CN204123395U - The alternative device manually write - Google Patents

The alternative device manually write Download PDF

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Publication number
CN204123395U
CN204123395U CN201420422508.6U CN201420422508U CN204123395U CN 204123395 U CN204123395 U CN 204123395U CN 201420422508 U CN201420422508 U CN 201420422508U CN 204123395 U CN204123395 U CN 204123395U
Authority
CN
China
Prior art keywords
steering wheel
hand
arm
mechanical arm
matrix
Prior art date
Application number
CN201420422508.6U
Other languages
Chinese (zh)
Inventor
唐宁
叶海波
卢健
容达樑
隋欣梦
Original Assignee
桂林电子科技大学
Priority date (The priority date 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 date listed.)
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Application filed by 桂林电子科技大学 filed Critical 桂林电子科技大学
Priority to CN201420422508.6U priority Critical patent/CN204123395U/en
Application granted granted Critical
Publication of CN204123395U publication Critical patent/CN204123395U/en

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Abstract

The alternative device manually write of the present utility model, is made up of lettering pen, mechanical arm and control terminal; Mechanical arm comprises the hand of clamping lettering pen, the arm be connected with hand and settles the matrix of arm; Matrix also arranges communication module and control module, and matrix receives the instruction of control terminal, is completed write by control module control arm and hand.This device, the order that control terminal can be sent, writes behavior or content, is transferred to mechanical arm, then is performed by mechanical arm or synchronously, book writes on the blackboard, and small product size is little, stable performance, reliability is high, writing speed is fast.Apply this device and can reduce the harm of dust to people, reduce the working strength of teacher.Because control terminal and mechanical arm leave enough distances, this device can also be applied in such as tall and big mural painting, ceiling is drawn a picture and engraving etc. is inconvenient to the occasion carrying out operating, for replacing artificial mopping, high building cleaning and dirty cleaning etc. after also effectively can expanding its function.

Description

The alternative device manually write
Technical field
The utility model relates to robot, particularly relates to a kind of alternative device manually write.
Background technology
Teaching practice field, under the environment being main flow with multimedia teaching, traditional blackboard traditional instruction mode still occupies very important status.This teaching method is vivid, flexibility and workable, can play good teaching purpose.
Can in traditional instruction process, the person of giving lessons will utilize chalk manually to write, and need use blackboard brush manual erase, waste time and energy when breadth switches, and the dust that chalk falls is harmful to the healthy of people; Existing research is all mode by improveing erasing blackboard or improves efficiency of erasing and use new material black and white (as magnet board) etc. to reduce the harm of dust to teacher.This kind of improvement serves certain effect, but or there are following 2 subject matters.The first, it is complicated that blackboard eraser removes apparatus structure, complex operation, and the person that much do not give lessons is unwilling to use; The second, the person of giving lessons still must manually write, and working strength is still very large.
Utility model content
In order to reduce the harm of dust to human body, also in order to alleviate working strength and the blackboard writing amount of teacher, the utility model provides a kind of alternative device manually write.
The alternative device manually write of the present utility model, is made up of lettering pen, mechanical arm and control terminal; Mechanical arm comprises the hand of clamping lettering pen, the arm be connected with hand and settles the matrix of arm;
Matrix also arranges communication module and control module, and matrix receives the instruction of control terminal, is completed write by control module control arm and hand.
For ease of writing at facade, device of the present utility model, also arranges sucker at base bottom.Sucker mechanical arm can be absorbed and fixed at facade blackboard (comprise various vertically or the blackboard that tilts and blank etc.) on complete and write, mechanical arm is located simultaneously.
As a kind of embodiment, sucker of the present utility model is one or more magnechuck.In this case, being needed maybe can be magnetized body for magnet by the plate face of writing, also maybe can be able to be magnetized body being arranged by the behind in plate face of writing magnet.
In addition, device of the present utility model, also arranges the wheel for walking at base bottom, moves to realize mechanical arm, adjustment writing position.
One of described lettering pen is writing end, and other end is erasing end, to realize can writing and wiping.
In the utility model, control terminal and matrix are carried out wired connection and are communicated or wireless communication.Wired connection communication can adopt parallel port or serial ports, and this mode is applicable to the occasion of close together.Wireless communication comprises bluetooth, infrared or radio, and this mode is applicable to occasion that is distant and line inconvenience, and wireless communication is flexibly convenient.
Control terminal in the utility model comprises communications portion, operation push-button part and touch screen portion.
For making clamping more firm, the retaining part indention of the utility model hand.
Simultaneously for making clamping more flexibly with reliably controlled, the utility model is also provided with an activity template at hand, and activity template realizes the clamping between stator and loosens under the drive of motor.
The arm of the mechanical arm in device of the present utility model comprises steering wheel one, Connection Block one, steering wheel two, Connection Block two, steering wheel three, Connection Block three, steering wheel four and steering wheel five; Connected by Connection Block one transition between steering wheel one and steering wheel two, connected between steering wheel two and steering wheel three by Connection Block two transition, connected by Connection Block three transition between steering wheel three and steering wheel four, steering wheel four is directly connected with steering wheel five; Steering wheel one is settled in the base and is driven by the control module in matrix, and steering wheel five is connected with hand one end in addition.
In order to the walking of wheels better, in scheme of the present utility model, be to the direct configuration driven motor of wheel, wheel realize under drive motors effect mechanical arm advance, retreat and turn to walking.Such mode is simple, direct, reliable.
Device of the present utility model, can by control terminal order, write behavior or content, be transferred to mechanical arm, to be performed by mechanical arm again or synchronously, write on blackboard (comprising blank), reduce dust to the harm of teacher, the working strength reducing teacher writes workload with alleviating.Small product size is little, stable performance, reliability are high, writing speed matches in excellence or beauty writing speed manually.
Because control terminal can leave enough distances with mechanical arm, carrying out imparting knowledge to students, upper class hour, control terminal can be placed in classroom Anywhere, if particularly adopt handheld terminal and wireless communication, so teacher just can stand on dais and give lessons, but may stand in the middle of student, school can be made to hear the sound of teacher, also be convenient to teacher and observe student's situation, form good interaction in classroom, obtain dais and to attend class the effect that cannot obtain.
The alternative device manually write of the present utility model, can also complete in the occasion that such as tall and big mural painting, ceiling are drawn a picture and the people such as engraving is inconvenient to carry out operating and automatically imitate creation, for the work of people provides a great convenience.Also can be widely used in teaching practice, creation is auxiliary, and the fields such as scientific exhibit and the support of movable meeting field device, not only have certain interest, and have high efficiency and accuracy.
The alternative device manually write of the present utility model, except being mainly used in teaching writing aspect, effectively can also expanding its function according to actual conditions, such as artificial mopping can be replaced, not only can reduce the injury of toxicant to human body, and mopping quality can be made to be protected.Because the flexibility of this mechanical arm is extremely strong, this robot can also be applied to the aspects such as high building cleaning, dirty cleaning.
Accompanying drawing explanation
Fig. 1 is the structure chart of mechanical arm in the alternative device manually write of the present utility model.
Fig. 2 is the structure chart of another angle of mechanical arm shown in Fig. 1.
Fig. 3 is lettering pen schematic diagram.
detailed description of the invention:
The alternative device manually write, is made up of lettering pen, mechanical arm and control terminal.
See Fig. 1,2.The matrix (part at power switch 1, start button 2, electromagnet 3, drive motors 7 and wheel 8 place) that mechanical arm comprises the hand part of motor 4 place (activity template 5 with) of clamping lettering pen, the arm (from steering wheel 1 to the part at steering wheel 5 16 place) be connected with hand and settles arm;
Matrix also arranges communication module and control module (not shown in FIG.), and matrix receives the instruction of control terminal, is completed write by control module control arm and hand.
Matrix shell is riveted by titanium alloy sheet and is formed, and structure is square.The weight of the whole mechanical arm of main carrying.Base bottom has four magnechucks 3, is evenly arranged on mechanical arm matrix, and it makes whole mechanical arm can be adsorbed on blackboard.
Base bottom has four wheels 8, two front-wheels, two trailing wheels, be arranged symmetrically between two on matrix, each wheel outer ring is by rubber coated, the equal configuration driven motor of each wheel 7, four drive motors 7 have two preposition, two rearmounted, drive separately each wheel turns and turn to, realize advancing, retreating and turn to walking, realize the freely-movable of mechanical arm on blackboard.
Communication module in matrix receives the order data that control terminal sends with bluetooth approach.
The order data that receive is resolved and is generated all kinds of operational order by the control module in matrix, comprise that order is write, touch screen follow write, lift pen, put down pen, erasing, the instruction such as mobile adjustment writing position.
Arm comprises steering wheel 1, Connection Block 1, steering wheel 2 11, Connection Block 2 12, steering wheel 3 13, Connection Block 3 14, steering wheel 4 15 and steering wheel 5 16; Connected by Connection Block 1 transition between steering wheel 1 and steering wheel 2 11, connected between steering wheel 2 11 and steering wheel 3 13 by Connection Block 2 12 transition, connected by Connection Block 3 14 transition between steering wheel 3 13 and steering wheel 4 15, steering wheel 4 15 is directly connected with steering wheel 5 16; Steering wheel 1 is settled in the base and is driven by the control module in matrix, and the other one end of steering wheel five 16d is connected with hand.
The retaining part indention of hand, hand has an activity template 5, and activity template 5 realizes the clamping between stator and loosens under the drive of motor 4.
See Fig. 3.One of lettering pen 6 is writing end 17, and other end is erasing end 18, to realize can writing and wiping.
Control terminal and matrix carry out Bluetooth communication.
Hand-holdable control terminal: mainly comprise and control communications portion, operation push-button part and touch screen portion, its small volume and less weight, can by the hand-held use of teacher.
The command mode that this alternative device manually write is different according to control terminal, can complete in a different manner to substitute and write.Exemplify two kinds below.
One, mandamus WriteMode:
First turn on the power switch 1 and start button 2, power on to electromagnet 3, utilize magnetic force whole mechanical arm to be adsorbed on blackboard (blackboard material is ferrimagnet)) on; Hand motor 4 drives activity template 5 to unclamp, and is put into by lettering pen 6, and the writing end 17 of lettering pen 6 just to blackboard, then hand motor 4 drives activity template 5 to clamp lettering pen 6; Afterwards, controlling drive motors 7 drives wheel 8 to make mechanical arm run to predetermined writing position;
The word write needed for teacher is selected on hand-holdable control terminal, the ordinal number coding of selected word in character library is sent to mechanical arm by control terminal, ordinal number code parsing is generated type matrix coding by the control module of mechanical arm, and scanning analysis is carried out to stroke writing, calculate stroke the angle of coordinate a little and corresponding steering wheel, then calculate and correspondingly write each steering wheel action of controling parameters rear drive.Then, steering wheel 1 drives steering wheel 2 11 action by being attached thereto the Connection Block 1 connect, in like manner, steering wheel two drives steering wheel 3 13 by being attached thereto the Connection Block 2 12 connect, steering wheel three drives steering wheel 4 15 by being attached thereto the Connection Block 3 14 connect, steering wheel four drives steering wheel 5 16, and steering wheel five drives and is attached thereto the hand exercise connect, and lettering pen can complete and write work accordingly.
Two, touch screen follows ways of writing:
Teacher's touch screen on hand-holdable control terminal is write or is drawn, hand-holdable control terminal can in time touch screen be write or draw operation mid point coordinate data be sent to mechanical arm, the control module of mechanical arm calculates steering wheel angle according to coordinate data, steering wheel is driven to navigate to writing position, and model-following control terminal carries out following writing, the speed sync that its writing speed and teacher write on touch screen.
All the other functions: " erasing blackboard function " is consistent with " touch screen is followed and write " principle, under " erasing blackboard function " order, control steering wheel 5 16 and drive hand to revolve turnback, make erasing end 18 just to blackboard, get final product the written trace on erasing blackboard.

Claims (10)

1. the alternative device manually write, is characterized in that: be made up of lettering pen, mechanical arm and control terminal; Mechanical arm comprises the hand of clamping lettering pen, the arm be connected with hand and settles the matrix of arm;
Matrix also arranges communication module and control module, and matrix receives the instruction of control terminal, is completed write by control module control arm and hand.
2. device according to claim 1, is characterized in that: base bottom also arranges sucker and the wheel for walking, to realize controlling and adjustment writing position.
3. device according to claim 1, is characterized in that: one of lettering pen is writing end, and other end is erasing end, to realize can writing and wiping.
4. device according to claim 1, is characterized in that: control terminal and matrix are carried out wired connection and communicated or wireless communication.
5. device according to claim 4, is characterized in that: wireless communication comprises bluetooth, infrared or radio.
6. device according to claim 1, is characterized in that: control terminal comprises communications portion, operation push-button part and touch screen portion.
7. device according to claim 2, is characterized in that: sucker is one or more magnechuck.
8. device according to claim 1, is characterized in that: the retaining part indention of hand, and hand has an activity template, and activity template realizes the clamping between stator and loosens under the drive of motor.
9. device according to claim 1, is characterized in that: arm comprises steering wheel one, Connection Block one, steering wheel two, Connection Block two, steering wheel three, Connection Block three, steering wheel four and steering wheel five; Connected by Connection Block one transition between steering wheel one and steering wheel two, connected between steering wheel two and steering wheel three by Connection Block two transition, connected by Connection Block three transition between steering wheel three and steering wheel four, steering wheel four is directly connected with steering wheel five; Steering wheel one is settled in the base and is driven by the control module in matrix, and steering wheel five is connected with hand one end in addition.
10. device according to claim 2, is characterized in that: wheel arrangement drive motors, wheel realize under drive motors effect mechanical arm advance, retreat and turn to walking.
CN201420422508.6U 2014-07-30 2014-07-30 The alternative device manually write CN204123395U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420422508.6U CN204123395U (en) 2014-07-30 2014-07-30 The alternative device manually write

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420422508.6U CN204123395U (en) 2014-07-30 2014-07-30 The alternative device manually write

Publications (1)

Publication Number Publication Date
CN204123395U true CN204123395U (en) 2015-01-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201420422508.6U CN204123395U (en) 2014-07-30 2014-07-30 The alternative device manually write

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104108100A (en) * 2014-07-30 2014-10-22 桂林电子科技大学 Device capable of substituting for manual writing
CN105500358A (en) * 2016-02-18 2016-04-20 温岭市太平高级职业中学 Full-automatic six-degree-of-freedom thread burning machine
CN106671661A (en) * 2017-01-03 2017-05-17 张明月 Automatic signing device and method
CN109784499A (en) * 2018-12-21 2019-05-21 华南理工大学广州学院 A kind of learning robot and control method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104108100A (en) * 2014-07-30 2014-10-22 桂林电子科技大学 Device capable of substituting for manual writing
CN105500358A (en) * 2016-02-18 2016-04-20 温岭市太平高级职业中学 Full-automatic six-degree-of-freedom thread burning machine
CN106671661A (en) * 2017-01-03 2017-05-17 张明月 Automatic signing device and method
CN109784499A (en) * 2018-12-21 2019-05-21 华南理工大学广州学院 A kind of learning robot and control method

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GR01 Patent grant
EXPY Termination of patent right or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150128

Termination date: 20150730