CN108527400A - A kind of intelligent writing robot - Google Patents

Abstract

The invention provides an intelligent writing robot, which includes a drive box and a manipulator, and is characterized in that: a drive device and a first magnet device are arranged inside the drive box, and the drive device actuates the first magnet device; the manipulator It is arranged outside the drive box, and a second magnet device is arranged inside the manipulator; the drive device drives the manipulator in the drive box through the magnetic force between the first magnet device and the second magnet device. The outer follow moves. The intelligent writing robot provided by the invention can simulate human writing, replace manual repeated operations, and has a simple structure, small size, convenient connection, easy movement and operation; when writing, the manipulator has small friction and inertial force, high following accuracy, The writing error is small; it can also realize the control of the force of lifting and falling the pen to ensure that the strokes are clear during the writing process, the strokes are not connected, and the force of the pen is controllable, completely simulating the way of human writing.

Description

An intelligent writing robot

technical field

The invention relates to the field of intelligent robot equipment, in particular to an intelligent writing robot.

Background technique

In actual work and life, we often encounter some situations that require repeated drawing and writing, such as repeated drawing in teaching, writing invitations, invitations, signatures, etc. in life. In this case, if manual operations are used, it will be a waste of time. It is also a huge waste of manpower. At the same time, in the learning process, in addition to recognizing characters, learning how to write is also one of the necessary processes; as the saying goes, seeing characters is like seeing people, which shows that the quality of a person's writing is extremely important to the impression of others. Existing learning of writing is generally based on copybooks and other templates for copying learning. This way of practicing fonts is only recognized by the user's naked eyes, and then imitated by the gourd painting; only relying on the recognition of the eyes does not provide users with real writing. The stroke sequence, strength, etc. at the time, the learning effect is poor, and the user cannot quickly improve his writing skills.

At present, there are some writing and drawing robots on the market. Although they can also write Simplified Chinese and Traditional Chinese, they can only draw outlines (write hollow characters) in form, and there is no one that can control the force of writing and cannot completely simulate human beings. Writing, etc. At the same time, the writing device at the end of the robot is generally fixed to the transmission mechanism by screws, etc., the connection method is complicated, and it is inconvenient to carry and transport; the writing device and the transmission mechanism are generally located on the writing paper, and the overall structure is complex. The occupied area is relatively large, and the overall volume of the whole device is too large, making it inconvenient to move and operate.

Contents of the invention

In order to solve the above problems, the object of the present invention is to address the defects and deficiencies in the above background technology, and provide a smart writing that can simulate human writing, replace manual repeated operations, have a simple structure, small size, convenient connection, easy movement, and operation. robot. At the same time, the robot is simple to manufacture and low in cost, and can write paintings or calligraphy works in different ways and designs, which is convenient for mass production and application.

In order to achieve the above object, the technical scheme adopted in the present invention is:

The invention provides an intelligent writing robot, comprising a drive box and a manipulator, characterized in that: a drive device and a first magnet device are arranged inside the drive box, and the drive device actuates the first magnet device; the manipulator It is arranged outside the drive box, and a second magnet device is arranged inside the manipulator; the drive device drives the manipulator in the drive box through the magnetic force between the first magnet device and the second magnet device. The outer follow moves.

Further, the driving box includes a box body and a box cover, and the driving device and the first magnet device are arranged in the box body and separated from the manipulator through the box cover.

Further, the drive device includes a longitudinal guide rail, a transverse guide rail, a slider, a synchronous belt device and a motor, the motor is fixedly arranged on the longitudinal guide rail, the transverse guide rail is slidably arranged on the longitudinal guide rail, the The slider is slidably arranged on the transverse guide rail, and the motor drives the slider to move on a plane through the synchronous belt device; the first magnet device is arranged on the slider.

Further, the longitudinal guide rail includes a first longitudinal guide rail and a second longitudinal guide rail arranged in parallel on both sides of the box body, and the transverse guide rail is slidably arranged between the first longitudinal guide rail and the second longitudinal guide rail.

Further, the motor includes a first motor and a second motor; the synchronous belt device includes a first synchronous belt mechanism and a second synchronous belt mechanism; the first synchronous belt mechanism includes a first drive synchronous pulley, a first Tension synchronous pulley, second tension synchronous pulley, third tension synchronous pulley, fourth tension synchronous pulley and first synchronous belt; said second synchronous belt mechanism includes a second drive synchronous pulley, The fifth tensioning synchronous pulley, the sixth tensioning synchronous pulley, the seventh tensioning synchronous pulley, the eighth tensioning synchronous pulley and the second synchronous belt; the first driving synchronous pulley and the second driving synchronous The pulleys are respectively driven by the first motor and the second motor.

Further, the first synchronous belt is an open-type synchronous belt, and the two ends of the first synchronous belt are fixedly connected to both sides of the slider respectively. By being wound on the first driving synchronous pulley, the first Tension synchronous pulley, the second tension synchronous pulley and the third synchronous pulley are driven and tensioned; the second synchronous belt is an open synchronous belt, and the two ends of the second synchronous belt are respectively fixedly connected On both sides of the slider, driving and tensioning are carried out by winding on the second drive timing pulley, the fourth tension timing pulley, the fifth tension timing pulley and the sixth timing pulley.

Further, the second tensioning synchronous pulley, the first synchronous belt between the third tensioning synchronous pulley and the sixth tensioning synchronous pulley, the second synchronous belt between the seventh tensioning synchronous pulley The upper and lower spaces are arranged in a staggered manner.

Further, the transverse guide rail is a stacked frame structure, including a first frame plate, a second frame plate and a third frame plate stacked sequentially from top to bottom; the first frame plate, the second frame plate and the third frame plate The three frame plates are of modular structure, the structure and size of the first frame plate and the third frame plate are exactly the same; the second frame plate is provided with a transverse channel, and the transverse channel cooperates with the slider for To support the lateral movement of the slider.

Further, the manipulator includes a control box and a pen, the second magnet device is set in the control box, and the pen is set on the control box.

Further, the control box is of a barrel-like structure, and the pen is fixedly arranged through the center of the control box; the second magnet device includes a second ring magnet set on the pen at the center, A second cylindrical magnet series composed of a plurality of second cylindrical magnets evenly distributed on the periphery of the second ring magnet; the first magnet device includes a first ring magnet located in the center, and a plurality of uniformly distributed The first cylindrical magnet series formed by the first cylindrical magnets on the periphery of the first ring magnet.

Further, the first circular magnet and the second circular magnet are magnetically attracted, and the first cylindrical magnet series and the second cylindrical magnet series are magnetically repulsive; the first cylindrical magnet series The distribution circle of is larger than the distribution circle of the second series of cylindrical magnets.

Further, the first cylindrical magnet and the second cylindrical magnet are permanent magnets; the first circular magnet and/or the second circular magnet are electromagnets.

Further, the control box is an ellipsoid-like structure, the first universal wheel and the second universal wheel are arranged at both ends of the short axis of the ellipse at the bottom of the control box, and the third universal wheel is arranged at one end of the long axis of the ellipse The second magnet device includes a first disc magnet corresponding to the position of the first universal wheel, a second disc magnet corresponding to the position of the second universal wheel, and a magnet corresponding to the third universal wheel The third disc magnet corresponding to the position of the wheel; the first magnet device includes a fourth disc magnet, a fifth disc magnet and a sixth disc magnet.

Further, the first magnet device is magnetically attracted to the second magnet device.

Further, the first disc magnet, the second disc magnet, the fourth disc magnet and the fifth disc magnet are permanent magnets; the third disc magnet and/or the sixth disc magnet are electromagnets.

Further, an elastic device is provided between the third universal wheel and the control box, and the elastic device moves the control box away from the first universal wheel and the second universal wheel as fulcrums. The direction of the third universal wheel is supported.

Further, it also includes a magnet bracket, the magnet bracket is arranged on one side of the slider, and the first magnet device is arranged on the magnet bracket; on the slider corresponding to the magnet bracket, another A third motor is arranged on one side, the output shaft of the third motor passes through the slider and is fixedly connected with the magnet bracket, and the third motor drives the magnet bracket to rotate.

Further, the box body and/or the box cover and/or the control box and/or the longitudinal guide rail and/or the transverse guide rail are made of non-magnetic material.

Further, the box body and/or the box cover and/or the control box are made of plastic; the longitudinal guide rails and/or the transverse guide rails are made of aluminum alloy.

Compared with the prior art, the intelligent writing robot provided by the present invention has the beneficial effects of being able to simulate human writing, replacing manual repeated operations, simple in structure, small in size, convenient in connection, easy to move and operate. At the same time, the robot is simple to manufacture and low in cost, and can write paintings or calligraphy works in different ways and designs, which is convenient for mass production and application. As an accessory, the manipulator is connected with the drive box through magnetic force, which is easy to connect and use, and is convenient for installation and transportation. Through the uniform magnetic field distribution, magnetic force control and the small and light structure of the manipulator, the whole robot has small friction force, small inertial force, high following precision and small writing error when writing. During the writing process, the strokes are clear, the strokes are not connected, and the writing force is controllable, completely simulating the way of human writing.

In conclusion, the present invention proposes an intelligent writing robot with simple structure and strong practicability, which has broad application prospects in the field of intelligent robots.

Description of drawings

Fig. 1 is a schematic structural view of an intelligent writing robot according to an embodiment of the present invention;

Fig. 2 is a structural schematic diagram inside the drive box of the present invention;

Fig. 3 is a structural schematic diagram of a manipulator 1 according to an embodiment of the present invention;

Fig. 4 is a schematic structural view of the driving device of the present invention;

Fig. 5 is a structural schematic diagram 1 of the transverse guide rail of the present invention;

Fig. 6 is a structural schematic diagram II of the transverse guide rail of the present invention;

Fig. 7 is a schematic structural diagram of a magnetic drive according to Embodiment 1 of the present invention;

Fig. 8 is a schematic diagram of a magnetic force action according to Embodiment 1 of the present invention;

9 is a schematic structural diagram of an intelligent writing robot according to Embodiment 2 of the present invention;

Fig. 10 is a structural schematic diagram 1 of the manipulator 2 of the second embodiment of the present invention;

Fig. 11 is a structural schematic diagram II of the robot arm II of the second embodiment of the present invention;

Fig. 12 is a structural schematic diagram of the second embodiment of the magnetic drive of the present invention.

Wherein, the reference signs are explained as follows:

1 drive box, 1-1 box body, 1-2 box cover, 1-3 longitudinal guide rail, 1-31 first longitudinal guide rail, 1-32 second longitudinal guide rail, 1-4 horizontal guide rail, 1-41 first frame Plate, 1-42 second frame plate, 1-421 transverse channel, 1-43 third frame plate, 1-44 pulley, 1-5 slider, 1-6 synchronous belt device, 1-601 first drive synchronous belt Wheel, 1-602 the first tensioning synchronous pulley, 1-603 the second tensioning synchronous pulley, 1-604 the third tensioning synchronous pulley, 1-605 the fourth tensioning synchronous pulley, 1-606 the first One synchronous belt; 1-607 second drive synchronous pulley, 1-608 fifth tension synchronous pulley, 1-609 sixth tension synchronous pulley, 1-610 seventh tension synchronous pulley, 1-611 The eighth tensioning synchronous pulley, 1-612 the second synchronous belt, 1-7 the first magnet device, 1-71 the first ring magnet, 1-72 the first cylindrical magnet, 1-81 the first motor, 1- 82 the second motor, 1-9 the first magnet support, 1-10 the 3rd motor, 1-11 the 3rd magnet device, 1-111 the 4th disc magnet, 1-112 the 5th disc magnet, 1-113 the 3rd Six disc magnets, 2 manipulators, 2-1 control box, 2-2 pens, 2-3 second magnet devices, 2-31 second ring magnets, 2-32 second cylindrical magnets, 3 papers, 4 manipulator two, 4-1 control box two, 4-2 pen two, 4-3 first universal wheel, 4-4 second universal wheel, 4-5 third universal wheel, 4-6 fourth magnet Device, 4-61 first disc magnet, 4-62 second disc magnet, 4-63 third disc magnet, 4-7 second magnet support.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with specific examples. Please note that the embodiments described below are exemplary only for explaining the present invention, and should not be construed as limiting the present invention. If no specific technique or condition is indicated in the examples, it shall be carried out according to the technique or condition described in the literature in this field or according to the product specification.

In the description of the present invention, it should be understood that the terms "first" and "second" are used for description purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

The intelligent writing robot of the present invention comprises a drive box 1 and a manipulator, the manipulator is placed above the drive box, the upper surface of the drive box is fixed with paper 3 by a fixing device, and is positioned below the manipulator, and the manipulator is placed on the drive box. Write or draw on paper under the control of magnetic drive. The fixing device of the present invention may be a paper fixing device common in the field such as a magnetic buckle corresponding to an upper and lower side, a clamping device, etc., and the present invention does not make special limitations here.

Hereinafter, the mechanical structure and magnetic drive control method of the intelligent writing robot of the present invention will be described through specific embodiments.

Embodiment one

As shown in Figures 1-8, the drive box 1 includes a box body 1-1 and a box cover 1-2, and a drive device is arranged inside the box body. The drive device includes longitudinal guide rails 1-3, transverse guide rails 1-4, slide blocks 1-5, synchronous belt devices 1-6, motors and other components. The longitudinal guide rail 1-3 includes a first longitudinal guide rail 1-31 and a second longitudinal guide rail 1-32 arranged in parallel on both sides of the box body. The transverse guide rail 1-4 is slidably disposed between the first longitudinal guide rail 1-31 and the second longitudinal guide rail 1-32. The slider 1-5 is slidably arranged on the transverse guide rail 1-4, and can move at any position within a certain plane range under the actuation of the synchronous belt device 1-6 driven by the motor . A first magnet device 1-7 is also arranged in the box, and the first magnet device is arranged on the slider 1-5 and moves within a plane range together with the slider.

Manipulator one 2 comprises control box one 2-1 and pen one 2-2, and described control box one 2-1 is provided with second magnet device 2-3, and described second magnet device is connected with all in described drive box. The first magnet device 1-7 is arranged magnetically. The pen one of the manipulator one is actuated by the drive device in the drive box, that is, through the magnetic force between the first magnet device 1-7 and the second magnet device 2-3, is activated by the Slide block drives, thereby realizes writing or drawing on the paper 3 on the drive box.

According to the present embodiment, the box body 1-1, the box cover 1-2 and the control box 1-2-1 of the drive box are all made of non-magnetic materials, preferably aluminum alloy, more preferably plastic. The above-mentioned materials of the box body 1-1 of the present invention, the box cover 1-2 and the control box one 2-1 will not affect the magnetic force between the first magnet device 1-7 and the second magnet device 2-3. effect has an impact.

The timing belt device 1-6 according to this embodiment includes a first timing belt mechanism and a second timing belt mechanism. The first synchronous belt mechanism includes a first driving synchronous pulley 1-601, a first tensioning synchronous pulley 1-602, a second tensioning synchronous pulley 1-603, and a third tensioning synchronous pulley 1-604 , the fourth tensioning synchronous pulley 1-605 and the first synchronous belt 1-606; the second synchronous belt mechanism includes the second driving synchronous pulley 1-607, the fifth tensioning synchronous pulley 1-608, the first The sixth tensioning synchronous belt pulley 1-609, the seventh tensioning synchronous belt pulley 1-610, the eighth tensioning synchronous belt pulley 1-611 and the second synchronous belt 1-612. The first driving synchronous pulley 1-601 and the second driving synchronous pulley 1-607 are respectively driven by a first motor 1-81 and a second motor 1-82. The first synchronous belt 1-606 is an open synchronous belt, and its two ends are fixedly connected to the two sides corresponding to the slider 1-5. By winding on the first driving synchronous pulley, the first tensioning synchronous pulley, The second tensioning synchronous pulley, the third tensioning synchronous pulley and the fourth tensioning synchronous pulley are driven and tensioned, so that the first synchronous belt mechanism drives the slider 1-5 to move. The second synchronous belt 1-612 is an open synchronous belt, and its two ends are fixedly connected to the corresponding two sides of the slider 1-5 respectively, by being wound on the second driving synchronous pulley, the fifth tensioning synchronous pulley, The sixth tensioning synchronous pulley, the seventh tensioning synchronous pulley and the eighth tensioning synchronous pulley are driven and tensioned, so that the second synchronous belt mechanism drives the slider to move. The first synchronous belt 1-606 between the second tensioning synchronous pulley 1-603 and the third tensioning synchronous pulley 1-604 is synchronized with the sixth tensioning synchronous pulley 1-609 and the seventh tensioning synchronous belt pulley 1-604. The second synchronous belts 1-612 between the pulleys 1-610 are arranged vertically and staggeredly. The spatially staggered arrangement of the first timing belt and the second timing belt enables the intelligent writing robot to obtain a larger working range with the same volume.

According to this embodiment, the first longitudinal guide rail 1-31 and the second longitudinal guide rail 1-32 in the longitudinal guide rail 1-3 have a modular structure, by exchanging the processing of the mounting holes at both ends on two identical profiles position, the symmetrical arrangement structure of the first longitudinal guide rail and the second longitudinal guide rail in the box can be formed. One end of the first longitudinal guide rail 1-31 is provided with a first motor 1-81, and the other end is provided with a second tensioning synchronous pulley 1-603 and a seventh tensioning synchronous pulley 1-610; One end of the corresponding second longitudinal guide rail 1-32 is provided with a second motor 1-82, and the other end is provided with a third tensioning synchronous pulley 1-604 and a sixth tensioning synchronous pulley 1-609.

According to this embodiment, the transverse guide rail 1-4 is a stacked frame structure, including a first frame plate 1-41, a second frame plate 1-42 and a third frame plate 1-4, which are stacked sequentially from top to bottom. 43. The first frame plate, the second frame plate and the third frame plate are modular structures, and the structure and size of the first frame plate 1-41 and the third frame plate 1-43 are identical; the second frame plate The plate 1-42 differs from the first frame plate 1-41 and the third frame plate 1-43 in that the second frame plate 1-42 has a smaller transverse channel 1-421 inside, and the transverse channel is similar to the The sliders 1-5 cooperate to support the lateral movement of the sliders 1-5. The installation holes of the first frame plate 1-41, the second frame plate 1-42 and the third frame plate 1-43 are located in the same position, and the three frame plates are mounted together by screws. Between the first frame plate 1-41 and the second frame plate 1-42, a first tensioning synchronous pulley 1-602, a fourth tensioning synchronous pulley 1-605, a fifth tensioning Synchronous pulley 1-608, eighth tensioning synchronous pulley 1-611. A pulley 1-44 is arranged between the second frame plate 1-42 and the third frame plate 1-43, and the pulley cooperates with the longitudinal guide rail 1-3 to realize the integral movement of the transverse guide rail 1-4. Move longitudinally along the longitudinal rails 1-3. The number of the pulleys 1-44 is preferably four, preferably bearings.

According to this embodiment, both the longitudinal guide rails 1-3 and the transverse guide rails 1-4 are made of non-magnetic materials, preferably aluminum alloy.

When the first motor 1-81 and the second motor 1-82 rotate in the same direction, the slider 1-5 is driven to move only laterally; when the first motor 1-81 and the second motor 1-82 reverse When rotating, drive described slide block 1-5 to only move along longitudinal direction. When the rotation speeds of the first motor and the second motor are different, the slider can be driven to move horizontally and vertically at the same time, that is, to move obliquely. The first magnet device 1-7 arranged on the slider 1-5 in the drive box drives the second magnet device 2-3 fixed in the manipulator 2 to follow and move, and the rotation direction and speed of the first motor and the second motor The precise control of the position of the slide block is realized, and then the precise control of the position of the pen 2-2 fixed on the manipulator 2 can be realized, and high-precision writing or drawing can be realized.

According to the control box one 2-1 of the manipulator one 2 described in this embodiment is a barrel structure, the pen one 2-2 passes through the center of the control box one 2-1 and is fixedly arranged. The second magnet device 2-3 in the control box one 2-1 includes the second ring magnet 2-31 arranged on the pen one, and a plurality of second cylindrical magnets 2-31 evenly distributed on the periphery of the second ring magnet. The second cylindrical magnet series formed by 32, the second cylindrical magnet, the ring magnet and the pen one are all fixed on the control box one. A first magnet bracket 1-9 is arranged above the slider, and a first magnet device 1-7 arranged corresponding to the second magnet device 2-3 is arranged on the first magnet bracket. The first magnet device 1-7 also includes a first cylindrical magnet series consisting of a first circular magnet 1-71 located in the middle and a plurality of first cylindrical magnets 1-72 evenly distributed on the periphery of the first circular magnet. The first ring magnet 1-71 and the second ring magnet 2-31 are magnetically attracted and arranged, and the first cylindrical magnet series and the second cylindrical magnet series are magnetically repulsively arranged, and the distribution of the first cylindrical magnet series is The circle is larger than the distribution circle of the second series of cylindrical magnets. All cylindrical magnets are preferably permanent magnets, and the first circular magnet 1-71 and the second circular magnet 2-31 can both be electromagnets or one can be an electromagnet and the other can be a permanent magnet.

When there is no magnetic attraction between the first ring magnet 1-71 and the second ring magnet 2-31, the magnetic field distribution generated by the above arrangement can support the pen 1-2-1 upright above the drive box , The nib does not touch the paper surface, which ensures a good magnetic driving effect and realizes high-precision magnetic actuation. When the whole robot is writing, the frictional force of manipulator 1 and 2 is small, and the following precision is high. When magnetic attraction is generated between the first ring magnet 1-71 and the second ring magnet 2-31, the nib can be pressed tightly on the paper on the upper surface of the drive box for writing. Through the control of the presence and size of the magnetic force between the first ring magnet and the second ring magnet, the force control of writing, pen lifting and pen down can be realized to ensure that the strokes are clear during the writing process, the pen is not connected, and the pen down force is controllable. It completely simulates the writing method of human beings; it can also control the drawing of different gray levels through the pen force, making the painting method and effect more realistic.

The third motor 1-10 can be fixedly installed below the slider, and the output shaft of the third motor is fixedly connected with the first magnet bracket after passing through the slider, so that the third motor 1-10 can drive the first magnet The support 1-9 rotates, and then the rotation of the first manipulator above the drive box can be realized, that is, the first manipulator can realize the movement of three degrees of freedom.

According to the intelligent writing robot provided in this embodiment, the drive box also includes a controller (not shown in the figure), the controller is used to generate the corresponding motion trajectory according to the characters or patterns input by the user, and then generate control instructions to control the rotation direction and direction of the motor. The speed can be precisely controlled, and the text or pattern input by the user can be drawn. Of course, the user can directly input the written control command into the controller to draw the desired calligraphy or painting works.

The intelligent writing robot provided according to this embodiment further includes a voice module (not shown in the figure). The user can perform voice control through the voice module. The voice module is used to identify the content to be written after receiving the voice command, perform decomposition and calculation, and output the control command to the controller. The controller controls the robot to draw the user's voice. words or drawings.

According to the intelligent writing robot provided in this embodiment, when the manipulator is replaced with other accessories, such as the shape of animals of the Chinese zodiac, actions such as translation and rotation above the drive box can be realized.

Embodiment two

As shown in Figures 9-12, the intelligent writing robot provided in the second embodiment is different from the first embodiment only in the manipulator, the magnet device and the magnet bracket, and the rest of the structure of the intelligent writing robot provided in the second embodiment is exactly the same as that in the first embodiment .

According to the control box 2 4-1 of the manipulator 2 4 described in the present embodiment 2 is an ellipsoid structure, a first universal wheel 4-3 and a second universal wheel 4-3 are arranged at both ends of the ellipse minor axis at the bottom of the control box 2 4-1. To the wheel 4-4, one end of the ellipse major axis is provided with the 3rd universal wheel 4-5, between the 3rd universal wheel 4-5 and the control box two 4-1, elastic device (not shown in the figure ), the elastic device is preferably a spring. On the other side of the long axis of the ellipse corresponding to the third universal wheel 4-4, the pen two 4-2 passes through the control box two 4-1 and is fixed by the top wire 4-5, and the nib extends out of the bottom surface of the control box two 4-1 . The second manipulator 4 is supported on the paper 3 of the drive box by three universal wheels, which can reduce the moving friction of the second manipulator. The three universal wheels are preferably balls.

The fourth magnet device 4-6 in the control box two 4-1 comprises the first disc magnet 4-61 corresponding to the universal wheel position, the second disc magnet 4-62 and the third disc magnet 4-63, Described disc magnet is all fixed in the control box two 4-1. A second magnet bracket 4-7 is arranged above the slider 1-5, and a third magnet device 1 corresponding to the fourth magnet device 4-6 is arranged on the second magnet bracket 4-7. -11. The third magnet device 1-11 also includes a fourth disc magnet 1-111, a fifth disc magnet 1-112 and a sixth disc magnet 1 fixed on the second magnet bracket 4-7 arranged in a triangle. -113. The third magnet device 1-11 and the fourth magnet device 4-6 are arranged magnetically, the first disc magnet 4-61, the second disc magnet 4-62, the fourth disc magnet 1-111, and the fifth disc magnet. The piece magnet 1-112 is preferably a permanent magnet; the third disc magnet 4-63 and the sixth disc magnet 1-113 can both be electromagnets or one can be an electromagnet and the other can be a permanent magnet.

Through the magnetic field distribution generated by the above arrangement, the manipulator 2 4 can be pressed tightly on the paper 3 on the upper surface of the drive box 1, ensuring a good magnetic driving effect and realizing high-precision magnetic actuation; the manipulator 2 4 is small and light, When writing, the frictional force and inertial force of the second manipulator are small, the following precision is high, and the writing error is small. Simultaneously due to the effect of the elastic device, the control box two 4-1 is supported to the direction away from the third universal wheel 4-5 with the first universal wheel 4-3 and the second universal wheel 4-4 as the fulcrum, thereby the control box The pen two 4-2 on the other side of the box two 4-1 is tightly pressed on the paper to ensure the continuity of handwriting in the writing process; in addition the third disc magnet 4-63 and the sixth disc magnet 1-113 can be It is an electromagnet or one is an electromagnet and the other is a permanent magnet. When the two are magnetically attracted, the control box 2 4-1 is pressed toward the direction close to the third universal wheel 4-5, thereby realizing the action of lifting the pen ; When the two are not magnetically attracted, the elastic device will support the control box two 4-1 to the direction away from the third universal wheel 4-5, and press the pen two 4-2 on the paper 3 to ensure the whole writing process The strokes in the book are clear and not connected. By controlling the magnetic attraction of the electromagnet, it is possible to control the pen-down strength when writing, completely simulating the way of human writing; it can also be used to control the pen-down force to draw different gray scales when painting, making the painting method and effect more realistic.

According to the second embodiment 2, the second magnet bracket 4-7 is also fixedly connected to the output shaft of the third motor 1-10, so that the third motor can drive the second magnet bracket 4-7 to rotate, and then the manipulator can be realized. The rotation above the drive box, that is, the second manipulator can realize the movement of three degrees of freedom.

The control box 2 according to the second embodiment can be made into any shape as required, and there is no special limitation here.

The above two embodiments have made a specific introduction to the intelligent writing robot of the present invention. The intelligent writing robot provided by the present invention can simulate human writing, replace manual repeated operations, have a simple structure, small size, convenient connection, and easy movement and operation. At the same time, the robot is simple to manufacture and low in cost, and can write paintings or calligraphy works in different ways and designs, which is convenient for mass production and application. As an accessory, the manipulator is connected with the drive box through magnetic force, which is easy to connect and use, and is convenient for installation and transportation. Through the uniform magnetic field distribution, magnetic force control and the small and light structure of the manipulator, the whole robot has small friction force, small inertial force, high following precision and small writing error when writing. During the writing process, the strokes are clear, the strokes are not connected, and the writing force is controllable, completely simulating the way of human writing.

In conclusion, the present invention proposes an intelligent writing robot with simple structure and strong practicability, which has broad application prospects in the field of intelligent robots.

In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first and second feature may be in direct contact with the second feature through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

In the description of this specification, reference to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" means that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Claims (10)

1. a kind of intelligent writing robot, including driving box and manipulator, it is characterised in that：The driving box is internally provided with drive Dynamic device and the first magnet arrangement, the driving device activate first magnet arrangement；The manipulator is arranged in the drive Outside dynamic box, the second magnet arrangement is internally provided in the manipulator；The driving device passes through first magnet arrangement With the magnetic force between second magnet arrangement, the manipulator is driven to follow movement outside driving box.

2. intelligent writing robot according to claim 1, which is characterized in that the driving box includes box body and box cover, The driving device and first magnet arrangement setting detach in the box body, and by the box cover with the manipulator Setting.

3. intelligent writing robot according to claim 2, which is characterized in that the driving device include longitudinal rail, Cross slide way, sliding block, synchronous belt device and motor, the motor are fixed on the longitudinal rail, the cross slide way It is slideably positioned on the longitudinal rail, the sliding block is slideably positioned on the cross slide way, and the motor passes through described same Step band device drives the sliding block to move in the plane；First magnet arrangement is arranged on the sliding block.

4. intelligent writing robot according to claim 3, which is characterized in that the motor includes first motor and second Motor；The synchronous belt device includes the first synchronous belt mechanism and the second synchronous belt mechanism；First synchronous belt mechanism includes First driving synchronous pulley, the first tensioning synchronous pulley, the second tensioning synchronous pulley, third are tensioned synchronous pulley, the 4th tensioning Synchronous pulley and the first synchronous belt；Second synchronous belt mechanism includes the second driving synchronous pulley, and the 5th is tensioned synchronous pulley, 6th tensioning synchronous pulley, the 7th tensioning synchronous pulley, the 8th tensioning synchronous pulley and the second synchronous belt；First driving is same It walks belt wheel and the second driving synchronous pulley is driven by the first motor and the second motor respectively.

5. intelligent writing robot according to claim 4, which is characterized in that the cross slide way is the frame knot of stacking Structure, including the first deckle board for being cascading from top to bottom, the second deckle board and third deckle board；First deckle board, the second frame Plate and third deckle board are modular construction, and first deckle board is identical with the structure snd size of third deckle board；Described second Interconnection is provided on deckle board, the interconnection coordinates with the sliding block, is used to support the sliding block transverse shifting.

6. intelligent writing robot according to claim 5, which is characterized in that the manipulator includes control box and pen, Second magnet arrangement is arranged in the control box, and the pen is arranged in the control box.

7. intelligent writing robot according to claim 6, which is characterized in that the control box is class drum structure, institute Pen is stated to be fixedly installed across the center of the control box；Second magnet arrangement includes being located at center to be arranged in the pen On the second annulus magnet and it is multiple be distributed on the second annulus magnet periphery the second cylindrical magnet composition the second cylinder Magnet series；First magnet arrangement include positioned at center the first annulus magnet and multiple be distributed on described first The first cylindrical magnet series of the first cylindrical magnet composition of annulus magnet periphery.

8. intelligent writing robot according to claim 6, which is characterized in that the control box is class ellipsoidal configuration, The ellipse short shaft of the control box bottom is provided at both ends with the first universal wheel and the second universal wheel, and one end of transverse is provided with Third universal wheel；Second magnet arrangement includes the first disk magnet corresponding with first universal wheel position, and described The corresponding second disk magnet in second universal wheel position, and third disk magnet corresponding with third universal wheel position；Institute It includes the 4th disk magnet, the 5th disk magnet and the 6th disk magnet to state the first magnet arrangement.

9. intelligent writing robot according to claim 8, which is characterized in that in the third universal wheel and the control Elastic device is provided between box, the control box is branch with first universal wheel and the second universal wheel by the elastic device Point is propped to the direction far from the third universal wheel.

10. according to claim 7-9 any one of them intelligent writings robot, which is characterized in that further include magnet holder, institute It states magnet holder to be arranged in the side of the sliding block, first magnet arrangement is arranged in the magnet holder；In the cunning The other side corresponding with the magnet holder is provided with third motor on block, the output shaft of the third motor pass through after sliding block with The magnet holder is connected, and the third motor drives the magnet holder rotation.