CN115071309A - Automatic pen changing device and pen changing method - Google Patents
Automatic pen changing device and pen changing method Download PDFInfo
- Publication number
- CN115071309A CN115071309A CN202210705636.0A CN202210705636A CN115071309A CN 115071309 A CN115071309 A CN 115071309A CN 202210705636 A CN202210705636 A CN 202210705636A CN 115071309 A CN115071309 A CN 115071309A
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- pen
- limiting
- cap
- module
- clamping mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43K—IMPLEMENTS FOR WRITING OR DRAWING
- B43K23/00—Holders or connectors for writing implements; Means for protecting the writing-points
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
Abstract
The invention relates to an automatic pen changing device and a pen changing method, wherein the device comprises a pen box, a clamping mechanism tail end and a pen cap; the pen cap is provided with two ends which are fixedly clamped at the pen respectively; the tail end of the clamping mechanism is used for placing the pen into the pen box or taking the pen out of the pen box through the pen cap; the tail end of the clamping mechanism is the same as the pen box in structure and comprises a shell, a distance measuring module and a limiting module, wherein the distance measuring module and the limiting module are arranged in the shell; the limiting module is used for limiting the pen cap; the distance measuring module is used for measuring the position of the pen cap; the pen cap position detection device is used for detecting the position of the pen cap, and the pen cap position detection device is used for detecting the position of the pen cap, judging whether the pen reaches a limiting point or not according to the detected position of the pen cap, controlling the limiting module to execute actions, limiting the pen cap to fix the pen, or releasing the pen by releasing the limitation of the pen cap. The invention is beneficial to the distance measuring module, the limiting module and the control module to realize feedback adjustment, realizes automatic operation of the pen clip taking and storing process, and improves the control precision and the operation efficiency.
Description
Technical Field
The invention relates to the technical field of calligraphy robots, in particular to an automatic pen changing device and a pen changing method.
Background
The calligraphy robot is a device capable of realizing independent writing, and a pen needs to be changed in the writing process. At present, a study aiming at automatic pen changing of a calligraphy robot is provided with a patent with the publication number of CN112519460A named as an automatic pen changing device and a using method thereof, the automatic pen changing device is provided, various pens are stored by utilizing a pen library disc, and the automatic switching of the pens is realized by matching with a lifting and rotating pen changing clamp, so that the problem of pen changing of the existing pen changing robot is solved. The patent with the publication number of CN112075704B entitled "automatic pen changing device for leather drawing" provides an automatic pen changing device for leather drawing, which realizes the automatic change of a drawing pen by arranging the drawing pen in a rotating body and matching with a top block, and the position of the drawing pen in a use state after the change is kept unchanged without repositioning the original point.
The automatic pen replacing device is complex in structure, and the pen replacing mechanism executes the pen replacing command without feedback adjustment, so that the precision is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an automatic pen changing device and a pen changing method, aiming at realizing the automatic control of pen changing operation by utilizing feedback regulation so as to improve the control precision of automatic operation.
The technical scheme adopted by the invention is as follows:
the invention provides an automatic pen changing device which comprises a pen box, a clamping mechanism tail end and a pen cap, wherein the pen box is provided with a pen box body;
the two pen caps are fixedly clamped at two ends of the pen respectively;
the tail end of the clamping mechanism is used for placing pens into the pen box or taking pens out of the pen box through the pen cap;
the tail end of the clamping mechanism and the pen box have the same structure and respectively comprise a shell, a ranging module and a limiting module, wherein the ranging module and the limiting module are arranged in the shell;
the limiting module is used for limiting the pen cap and comprises a mounting piece fixedly connected with the shell and a telescopic positioning piece connected with the mounting piece and used for executing actions; the pen cap is provided with a positioning groove which is used for being matched with the telescopic positioning piece, and the positioning groove extends along the axial direction of the pen;
the distance measuring module is used for measuring the position of the pen cap;
the pen cap position detection device is characterized by further comprising a control module, wherein the control module is used for judging whether the pen reaches a limiting point according to the detected position of the pen cap so as to control the limiting module to execute actions, limit the pen cap to fix the pen, or release the pen cap to release the pen.
The further technical scheme is as follows:
the limiting module comprises two groups of telescopic positioning pieces for executing actions, the two groups of telescopic positioning pieces are symmetrically arranged and used for limiting the pen cap from two sides respectively, and correspondingly, the two positioning grooves are symmetrically arranged on two side surfaces of the pen cap.
The telescopic positioning piece comprises a push-pull electromagnet, and the telescopic end of the push-pull electromagnet is connected with the sliding block through a connecting spring; the mounting piece comprises a connecting block which is fixedly arranged on the shell, and a guide groove is formed in the connecting block and used for guiding the connecting spring and the sliding block; the mounting piece also comprises a right-angle connecting piece which is fixedly arranged on the shell and is used for connecting the fixed ends of the push-pull electromagnet.
The middle part of the pen cap is provided with an accommodating cavity for clamping a pen.
The distance measuring module comprises a pressure-sensitive sensor, a mounting seat for mounting the pressure-sensitive sensor and a force measuring spring, one end of the force measuring spring is connected with the pressure-sensitive sensor, the other end of the force measuring spring is a free end, and the free end is used for being in contact with the front end face of the pen cap when the pen moves axially.
The whole shell is of a closed structure, a detachable end cover is arranged at one end of the shell, and a through hole is formed in the end cover and used for penetrating through the pen cap.
The invention provides an automatic pen changing method on one hand, which comprises the following steps:
the end of the clamping mechanism puts the pen into a pen box:
the tail end of the clamping mechanism limits a pen cap clamped at the first end of the pen through a limiting module in the clamping mechanism, and the pen cap carries the pen to move to the pen box;
the tail end of the clamping mechanism carries the pen to move along the axial direction of the clamping mechanism so as to send the pen into the pen box, and a distance measuring module in the pen box measures the position of a pen cap clamped at the second end of the pen and judges whether the pen reaches a limiting point;
after the pen reaches the limiting point, the control module controls the limiting module in the pen box to execute actions, the pen cap at the second end is limited, meanwhile, the limiting module in the tail end of the clamping mechanism is controlled to execute actions, the limitation on the pen cap at the first end is removed, and therefore the pen is placed into the pen box from the tail end of the clamping mechanism.
Further comprising:
the end of the clamping mechanism takes the pen out of the pen box.
The invention has the following beneficial effects:
the pen changing device is simple in structure and reasonable in design, and the pen changing method is beneficial to realizing feedback adjustment of the distance measuring module, the limiting module and the control module, realizes automatic operation of the pen clamping and storing process, and improves control precision and operation efficiency.
The pen replacing device provided by the invention considers the problem of part abrasion, and avoids the influence on the sensitivity and control precision of feedback regulation due to poor matching.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is an exploded view of an apparatus according to an embodiment of the present invention.
Fig. 2 is an exploded view of an apparatus according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a device for changing pen states according to an embodiment of the present invention.
Fig. 4 is a cross-sectional view a-a of fig. 3.
Fig. 5 is a cross-sectional view B-B of fig. 3.
In the figure: 1. a pen; 2. a pen cap; 3. a limiting module; 4. a distance measurement module; 5. a pen box; 6. a through hole; 7. the tail end of the clamping mechanism; 21. positioning a groove; 22. an accommodating chamber; 31. a slider; 32. a connecting spring; 33. a guide groove; 34. pushing and pulling the electromagnet; 35. a right angle connector; 41. a pressure sensitive sensor; 42. a mounting seat; 43. a force measuring spring.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
Referring to fig. 1, an embodiment of the present application provides an automatic pen changing apparatus, including a pen box 5, a gripper mechanism end 7, and a pen cap 2;
two pen caps 2 are respectively fixedly clamped at two ends of the pen 1;
the tail end 7 of the clamping mechanism is used for placing the pen 1 into the pen box 5 or taking the pen 1 out of the pen box 5 through the pen cap 2;
the tail end 7 of the clamping mechanism is the same as the pen box 5 in structure and comprises a shell, a ranging module 4 and a limiting module 3, wherein the ranging module 4 and the limiting module 3 are arranged in the shell;
the limiting module 3 is used for limiting the pen cap 2, and the limiting module 3 comprises an installation part fixedly connected with the shell and a telescopic positioning part connected with the installation part and used for executing actions; the pen cap 2 is provided with a positioning groove 21 matched with the telescopic positioning piece, and the positioning groove 21 extends along the axial direction of the pen 1;
the distance measuring module 4 is used for measuring the position of the pen cap 2;
the pen cap device further comprises a control module, and the control module is used for judging whether the pen 1 reaches the limiting point according to the measured position of the pen cap 2 so as to control the limiting module 3 to execute actions, limit the pen cap 2 to fix the pen 1, or release the limit of the pen cap 2 to release the pen 1.
In the above embodiment, as shown in fig. 2, preferably, the limiting module 3 includes two sets of telescopic positioning elements for performing actions, the two sets of telescopic positioning elements are symmetrically disposed and used for limiting the pen cap 2 from two sides, and two positioning slots 21 are correspondingly disposed and symmetrically disposed on two side surfaces of the pen cap 2. The middle part of the pen cap 2 is provided with a holding cavity 22 for holding the pen 1.
As shown in fig. 2, the telescopic positioning member includes a push-pull electromagnet 34, the telescopic end of which is connected to the sliding block 31 through a connecting spring 32, the mounting member includes a connecting block which is fixedly disposed on the housing, and the connecting block is provided with a guide groove 33 for guiding the connecting spring 32 and the sliding block 31; the mounting further comprises a right-angled connection 35 fixedly arranged on the housing for connection of the fixed ends of the push-pull electromagnet 34.
The push-pull electromagnet 34 is commercially available.
Specifically, the distance measuring module 4 includes a pressure-sensitive sensor 41, a mounting seat 42 for mounting the pressure-sensitive sensor 41, and a force measuring spring 43, wherein one end of the force measuring spring 43 is connected to the pressure-sensitive sensor 41, and the other end is a free end, and the free end is used for contacting with the front end face of the pen cap 2 when the pen 1 moves axially.
The force measuring spring 43 plays a role in limiting and damping, and measures the elastic force of the force measuring spring 43 to obtain the displacement change of the pen 1 by matching with the force capture of the pressure sensitive sensor 41. During specific implementation, the distance measuring module can continuously compare with the spring elasticity measured by the pressure-sensitive sensor 41 through presetting the lowest trigger force, judge whether the pen 1 reaches the limit point, and transmit a signal to the control module. The control module can adopt a single chip microcomputer to receive the signals transmitted by the distance measuring module 4, convert the signals into electric signals and output the electric signals to the push-pull electromagnet 34 of the limiting module 3 to control the telescopic end of the distance measuring module to move, and the automatic control of the process of taking and storing the pen clip is realized.
The force measuring spring 43 can cause accuracy reduction after long-term use, certain errors can occur in the judgment of the limit point, and the positioning groove 21 extends axially to have a certain length, so that the fault tolerance of the mechanism can be increased.
Fig. 3 is a schematic structural diagram in the pen-changing state. Fig. 4 is a cross-sectional view of section a-a of fig. 3. As shown in fig. 4, the casing is a closed structure, and a detachable end cap is arranged at one end of the casing, and a through hole 6 is arranged on the end cap and used for penetrating through the pen cap 2.
In the above embodiment, the pen cap 2 is always fixedly clamped at two ends of the pen 1, and is taken and placed together with the pen 1. The pen cap 2 can be made smaller in size, and writing of the writing robot is not affected.
Wherein, the pen cap 2 and other non-commercially available parts can be manufactured by 3D printing.
The embodiment of the application further provides an automatic pen changing method, which comprises the following steps:
the end 7 of the gripping mechanism puts the pen 1 into the pen box 5:
the tail end 7 of the clamping mechanism limits the pen cap 2 clamped at the first end of the pen 1 through the limiting module 3 in the clamping mechanism and moves to the pen box 5 with the pen 1;
the tail end 7 of the clamping mechanism carries the pen 1 to move along the axial direction of the clamping mechanism to send the pen 1 into the pen box 5, and the distance measuring module 4 in the pen box 5 measures the position of the pen cap 2 clamped at the second end of the pen 1 to judge whether the pen 1 reaches a limiting point;
after the measuring pen 1 reaches the limiting point, the control module controls the limiting module 3 in the clamping mechanism tail end 7 to execute actions, the limiting on the pen cap 2 at the first end is released, meanwhile, the limiting module 3 in the pen box 5 is controlled to execute actions, and the pen cap 2 at the second end is limited, so that the pen 1 is placed into the pen box 5 from the clamping mechanism tail end 7.
Further comprising:
In the automatic pen changing method of the embodiment, the tail end 7 of the clamping mechanism limits the pen cap 2 clamped at the first end of the pen 1 through the limiting module 3 in the clamping mechanism, in this state, the pen 1 is clamped by the tail end 7 of the clamping mechanism through the pen cap 2 at the first end, the second end of the pen 1 and the pen cap 2 on the second end are leaked outside the tail end 7 of the clamping mechanism, and the tail end 7 of the clamping mechanism carries the pen 1 to move to the pen box 5;
the tail end 7 of the clamping mechanism carries the pen 1 to move along the axial direction of the clamping mechanism, the pen 1 is sent into the pen box 5, when the pen cap 2 at the second end abuts against a force measuring spring 43 of a distance measuring module 4 in the pen box 5, a force signal is sensed through a pressure sensitive sensor 41, the position of the pen 1 is judged according to the force signal, when the force is continuously increased, and the second pen cap 2 moves to a limit point, the control module controls the push-pull electromagnet 34 to act, namely the push-pull electromagnet 34 of the lower limit module 3 at the position can just stretch into the locating groove 21 to limit the pen cap 2 to prevent the pen cap from moving axially, the structural diagram under the secondary state can refer to the diagrams in figures 3 to 5, meanwhile, the limit module 3 in the tail end 7 of the clamping mechanism performs retraction action, the pen cap 2 at the first end is released, and then the tail end 7 of the clamping mechanism leaves, and automatic pen storage is completed.
The process of getting a pen from pen case 5 is the same with the pen storage process, presss from both sides and gets mechanism end 7 and remove, makes the pen socket 2 that leaks the first end outside pen case 5 stretch inside it, presss from both sides and gets mechanism end 7 in range module 4 measure the pen socket 2 back that targets in place, spacing module 3 action, with pen socket 2 spacing, spacing module action in pen case 5 releases the pen socket 2 of second end simultaneously, then presss from both sides and gets mechanism end 7 and take pen 1 to leave, accomplishes the automatic pen of getting.
Specifically, the limiting modules 3 on the two sides of the pen cap 2 act synchronously, so that the stress balance of the pen cap 2 can be ensured.
Those of ordinary skill in the art will understand that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An automatic pen changing device is characterized by comprising a pen box (5), a clamping mechanism tail end (7) and a pen cap (2);
the two pen caps (2) are respectively and fixedly clamped at two ends of the pen (1);
the clamping mechanism tail end (7) is used for placing the pen (1) into the pen box (5) or taking the pen (1) out of the pen box (5) through the pen sleeve (2);
the tail end (7) of the clamping mechanism is the same as the pen box (5) in structure and comprises a shell, and a ranging module (4) and a limiting module (3) which are arranged in the shell;
the limiting module (3) is used for limiting the pen cap (2), and the limiting module (3) comprises a mounting piece fixedly connected with the shell and a telescopic positioning piece connected with the mounting piece and used for executing actions; a positioning groove (21) matched with the telescopic positioning piece is formed in the pen sleeve (2), and the positioning groove (21) extends along the axial direction of the pen (1);
the distance measuring module (4) is used for measuring the position of the pen cap (2);
the pen cap limiting device is characterized by further comprising a control module, wherein the control module is used for judging whether the pen (1) reaches a limiting point according to the measured position of the pen cap (2) so as to control the limiting module (3) to execute actions, limit the pen cap (2) to fix the pen (1), or release the limiting of the pen cap (2) to release the pen (1).
2. The automatic pen changing device according to claim 1, wherein the limiting module (3) comprises two sets of telescopic positioning elements for performing actions, the two sets of telescopic positioning elements are symmetrically arranged and used for limiting the pen cap (2) from two sides respectively, and correspondingly, two positioning grooves (21) are symmetrically arranged on two side surfaces of the pen cap (2).
3. The automatic pen changing device according to claim 1, wherein the telescopic positioning piece comprises a push-pull electromagnet (34), and the telescopic end of the push-pull electromagnet is connected with the sliding block (31) through a connecting spring (32); the mounting piece comprises a connecting block which is fixedly arranged on the shell, and a guide groove (33) is arranged on the connecting block and used for providing guidance for the connecting spring (32) and the sliding block (31); the mounting part also comprises a right-angle connecting piece (35) which is fixedly arranged on the shell and is used for connecting the fixed ends of the push-pull electromagnet (34).
4. The automatic pen changing device according to claim 1, wherein the middle of the pen cap (2) is provided with a holding cavity (22) for holding the pen (1).
5. The automatic pen changer according to claim 1, characterized in that the distance measuring module (4) comprises a pressure sensitive sensor (41), a mounting seat (42) for mounting the pressure sensitive sensor (41), and a force measuring spring (43), wherein one end of the force measuring spring (43) is connected with the pressure sensitive sensor (41), and the other end is a free end which is used for contacting with the front end surface of the pen sleeve (2) when the pen (1) moves axially.
6. The automatic pen-changing device according to claim 1, wherein the casing is a closed structure, and one end of the casing is provided with a detachable end cover which is provided with a through hole (6) for passing through the pen cap (2).
7. An automatic pen changing method is characterized by comprising the following steps:
the clamping mechanism tail end (7) puts the pen (1) into the pen box (5):
the tail end (7) of the clamping mechanism limits the pen cap (2) clamped at the first end of the pen (1) through the limiting module (3) in the clamping mechanism and carries the pen (1) to move to the position of the pen box (5);
the tail end (7) of the clamping mechanism carries the pen (1) to move along the axial direction of the clamping mechanism to send the pen (1) into the pen box (5), and a distance measuring module (4) in the pen box (5) measures the position of a pen sleeve (2) clamped at the second end of the pen (1) to judge whether the pen (1) reaches a limit point;
after the pen (1) reaches the limiting point, the control module controls the limiting module (3) in the pen box (5) to execute actions, the pen cap (2) at the second end is limited, meanwhile, the limiting module (3) in the tail end (7) of the clamping mechanism is controlled to execute actions, the limiting on the pen cap (2) at the first end is released, and therefore the pen (1) is placed into the pen box (5) from the tail end (7) of the clamping mechanism.
8. The automatic pen changing method according to claim 7, further comprising:
the tail end (7) of the clamping mechanism takes the pen (1) out of the pen box (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210705636.0A CN115071309B (en) | 2022-06-21 | 2022-06-21 | Automatic pen replacing device and pen replacing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210705636.0A CN115071309B (en) | 2022-06-21 | 2022-06-21 | Automatic pen replacing device and pen replacing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115071309A true CN115071309A (en) | 2022-09-20 |
| CN115071309B CN115071309B (en) | 2023-06-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210705636.0A Active CN115071309B (en) | 2022-06-21 | 2022-06-21 | Automatic pen replacing device and pen replacing method |
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| CN (1) | CN115071309B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1312760A (en) * | 1998-06-22 | 2001-09-12 | 碧克公司 | Controllable fluid gripping device |
| CN202727709U (en) * | 2012-09-03 | 2013-02-13 | 苏州工业园区新维自动化科技有限公司 | Pen clip clamping device |
| JP2015123562A (en) * | 2013-12-27 | 2015-07-06 | Ｊｆｅスチール株式会社 | Marking pen and marking device |
| CN207747068U (en) * | 2017-12-29 | 2018-08-21 | 河北科技大学 | A kind of calligraphy robotic gripper change-fountain pen mechanism |
| CN111301036A (en) * | 2020-04-09 | 2020-06-19 | 杭州鼎樊科技有限公司 | Automatic pen container capable of storing and recovering pens |
| CN111633014A (en) * | 2020-06-19 | 2020-09-08 | 福州经济技术开发区美墨轩文具有限公司 | Refill nib separation screening retrieves machine |
| CN114142299A (en) * | 2021-10-26 | 2022-03-04 | 中航光电科技股份有限公司 | Connector with inserting and combining in-place detection function |
-
2022
- 2022-06-21 CN CN202210705636.0A patent/CN115071309B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1312760A (en) * | 1998-06-22 | 2001-09-12 | 碧克公司 | Controllable fluid gripping device |
| CN202727709U (en) * | 2012-09-03 | 2013-02-13 | 苏州工业园区新维自动化科技有限公司 | Pen clip clamping device |
| JP2015123562A (en) * | 2013-12-27 | 2015-07-06 | Ｊｆｅスチール株式会社 | Marking pen and marking device |
| CN207747068U (en) * | 2017-12-29 | 2018-08-21 | 河北科技大学 | A kind of calligraphy robotic gripper change-fountain pen mechanism |
| CN111301036A (en) * | 2020-04-09 | 2020-06-19 | 杭州鼎樊科技有限公司 | Automatic pen container capable of storing and recovering pens |
| CN111633014A (en) * | 2020-06-19 | 2020-09-08 | 福州经济技术开发区美墨轩文具有限公司 | Refill nib separation screening retrieves machine |
| CN114142299A (en) * | 2021-10-26 | 2022-03-04 | 中航光电科技股份有限公司 | Connector with inserting and combining in-place detection function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115071309B (en) | 2023-06-06 |
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