CN109262625A - A kind of drawing mechanical arm and mechanical pencil press control method - Google Patents
A kind of drawing mechanical arm and mechanical pencil press control method Download PDFInfo
- Publication number
- CN109262625A CN109262625A CN201811171840.9A CN201811171840A CN109262625A CN 109262625 A CN109262625 A CN 109262625A CN 201811171840 A CN201811171840 A CN 201811171840A CN 109262625 A CN109262625 A CN 109262625A
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- die block
- pressing
- mechanical arm
- mechanical pencil
- motion device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention discloses a kind of drawing mechanical arms, including Two-dimensional motion device, press die block, control module and paintbrush clamping part, it is described to be electrically connected with control module by die block and Two-dimensional motion device, it is described to be all set in Two-dimensional motion device by die block and paintbrush clamping part, the paintbrush clamping part is for clamping mechanical pencil, the pressing operation for being used to realize mechanical pencil by the press head movement in die block according to the signal control received by die block.The invention also discloses a kind of mechanical pencils to press control method.Drawing mechanical arm of the invention is realized that automatic pressing mechanical pencil increases pen core by die block by setting, so that auto-portrait robot when painting using mechanical pencil, can lengthen the pen core of consumption automatically to which pen core can be continued to contact with paper to paint；The degree of automation of drawing mechanical arm is substantially increased, drawing efficiency is improved.
Description
Technical field
The present invention relates to a kind of machine control techniques field more particularly to the pressing controls of a kind of drawing mechanical arm and mechanical pencil
Method.
Background technique
Currently, with the development of science and technology, intelligent robot with field it is more and more extensive, also widely transported in life
With intelligent robot, the robot that can be drawn a picture also will be welcomed by the people.Sketch is drawing of occurring earliest in human history
Picture form, and most ancient artistic speech.The 15th century the Renaissance, people start to find the unique performance evil spirit of sketch
Power, in this period, raphael Ma Saqiu, Leonardo da Vinci, Michelangelo et al. invent and have used perspective science, dissection
It learns and composition principle, the three-dimensional sense and spatial impression showed for sketch provide scientific foundation, gradual perfection sketch, from
This, sketch is just taken the course of its own as a kind of form of painting of almost Perfect in whole world painting circles.
Sketch is a kind of formal artistic creation, the intuitive world can be showed at modes such as faces with monochromatic lines or smearing
In things, can also express thoughts, concept, attitude, emotion, illusion, symbol even abstract form.Therefore, auto-portrait robot
Should also have the sketch painting ability of this distinct performance glamour on painting skill.
Usually used drawing tool when sketch, literary sketch drawing is pencil or charcoal pencil, the mechanical arm folder of auto-portrait robot
Hold traditional pencil, charcoal pencil is painted, lines draw and light and shade smear embody it is very big to the consumption of pen core, in painting process
Pen core shortens, and mechanical arm paint when pushings draw height be fixed setting, pen core consume shorten after since height is fixed
Paper can not reached and cause line color to shoal even and disappear；Simultaneously as after pen core consumption shortens, traditional pencil also face
Face the problem of needs are cut.The pen core length of pressing type propelling pencil or automatic push type fusain be able to satisfy complete a width with
The needs of upper pencil paint select propelling pencil, automatic charcoal pencil to clamp and paint by mechanical arm, can solve to need to cut simultaneously
The problem of pen core length that pen and adjustment consume.Therefore, the present invention needs to solve in drawing process, provide a kind of device and
Method is automatically performed the movement of the pen cap of pressing propelling pencil by the preset time, and the pen core of propelling pencil can painted
It is lengthened automatically in journey according to consumption, to adapt to fixed height when mechanical arm clamping mechanical pencil is drawn, pen core can be held
It is continuous elongated preferably to contact paper and paint.
Summary of the invention
For overcome the deficiencies in the prior art, it one of the objects of the present invention is to provide a kind of drawing mechanical arm, can solve
The technical issues of certainly pressing mechanical pencil automatically.
The second object of the present invention is to provide a kind of mechanical pencil pressing control method, can solve and press mechanical pencil automatically
The technical issues of.
An object of the present invention adopts the following technical scheme that realization:
A kind of drawing mechanical arm, including Two-dimensional motion device, press die block, control module and paintbrush clamping part, it is described to press
Die block and Two-dimensional motion device are electrically connected with control module, described to be all set in two dimension by die block and paintbrush clamping part
On telecontrol equipment, the paintbrush clamping part is described to be used to be controlled according to the signal received by die block for clamping mechanical pencil
The pressing operation of mechanical pencil is realized by the press head movement in die block.
Further, the Two-dimensional motion device include pedestal, disk, joint, postbrachium, forearm, joint drive motor and
Rotating electric machine；The joint drive motor and rotating electric machine are electrically connected with control module, are provided with rotation on the pedestal
Motor, the postbrachium are set on disk, and the rotating electric machine is used to drive disk rotational thereon to drive postbrachium to exist to realize
Swing in horizontal direction, the postbrachium are flexibly connected by joint with one end of forearm, and the intra-articular joint that is provided with is driven
Dynamic motor, the joint drive motor is for driving swinging for forearm；The other end that forearm is set to by die block.
Further, the forearm and postbrachium are made of multiple positive and negative are connected of U-shaped metalwork.
Further, the Two-dimensional motion device includes Y stage, the X platform being mounted on Y stage and is mounted on X platform
On workbench, the X platform includes driving the linear motor that moves on X platform of workbench and the straight line of workbench being supported to lead
Rail, the Y stage include the linear motor for driving X platform to move on Y stage and the linear guide for supporting X platform.
Further, described for push-pull electromagnet or linear motor or to press Medium-voltage Motor by die block.
Further, described by die block includes rotary electric machine and cam, and the cam is set to the rotation of rotary electric machine
On axis, the rotary electric machine rotates the pressing operation to realize mechanical pencil with moving cam.
Further, described to be set in Two-dimensional motion device by die block by fixedly connected part.
Further, the pressing stroke by die block is 4mm.
The second object of the present invention adopts the following technical scheme that realization:
A kind of mechanical pencil pressing control method, comprising the following steps:
Obtaining step: the drawing person's handwriting of pen core consumption and mechanical pencil is obtained；
It calculates step: compressing time node is calculated according to the drawing person's handwriting of pen core consumption and mechanical pencil；
Signal sending step: pressing control signal is sent to pressing die block to compressing time node.
Further, the pen core consumption is every person's handwriting length for pressing and once painting, and the person's handwriting length is 20cm
Any one numerical value in~30cm.
Compared with prior art, the beneficial effects of the present invention are:
Drawing mechanical arm of the invention is realized that automatic pressing mechanical pencil increases pen core by die block by setting, so that
Auto-portrait robot is obtained when painting using mechanical pencil, the pen core of consumption can be lengthened automatically to which pen core can be continued to connect with paper
Touching is painted；The degree of automation of drawing mechanical arm is substantially increased, drawing efficiency is improved.
Detailed description of the invention
Fig. 1 is the circuit structure block diagram of the drawing mechanical arm of embodiment one；
Fig. 2 is the paintbrush clamping part of embodiment one and the structural schematic diagram of mechanical pencil；
Fig. 3 is the push-pull electromagnet of embodiment one and the structural schematic diagram of mechanical pencil；
Fig. 4 is the structural schematic diagram by die block of embodiment one；
Fig. 5 is the structural schematic diagram of the fixedly connected part of embodiment one；
Fig. 6 is that the mechanical pencil of embodiment two presses the flow chart of control method.
Appended drawing reference: 1, paintbrush clamping part；2, Two-dimensional motion device；3, mechanical pencil；4, push-pull electromagnet；41, it presses
Block；5, die block is pressed；51, rotary electric machine；52, cam；53, connecting plate is pressed；6, fixedly connected part.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Embodiment one:
As depicted in figs. 1 and 2, present embodiments provide drawing mechanical arm, including Two-dimensional motion device 2, by die block, control
Molding block and paintbrush clamping part 1, described to be electrically connected with control module by die block and Two-dimensional motion device 2, the pressing
Module and paintbrush clamping part 1 are all set in Two-dimensional motion device 2, and the paintbrush clamping part 1 is described for clamping mechanical pencil 3
It is used to be grasped according to the signal control received by the press head movement in die block with the pressing for realizing mechanical pencil 3 by die block
Make.Here mechanical pencil 3 can make pen core increase downwards by pressing pen cap, and pen can be the propelling pencil used usually,
It is also possible to automatic charcoal pencil, belonging in the present embodiment for pen core length of growth is retouched as long as pressing may be implemented in the mechanical pencil 3
The mechanical pencil 3 stated.
Two-dimensional motion device 2 can take various forms in the present embodiment, as long as mechanical pencil 3 can be driven to be transported
It is dynamic to carry out two-dimensional surface movement, three kinds of implementations are enumerated in the present embodiment, but are also not limited to only following
Three kinds of implementations: the first, existing three-dimensional machinery arm can be directly used, but this mechanical arm can when operation
Only with the movement on its two-dimensional directional.
Second, the Two-dimensional motion device 2 includes pedestal, disk, joint, postbrachium, forearm, joint drive motor and rotation
Rotating motor；The joint drive motor and rotating electric machine are electrically connected with control module, are provided with electric rotating on the pedestal
Machine, rotating electric machine can drive disk to carry out 360 degree of rotations in the horizontal direction, and the postbrachium is set on disk, the rotation
Rotating motor is used to drive disk rotational thereon to drive the swing of postbrachium in the horizontal direction to realize, the postbrachium passes through joint
Be flexibly connected with one end of forearm, it is described it is intra-articular be provided with joint drive motor, before the joint drive motor is for driving
Arm swings；The other end that forearm is set to by die block.The forearm and postbrachium by multiple U-shaped metalworks just
It is counter to be connected composition.The length of postbrachium and forearm can entirety or local expansion, each postbrachium and forearm are by multiple U-shaped
Metalwork by after screw positive and negative docking combination by screw connection composition, each assembled unit individually can with extension length,
The entire length of postbrachium can be extended by increasing or decreasing assembled unit.
The other end of forearm is connected to motor, and realizes starting writing, receiving pen operation, motor and the (figure of paintbrush clamping part 1 when drawing
In do not show) connection, propelling pencil or automatic fusain are clamped by paintbrush clamping part 1 and painted.
The third, the Two-dimensional motion device 2 includes Y stage, the X platform being mounted on Y stage and is mounted on X platform
On workbench, the X platform includes driving the linear motor that moves on X platform of workbench and the straight line of workbench being supported to lead
Rail, the Y stage include the linear motor for driving X platform to move on Y stage and the linear guide for supporting X platform.This shape
Formula that is to say using X-axis motor and y-axis motor, constitute two-dimensional surface sportswear by the linear motor of both direction
It sets.
It is described to be adopted by die block other than above-mentioned Two-dimensional motion device 2 can take various forms realization
It is realized with diversified forms, the die block of pressing can be for push-pull electromagnet 4 or linear motor or by Medium-voltage Motor；
Or it can pass through for structures, these structures such as slider-crank mechanism, cam mechanism, link mechanism, eccentric wheel and ball-screws
It is rotatably assorted with motor, so that the mode of linear motion will be converted by realizing.In the present embodiment not to all structures
Expansion explanation is carried out, is mainly illustrated just in two of them form, those skilled in the art are recognizing the present invention
Invention thought and corresponding implementation means after, can be realized in conjunction with the relevant technologies.
As shown in figure 3, present embodiments providing the mode that push-pull electromagnet 4 and mechanical pencil 3 cooperate realizes mechanical pencil 3
Core out.The working principle of push-pull electromagnet 4: coil, the accessories such as dynamic iron core and static iron core power-supply controller of electric constitute plug-type
Electromagnet 4.It has used the leakage magnetic flux principle of helix tube, is attracted over long distances using electromagnet dynamic iron core and fixed core.Realization is led
Draw the straight reciprocating motion of bar.Sliding electromagnet is the principle according to electromagnetism, and whole movement and power are controlled by electricity
Size.Wherein the effect of electromagnet is exactly by electric current to generate magnetism, using different magnetospheres, in addition power supply controls magnetic
Property size, formed a movement that can be pushed away, draw, run it in an entirety, be like that piston equally moves, it
Structure carries out quick transformation sometimes through spring.Plug-type electromagnet is generally smaller, is easily mounted to some small
Place.Here the pressing stroke of push-pull electromagnet 4 is 4mm.It can be made by the pen cap marked in 41 pressing figure of briquetting
Pen core lengthens automatically, and every pen core of pressing increases by 1~2mm.
As shown in figure 4, the present embodiment additionally provides one kind by die block 5, the die block 5 of pressing includes 51 He of rotary electric machine
Cam 52 is provided with screw hole on the cam 52, is set in the rotation axis of rotary electric machine 51 by screw locking, described
Rotary electric machine 51 rotates the pressing operation to realize mechanical pencil with moving cam 52.Since cam 52 has an outside salient angle,
So that cam 52 realizes the operation of pressing mechanical pencil due to the effect of salient angle in the course of rotation, and the salient angle is light
Sliding curved surface, in this way during pressing, the smoother transition of meeting does not have the pressing of a mutation, such structure is more
It is convenient also more stable；As soon as also realizing a pressing operation when cam 52 rotation week.On the rotary electric machine 51 also
It is provided with pressing connecting plate 53, the pressing connecting plate 53 is connected by screw hole thereon with fixedly connected part.
As shown in figure 5, be fixedly connected part 6 provided in this embodiment, it is described to be arranged by die block by fixedly connected part 6
In in Two-dimensional motion device 2.When the use cooperated, directly by push-pull electromagnet 4 or die block can be pressed
It is fixed by screw and the fixedly connected part.When carrying out drawing operation, mechanical pencil 3 is in vertical direction, by pressing mold
Block is in the top of the mechanical pencil 3 in order to carry out pressing operation to mechanical pencil 3.It either will pressing connecting plate 53 and the company of fixation
Fitting 6 is screwed locking.
When drawing mechanical arm provided in this embodiment carries out sketch drawing, it is capable of automatic pressing propelling pencil growth pen core
Picture-drawing device is made auto-portrait robot when being painted using propelling pencil, can lengthen the pen core of consumption automatically to answer mechanical arm
Lead gripper presses fixed height when drawing a picture in the works, and pen core can be continued to contact with paper to paint.
Embodiment two:
As shown in fig. 6, present embodiments providing a kind of mechanical pencil pressing control method, comprising the following steps:
S1: the drawing person's handwriting of pen core consumption and mechanical pencil is obtained；This step is primarily to get drawing for mechanical pencil
Paintbrush mark needs to consume pen core, disappear so can the most intuitively get mechanical arm according to drawing person's handwriting due to drawing
The size of the amount of the pen core of consumption；Since every kind of pen core consumption is different, so need to be arranged not for different models
Same pen core consumption, so as to the use of accurate control pen core more.
S2: compressing time node is calculated according to the drawing person's handwriting of pen core consumption and mechanical pencil；Other than aforesaid way, also
Can be got according to drawing time to your a compressing time node, the acquisition of this drawing time is that consumption is primary
How long is pen core needs；But the measurement that drawing time consumes pen core is not direct correlation, may be existed
Have certain deviation, therefore, use directly related drawing person's handwriting in the present embodiment and be calculated, more it is intuitive more
It is useful.
S3: pressing control signal is sent to pressing die block to compressing time node.Pass through message handler or microcomputer
Control realizes the pressing to propelling pencil or automatic fusain by Medium-voltage Motor or push-pull electromagnet to increase the pen core of paintbrush.It is logical
The length that statistics in advance calculates the drafting amount and pen core consumption of propelling pencil or automatic carbon paintbrush when lines are drawn is crossed, according to system
It counts, if propelling pencil is after the lines total amount for drawing 20~30cm, the pen core of paintbrush, which will consume, needs to press primary pen
Cap increases pen core；When control, message handler calculates drawing track on drawing paper according to the ratio of drawing line original text and drawing paper
Corresponding line length when drafting calculates the consumption of paintbrush pen core according to the lines total amount of 20~30cm in requisition for pressing pen cap
The time point for increasing pen core generates electric treatment signal according to each time point being calculated, and control is become by rotating motor
For the primary by Medium-voltage Motor rotation of elevating movement, a pressing operation is carried out to pen cap and increases pen core；Or to plug-type electromagnetism
Iron carries out once electrification and pushes realization to increase pen core the pressing of pen cap by push rod.Because pen cap press pushing away from
From for 4mm, so control is 4mm by the pressing stroke of Medium-voltage Motor.The push-pull electromagnet for realizing automatic pressing pen cap function, leads to
Cross push-pull electromagnet similar to piston equally move push away, pull work pen cap is pressed, realize in painting process preset
Time point propelling pencil pen cap is pressed so that pencil-lead lengthens automatically.Due to press every time pen cap needs pushing away from
From for 4mm or so, therefore when the present embodiment is applied, selects the push-pull electromagnet of 4mm stroke.Sliding electromagnet is according to electromagnetism
Principle, the size of whole movement and power is controlled by electricity.Wherein the effect of electromagnet is exactly to be produced by electric current
Magnetisation in addition power supply controls magnetic size, forms a movement that can be pushed away, draw using different magnetospheres, make its
It is run in one entirety, is like that piston equally moves, its structure carries out quick transformation sometimes through spring.It is plug-type
Electromagnet it is generally smaller, be easily mounted to some small places.
The above embodiment is only the preferred embodiment of the present invention, and the scope of protection of the present invention is not limited thereto,
The variation and replacement for any unsubstantiality that those skilled in the art is done on the basis of the present invention belong to institute of the present invention
Claimed range.
Claims (10)
1. a kind of drawing mechanical arm, which is characterized in that including Two-dimensional motion device, by die block, control module and paintbrush clamping
Portion, it is described to be electrically connected with control module by die block and Two-dimensional motion device, it is described equal by die block and paintbrush clamping part
It is set in Two-dimensional motion device, the paintbrush clamping part is described to receive by die block for basis for clamping mechanical pencil
Signal control by the press head movement in die block to realize the pressing operation of mechanical pencil.
2. drawing mechanical arm as described in claim 1, which is characterized in that the Two-dimensional motion device includes pedestal, disk, pass
Section, postbrachium, forearm, joint drive motor and rotating electric machine；The joint drive motor and rotating electric machine are electric with control module
Property connection, be provided with rotating electric machine on the pedestal, the postbrachium is set on disk, and the rotating electric machine is for driving thereon
Disk rotational drive postbrachium swing in the horizontal direction to realize, the postbrachium is connected by one end activity of joint and forearm
Connect, it is described it is intra-articular be provided with joint drive motor, the joint drive motor is for driving swinging for forearm；It is described to press
Die block is set to the other end of forearm.
3. drawing mechanical arm as claimed in claim 2, which is characterized in that the forearm and postbrachium are by multiple U-shaped metalworks
It is positive and negative to be connected composition.
4. drawing mechanical arm as described in claim 1, which is characterized in that the Two-dimensional motion device includes Y stage, is mounted on
X platform on Y stage and the workbench being mounted on X platform, the X platform include that driving workbench moves on X platform
Linear motor and the linear guide for supporting workbench, the Y stage include the linear motor for driving X platform to move on Y stage
And the linear guide of support X platform.
5. the drawing mechanical arm as described in any one of claim 1-4, which is characterized in that the die block of pressing is plug-type
Electromagnet or linear motor press Medium-voltage Motor.
6. the drawing mechanical arm as described in any one of claim 1-4, which is characterized in that described to include rotation by die block
Motor and cam, the cam are set in the rotation axis of rotary electric machine, and the rotary electric machine band moving cam is rotated to realize certainly
The pressing operation started writing.
7. drawing mechanical arm as described in claim 1, which is characterized in that it further include fixedly connected part, it is described logical by die block
Fixedly connected part is crossed to be set in Two-dimensional motion device.
8. drawing mechanical arm as described in claim 1, which is characterized in that the pressing stroke by die block is 4mm.
9. a kind of mechanical pencil presses control method, which comprises the following steps:
Obtaining step: the drawing person's handwriting of pen core consumption and mechanical pencil is obtained；
It calculates step: compressing time node is calculated according to the drawing person's handwriting of pen core consumption and mechanical pencil；
Signal sending step: pressing control signal is sent to pressing die block to compressing time node.
10. mechanical pencil as claimed in claim 9 presses control method, which is characterized in that the pen core consumption is every pressing
The person's handwriting length once painted, the person's handwriting length are any one numerical value in 20cm~30cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811171840.9A CN109262625A (en) | 2018-10-09 | 2018-10-09 | A kind of drawing mechanical arm and mechanical pencil press control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811171840.9A CN109262625A (en) | 2018-10-09 | 2018-10-09 | A kind of drawing mechanical arm and mechanical pencil press control method |
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| Publication Number | Publication Date |
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| CN109262625A true CN109262625A (en) | 2019-01-25 |
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ID=65195172
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811171840.9A Pending CN109262625A (en) | 2018-10-09 | 2018-10-09 | A kind of drawing mechanical arm and mechanical pencil press control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113059953A (en) * | 2021-05-07 | 2021-07-02 | 北京理工大学珠海学院 | Writing robot and writing method and control method thereof |
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| CN206937326U (en) * | 2017-03-06 | 2018-01-30 | 北方工业大学 | A kind of small-sized drawing robot that writes |
| CN108348945A (en) * | 2015-10-15 | 2018-07-31 | 桑福德有限合伙人公司 | The object mechanically reproduced is generated from numeral input |
| CN209095570U (en) * | 2018-10-09 | 2019-07-12 | 广东智媒云图科技股份有限公司 | A kind of drawing mechanical arm |
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|---|---|---|---|---|
| JPH07137497A (en) * | 1993-11-19 | 1995-05-30 | Roland D G Kk | Method of controlling pencil of plotter |
| EP1013475A2 (en) * | 1998-12-25 | 2000-06-28 | Riso Kagaku Corporation | Drawing apparatus and drawing-data output apparatus |
| CN104511901A (en) * | 2013-09-26 | 2015-04-15 | 陕西亚泰电器科技有限公司 | Intelligent calligraphy mechanical arm |
| CN108348945A (en) * | 2015-10-15 | 2018-07-31 | 桑福德有限合伙人公司 | The object mechanically reproduced is generated from numeral input |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113059953A (en) * | 2021-05-07 | 2021-07-02 | 北京理工大学珠海学院 | Writing robot and writing method and control method thereof |
| CN113059953B (en) * | 2021-05-07 | 2024-05-03 | 北京理工大学珠海学院 | Writing robot, writing method and control method thereof |
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