CN110480652A - Robot portrait system - Google Patents
Robot portrait system Download PDFInfo
- Publication number
- CN110480652A CN110480652A CN201910792028.6A CN201910792028A CN110480652A CN 110480652 A CN110480652 A CN 110480652A CN 201910792028 A CN201910792028 A CN 201910792028A CN 110480652 A CN110480652 A CN 110480652A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- paintbrush
- fuselage
- control mechanism
- portrait
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of robot portrait systems, it is related to robotic technology field of drawing a portrait, including fuselage, the bottom end of the fuselage is fixedly connected with organic block, the top of the fuselage is fixedly connected with head mechanism, the side of the fuselage is fixedly connected with left arm mechanism, the hand of the left arm mechanism is fixedly connected with drawing board, the other side of the fuselage is fixedly connected with right arm mechanism, photographing module is equipped in the head mechanism, the right arm mechanism includes shoulder joint control mechanism, large arm, elbow joint control mechanism, forearm and paintbrush control mechanism, the paintbrush control mechanism is made of fixing seat and mounting base.The present invention passes through setting paintbrush control mechanism, under the action of mounting base and mounting hole, the different paintbrush of Multiple Type can be installed, and under the action of return spring, shaft, servo motor and cylinder, the paintbrush for facilitating conversion different colours or model, improves the practicability of device.
Description
Technical field
The present invention relates to portrait robotic technology field, specially a kind of robot portrait system.
Background technique
Robot is the automatic installations for executing work；It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology；Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work；In the market to robot with more and more extensive, In
Photo can be drawn as the robot of portrait by life Zhong Ye extensive utilization robot, also welcomed by the people.
Currently, paintbrush is replaced in existing portrait robot inconvenience, drawing color is single, and the practicability is poor, and being unfavorable for promoting makes
With.
Therefore, it is necessary to solve the above problems to invent a kind of robot portrait system.
Summary of the invention
It is mentioned above in the background art existing to solve the purpose of the present invention is to provide a kind of robot portrait system
The inconvenience of portrait robot replace paintbrush, drawing color is single, the problem of the practicability is poor.
In order to achieve the above object, the present invention is achieved by the following technical programs:
A kind of robot portrait system, including fuselage, the bottom end of the fuselage are fixedly connected with organic block, the top of the fuselage
End is fixedly connected with head mechanism, and the side of the fuselage is fixedly connected with left arm mechanism, and the hand of the left arm mechanism is fixed
It is connected with drawing board, the other side of the fuselage is fixedly connected with right arm mechanism, and photographing module is equipped in the head mechanism, described
Right arm mechanism includes shoulder joint control mechanism, large arm, elbow joint control mechanism, forearm and paintbrush control mechanism；
The paintbrush control mechanism is made of fixing seat and mounting base, the fixed seating in mounting base upper end and with it is small
Arm connection, the inside of the mounting base offer mounting hole, are equipped with mounting post and paintbrush, the top of the paintbrush in the mounting hole
End is fixedly connected with fixed column, and the fixed column is fixedly connected with mounting post, and the two sides of the mounting hole offer limiting slot,
Sliding block is slidably connected in the limiting slot, the side of the sliding block is stretched out limiting slot and is fixedly connected with mounting post, the cunning
Return spring is fixedly connected between the bottom end and limiting slot of block, the interior side of the fixing seat offers the first fixing groove,
Shaft and servo motor are equipped in first fixing groove, the top of the shaft is fixedly connected with transmission gear, the shaft
Bottom end stretch out the first fixing groove and be fixedly connected in the middle part of mounting base, the fixed company of the servo motor and the first fixing groove
It connects, the inside other side of the fixing seat offers the second fixing groove, is fixedly connected with cylinder in second fixing groove, described
Pushing block is fixedly connected on the piston rod of cylinder；
It is fixedly connected with central processing unit in the fuselage, Serve Motor Control mould is fixedly connected in the servo motor
Block is fixedly connected with cylinder control module in the cylinder.
Optionally, the fixing seat and mounting base are cylinder, and the fixing seat and mounting base are rotated by shaft and connected
It connects.
Optionally, the mounting hole has multiple, multiple mounting hole circular arrays arrangements, second fixing groove with
Mounting hole is corresponding, and the pushing block is corresponding with mounting post.
Optionally, the sum of the mounting post and the length of paintbrush are equal to the depth of mounting hole.
Optionally, the bottom end of the mounting post offers internal screw thread, and external screw thread is offered on the outside of the fixed column, described
Fixed column is threadedly coupled with mounting post.
Optionally, the shaft is rotatablely connected by bearing and the first fixing groove, fixed on the axis of the servo motor to connect
It is connected to gear, the gear on the servo motor engages connection with transmission gear.
Optionally, the shoulder joint control mechanism, elbow joint control mechanism, control module for servo motor and cylinder control mould
The input terminal of block is connect with the output end of central processing unit, the input terminal of the central processing unit and the output end of photographing module
Connection.
Technical effect and advantage of the invention:
1, the present invention can install a variety of types under the action of mounting base and mounting hole by the way that paintbrush control mechanism is arranged
Number different paintbrush, and under the action of return spring, shaft, servo motor and cylinder, facilitate conversion different colours or model
Paintbrush, improve the practicability of device.
2, the present invention passes through being equipped between control module for servo motor, cylinder control module and central processing unit,
Convenient for conversion remotely is adjusted to paintbrush, the safety and stability used is improved.
Detailed description of the invention
Fig. 1 is the schematic front view of structure of the invention；
Fig. 2 is the diagrammatic cross-section of paintbrush control mechanism of the present invention；
Fig. 3 is the bottom schematic view of present invention installation holder structure；
Fig. 4 is the module diagram of present invention portrait control system.
In figure: 1, fuselage；2, base；3, head mechanism；4, left arm mechanism；5, right arm mechanism；6, photographing module；7, it draws
Plate；8, shoulder joint control mechanism；9, large arm；10, elbow joint control mechanism；11, forearm；12, paintbrush control mechanism；13, fixed
Seat；14, mounting base；15, mounting hole；16, mounting post；17, paintbrush；18, fixed column；19, limiting slot；20, sliding block；21, Hui Li
Spring；22, the first fixing groove；23, shaft；24, bearing；25, transmission gear；26, servo motor；27, the second fixing groove；28,
Cylinder；29, pushing block；30, control module for servo motor；31, cylinder control module；32, central processing unit.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " setting ", " installation ", " connected ", " connection ",
Terms such as " fixations " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection；It can be mechanical connect
It connects；It can be directly connected, it can also be indirectly connected through an intermediary.For the ordinary skill in the art, may be used
To understand the concrete meaning of above-mentioned term in the present invention as the case may be.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively important
Property or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Person implicitly includes one or more of the features.In the description of the present invention, the meaning of " plurality " is two or two with
On, unless otherwise specifically defined.
The present invention provides a kind of robot as shown in Figs 1-4 portrait systems, including fuselage 1, as shown in Figure 1, fuselage 1
Bottom end be fixedly connected with organic block 2, the top of fuselage 1 is fixedly connected with head mechanism 3, and the side of fuselage 1 is fixedly connected with a left side
Arm mechanism 4, the hand of left arm mechanism 4 are fixedly connected with drawing board 7, and the other side of fuselage 1 is fixedly connected with right arm mechanism 5, head
Photographing module 6 is equipped in mechanism 3, right arm mechanism 5 includes shoulder joint control mechanism 8, large arm 9, elbow joint control mechanism 10, forearm
11 and paintbrush control mechanism 12；
As shown in Fig. 2 and 3, paintbrush control mechanism 12 is made of fixing seat 13 and mounting base 14, fixing seat 13 and mounting base
14 be cylinder, and fixing seat 13 is located at the upper end of mounting base 14 and connect with forearm 11, and the inside of mounting base 14 offers peace
Hole 15 is filled, mounting hole 15 there are multiple, multiple 15 circular array of mounting hole arrangements, is equipped with mounting post 16 and paintbrush in mounting hole 15
17, the sum of mounting post 16 and the length of paintbrush 17 are equal to the depth of mounting hole 15, and the top of paintbrush 17 is fixedly connected with fixed column
18, the bottom end of mounting post 16 offers internal screw thread, and the outside of fixed column 18 offers external screw thread, fixed column 18 and 16 spiral shell of mounting post
Line connection, the two sides of mounting hole 15 offer limiting slot 19, sliding block 20, the side of sliding block 20 are slidably connected in limiting slot 19
It stretches out limiting slot 19 and is fixedly connected with mounting post 16, be fixedly connected with return spring between the bottom end and limiting slot 19 of sliding block 20
21, the interior side of fixing seat 13 offers the first fixing groove 22, is equipped with shaft 23 and servo motor 26 in the first fixing groove 22,
The top of shaft 23 is fixedly connected with transmission gear 25, the bottom end of shaft 23 stretch out the first fixing groove 22 and in mounting base 14
Portion is fixedly connected, and servo motor 26 is fixedly connected with the first fixing groove 22, and shaft 23 passes through bearing 24 and 22 turns of the first fixing groove
It is dynamic to connect, it is fixedly connected with gear on the axis of servo motor 26, the gear on servo motor 26 engages connection with transmission gear 25,
The inside other side of fixing seat 13 offers the second fixing groove 27, and cylinder 28, cylinder 28 are fixedly connected in the second fixing groove 27
Piston rod on be fixedly connected with pushing block 29, the second fixing groove 27 is corresponding with mounting hole 15, and pushing block 29 and mounting post 16 are opposite
It answers, it is different Multiple Type can be installed under the action of mounting base 14 and mounting hole 15 by the way that paintbrush control mechanism 12 is arranged
Paintbrush 17, and under the action of return spring 21, shaft 23, servo motor 26 and cylinder 28, facilitate conversion different colours or type
Number paintbrush 17, improve the practicability of device；
As shown in Figure 4, it is fixedly connected with central processing unit 32 in fuselage 1, servo electricity is fixedly connected in servo motor 26
Machine control module 30 is fixedly connected with cylinder control module 31, shoulder joint control mechanism 8, elbow joint control mechanism in cylinder 28
10, the input terminal of control module for servo motor 30 and cylinder control module 31 is connect with the output end of central processing unit 32, in
The input terminal of central processor 32 is connect with the output end of photographing module 6, shoulder joint control mechanism 8 and elbow joint control mechanism 10
Inside is equipped with driving device, and shoulder joint control mechanism 8 is used to control the position of large arm 9, and elbow joint control mechanism 10 is for controlling
The position of forearm 11 processed passes through the cooperation between control module for servo motor 30, cylinder control module 31 and central processing unit 32
Setting, convenient for conversion remotely is adjusted to paintbrush 17, improves the safety and stability used.
The electric elements occurred in this article are electrically connected with extraneous main controller and 220V alternating current, and main controller can be meter
Calculation machine etc. plays the conventionally known equipment of control.
This practical working principle: in use, the photographing module 6 using head mechanism 3 is photographed, then photographing module 6
Photo is sent to central processing unit 32, by central processing unit 32 respectively to shoulder joint control mechanism 8, elbow joint control mechanism 10
It is controlled with paintbrush control mechanism 12, paintbrush control mechanism 12 passes through control module for servo motor 30 and cylinder control module 31
Servo motor 26 and cylinder 28 are controlled respectively, and servo motor 26 drives shaft 23 to rotate by transmission gear 25, and shaft 23 drives
Mounting base 14 rotates, and stops servo motor 26 when the mounting hole 15 that paintbrush 17 to be used is located at is corresponding with the second 27 pairs of fixing groove,
Starting cylinder 28, cylinder 28 drives pushing block 29 to move downward and extend into mounting hole 15, and pushing block 29 pushes down on mounting post 16,
Mounting post 16 drives paintbrush 17 to stretch out mounting hole 15, and the position of large arm 9, elbow joint are then controlled using shoulder joint control mechanism 8
Control mechanism 10 controls the position of forearm 11, starts to draw a portrait, when needing replacing paintbrush 17, is again started up cylinder 28, gas
Cylinder 28 drives pushing block 29 to move upwards and leave mounting hole 15, this is that sliding block 20 is transported upwards under the action of 21 elastic force of return spring
Dynamic, sliding block 20 drives paintbrush 17 to be retracted mounting hole 15 by mounting post 16, then starts servo motor 26, and servo motor 26 drives
Mounting base 14 rotates, and stopping is watched when mounting hole 15 that next paintbrush 17 to be used is located at is corresponding with the second 27 pairs of fixing groove
Motor 26 is taken, cylinder 28 is then again started up, cylinder 28 drives pushing block 29 to release paintbrush 17.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (7)
- The system 1. a kind of robot draws a portrait, including fuselage (1), it is characterised in that: the bottom end of the fuselage (1) is fixedly connected organic Seat (2), the top of the fuselage (1) are fixedly connected with head mechanism (3), and the side of the fuselage (1) is fixedly connected with left arm The hand of mechanism (4), the left arm mechanism (4) is fixedly connected with drawing board (7), and the other side of the fuselage (1) is fixedly connected with Right arm mechanism (5), the head mechanism (3) is interior to be equipped with photographing module (6), and the right arm mechanism (5) includes shoulder joint control machine Structure (8), large arm (9), elbow joint control mechanism (10), forearm (11) and paintbrush control mechanism (12)；The paintbrush control mechanism (12) is made of fixing seat (13) and mounting base (14), and the fixing seat (13) is located at mounting base (14) upper end is simultaneously connect with forearm (11), and the inside of the mounting base (14) offers mounting hole (15), the mounting hole (15) mounting post (16) and paintbrush (17) are equipped in, the top of the paintbrush (17) is fixedly connected with fixed column (18), described solid Fixed column (18) is fixedly connected with mounting post (16), and the two sides of the mounting hole (15) offer limiting slot (19), the limit It is slidably connected sliding block (20) in slot (19), the side of the sliding block (20) is stretched out limiting slot (19) and fixed with mounting post (16) Connection, is fixedly connected with return spring (21), the fixing seat (13) between the bottom end and limiting slot (19) of the sliding block (20) Interior side offer the first fixing groove (22), shaft (23) and servo motor are equipped in first fixing groove (22) (26), the top of the shaft (23) is fixedly connected with transmission gear (25), and it is fixed that the bottom end of the shaft (23) stretches out first Slot (22) and be fixedly connected in the middle part of mounting base (14), the servo motor (26) is fixedly connected with the first fixing groove (22), The inside other side of the fixing seat (13) offers the second fixing groove (27), is fixedly connected in second fixing groove (27) Cylinder (28) is fixedly connected with pushing block (29) on the piston rod of the cylinder (28)；It is fixedly connected with central processing unit (32) in the fuselage (1), servo electricity is fixedly connected in the servo motor (26) Machine control module (30), the cylinder (28) is interior to be fixedly connected with cylinder control module (31).
- The system 2. robot according to claim 1 draws a portrait, it is characterised in that:The fixing seat (13) and mounting base (14) are cylinder, and the fixing seat (13) and mounting base (14) pass through shaft (23) it is rotatablely connected.
- The system 3. robot according to claim 1 draws a portrait, it is characterised in that:The mounting hole (15) has multiple, multiple mounting hole (15) circular array arrangements, second fixing groove (27) Corresponding with mounting hole (15), the pushing block (29) is corresponding with mounting post (16).
- The system 4. robot according to claim 1 draws a portrait, it is characterised in that:The sum of length of the mounting post (16) and paintbrush (17) is equal to the depth of mounting hole (15).
- The system 5. robot according to claim 1 draws a portrait, it is characterised in that:The bottom end of the mounting post (16) offers internal screw thread, offers external screw thread on the outside of the fixed column (18), described solid Fixed column (18) is threadedly coupled with mounting post (16).
- The system 6. robot according to claim 1 draws a portrait, it is characterised in that:The shaft (23) is rotatablely connected by bearing (24) and the first fixing groove (22), solid on the axis of the servo motor (26) Surely it is connected with gear, the gear on the servo motor (26) engages connection with transmission gear (25).
- The system 7. robot according to claim 1 draws a portrait, it is characterised in that:The shoulder joint control mechanism (8), elbow joint control mechanism (10), control module for servo motor (30) and cylinder control mould The input terminal of block (31) is connect with the output end of central processing unit (32), the input terminal of the central processing unit (32) and camera shooting The output end of module (6) connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910792028.6A CN110480652A (en) | 2019-08-26 | 2019-08-26 | Robot portrait system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910792028.6A CN110480652A (en) | 2019-08-26 | 2019-08-26 | Robot portrait system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110480652A true CN110480652A (en) | 2019-11-22 |
Family
ID=68553424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910792028.6A Pending CN110480652A (en) | 2019-08-26 | 2019-08-26 | Robot portrait system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110480652A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114435018A (en) * | 2022-02-10 | 2022-05-06 | 湖南工业大学 | Oil painting making and displaying equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200412462Y1 (en) * | 2005-12-26 | 2006-03-28 | 지엠케이이엔지(주) | pen holding device for a design |
| CN206306119U (en) * | 2016-12-30 | 2017-07-07 | 永城职业学院 | A kind of pre-programmed math equation geometric shape describes manipulator |
| CN206426108U (en) * | 2016-12-22 | 2017-08-22 | 深圳市智能机器人研究院 | A kind of intelligence portrait robot |
| CN107639636A (en) * | 2017-09-20 | 2018-01-30 | 武汉需要智能技术有限公司 | A kind of change-fountain pen device for robot drawing |
| CN208663626U (en) * | 2018-08-21 | 2019-03-29 | 陕西蓝智机器人有限公司 | A kind of manipulator of automatically replaceable spanner |
-
2019
- 2019-08-26 CN CN201910792028.6A patent/CN110480652A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200412462Y1 (en) * | 2005-12-26 | 2006-03-28 | 지엠케이이엔지(주) | pen holding device for a design |
| CN206426108U (en) * | 2016-12-22 | 2017-08-22 | 深圳市智能机器人研究院 | A kind of intelligence portrait robot |
| CN206306119U (en) * | 2016-12-30 | 2017-07-07 | 永城职业学院 | A kind of pre-programmed math equation geometric shape describes manipulator |
| CN107639636A (en) * | 2017-09-20 | 2018-01-30 | 武汉需要智能技术有限公司 | A kind of change-fountain pen device for robot drawing |
| CN208663626U (en) * | 2018-08-21 | 2019-03-29 | 陕西蓝智机器人有限公司 | A kind of manipulator of automatically replaceable spanner |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114435018A (en) * | 2022-02-10 | 2022-05-06 | 湖南工业大学 | Oil painting making and displaying equipment |
| CN114435018B (en) * | 2022-02-10 | 2024-02-20 | 湖南工业大学 | Oil painting making and displaying equipment |
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Application publication date: 20191122 |