CN205969001U - High accuracy intelligence robot of writing - Google Patents
High accuracy intelligence robot of writing Download PDFInfo
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- CN205969001U CN205969001U CN201620494233.6U CN201620494233U CN205969001U CN 205969001 U CN205969001 U CN 205969001U CN 201620494233 U CN201620494233 U CN 201620494233U CN 205969001 U CN205969001 U CN 205969001U
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- penholder
- balladeur train
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- 230000033001 locomotion Effects 0.000 claims abstract description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 21
- 230000003287 optical effect Effects 0.000 claims description 18
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000001427 coherent effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 abstract description 6
- 239000000758 substrate Substances 0.000 description 8
- 230000005611 electricity Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Abstract
The utility model provides a high accuracy intelligence robot of writing, it includes be provided with writing area's base, is provided with control module, Y axle moving system, X axle moving system and book writing module on the base, and Y axle moving system and X axle moving system can drive book writing module and move in writing area, its characterized in that book writing module include the connecting plate fixed with sharp slider, the connecting plate on install and carry the device of starting to write, the front end of carrying the device of starting to write be provided with the centre gripping pen -holder hold the penholder, carry the device of starting to write and can drive and hold that the penholder moves down or rise to the completion operation of starting to write or start writing drives Y axle moving system and X axle moving system and just can write out the lines or the strokes of a chinese character that link up after starting to write. The utility model discloses a direct remote control module of terminal such as cell -phone, computer ability, drive Y axle moving system, X axle moving system and book writing module to the substitute writes or drawing, has advantages such as compact structure, dependable performance, action are sensitive, the motion displacement precision is high, longe -lived, is applicable to repeated higher work occasion.
Description
Technical field
The utility model is related to intelligent robot apparatus field, more particularly to a kind of high-precision intelligent Writing robot.
Background technology
It is frequently encountered the occasion that some need Palingraphia in life, such as writes invitation letter, invitation card, or star signs
Name etc., now prints or duplicates and typically all cannot operate, by hand-written and waste time and energy it is therefore desirable to one can be write automatically
Device is replacing writing of people.Patent Office of the People's Republic of China is in one of Application No. " 201510158378.9 " disclosed in 1 day July in 2015
Plant writing machine and its Writing method, writing machine includes frame and housing；Housing is provided with input interface, and housing bottom is provided with to be write
Window；Frame is provided with writes mechanism, displacement mechanism and walking mechanism；Writing mechanism is to be provided with lettering pen, and controls lettering pen
Complete lift pen start to write state switching write mechanism；Displacement mechanism is the displacement mechanism controlling writing machine to be configured to handwriting trace；
Walking mechanism is to control the whole machine of writing machine to walk to switch the walking mechanism in region to be write.This device can only pass through cam control
Lettering pen processed carries out dot type and writes it is impossible to simulation the writing of people completely, additionally, due to cam be rigid compress, do not write several
Word, the nib of lettering pen will break down.
Content of the invention
The purpose of this utility model is the defect and deficiency for above-mentioned prior art, provides a kind of structure tight for people
Gather, dependable performance, be active in one's movements, the Writing robot of moving displacement high precision, life-span length, to replace people to be write or to draw
Draw.
For achieving the above object, technical solution adopted in the utility model is：This high-precision intelligent Writing robot, it
Including being provided with the pedestal writing region, control module and Y-axis kinematic system are provided with pedestal, in Y-axis kinematic system
It is provided with and X-axis kinematic system can be provided with described slide block, X-axis kinematic system is provided with energy along the slide block of Y-axis movement
The linear slider moving along the x-axis, described linear slider is provided with and writes module, Y-axis kinematic system and X-axis kinematic system energy
Drive is write module and is moved writing in region；Described module of writing includes the connecting plate fixing with linear slider, described
Be provided with connecting plate and carry device of starting to write, the front end carrying device of starting to write be provided with clamped penholder hold penholder, carry dress of starting to write
Putting to drive and hold penholder and move down or rise, thus completing operation of starting to write or start writing, driving Y-axis kinematic system and X-axis after starting to write
Kinematic system just can write out coherent lines or stroke.
Described carry the bracket that device of starting to write includes being arranged on connecting plate, is provided with and can move up and down on front side of bracket
Balladeur train, described penholder of holding is arranged on balladeur train front end, and described bracket is provided with the electromagnet assembly of armature, described cunning
Frame is fixed with armature, and electromagnet assembly is energized to drive balladeur train and hold penholder and moves down；It is supported with reset between bracket and balladeur train
Spring, this back-moving spring applies thrust upwards to balladeur train.
At least one slide-bar is installed with described balladeur train, this slide-bar activity is interspersed on bracket, described reset
Spring is sleeved on slide-bar.
Described carry the bracket that device of starting to write includes being arranged on connecting plate, is provided with and can move up and down on front side of bracket
Balladeur train, described penholder of holding is arranged on balladeur train front end, and described bracket is provided with vertical cylinder, described balladeur train and cylinder
Piston rod fix, during cylinder operation, piston rod can drive balladeur train and hold penholder and move down or upper shifting.
Described holding is provided with pen placing trough on rear side of penholder, be provided with and can push penholder to pen placing trough simultaneously in the front end holding penholder
Fixing screw.
One fixing hole and a deep-slotted chip breaker with fixing hole as the center of circle are offered on described balladeur train, holds penholder and pass through
Bolt is interspersed in fixing hole and deep-slotted chip breaker is fixed, and enables the random angle that the penholder held on penholder is fixed between 45 degree to 90 degree
Degree.
The described side carrying device of starting to write is provided with fan, and this fan is fixed with connecting plate by support.
Described Y-axis kinematic system includes being arranged on the optical axis of pedestal both sides, and described slide block is separately mounted to two sidelights
On axle, the rear side of pedestal is provided with the motor with driving wheel, the front side of pedestal is provided with driven pulley, driving wheel and driven pulley
Between be provided with Timing Belt, described slide block is fixed with Timing Belt.
Described X-axis kinematic system includes two ends supporting plate fixing with slide block respectively, is provided with straight optical axis on supporting plate,
Described linear slider is arranged on straight optical axis, is provided with the linear electric motors of linear drives wheel in one end of supporting plate, in support
The other end of plate is provided with straight line driven pulley, is provided with Linear Synchronous band between linear drives wheel and straight line driven pulley, described
Linear slider with Linear Synchronous band while fixing.
Described control module includes the main control board being arranged in pedestal, is provided with and master control electricity in the rear side of pedestal
The radio receiver that road plate is connected.
The utility model can simulate writing or drawing a picture of people, can directly be controlled by terminals such as mobile phone, computers, drives Y
Axis motion system, X-axis kinematic system and write module.First on mobile phone or computer, relative program is installed, inserts in a program
Need the pattern of picture or need the word write, if handwritten word is inserted with graphic form after can also scanning.Click on start button,
Main control board just energy controlled motor, linear electric motors, electromagnet assembly, cylinder 4-13 etc., certainly employs pen and draws or write, have
Compact conformation, dependable performance, be active in one's movements, moving displacement high precision, life-span length the advantages of it is adaptable to the higher work of repeatability
Occasion, particularly writes some invitation letters, invitation card etc., to replace writing of people.
Brief description
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of the utility model pedestal.
Fig. 3 is the structural representation of the utility model Y-axis kinematic system.
Fig. 4 is the structural representation of the utility model X-axis kinematic system.
Fig. 5 writes the structural representation of module for the utility model.
Fig. 6 writes the structural representation of another embodiment of module for the utility model.
Specific embodiment
As shown in figure 1, the utility model is a kind of high-precision intelligent Writing robot, it includes being provided with writes region 1-
9 pedestal 1, is provided with control module 5 and Y-axis kinematic system 2, being provided with Y-axis kinematic system 2 can be along Y-axis on pedestal 1
The slide block 2-4 of movement, described slide block 2-4 is provided with X-axis kinematic system 3, being provided with X-axis kinematic system 3 can be along X-axis
Linear slider 3-11 of movement, described linear slider 3-11 is provided with and writes module 4.Y-axis kinematic system 2 and X-axis motion
System 3 can drive write module 4 write arbitrarily mobile in the 1-9 of region.Described module 4 of writing includes and linear slider 3-11
Fixing connecting plate 4-1, described connecting plate 4-1 is provided with and carries device of starting to write, the front end carrying device of starting to write is provided with folder
That has held penholder 4-11 holds penholder 4-10, carries device of starting to write and can drive and holds penholder 4-10 and move down or rise, thus complete to start to write or
Start writing operation, drive Y-axis kinematic system 2 and X-axis kinematic system 3 just can write out coherent lines or stroke after starting to write.Draw
A complete line or after writing one, carries device of starting to write and drives and hold penholder 4-10 and rise, complete operation of starting writing, then will drive Y again
Penholder 4-11 is moved to and starts to write after next line or the starting point of next record by axis motion system 2 and X-axis kinematic system 3, repeats to transport
Dynamic can simulate writing or drawing a picture of people, have the advantages that dependable performance, be active in one's movements, life-span length.
As shown in Fig. 2 described pedestal 1 includes cover plate 1-1, left plate 1-2, right plate 1-3, front side board 1-4, back side panel 1-
5, base plate 1-6, corner pieces 1-7, support member 1-8 etc. forms；Described left plate 1-2 two ends are connected with corner pieces 1-7；Described right side
Plate 1-3 two ends are connected with corner pieces 1-7；Described front side board 1-4 two ends are connected with corner pieces 1-7；Described back side panel 1-5 two ends with
Corner pieces 1-7 connect；The coaming plate of the above four side plate and the formation of corner pieces 1-7 is connected with base plate 1-6 support member 1-8；
Described cover plate 1-1 is connected with coaming plate support member 1-8.The above connected mode can be that screw or riveting or welding etc. are fixing
Form.In the middle of described cover plate 1-1 and base plate 1-6, hollow out forms and writes region 1-9, is used in and the paper write can be needed solid
It is scheduled on and writes in the 1-9 of region, or paper is pressed under pedestal 1.
As shown in figure 3, described Y-axis kinematic system includes left substrate 2-12, the right substrate 2-13 being arranged in pedestal 1,
Prebasal plate 2-8 and metacoxal plate 2-9, described Y-axis kinematic system 2 structure on two sides is all arranged symmetrically.In the setting of the two ends of prebasal plate 2-8
There is optical axis 2-6, the rear end of optical axis 2-6 is fixed with left substrate 2-12 or right substrate 2-13 by fixed plate, in the optical axis 2-6 of every side
On be mounted on slide block 2-4.The optical axis 2-6 of every side is provided with two, and slide block 2-4 so can be avoided to rotate.Described slide block
It is provided with bearing 2-5 in 2-4, rubbing between slide block 2-4 and optical axis 2-6 can be substantially reduced by bearing 2-5 and optical axis 2-6 socket
Wiping power.All there is the motor 2-1 with driving wheel 2-2 in the rear end of left substrate 2-12 and right substrate 2-13, this motor 2-1 is servo electricity
Machine.The front end of left substrate 2-12 and right substrate 2-13 is provided with driven pulley 2-10, sets between driving wheel 2-2 and driven pulley 2-10
It is equipped with Timing Belt 2-3, described slide block 2-4 and Timing Belt 2-3 fixes, during such motor 2-1 work, by Timing Belt
The transmission of 2-3, just can carry movable slider 2-4 to move along Y direction.
As shown in figure 4, described X-axis kinematic system 3 includes supporting plate 3-1, the two ends bottom of described supporting plate 3-1 is provided with
Keyset 3-2, supporting plate 3-1 is fixed with slide block 2-4 by keyset 3-2, and therefore Y-axis kinematic system 2 can drive supporting plate 3-1 along Y
Axle moves.Left fixed frame 3-3 and right fixed frame 3-4 is provided with the supporting plate 3-1 of place, left fixed frame 3-3 and right fixed frame 3-4 it
Between be provided with straight optical axis 3-13, described linear slider 3-11 is arranged on straight optical axis 3-13.Described straight optical axis 3-
13 are provided with two, and linear slider 3-11 so can be avoided to rotate.It is provided with linear bearing in described linear slider 3-11
3-12, is socketed by linear bearing 3-12 and straight optical axis 3-13, can substantially reduce linear slider 3-11 and straight optical axis 3-13
Between frictional force.In left fixed frame 3-3, linear electric motors 3-5 is installed, this linear electric motors 3-5 is servomotor, in straight line
Linear drives wheel 3-6 is provided with the output shaft of motor 3-5, straight line driven pulley 3-8 is provided with right fixed plate 3-10, straight
It is provided with Linear Synchronous band 3-7, described linear slider 3-11 is same with straight line between line driving wheel 3-6 and straight line driven pulley 3-8
Step is with 3-7's while fixing.During so linear electric motors 3-5 work, by the transmission of Linear Synchronous band 3-7, just can drive straight line
Slide block 3-11 moves along X-direction.In described left fixed plate 3-3, limit switches 3-4 is installed, linear slider 3-11 can be with limit
Bit switch 3-4 offsets, and after linear slider 3-11 touching limit switch 3-4, linear electric motors 3-5 quits work.
As shown in figure 5, described module 4 of writing includes the connecting plate 4-1 fixing with linear slider 3-11, described connection
It is provided with plate 4-1 and carries device of starting to write, described carrying is started to write the bracket 4-2 that device includes being arranged on connecting plate 4-1, in bracket
It is provided with balladeur train 4-8 on front side of 4-2, described balladeur train 4-8 is installed with least one slide-bar 4-9, the 4-9 activity of this slide-bar is worn
Insert on bracket 4-2.The utility model is respectively arranged a slide-bar 4-9 in the left and right sides of balladeur train 4-8, so that balladeur train 4-8 is put down
Surely move up and down.Described balladeur train 4-8 front end is provided with holds penholder 4-10, and described holding is provided with rear side of penholder 4-10 puts pen
Groove, is provided with and can push penholder 4-11 to pen placing trough fixing screw 4-12 in the front end holding penholder 4-10.Therefore various each
The pen of sample all can be fixed on and hold on penholder 4-10.One fixing hole and one are offered on described balladeur train 4-8 with fixing hole
For the deep-slotted chip breaker 4-7 in the center of circle, hold that penholder 4-10 is interspersed in fixing hole by bolt and deep-slotted chip breaker 4-7 fixes, make to hold penholder 4-10
On penholder 4-11 can be fixed on arbitrarily angled between 45 degree to 90 degree.By adjusting the inclination angle of penholder 4-11, book can be made
Write more true to nature.
The electromagnet assembly 4-3 of armature is provided with described bracket 4-2, described balladeur train 4-8 is fixed with armature, electricity
Magnet assemblies 4-3 are energized to drive balladeur train 4-8 and hold penholder 4-10 and move down；It is supported with reset between bracket 4-2 and balladeur train 4-8
Spring 4-4, this back-moving spring 4-4 apply thrust upwards to balladeur train 4-8.When electromagnet assembly 4-3 is energized, armature drives to be slided
Frame 4-8 and hold penholder 4-10 and move down, completes down operation；It is supported by back-moving spring 4- between described bracket 4-2 and balladeur train 4-8
4, in electromagnet assembly 4-3 dead electricity, back-moving spring 4-4 drives balladeur train 4-8 and holds shifting on penholder 4-10, completes the behaviour that starts writing
Make.
The described side carrying device of starting to write is provided with fan 4-6, and it is solid that this fan 4-6 passes through support 4-5 and connecting plate 4-1
Fixed, for the radiating carrying device of starting to write.
As shown in fig. 6, the described another embodiment writing module, it carries device of starting to write and equally includes bracket 4-2, balladeur train 4-
8 and hold penholder 4-10, vertical cylinder 4-13 is provided with described bracket 4-2, described balladeur train 4-8 and cylinder 4-13
Piston rod 4-14 fix, cylinder 4-13 work when, piston rod 4-14 can drive balladeur train 4-8 and hold penholder 4-10 move down or on
Move.During piston rod 4-14 indentation, drive balladeur train 4-8 and hold penholder 4-10 and move down, complete down operation；Piston rod 4-14 stretches out
When, drive balladeur train 4-8 and hold shifting on penholder 4-10, complete operation of starting writing.
Described control module 5 includes main control board 5-1, power switch 5-3, emergency switch 5-4, limit switch 5-5, master
Control circuit board 5-1 is mainly used in the action of controlled motor 2-1, linear electric motors 3-5, electromagnet assembly 4-3, cylinder 4-13 etc.,
The rear side of pedestal 1 is provided with the radio receiver 5-2 being connected with main control board 5-1, therefore passes through the terminal such as mobile phone, computer
Just can directly control this device.
During use, first on mobile phone or computer, relative program is installed it is ensured that program with high-precision intelligent Writing robot
Connect.Connection can also pass through data wire by radio receiver 5-2.Insertion needs the pattern of picture or needs in a program
Word to be write, if handwritten word is inserted with graphic form after can also scanning.Click on " startup " button, high-precision intelligent writes
The main control board 5-1 of robot just energy controlled motor 2-1, linear electric motors 3-5, electromagnet assembly 4-3, cylinder 4-13 etc., enters
Row, from employing pen drawing or writing, can click on " time-out ", " stopping " button, " time-out " can be again extensive at time-out in operation
Multiple startup, can only restart to draw or write from the lower left corner after " stopping " again.It is additionally provided with program and regulate the speed, setting
Initial point, returns to the functions such as initial point, presses corresponding instruction, and high-precision intelligent Writing robot just can press command operating.
Claims (10)
1. a kind of high-precision intelligent Writing robot, it includes being provided with the pedestal writing region, is provided with control on pedestal
Module and Y-axis kinematic system, are provided with Y-axis kinematic system and can be provided with X along the slide block of Y-axis movement on described slide block
Axis motion system, is provided with the linear slider that can move along the x-axis in X-axis kinematic system, described linear slider is provided with
Write module, Y-axis kinematic system and X-axis kinematic system can drive writes module and move writing in region；It is characterized in that institute
The module of writing stated includes the connecting plate fixing with linear slider, described connecting plate is provided with and carries device of starting to write, carrying
The front end of pen device be provided with clamped penholder hold penholder, carry device of starting to write and can drive and hold penholder and move down or rise, thus complete
Become to start to write or operation of starting writing, drive Y-axis kinematic system and X-axis kinematic system just can write out coherent lines or pen after starting to write
Draw.
2. it is characterised in that described carrying is started to write, device includes high-precision intelligent Writing robot according to claim 1
It is arranged on the bracket on connecting plate, is provided with the balladeur train that can move up and down on front side of bracket, described penholder of holding is arranged on balladeur train
Front end, described bracket is provided with the electromagnet assembly of armature, and described balladeur train is fixed with armature, and electromagnet assembly is energized
Balladeur train can be driven and hold penholder and move down；Be supported with back-moving spring between bracket and balladeur train, this back-moving spring balladeur train is applied to
On thrust.
3. high-precision intelligent Writing robot according to claim 2 is it is characterised in that fixedly mount on described balladeur train
There is at least one slide-bar, this slide-bar activity is interspersed on bracket, and described back-moving spring is sleeved on slide-bar.
4. it is characterised in that described carrying is started to write, device includes high-precision intelligent Writing robot according to claim 1
It is arranged on the bracket on connecting plate, is provided with the balladeur train that can move up and down on front side of bracket, described penholder of holding is arranged on balladeur train
Front end, described bracket is provided with vertical cylinder, and the piston rod of described balladeur train and cylinder is fixed, and during cylinder operation, lives
Stopper rod can drive balladeur train and hold penholder and move down or upper shifting.
5. according to the arbitrary described high-precision intelligent Writing robot of claim 1-4 it is characterised in that described holds after penholder
Side is provided with pen placing trough, is provided with and can push penholder to pen placing trough fixing screw in the front end holding penholder.
6. according to the arbitrary described high-precision intelligent Writing robot of claim 2-4 it is characterised in that opening on described balladeur train
It is provided with a fixing hole and a deep-slotted chip breaker with fixing hole as the center of circle, hold penholder and fixing hole and arc are interspersed in by bolt
Groove is fixed, and so that the penholder held on penholder is fixed on arbitrarily angled between 45 degree to 90 degree.
7. according to the arbitrary described high-precision intelligent Writing robot of claim 1-4 it is characterised in that described carry device of starting to write
Side be provided with fan, this fan is fixed with connecting plate by support.
8. according to the arbitrary described high-precision intelligent Writing robot of claim 1-4 it is characterised in that described Y-axis kinetic system
System includes being arranged on the optical axis of pedestal both sides, and described slide block is separately mounted on the optical axis of both sides, is provided with the rear side of pedestal
With the motor of driving wheel, the front side of pedestal is provided with driven pulley, between driving wheel and driven pulley, is provided with Timing Belt, described
Slide block and Timing Belt are while fix.
9. high-precision intelligent Writing robot according to claim 8 is it is characterised in that described X-axis kinematic system includes
Two ends supporting plate fixing with slide block respectively, is provided with straight optical axis, described linear slider is arranged on straight optical axis on supporting plate
On, it is provided with the linear electric motors of linear drives wheel in one end of supporting plate, in the other end of supporting plate, straight line driven pulley is installed,
It is provided with Linear Synchronous band, described linear slider is solid with Linear Synchronous band between linear drives wheel and straight line driven pulley
Fixed.
10. according to the arbitrary described high-precision intelligent Writing robot of claim 1-4 it is characterised in that described control module
Including the main control board being arranged in pedestal, in the rear side of pedestal, the wireless receiving dress being connected with main control board is installed
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620494233.6U CN205969001U (en) | 2016-05-27 | 2016-05-27 | High accuracy intelligence robot of writing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620494233.6U CN205969001U (en) | 2016-05-27 | 2016-05-27 | High accuracy intelligence robot of writing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205969001U true CN205969001U (en) | 2017-02-22 |
Family
ID=58019944
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620494233.6U Active CN205969001U (en) | 2016-05-27 | 2016-05-27 | High accuracy intelligence robot of writing |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166741A (en) * | 2016-05-27 | 2016-11-30 | 宁波创控智能科技有限公司 | High-precision intelligent writing robot |
| CN107093346A (en) * | 2017-05-09 | 2017-08-25 | 河南理工大学 | A kind of order of strokes observed in calligraphy training system |
| CN107610366A (en) * | 2017-10-19 | 2018-01-19 | 金陵科技学院 | A kind of box self-service sketch face auto-portrait robot |
| CN107705673A (en) * | 2017-09-19 | 2018-02-16 | 李沛东 | A kind of apparatus for demonstrating of mathematical function curve |
| CN109774353A (en) * | 2019-03-07 | 2019-05-21 | 赵木琦 | It takes an examination towards high school student and assists the fixed plate and method of writing device |
| CN110076784A (en) * | 2018-01-26 | 2019-08-02 | 南京机器人研究院有限公司 | Robot calligraphy system |
| CN110328989A (en) * | 2019-07-12 | 2019-10-15 | 阜阳职业技术学院 | A kind of hand-written script blackboard writing machine |
| CN112297683A (en) * | 2020-10-30 | 2021-02-02 | 广州理工学院 | an automatic writing device |
| CN112356043A (en) * | 2020-11-04 | 2021-02-12 | 江苏海洋大学 | Double-line-width curved surface painting and writing manipulator |
| CN113172639A (en) * | 2021-04-13 | 2021-07-27 | 国网山东省电力公司烟台供电公司 | Intelligent writing device and writing method thereof |
-
2016
- 2016-05-27 CN CN201620494233.6U patent/CN205969001U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166741A (en) * | 2016-05-27 | 2016-11-30 | 宁波创控智能科技有限公司 | High-precision intelligent writing robot |
| CN107093346A (en) * | 2017-05-09 | 2017-08-25 | 河南理工大学 | A kind of order of strokes observed in calligraphy training system |
| CN107705673A (en) * | 2017-09-19 | 2018-02-16 | 李沛东 | A kind of apparatus for demonstrating of mathematical function curve |
| CN107610366A (en) * | 2017-10-19 | 2018-01-19 | 金陵科技学院 | A kind of box self-service sketch face auto-portrait robot |
| CN110076784A (en) * | 2018-01-26 | 2019-08-02 | 南京机器人研究院有限公司 | Robot calligraphy system |
| CN109774353A (en) * | 2019-03-07 | 2019-05-21 | 赵木琦 | It takes an examination towards high school student and assists the fixed plate and method of writing device |
| CN110328989A (en) * | 2019-07-12 | 2019-10-15 | 阜阳职业技术学院 | A kind of hand-written script blackboard writing machine |
| CN112297683A (en) * | 2020-10-30 | 2021-02-02 | 广州理工学院 | an automatic writing device |
| CN112356043A (en) * | 2020-11-04 | 2021-02-12 | 江苏海洋大学 | Double-line-width curved surface painting and writing manipulator |
| CN113172639A (en) * | 2021-04-13 | 2021-07-27 | 国网山东省电力公司烟台供电公司 | Intelligent writing device and writing method thereof |
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