CN109291730B - Carbon pen lifting control device and method - Google Patents
Carbon pen lifting control device and method Download PDFInfo
- Publication number
- CN109291730B CN109291730B CN201811171839.6A CN201811171839A CN109291730B CN 109291730 B CN109291730 B CN 109291730B CN 201811171839 A CN201811171839 A CN 201811171839A CN 109291730 B CN109291730 B CN 109291730B
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- Prior art keywords
- carbon pen
- limiting
- pen
- driving motor
- carbon
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44D—PAINTING OR ARTISTIC DRAWING, NOT OTHERWISE PROVIDED FOR; PRESERVING PAINTINGS; SURFACE TREATMENT TO OBTAIN SPECIAL ARTISTIC SURFACE EFFECTS OR FINISHES
- B44D3/00—Accessories 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
- B44D3/22—Implements or apparatus for special techniques, e.g. for painting lines, for pouring varnish; Batik pencils
- B44D3/225—Instruments or apparatus for painting lines
-
- 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
- B25J11/0075—Manipulators for painting or coating
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/90—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in food processing or handling, e.g. food conservation
- Y02A40/924—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in food processing or handling, e.g. food conservation using renewable energies
- Y02A40/928—Cooking stoves using biomass
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a carbon pen lifting control device which comprises a driving motor, a moving member, a limiting member and a carbon pen clamping part, wherein the moving member is connected with the carbon pen clamping part, a screw is arranged on the driving motor, a nut matched with the screw is arranged on the moving member, the carbon pen clamping part is used for clamping and fixing a carbon pen, and the limiting member is used for limiting the carbon pen clamping part to move along the vertical direction. The invention also discloses a carbon pen lifting control method. According to the carbon pen lifting control device, the contact distance between the carbon pen and paper when the mechanical arm is used for drawing is continuously adjusted according to the consumption of the painting pen or the carbon pen, so that the carbon pen clamped by the painting robot can be continuously contacted with the paper for drawing when the painting robot is used for drawing, and the automation degree of drawing of the mechanical arm is greatly improved.
Description
Technical Field
The invention relates to the technical field of mechanical control, in particular to a carbon pen lifting control device and method.
Background
At present, along with the development of technology, the application field of intelligent robots is more and more extensive, intelligent robots are also widely applied in life, and robots capable of drawing pictures are welcomed by people. Sketching is the earliest historically occurring form of painting in humans, and is also the oldest art language. In the 15 th century literature resumption period, people start to find unique expression charm of sketching, in the period, italian painters Ma Saqiu, daqi, mi Kailang base Row and the like invent and use perspective, anatomy and composition principles to provide scientific basis for three-dimensional sense and spatial sense of sketching expression, gradually perfects sketching, and the sketching is unique in the world picture altar as a nearly perfect drawing form.
Sketching is a formal artistic creation, and can be used for expressing things in visual world in the modes of single-color lines or painting faces, and can also be used for expressing ideas, concepts, attitudes, emotions, fantasies, symbolizes and even abstract forms. Therefore, the painting robot should also have such a unique charm-expressing sketch painting capability in painting skill.
One of the common drawing tools used for sketching and shorthand is a carbon pen, a mechanical arm of a drawing robot clamps the carbon pen to draw, consumption of the carbon pen is large due to line drawing and bright and dark coating, the carbon pen is shortened in the drawing process, the drawing height of a lower pressing pen in the drawing process of the mechanical arm is fixedly arranged, and after the consumption of the carbon pen is shortened, the color of the line becomes light or even disappears due to the fact that the drawing height is fixed and cannot contact paper; therefore, how to continuously set the pen-down height according to the consumption of the carbon pen in the drawing process, so that the carbon pen can be in good continuous contact with paper to draw is a problem to be solved.
Disclosure of Invention
In order to overcome the defects in the prior art, one of the purposes of the invention is to provide a carbon pen lifting control device which can solve the technical problem that a carbon pen automatically lengthens the carbon pen.
The second purpose of the invention is to provide a method for controlling the elevation of the carbon pen, which can solve the technical problem of automatically extending the carbon pen.
One of the purposes of the invention is realized by adopting the following technical scheme:
the utility model provides a charcoal pen lifting control device, includes driving motor, removes component, spacing component and charcoal pen clamping part, it is connected with charcoal pen clamping part to remove the component, be provided with the screw rod on the driving motor, remove be provided with on the component with screw rod complex nut, charcoal pen clamping part is used for the centre gripping fixed charcoal pen, spacing component is used for prescribing a limit to the motion of charcoal pen clamping part along vertical direction.
Further, the limiting member comprises a limiting part and a limiting rod, the limiting part is arranged at the driving motor, the limiting rod is fixedly arranged at the moving member, a limiting groove is formed in the limiting part, and the limiting rod is used for moving up and down along the vertical direction in the limiting groove.
Further, a housing is also included, which is detachably connected with the moving member.
Further, a vertical groove and a transverse groove are formed in the shell, the vertical groove is used for enabling a screw of the driving motor to be arranged in the vertical groove, the transverse groove is used for placing the moving member, and the vertical groove and the transverse groove form a 'V-shaped' groove.
Further, the moving member is fixed with one end of the drawing mechanical arm, and the other end of the drawing mechanical arm is connected with the carbon pen clamping part.
Further, the limiting member comprises a limiting part and a limiting rod, the limiting part is arranged at the driving motor, the limiting rod is fixedly arranged at the outer shell, a limiting groove is formed in the limiting part, and the limiting rod is used for moving up and down along the vertical direction in the limiting groove.
Further, a positioning magnet is arranged at the bottom of the limiting piece and used for being attracted with an external positioning magnet.
Further, the device also comprises a shaft coupler, the driving motor is rotationally connected with the screw rod through the shaft coupler, the bottom of the screw rod is connected with one end of the shaft coupler, and the other end of the shaft coupler is connected with a rotating shaft of the driving motor.
Further, the driving motor is a stepping motor.
The second purpose of the invention is realized by adopting the following technical scheme:
a carbon pen lifting control method comprises the following steps:
the acquisition step: acquiring the consumption of the carbon pen and the painting handwriting of the carbon pen;
the calculation steps are as follows: calculating a signal sending time node according to the consumption of the carbon pen and the painting handwriting of the carbon pen;
a signal transmission step: each time the signal transmission time node transmits a rotation control signal to the driving motor to rotate the driving motor once.
Further, the consumption of the carbon pen is the handwriting length of one carbon pen drawing after the driving motor rotates once; and the carbon pen descends by 1mm when the driving motor rotates once.
Compared with the prior art, the invention has the beneficial effects that:
according to the carbon pen lifting control device, the contact distance between the carbon pen and paper when the mechanical arm is used for drawing is continuously adjusted according to the consumption of the painting pen or the carbon pen, so that the carbon pen clamped by the painting robot can be continuously contacted with the paper for drawing when the painting robot is used for drawing, and the automation degree of drawing of the mechanical arm is greatly improved.
Drawings
FIG. 1 is a left side view of a carbon pen elevation control apparatus according to a first embodiment;
FIG. 2 is a front view of a housing of a carbon pen elevation control apparatus in accordance with the first embodiment;
fig. 3 is a flowchart of a charcoal pen lifting control method according to the second embodiment.
Reference numerals: 1. a driving motor; 11. a screw; 2. a moving member; 3. a carbon pen clamping part; 4. a carbon pen; 5. a housing; 51. a transverse groove; 52. a vertical groove; 6. a coupling; 7. a limit rod; 8. a limiting piece; 9. a limit groove; 10. drawing mechanical arm.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments.
Embodiment one:
as shown in fig. 1, this embodiment provides a carbon pen lifting control device, including driving motor 1, moving member 2, spacing component and carbon pen clamping part 3, moving member 2 is connected with drawing arm 10, and carbon pen clamping part 3 installs on drawing arm 10, and moving member 2 has two kinds mainly with drawing arm 10's connected mode: one is that the moving member 2 is directly fixed to the painting robot arm 10, for example, by welding, and the other is that the moving member 2 is detachably connected to the painting robot arm 10, for example, by setting screws.
The driving motor 1 is provided with a screw 11, the moving member 2 is provided with a nut matched with the screw 11, the carbon pen clamping part 3 is used for clamping and fixing a carbon pen 4, the carbon pen mainly refers to a carbon strip or a pencil, the carbon pen is mainly a non-automatic painting brush, and the limiting member is used for limiting the carbon pen clamping part 3 to move along the vertical direction. The driving motor 1 is only used for controlling the lifting of the carbon pen clamping part 3, because the carbon pen consumption problem to be solved in the invention is that when the carbon pen is consumed, the carbon pen needs to rotate according to a preset rotation mode, so that the carbon pen is controlled to descend so that the pen point of the carbon pen 4 is in contact with the paper surface. After installing the carbon pen on the carbon pen clamping part, according to the high adjustment driving motor elevating gear's of laminating paper drawing the drawing arm 10 when drawing the pen highly to the highest, when the carbon pen is constantly consumed at the drawing in-process, then constantly control motor rotates so that elevating gear's high decline makes the carbon pen highly decline contact to the drawing paper down, driving motor 1 is step motor.
In the process of controlling lifting, if the corresponding limiting member is not arranged, the moving member 2 is easy to rotate along with the screw 11, so that the position of the carbon pen 4 is deviated, and the drawing track of the carbon pen 4 cannot follow the displacement of the horizontal plane of the driving motor 1 in the drawing process, and is attached to other two-dimensional motion platforms to realize the movement of the drawing track. The two-dimensional motion platform is mainly a drawing mechanical arm 10.
The limiting members are arranged in a variety of ways: in this embodiment, the following two implementations are listed: the first is that the limit rod 7 is arranged at the position for driving the moving member 2, and the screw 11 mainly rotates in the whole movement process to drive the moving member to displace on the horizontal plane, so that the position of the moving member 2 needs to be limited in order to ensure that the moving member 2 does not displace on the horizontal plane; the limiting member comprises a limiting piece 8 and a limiting rod 7, wherein the limiting piece 8 is arranged at the position of the driving motor 1, the limiting rod 7 is fixedly arranged at the position of the moving member 2, a limiting groove 9 is formed in the limiting piece 8, and the limiting rod 7 is used for moving up and down along the vertical direction in the limiting groove 9. The depth of the limit groove 9 can enable the limit rod 7 to be just arranged in the limit groove when the moving member 2 is positioned at the end part of the driving motor 1, and the limit rod 7 is also positioned in the groove when the moving member 2 is positioned at the top of the screw 11 of the driving motor 1, so that the moving member can be always positioned in the vertical direction in the whole moving process and cannot be in a deviating state.
The second way is that the limit rod 7 can be arranged on the shell 5, the carbon pen lifting control device further comprises a shell 5, the shell 5 can be used for dust prevention, and the main structure of the lifting device can be protected to a certain extent, so that the main structure of the lifting device cannot be interfered by the outside, the structure of the shell 5 is as shown in fig. 2, and the shell 5 is detachably connected with the moving member 2. The casing 5 is provided with a vertical groove 52 and a transverse groove 51, the vertical groove is used for enabling the screw 11 of the driving motor 1 to be arranged in the vertical groove, the transverse groove 51 is used for placing the moving member 2, and the vertical groove 52 and the transverse groove 51 form a' groove; the size of this vertical recess 52 is consistent with the size of the moving member 2, so that the two are tightly attached, the lateral recess 51 can be used for placing the painting mechanical arm 10 and the carbon pen clamping part 3, and the moving member 2 and the painting mechanical arm 10 are arranged therein through the "type" recess.
The limiting component comprises a limiting piece 8 and a limiting rod 7, the limiting piece 8 is arranged at the position of the driving motor 1, specifically, the limiting piece 8 can wrap the driving motor 1 in an annular mode, the limiting piece 8 can be directly arranged at one side of the driving motor 1, and the two modes can be both adopted, and in the embodiment, the annular setting mode is more preferable. The limiting rod 7 is fixedly arranged at the shell 5, a limiting groove 9 is formed in the limiting piece 8, and the limiting rod 7 is used for moving up and down in the limiting groove 9 along the vertical direction. The bottom of the limiting piece 8 is provided with a positioning magnet which is used for being attracted with an external positioning magnet. The positioning magnet can well play a role in fixing the control device. The limiting piece 8 is fixed on the iron plate by arranging a magnet at the bottom. Because of the weight of the painting mechanical arm 10 and the gravity traction, the painting mechanical arm 10 has a continuous downward large pressure, so that the painting mechanical arm can be firmly attracted by the magnet. The number of the limiting grooves 9 and the limiting rods 7 can be two or more, and manufacturers can set different numbers according to actual demands.
Still include the shaft coupling 6, driving motor 1 rotates through shaft coupling 6 and screw rod 11 to be connected, screw rod 11 bottom is connected with the one end of shaft coupling 6, driving motor 1's axis of rotation is connected to the other end of shaft coupling 6, can more effectual transmission moment of torsion through this shaft coupling 6 for it is more smooth and easy to rotate.
The step motor sets up in the below of drawing arm's 10 shell 5, and step motor passes through screw or welded fastening setting in a locating part 8 of taking 2 spacing grooves 9, and the gag lever post 7 inserts spacing groove 9 in order to prevent motor and drawing arm's 10 dislocation because of the exogenic action. The screw 11 is driven to rotate through the rotation of the rotating shaft of the stepping motor so as to enable the nut to move up and down, the clamping manipulator is driven to achieve lifting and lowering actions, the carbon pen is lifted up and down and lowered down, the stepping motor is controlled to rotate through accurate statistics of the lowering distance so as to drive the clamping manipulator to move down, and the carbon pen can move down continuously according to the calculated distance and time to be in contact with a paper surface for drawing.
Embodiment two:
as shown in fig. 3, the embodiment provides a method for controlling elevation of a carbon pen, which includes the following steps:
s1: acquiring the consumption of the carbon pen and the painting handwriting of the carbon pen; the consumption of the carbon pen is the handwriting length of one carbon pen drawing after the driving motor rotates once; and the carbon pen descends by 1mm when the driving motor rotates once. Unlike automatic pen, the carbon pen has no way to realize the contact surface between the pen point of the carbon pen and the drawing paper by pressing and only controls the lifting mode; the consumption of the carbon pen is required to be obtained at the beginning, and after the total line quantity of 20cm drawn by the carbon pen is obtained through statistics, the consumed length of the carbon pen is required to be pressed downwards by 1mm; different carbon pens can have different carbon pen consumption, and manufacturers can set according to different models.
S2: calculating a signal sending time node according to the consumption of the carbon pen and the painting handwriting of the carbon pen; when actual calculation is carried out, as the pressing operation is realized only by one time, the rotation is relatively complex, and the corresponding relation between the stepping distance and the descent is required to be set; the specific correspondence relationship is to be obtained according to the consumption of the carbon pen and the control height of the driving motor, and in this embodiment, the control height thereof may be divided into 100 parts, and the height of the control elevation is 1mm for each rotation.
S3: each time the signal transmission time node transmits a rotation control signal to the driving motor to rotate the driving motor once.
Specifically, when painting, be provided with an iron plate on the operation panel, be equipped with location magnet on the iron plate, the setting position on the iron plate is fixed through the absorption of magnet to the locating part. The control system controls the lifting distance of the stepping motor in the drawing process by calculating the length of the drawing track and the consumption of the carbon pen. For example, when drawing, the controllable height of the screw rod connected with the rotating shaft of the stepping motor is equally divided into 100 parts from bottom to top, each part corresponds to a vertical moving distance of 1mm, the position of the nut is positioned at the position corresponding to the 100 th part at the highest position of the screw rod when drawing is started, when the information processor counts that the total drawing track quantity of 20cm drawn by the carbon pen clamped by the clamping manipulator, an electrical processing signal is generated to control the stepping motor to rotate, so that the nut moves downwards by 1 part, namely to the 99 th part, and the clamping manipulator and the shell thereof are driven to move downwards, so that the carbon pen clamped by the clamping manipulator simultaneously moves downwards by 1mm and is close to the drawing paper. After drawing of a group of lines is completed, the stepping motor is controlled to rotate to drive the nut to move upwards to lift the pen, meanwhile, the position of the nut before lifting the pen is recorded, and when the drawing mechanical arm moves to the starting point of the next group of lines to start drawing, the stepping motor is controlled to rotate to drive the nut to move downwards to the position of the nut recorded before lifting the pen to continue drawing.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.
Claims (8)
1. The carbon pen lifting control device is characterized by comprising a driving motor, a moving member, a limiting member and a carbon pen clamping part, wherein the moving member is connected with the carbon pen clamping part, a screw is arranged on the driving motor, a nut matched with the screw is arranged on the moving member, the carbon pen clamping part is used for clamping and fixing a carbon pen, and the limiting member is used for limiting the carbon pen clamping part to move along the vertical direction;
when each signal sending time node arrives, the driving motor receives a rotation control signal and rotates once according to the rotation control signal; and the signal sending time node is obtained by calculation according to the consumption of the carbon pen and the painting handwriting of the carbon pen.
2. The charcoal pen lifting control device according to claim 1, wherein the limiting member comprises a limiting piece and a limiting rod, the limiting piece is arranged at the driving motor, the limiting rod is fixedly arranged at the moving member, a limiting groove is formed in the limiting piece, and the limiting rod is used for moving up and down in the limiting groove along the vertical direction.
3. The carbon pen elevation control apparatus of claim 1, further comprising a housing detachably connected to the moving member.
4. A carbon pen elevation control apparatus according to claim 3, wherein the housing is provided with a vertical groove for allowing a screw of the driving motor to be disposed therein and a lateral groove for placing the moving member, the vertical groove and the lateral groove constituting a "" groove.
5. The carbon pen elevation control apparatus of claim 4, wherein the moving member is fixed to one end of the painting robot, and the other end of the painting robot is connected to the carbon pen holding part.
6. The elevation control apparatus of claim 3, 4 or 5, wherein the limit member comprises a limit piece and a limit rod, the limit piece is disposed at the driving motor, the limit rod is fixedly disposed at the housing, a limit groove is disposed on the limit piece, and the limit rod is used for moving up and down in the limit groove along the vertical direction.
7. The elevation control apparatus of claim 6, wherein the stopper has a positioning magnet provided at a bottom thereof for engaging with an external positioning magnet.
8. The carbon pen elevation control apparatus of claim 1, further comprising a coupling, wherein the driving motor is rotatably connected to the screw through the coupling, the bottom of the screw is connected to one end of the coupling, and the other end of the coupling is connected to a rotation shaft of the driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811171839.6A CN109291730B (en) | 2018-10-09 | 2018-10-09 | Carbon pen lifting control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811171839.6A CN109291730B (en) | 2018-10-09 | 2018-10-09 | Carbon pen lifting control device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109291730A CN109291730A (en) | 2019-02-01 |
| CN109291730B true CN109291730B (en) | 2023-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811171839.6A Active CN109291730B (en) | 2018-10-09 | 2018-10-09 | Carbon pen lifting control device and method |
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| Country | Link |
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| CN (1) | CN109291730B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1316613A (en) * | 1961-12-19 | 1963-02-01 | Improvements made to mechanical pencils | |
| US4481713A (en) * | 1983-05-27 | 1984-11-13 | Howell David C | Reciprocating drafting pen |
| JPS63265693A (en) * | 1987-04-24 | 1988-11-02 | 武藤工業株式会社 | Writing-utensil lifting and controlling method in automatic drawing device |
| JP2013237161A (en) * | 2012-05-11 | 2013-11-28 | Mitsubishi Pencil Co Ltd | Mechanical pencil |
| JP5997412B1 (en) * | 2016-06-30 | 2016-09-28 | 長岡 雅子 | Double line drawing chalk holder |
| CN205890376U (en) * | 2016-08-22 | 2017-01-18 | 湖北艾瑞博特机器人工程技术有限公司 | Drawing robot |
| CN206935670U (en) * | 2017-04-28 | 2018-01-30 | 浙江鸿星文具有限公司 | Artistic pencil japanning mechanism |
| CN209634164U (en) * | 2018-10-09 | 2019-11-15 | 广东智媒云图科技股份有限公司 | A kind of charcoal pencil apparatus for controlling of lifting |
-
2018
- 2018-10-09 CN CN201811171839.6A patent/CN109291730B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1316613A (en) * | 1961-12-19 | 1963-02-01 | Improvements made to mechanical pencils | |
| US4481713A (en) * | 1983-05-27 | 1984-11-13 | Howell David C | Reciprocating drafting pen |
| JPS63265693A (en) * | 1987-04-24 | 1988-11-02 | 武藤工業株式会社 | Writing-utensil lifting and controlling method in automatic drawing device |
| JP2013237161A (en) * | 2012-05-11 | 2013-11-28 | Mitsubishi Pencil Co Ltd | Mechanical pencil |
| JP5997412B1 (en) * | 2016-06-30 | 2016-09-28 | 長岡 雅子 | Double line drawing chalk holder |
| CN205890376U (en) * | 2016-08-22 | 2017-01-18 | 湖北艾瑞博特机器人工程技术有限公司 | Drawing robot |
| CN206935670U (en) * | 2017-04-28 | 2018-01-30 | 浙江鸿星文具有限公司 | Artistic pencil japanning mechanism |
| CN209634164U (en) * | 2018-10-09 | 2019-11-15 | 广东智媒云图科技股份有限公司 | A kind of charcoal pencil apparatus for controlling of lifting |
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| Publication number | Publication date |
|---|---|
| CN109291730A (en) | 2019-02-01 |
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