sections, and the tail ends of the two bent parts are parallel to the middle of each pressing plate and are provided with round holes; a groove with a T-shaped section is formed in the middle of the upper surface of the first frame, two fastening screws are respectively arranged in the groove, screw caps of the two fastening screws are positioned in the groove, the screw rods sequentially penetrate through the groove and the circular holes of the pressing plate, and fastening nuts are nested at the tail ends of the screw rods; the support comprises a cross support erected above the base and parallel to the base, and the tail end of the cross support is connected with four frames of the base through four vertical supports; an annular track parallel to the base is also erected on the vertical support; a first motor is arranged below the central position of the cross-shaped bracket, and the vertical projection of the center of a rotor of the first motor on the plane of the annular track is positioned at the center of the annular track; the tail end of a first rotor of the first motor is connected with the linear track through an L-shaped connecting rod; the head end of the linear track is provided with a motor base, the tail end of the linear track is provided with a U-shaped bracket, a pulley is arranged between two arms of the U-shaped bracket, and a third motor is arranged on the motor base; a sliding rod and a threaded rod which are parallel to each other are arranged between the motor base and the U-shaped support, one end of the threaded rod is fixed on a rotor of the third motor, and the other end of the threaded rod is connected with the U-shaped support through a second bearing; the sliding rod and the threaded rod penetrate through the sliding table moving along the linear track; the edge of the pulley is convex, the middle of the pulley is concave, and the concave part is tightly attached to the inner wall of the annular track; the cross-shaped bracket is also provided with a pressure controller, a second motor and a first fluid pipe are arranged in the pressure controller, the top end of a second rotor of the second motor is connected with a first piston through a first bearing, and a first fluid cavity is formed between the first piston and the first fluid pipe; a second fluid pipe which is vertically arranged is installed on the sliding table, a second piston is vertically and upwards inserted into the second fluid pipe, and a second fluid cavity is formed between the second piston and the second fluid pipe; a sleeve is arranged at the bottom of the second piston, a slender round hole is formed at the bottom of the sleeve, and a pen for painting and calligraphy is inserted into the round hole; a limiting plate surrounding the sleeve is arranged at the middle lower part of the outer wall of the sleeve; the spring is nested on the sleeve, one end of the spring is fixed on the sliding table, and the other end of the spring is fixed on the limiting plate; the first fluid pipe and the second fluid pipe are respectively provided with a fluid outlet pipe and a fluid inlet pipe which are used as passages between the first fluid cavity and the second fluid cavity and the outside; the fluid outlet pipe and the fluid inlet pipe are communicated with each other through a flexible pipeline; the first fluid cavity and the second fluid cavity form a closed cavity together with the flexible pipeline, and fluid is sealed in the cavity;
the control system comprises a main controller, wherein the main controller is connected with an induction module, a display module, a storage module, a communication interface, a motor driving module and a power supply module; the motor driving module controls the first motor, the second motor and the third motor; the communication interface is connected with a PC, and the induction module is a handwriting board; the display module is a display screen.
Furthermore, the vertical height between the middle part and the tail end part of the pressing plate is not less than the thickness of the first frame.
Furthermore, the linear track passes through the circle center of the annular track, and the linear track is positioned at the parts at two sides of the circle center and has equal mass.
Furthermore, the longitudinal section of the annular rail is E-shaped, and the height of the central convex part is 1-2 cm and higher than the height of the edge of the pulley.
Furthermore, the communication interface is connected with a PC through a USB line.
A use method of a simulation writing and drawing robot comprises the following steps:
s1: respectively selecting origin of coordinates on an induction plane of the induction module and a display plane of the display module, establishing a plane rectangular coordinate system XY and AB, and endowing all effective points on the induction plane with coordinate values (Xn, Ym) based on an XY coordinate system; assigning coordinate values (Ap, Bq) based on the AB coordinate system to all the effective points on the display plane;
s2: establishing a mapping relationship F between each (Xn, Ym) point and each (Ap, Bq) point, (Ap, Bq) = F (Xn, Ym, t), where t is the activation duration;
s3: recording the activation time and duration of each activated coordinate point in the XY coordinate system; activating each activated coordinate point on the display module at a corresponding coordinate point in the AB coordinate system;
s4: establishing a mapping relation between the moving steps (Z1, Z2, Z3) and (Xn, Ym, t) of the three motors based on the zero positions of the first motor, the second motor and the third motor by taking the zero positions of the first motor, the second motor and the third motor as reference points;
s5: and moving the three motors respectively in steps Z1, Z2 and Z3 according to the values of Xn, Ym and t by the mapping relation determined in S4.
The present invention obtains the following advantageous effects.
In the invention, the sliding table carrying the painting brush moves in a polar coordinate mode, replaces a moving method based on a rectangular coordinate mode which is common in the existing products, has smoother drawing curve, can not draw straight lines horizontally and vertically, is closer to the effect of hand drawing, and has natural handwriting; the moving speed is high, and the invalid moving amount is small; the system has high precision and low power consumption; the pen drawing force is controllable, the force adjusting process is smooth and soft, and the writing and drawing habits of people are met to a greater extent. The invention has high simulation degree, convenient use and simple structure, is beneficial to the application of painting and calligraphy teaching, and can be used as a development and learning platform for electronic enthusiasts.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a top view of the base of the present invention;
FIG. 3 is a schematic view of the construction of the platen of the present invention;
FIG. 4 is a schematic view of the construction of the pulley of the present invention;
FIG. 5 is a front view of the present invention;
FIG. 6 is a schematic view of the structure of the linear rail of the present invention;
FIG. 7 is a schematic view of the construction of the pressure controller according to the present invention;
FIG. 8 is a schematic view of the clamp plate held by the clamp nut according to the present invention;
FIG. 9 is a block diagram of a control system according to the present invention;
fig. 10 is a flow chart of the use of the robot in the present invention.
Wherein, 1, a sliding table; 2. a linear track; 201. a slide bar; 202. a threaded rod; a U-shaped bracket; 204. a motor base; 3. a pulley; 4. a cross-shaped bracket; 5. an annular track; 6. a first frame; 7. a first motor; 8. a second frame; 9. a pressure controller; 901. a second motor; 902. a second rotor; 903. a first bearing; 904. a first piston; 905. a first fluid tube; 906. a first fluid chamber; 907. a fluid outlet pipe; 10. paper; 11. pressing a plate; 12. a first rotor; 13. a pen; 14. a vertical support; 15. a flexible conduit; 16. a third motor; 17. fastening a nut; 18. a limiting plate; 19. a spring; 20. a sleeve; 21. a second fluid tube; 22. a second piston; 23. a second fluid chamber; 24. a fluid inlet tube.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
As shown in fig. 1 to 10, a simulation writing and drawing robot comprises an execution mechanism and a control system;
the actuating mechanism comprises a base, a bracket and a transmission mechanism; the base comprises two first frames 6 and two second frames 8 which are enclosed into a rectangle; two pressing plates 11 are arranged between the two first frames 6, two ends of each pressing plate 11 form two sections of bends, and the tail ends of the two bending parts are parallel to the middle parts of the pressing plates 11 and are provided with round holes; a groove with a T-shaped section is formed in the middle of the upper surface of the first frame 6, two fastening screws are respectively arranged in the groove, screw caps of the two fastening screws are positioned in the groove, screw rods sequentially penetrate through the groove and the circular holes of the pressing plate 11, and the tail ends of the screw rods are nested in the fastening nuts 17; the support comprises a cross support 4 erected above the base and parallel to the base, and the tail end of the cross support 4 is connected with four frames of the base through four vertical supports 14; the vertical bracket 14 is also provided with an annular track 5 parallel to the base; a first motor 7 is arranged below the central position of the cross-shaped support 4, and the vertical projection of the center of a rotor of the first motor 7 on the plane of the annular track 5 is positioned at the center of the annular track 5; the tail end of a first rotor 12 of the first motor 7 is connected with the linear track 2 through an L-shaped connecting rod; the head end of the linear track 2 is provided with a motor base 204, the tail end of the linear track is provided with a U-shaped support 203, a pulley 3 is arranged between two arms of the U-shaped support 203, and a third motor 16 is arranged on the motor base 204; a sliding rod 201 and a threaded rod 202 which are parallel to each other are arranged between the motor base 204 and the U-shaped support 203, one end of the threaded rod 202 is fixed on a rotor of the third motor 16, and the other end of the threaded rod is connected with the U-shaped support 203 through a second bearing; the sliding rod 201 and the threaded rod 202 penetrate through the sliding table 1 moving along the linear track 2; the edge of the pulley 3 is convex, the middle is concave, and the concave part is tightly attached to the inner wall of the annular track 5; the cross support 4 is also provided with a pressure controller 9, the pressure controller 9 is provided with a second motor 901 and a first fluid pipe 905, the top end of a second rotor 902 of the second motor 901 is connected with a first piston 904 through a first bearing 903, and a first fluid cavity 906 is formed between the first piston 904 and the first fluid pipe 905; a second fluid pipe 21 which is vertically placed is installed on the sliding table 1, a second piston 22 is vertically inserted upwards into the second fluid pipe 21, and a second fluid cavity 23 is formed between the second piston 22 and the second fluid pipe 21; the bottom of the second piston 22 is provided with a sleeve 20, the bottom of the sleeve 20 forms a slender round hole, and the round hole is inserted with a pen 13 for painting and calligraphy; a limit plate 18 surrounding the sleeve is arranged at the middle lower part of the outer wall of the sleeve 20; the spring 19 is nested on the sleeve 20, one end of the spring is fixed on the sliding table 1, and the other end of the spring is fixed on the limit plate 18; the first fluid pipe 905 and the second fluid pipe 21 are respectively provided with a fluid outlet pipe 907 and a fluid inlet pipe 24 as passages between the first fluid chamber 906 and the second fluid chamber 23 and the outside; the fluid outlet pipe 907 and the fluid inlet pipe 24 are communicated with each other through a flexible pipe 15; the first fluid chamber 906 and the second fluid chamber 23 together with the flexible tubing 15 form a closed cavity, which encloses the fluid;
the control system comprises a main controller, wherein the main controller is connected with an induction module, a display module, a storage module, a communication interface, a motor driving module and a power supply module; the motor driving module controls the first motor 7, the second motor 901 and the third motor 16; the communication interface is connected with a PC, and the induction module is a handwriting board; the display module is a display screen.
The vertical height between the middle and the end of the pressing plate 11 is not less than the thickness of the first frame 6.
The linear track 2 passes through the center of the circular track 5, and the linear track 2 is positioned at the two sides of the center of the circle and has equal mass.
The longitudinal section of the annular rail 5 is E-shaped, and the height of the central convex part is 1-2 cm and is higher than the height of the edge of the pulley 3.
The communication interface is connected with a PC through a USB line.
A use method of a simulation writing and drawing robot comprises the following steps:
s1: respectively selecting origin of coordinates on an induction plane of the induction module and a display plane of the display module, establishing a plane rectangular coordinate system XY and AB, and endowing all effective points on the induction plane with coordinate values Xn and Ym based on an XY coordinate system; assigning coordinate values Ap and Bq based on an AB coordinate system to all effective points on the display plane;
s2: establishing a mapping relationship F, Ap, Bq = FXn, Ym, t between each Xn, Ym point and each Ap, Bq point, wherein t is the activation duration;
s3: recording the activation time and duration of each activated coordinate point in the XY coordinate system; activating each activated coordinate point on the display module at a corresponding coordinate point in the AB coordinate system;
s4: establishing a mapping relation between the moving steps (Z1, Z2, Z3) and (Xn, Ym, t) of the three motors based on the zero positions of the first motor 7, the second motor 901 and the third motor 16 by taking the zero positions as reference points;
s5: and moving the three motors respectively in steps Z1, Z2 and Z3 according to the values of Xn, Ym and t by the mapping relation determined in S4.
The principle and the using method of the invention are as follows:
as shown in fig. 1, the rotation angle of the first motor 7 is 0-360 degrees, the rotation of the first motor 7 indirectly drives the linear track 2 to rotate, but no matter how the linear track rotates, the pulley 3 at the tail end of the linear track 2 is always tightly attached to the annular track 5; the projected area of the circular track 5 on the base plane is the active area of the drawing, i.e. the area to which the brush can be moved.
When the pen 13 is moved, first the first motor 7 drives the linear track 2 to turn to a specific angle, and then the third motor 16 drives the threaded rod 202 to rotate, so as to drive the sliding table to slide along the linear track 2.
If the pen 13 does not need to leave ink marks during the moving process, the second motor 901 is controlled to rotate reversely, as shown in fig. 7, the second rotor 902 retracts into the motor, the first piston 904 is pulled out, and the corresponding second piston 22 drives the sleeve 20 to move upwards due to the action of the atmospheric pressure, so that the pen 13 is separated from the paper surface.
If ink marks need to be left in the moving process of the pen 13, the second motor 901 is controlled to rotate forward, as shown in fig. 7, the second rotor 902 extends out of the motor to drive the first piston 904 to push inward, and due to the action of the atmospheric pressure, the corresponding second piston 22 drives the sleeve 20 to move downward, so that the pen 13 presses on the paper surface, and at the moment, the spring 19 is compressed to prevent the pen tip from scratching the paper surface due to the excessive pressure.
When the painting and calligraphy creation process is recorded, a handwriting pen draws or writes on the induction module (the electronic handwriting board), the main controller detects activated pixel points on the electronic handwriting board in real time, generates a list according to the activation sequence and duration, and finally stores the list in a storage module in a file form or sends the list to a PC (personal computer) through a communication interface.
When the robot is required to simulate writing and drawing, the robot is firstly placed on a horizontal desktop, the paper 10 is placed in the middle areas of the four frames of the base, the position of the pressing plate 11 is adjusted according to the size of the paper to press the edge of the paper 10, and finally the fastening nut 17 is screwed down to tightly fix the pressing plate 11 and press the paper 10.
The main controller finds a corresponding file according to a picture to be drawn or a written text, obtains coordinates of points from the file, corresponds the coordinates to displacement information of the three motors, generates a linked list based on motor displacement control, controls the three motors to sequentially control relative displacement of the motors according to the sequence of the linked list, and finally finishes the picture drawing or writing process.

Claims (5)

1. A simulation writing and drawing robot is characterized by comprising an execution mechanism and a control system;
the actuating mechanism comprises a base, a bracket and a transmission mechanism; the base comprises two first frames (6) and two second frames (8) which enclose into a rectangle; two pressing plates (11) are arranged between the two first frames (6), two ends of each pressing plate (11) are bent in two sections, and the tail ends of the two bent parts are parallel to the middle of each pressing plate (11) and are provided with round holes; a groove with a T-shaped section is formed in the middle of the upper surface of the first frame (6), two fastening screws are arranged in the groove respectively, screw caps of the two fastening screws are positioned in the groove, screw rods sequentially penetrate out of the groove and circular holes of the pressing plate (11), and fastening nuts (17) are nested at the tail ends of the screw rods; the support comprises a cross support (4) erected above the base and parallel to the base, and the tail end of the cross support (4) is connected with four frames of the base through four vertical supports (14); the vertical bracket (14) is also provided with an annular track (5) parallel to the base; a first motor (7) is arranged below the central position of the cross support (4), and the vertical projection of the rotor center of the first motor (7) on the plane of the annular track (5) is positioned at the circle center of the annular track (5); the tail end of a first rotor (12) of the first motor (7) is connected with the linear track (2) through an L-shaped connecting rod; a motor base (204) is arranged at the head end of the linear track (2), a U-shaped support (203) is arranged at the tail end of the linear track, a pulley (3) is arranged between two arms of the U-shaped support (203), and a third motor (16) is arranged on the motor base (204); a sliding rod (201) and a threaded rod (202) which are parallel to each other are arranged between the motor base (204) and the U-shaped support (203), one end of the threaded rod (202) is fixed on a rotor of the third motor (16), and the other end of the threaded rod is connected with the U-shaped support (203) through a second bearing; the sliding rod (201) and the threaded rod (202) penetrate through the sliding table (1) moving along the linear track (2); the edge of the pulley (3) is convex, the middle of the pulley is concave, and the concave part is tightly attached to the inner wall of the annular track (5); the cross support (4) is also provided with a pressure controller (9), a second motor (901) and a first fluid pipe (905) are arranged in the pressure controller (9), the top end of a second rotor (902) of the second motor (901) is connected with a first piston (904) through a first bearing (903), and a first fluid cavity (906) is formed between the first piston (904) and the first fluid pipe (905); a second fluid pipe (21) which is vertically placed is installed on the sliding table (1), a second piston (22) is vertically and upwards inserted into the second fluid pipe (21), and a second fluid cavity (23) is formed between the second piston (22) and the second fluid pipe (21); a sleeve (20) is arranged at the bottom of the second piston (22), a slender round hole is formed at the bottom of the sleeve (20), and a pen (13) for painting and calligraphy is inserted into the round hole; a limiting plate (18) surrounding the sleeve is arranged at the middle lower part of the outer wall of the sleeve (20); the spring (19) is nested on the sleeve (20), one end of the spring is fixed on the sliding table (1), and the other end of the spring is fixed on the limiting plate (18); a fluid outlet pipe (907) and a fluid inlet pipe (24) are respectively arranged on the first fluid pipe (905) and the second fluid pipe (21) and are used as passages between the first fluid cavity (906) and the second fluid cavity (23) and the outside; the fluid outlet pipe (907) and the fluid inlet pipe (24) are communicated with each other through a flexible pipeline (15); the first fluid chamber (906) and the second fluid chamber (23) form a closed cavity together with the flexible pipe (15), and the closed cavity is filled with fluid;
the control system comprises a main controller, wherein the main controller is connected with an induction module, a display module, a storage module, a communication interface, a motor driving module and a power supply module; the motor driving module controls a first motor (7), a second motor (901) and a third motor (16); the communication interface is connected with a PC, and the induction module is a handwriting board; the display module is a display screen.
2. The simulation writing and drawing robot according to claim 1, wherein the vertical height between the middle portion and the end portion of the pressure plate (11) is not less than the thickness of the first frame (6).
3. The simulation writing and drawing robot according to claim 1, wherein the linear track (2) passes through the center of the circular track (5), and the linear track (2) has equal mass at the two sides of the center.
4. The simulation writing and drawing robot as claimed in claim 1, wherein the longitudinal section of the annular rail (5) is E-shaped, and the height of the central convex part is 1-2 cm and higher than the height of the edge of the pulley (3) which is convex.
5. The simulation robot for painting by writing and drawing according to claim 1, wherein the communication interface is connected to a PC through a USB cable.
CN201810380976.4A 2018-04-25 2018-04-25 Simulation writing and drawing robot and use method thereof Active CN108466272B (en)

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Publication number Priority date Publication date Assignee Title
CN109140170A (en) * 2018-09-30 2019-01-04 四川竞速智能科技有限责任公司 Shooting equipped system based on wireless remote control
CN109093594A (en) * 2018-10-19 2018-12-28 斯图加特航空自动化(青岛)有限公司 Annular planer-type robot moving system
US11318610B2 (en) 2020-01-22 2022-05-03 Tata Consultancy Services Limited Robotic gripper for writing and object creation
CN113968095A (en) * 2021-10-22 2022-01-25 胡玉涛 Surveying and mapping device for three-dimensional structure

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CN107803829A (en) * 2017-12-12 2018-03-16 慧灵科技(深圳)有限公司 A kind of flat articulated mechanical arm of novel and multifunctional straight expelling water

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CN201135241Y (en) * 2007-09-14 2008-10-22 尹国英 Multifunctional painting table
CN107088882A (en) * 2017-06-18 2017-08-25 闾天驰 Robot humanoid handwriting system and its control method
CN107506028A (en) * 2017-07-31 2017-12-22 上海交通大学 Robot painting system and method based on self start type brain-computer interface
CN107803829A (en) * 2017-12-12 2018-03-16 慧灵科技(深圳)有限公司 A kind of flat articulated mechanical arm of novel and multifunctional straight expelling water

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