CN207724311U - A kind of calligraphy robot - Google Patents
A kind of calligraphy robot Download PDFInfo
- Publication number
- CN207724311U CN207724311U CN201721825704.8U CN201721825704U CN207724311U CN 207724311 U CN207724311 U CN 207724311U CN 201721825704 U CN201721825704 U CN 201721825704U CN 207724311 U CN207724311 U CN 207724311U
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- joint
- axis
- calligraphy robot
- mechanical arm
- driving
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Abstract
The utility model discloses a kind of calligraphy robot, the calligraphy robot includes mounting bracket, it starts writing for band the mechanical arm write and the X-axis drive component moved along X-axis for driving manipulator arm, the mechanical arm includes sequentially connected first joint, second joint, third joint and the 4th joint, wherein, the first joint and the 4th joint can be rotated around X-axis, and second joint can be rotated around Y-axis, third joint can rotate about the z axis, and the pen for writing is arranged in the 4th joint.Calligraphy robot according to the present utility model by the first joint that can be rotated around X-axis and the 4th joint, second joint can be rotated around Y-axis and third joint can be rotated about the z axis form mechanical arm and simulate the arm of people and write, the calligraphy robot architecture of the utility model is simple, precision is high, stability is good, easy to operation.
Description
Technical field
The utility model is related to robot field more particularly to a kind of calligraphy robots.
Background technology
With the continuous development of robot research, calligraphy robot be it is a kind of by mechanical manipulation realize word write from
Dong Hua robots, having for existing calligraphy robot is handling low, and the not high problem of precision cannot be satisfied demand.
Utility model content
The purpose of the utility model is to provide it is a kind of it is simple in structure, precision is high, handling strong calligraphy robot.
The utility model is achieved through the following technical solutions：A kind of calligraphy robot is provided, the calligraphy robot includes
Mounting bracket, the mechanical arm write of starting writing for band, the X-axis driving group moved along X-axis for driving manipulator arm
Part, and for the electric control gear of control machinery arm and X-axis drive component, the mechanical arm includes rotated around X-axis
One joint, the second joint rotated around Y-axis, the third joint rotated about the z axis and around the 4th joint that X-axis rotates, the first joint,
Second joint, third joint and the 4th joint are sequentially connected；Pen for writing is connected to the 4th joint.
As a further improvement of the above technical scheme, the X-axis drive component includes X-axis driving motor, X-axis driving silk
Bar and X-axis driving plate, the X-axis driving motor are mounted on mounting bracket, the electricity of X-axis the driving lead screw and X-axis driving motor
Arbor is connected, and the X-axis driving plate is set on X-axis driving lead screw, and the mechanical arm is connected with X-axis driving plate.
As a further improvement of the above technical scheme, first joint, second joint, third joint and the 4th joint
It is steering engine component.
As a further improvement of the above technical scheme, it is provided with below the mechanical arm for placing carrier of characters
Placement plate, the placement plate be mounted on mounting bracket on.
As a further improvement of the above technical scheme, the placement plate is acrylic board.
As a further improvement of the above technical scheme, the electric control gear is mounted on mounting bracket and positioned at placement plate
Lower section.
As a further improvement of the above technical scheme, the electric control gear includes power supply, motor driving plate, servos control
Device and microcontroller, the motor driving plate are electrically connected with X-axis drive component, and the steering engine controller is electrically connected with mechanical arm
It connects, the power supply and motor driving plate, steering engine controller and monolithic mechatronics.
The beneficial effects of the utility model include at least：In the calligraphy robot of the utility model, by can be revolved around X-axis
The first joint and the 4th joint that turn can rotates second joint and can to rotate third joint composition about the z axis mechanical around Y-axis
The arm of arm simulation people is write, and the calligraphy robot architecture of the utility model is simple, and precision is high, and stability is good, is convenient for
Operation.
Description of the drawings
Fig. 1 is the schematic elevation view according to the calligraphy robot of the utility model one embodiment；
Fig. 2 is the schematic side view according to the calligraphy robot of the utility model one embodiment.
Specific implementation mode
Below in conjunction with attached drawing in the embodiments of the present invention, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.The component of the utility model embodiment being usually described and illustrated herein in the accompanying drawings can be with a variety of different configurations
To arrange and design.Therefore, the detailed description of the embodiments of the present invention to providing in the accompanying drawings is not intended to limit below
The claimed the scope of the utility model of system, but it is merely representative of the selected embodiment of the utility model.It is new based on this practicality
The embodiment of type, the every other embodiment that those skilled in the art are obtained without making creative work,
It shall fall within the protection scope of the present invention.
As shown in Figure 1 to Figure 2, the calligraphy robot of the preferred embodiment in the utility model includes mounting bracket 1, is started writing for band
5 mechanical arms 3 write and the X-axis drive component 2 moved along X-axis for driving manipulator arm 3, the manipulator
Arm 3 includes sequentially connected first joint 31, second joint 32, third joint 33 and the 4th joint 34, wherein the first joint 31
It can be rotated around X-axis with the 4th joint 34, second joint 32 can be rotated around Y-axis, and third joint 33 can rotate about the z axis, be used
It is arranged on the 4th joint 34 in the pen 5 of writing.The calligraphy robot of the utility model can realize full-automatic word book
It writes, it is simple in structure, handling strong.Specifically, the side edge in mounting bracket 1, the manipulator is arranged in the X-axis drive component 2
Arm 3 is located at the middle part of mounting bracket 1, and the mechanical arm 3 is connected with X-axis drive component 2, and the mechanical arm 3 drives in X-axis
It can be moved along X-axis under the driving of component 2.
The X-axis drive component 2 includes X-axis driving motor 21, X-axis driving lead screw 22 and X-axis driving plate 23, the X-axis
Driving motor 21 is mounted on mounting bracket 1, and the X-axis driving lead screw 22 is connected with the motor shaft of X-axis driving motor 21, described
X-axis driving plate 23 is set on X-axis driving lead screw 22.The mechanical arm 3 is connected with X-axis driving plate 23, passes through the X-axis
Driving motor 21 drives X-axis driving lead screw 22 rotation to drive X-axis driving plate 23 to be moved on X-axis driving lead screw 22 so that
Mechanical arm 3 can move back and forth along X-axis so that writing range is wider, degree of freedom higher.
First joint 31, second joint 32, third joint 33 and the 4th joint 34 are all made of steering engine and form and pass through
32 road steering engine controller controls of USBSSC-, control mode are simple.Pen 5 for writing is arranged in the 4th joint 34.At this
In embodiment, the pen 5 for writing is writing brush 5, and the pen 5 is fixed on by clamping plate 51 and screw on the 4th joint 34, is led to
Crossing the first joint 31, second joint 32, third joint 33 and the 4th joint 34 drives writing brush 5 to be moved, and realizes the book of word
It writes.First joint 31, second joint 32, third joint 33 and the 4th joint 34 can carry out the rotation of 180 degree,
In, first joint, 31 and the 4th joint 34 can be rotated around X-axis, and second joint 32 can be rotated around Y-axis, third joint 33
It can rotate about the z axis, this makes the scope of activities of mechanical arm 3 broader, can complete the book of the word of the picture of complicated pen 5
It writes, and the word write is more beautiful.
The lower section of the mechanical arm 3 is provided with the placement plate 4 for placing carrier of characters, and the placement plate 4 is mounted on
On mounting bracket 1.The carrier of characters refers to for being stored and being showed the start writing word of 5 writings of 3 band of mechanical arm
Carrier common are paper, board etc..The placement plate 4 is built by acrylic board (Acrylic).Acrylic board
(Acrylic) good toughness, not cracky, and easy to clean, as long as dipping in toothpaste with soft foam, to be wiped one new.
The calligraphy robot further includes (not scheming for the electric control gear of control machinery arm 3 and X-axis drive component 2
Show), the electric control gear is mounted on the lower section on mounting bracket 1 and positioned at placement plate 4.The electric control gear includes power supply, motor
Driving plate, steering engine controller and microcontroller, the electric control gear and X-axis drive component 2 and mechanical arm 3 are electrically connected.Its
In, the motor driving plate is that stepper motor driving plate is used to control X-axis driving motor 21, and the steering engine controller is
32 road steering engine controllers of USBSSC-are used for control machinery arm 3.Between the electric control gear is arranged on mounting bracket 1, fill
Divide and space is utilized, not only so that the appearance of calligraphy robot is more beautiful and reduces the occupied space of calligraphy robot.
The calligraphy robot of the utility model by the first joint 31 that can be rotated around X-axis and the 4th joint 34, can
Second joint 32, which is rotated, around Y-axis and can rotate third joint 33 about the z axis and form mechanical arm 3 simulates the arm of people into running hand
It writes, the calligraphy robot architecture of the utility model is simple, and precision is high, and stability is good, easy to operation.
In the description of the present invention, it should be understood that term " first ", " second ", " third ", " the 4th " etc. are only
For descriptive purposes, it is not understood to indicate or imply relative importance.For the ordinary skill in the art, may be used
Understand the concrete meaning of above-mentioned term in the present invention with concrete condition.In addition, in the description of the present invention, unless
It is otherwise noted, the meaning of " plurality " is two or more.
While there has been shown and described that the embodiments of the present invention, it will be understood by those skilled in the art that：
Can these embodiments be carried out with a variety of variations in the case where not departing from the principles of the present invention and objective, modification, replaced
And modification, the scope of the utility model are limited by claim and its equivalent.
Claims (7)
1. a kind of calligraphy robot, which is characterized in that the calligraphy robot includes mounting bracket, starts writing and is write for band
Mechanical arm for the X-axis drive component that driving manipulator arm is moved along X-axis, and is used for control machinery arm and X-axis
The electric control gear of drive component, the mechanical arm include the second joint rotated around the first joint that X-axis rotates, around Y-axis, around
The third joint of Z axis rotation and around the 4th joint that X-axis rotates, the first joint, second joint, third joint and the 4th joint according to
Secondary connection；Pen for writing is connected to the 4th joint.
2. calligraphy robot according to claim 1, which is characterized in that the X-axis drive component includes X-axis driving electricity
Machine, X-axis driving lead screw and X-axis driving plate, the X-axis driving motor are mounted on mounting bracket, the X-axis driving lead screw and X-axis
The motor shaft of driving motor is connected, and the X-axis driving plate is set on X-axis driving lead screw, and the mechanical arm drives with X-axis
Plate is connected.
3. calligraphy robot according to claim 1, which is characterized in that first joint, second joint, third joint
It is steering engine component with the 4th joint.
4. calligraphy robot according to claim 3, which is characterized in that be provided with below the mechanical arm for putting
The placement plate of carrier of characters is set, the placement plate is mounted on mounting bracket.
5. calligraphy robot according to claim 4, which is characterized in that the placement plate is acrylic board.
6. calligraphy robot according to claim 5, which is characterized in that the electric control gear is mounted on mounting bracket and position
In the lower section of placement plate.
7. calligraphy robot according to claim 6, which is characterized in that the electric control gear includes power supply, motor driving
Plate, steering engine controller and microcontroller, the motor driving plate are electrically connected with X-axis drive component, the steering engine controller and machine
Tool arm is electrically connected, the power supply and motor driving plate, steering engine controller and monolithic mechatronics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721825704.8U CN207724311U (en) | 2017-12-23 | 2017-12-23 | A kind of calligraphy robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721825704.8U CN207724311U (en) | 2017-12-23 | 2017-12-23 | A kind of calligraphy robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207724311U true CN207724311U (en) | 2018-08-14 |
Family
ID=63086256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721825704.8U Expired - Fee Related CN207724311U (en) | 2017-12-23 | 2017-12-23 | A kind of calligraphy robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207724311U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11318610B2 (en) | 2020-01-22 | 2022-05-03 | Tata Consultancy Services Limited | Robotic gripper for writing and object creation |
| CN114973850A (en) * | 2022-06-07 | 2022-08-30 | 安徽翰达文化科技有限公司 | Device for calligraphy accurate copying exercise |
-
2017
- 2017-12-23 CN CN201721825704.8U patent/CN207724311U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11318610B2 (en) | 2020-01-22 | 2022-05-03 | Tata Consultancy Services Limited | Robotic gripper for writing and object creation |
| CN114973850A (en) * | 2022-06-07 | 2022-08-30 | 安徽翰达文化科技有限公司 | Device for calligraphy accurate copying exercise |
| CN114973850B (en) * | 2022-06-07 | 2023-11-28 | 安徽翰达文化科技有限公司 | Device for accurate copying exercise of handwriting |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180814 Termination date: 20201223 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |