CN207747068U - A kind of calligraphy robotic gripper change-fountain pen mechanism - Google Patents
A kind of calligraphy robotic gripper change-fountain pen mechanism Download PDFInfo
- Publication number
- CN207747068U CN207747068U CN201721917429.2U CN201721917429U CN207747068U CN 207747068 U CN207747068 U CN 207747068U CN 201721917429 U CN201721917429 U CN 201721917429U CN 207747068 U CN207747068 U CN 207747068U
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- calligraphy
- elastic clip
- clip cylinder
- writing brush
- fountain pen
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Abstract
The utility model provides a kind of calligraphy robotic gripper change-fountain pen mechanism, it is related to calligraphy robotic technology field, including control arm, written frame and several writing brush components, further include upper bush, elastic clip cylinder, electromagnet and lower sleeve, lower sleeve is connect with elastic clip cylinder, and lower sleeve is slidable in the vertical direction with upper bush and connect, the outer diameter of elastic clip cylinder gradually increases from top to bottom, and the maximum outside diameter of elastic clip cylinder is more than the maximum inner diameter of upper bush.Calligraphy robotic gripper change-fountain pen mechanism provided by the utility model, lower sleeve is adsorbed by using the power on/off of electromagnet, and then lower sleeve and elastic clip cylinder is driven to move up, the clamping action to the writing brush component in elastic clip cylinder is realized using the inclined-plane of elastic clip cylinder and the withstanding effect of upper bush inner wall, and then realizes the action for taking writing brush, when needing to put down writing brush, then electromagnet is powered off, then can elastic clip cylinder move down outer, writing brush component is loosened, pen action is put in realization.
Description
Technical field
The utility model belongs to calligraphy robotic technology field, is to be related to a kind of calligraphy robotic gripper more specifically
Change-fountain pen mechanism.
Background technology
With the development of office automation, calligraphy has gradually faded out us as the distinctive ancient art in China
Studying and living, the thing followed is substituted by computer printer.But since people are to higher existing for calligraphy art
Pursuit, calligraphy robot comes into being, and has been obtained for development for many years, by robot for writing calligraphy work,
The mankind can be replaced to write with robot, alleviate the calligraphy shortage of professionals this problem significantly, can carry out in real time soft
The action process that pen is write obtains everybody appreciation of people, meets needs of the people to artistic pursuit.
But when current calligraphy machine person writing, due to needing the writing brush using different size for different fonts, so
It is frequently necessary to carry out the replacement of writing brush, and the replacement of the writing brush in calligraphy robot now needs manually to complete mostly, automatically
Change degree is low, and it is low to write efficiency.
Utility model content
The purpose of this utility model is to provide a kind of calligraphy robotic gripper change-fountain pen mechanisms, to solve to deposit in the prior art
Calligraphy robot cannot carry out the replacement of writing brush automatically the technical issues of.
To achieve the above object, the technical solution adopted in the utility model is：A kind of calligraphy robotic gripper change-fountain pen is provided
Mechanism, including control arm, written frame and several writing brush components further include being connected with control arm lower end and upper set up and down
Cylinder, be set to inside upper bush elastic clip cylinder, set on upper bush top electromagnet and be used for and electromagnet magnetic absorption
Lower sleeve, lower sleeve is connect with elastic clip cylinder, and lower sleeve is slidable in the vertical direction with upper bush and connect, elastic clip cylinder it is outer
Diameter gradually increases from top to bottom, and the maximum outside diameter of elastic clip cylinder is more than the maximum inner diameter of upper bush.
As further optimization, elastic clip cylinder includes positive round platform, and positive round platform is equipped with multiple around positive round platform axis point
The upper constringency cleft of cloth, the opening upwards of upper constringency cleft are additionally provided on positive round platform under multiple distributions around positive round platform axis
Constringency cleft, Open Side Down for lower constringency cleft.
Further include the inverted round stage being set to below positive round platform, Open Side Down for lower constringency cleft as further optimization
Extend to the lower edge of inverted round stage, Open Side Down extends to the lower end of inverted round stage for upper constringency cleft.
As further optimization, the periphery of the junction of positive round platform and inverted round stage is equipped with card slot, and the inner wall of lower sleeve is set
It is useful for the circle circumferential projection being clamped with card slot.
As further optimization, the upper outside of upper bush is equipped with the limiting slot arranged along the vertical direction, lower sleeve
Inner wall is equipped with the spacer pin being slidably connected in the up-down direction with limiting slot.
As further optimization, upper bush is connected by terminal pad with control arm, and upper bush includes interconnecting piece and sets
It is placed in the auxiliary section below interconnecting piece, interconnecting piece is connected with terminal pad, and the inner wall of auxiliary section is abutted with the outer wall of elastic clip cylinder, is matched
The outer wall in conjunction portion and the inner wall of lower sleeve are slidably matched, and limiting slot is set on auxiliary section.
As further optimization, the internal diameter of auxiliary section gradually increases from top to bottom.
As further optimization, terminal pad is set to the periphery of interconnecting piece, and the top periphery of interconnecting piece is equipped with nut, spiral shell
Female bottom surface is abutted with the top surface of terminal pad.
As further optimization, nib sets up the side for being placed in paper, and written frame is equipped with several writing brush components.
As further optimization, writing brush component includes writing brush and is set to the clamping pen container of writing brush periphery, is clamped pen container
The column casing that is engaged including inner wall and writing brush and it is set to column casing lower part and plate face is perpendicular to the snap-gauge of the main shaft of column casing, card
Plate is abutted with the bottom of lower sleeve, and elastic clip cylinder is for clamping column casing.
The advantageous effect of calligraphy robotic gripper change-fountain pen mechanism provided by the utility model is：It is provided by the utility model
Calligraphy robotic gripper change-fountain pen mechanism, adsorbs lower sleeve by using the power on/off of electromagnet, and then drives lower sleeve
It moves up with elastic clip cylinder, is realized to the writing brush in elastic clip cylinder using the inclined-plane of elastic clip cylinder and the withstanding effect of upper bush inner wall
The clamping action of component, and then realize that the action for taking writing brush then powers off electromagnet when needing to put down writing brush, then
Energy elastic clip cylinder moves down outer, loosens to writing brush component, and pen action is put in realization.
Description of the drawings
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new
Some embodiments of type for those of ordinary skill in the art without having to pay creative labor, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structure of the use state for calligraphy robotic gripper change-fountain pen mechanism that the utility model embodiment provides
Schematic diagram；
Fig. 2 is a kind of section view knot for calligraphy robotic gripper change-fountain pen mechanism clamp position that the utility model embodiment provides
Structure schematic diagram；
Fig. 3 is a kind of section view for the non-clamping state of calligraphy robotic gripper change-fountain pen mechanism that the utility model embodiment provides
Structural schematic diagram；
Fig. 4 is the schematic cross-sectional view of writing brush component in the utility model embodiment Fig. 2；
Fig. 5 is the schematic cross-sectional view of upper bush in the utility model embodiment Fig. 2；
Fig. 6 is the schematic cross-sectional view of elastic clip cylinder in the utility model embodiment Fig. 2；
Wherein, each reference numeral in figure：
100- terminal pads；200- upper bushes；210- interconnecting pieces；211- nuts；The auxiliary sections 220-；230- limiting slots；300-
Elastic clip cylinder；The positive round platforms of 310-；320- inverted round stage；The upper constringency clefts of 330-；Constringency cleft under 340-；350- card slots；Under 400-
Sleeve；410- spacer pins；420- protrusions；500- writing brush components；510- writing brushes；520- is clamped pen container；521- column casings；522- cards
Plate；600- electromagnet；700- control arms；800- nib framves.
Specific implementation mode
In order to make technical problem to be solved in the utility model, technical solution and advantageous effect be more clearly understood, with
Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific reality described herein
It applies example to be only used to explain the utility model, is not used to limit the utility model.
It should be noted that when element is referred to as " being fixed on " or " being set to " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on ... shown in the drawings or position are closed
System, is merely for convenience of describing the present invention and simplifying the description, does not indicate or imply the indicated device or element is necessary
With specific orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
Also referring to Fig. 1 to Fig. 6, now calligraphy robotic gripper change-fountain pen mechanism provided by the utility model is said
It is bright.Calligraphy robotic gripper change-fountain pen mechanism, including control arm 700, written frame 800 and several writing brush components 500, further include with
700 lower end of control arm be connected and upper bush 200 up and down, be set to inside upper bush 200 elastic clip cylinder 300, be set to
The electromagnet 600 on 200 top of upper bush and for the lower sleeve 400 with 600 magnetic absorption of electromagnet, lower sleeve 400 and bullet
Property folder cylinder 300 connect, and lower sleeve 400 is slidable in the vertical direction with upper bush 200 and connect, and the outer diameter of elastic clip cylinder 300 is from upper
To lower gradual increase, the maximum outside diameter of elastic clip cylinder 300 is more than the maximum inner diameter of upper bush 200.
A kind of calligraphy robotic gripper change-fountain pen mechanism provided by the utility model, compared with prior art, the utility model
The calligraphy robotic gripper change-fountain pen mechanism of offer, after being positioned to the position of the device by control arm 700, by using
The energization action of electromagnet 600 realizes the absorption to lower sleeve 400, and lower sleeve 400 and 300 entirety of elastic clip cylinder is driven to move up,
Using the withstanding effect of the periphery and 100 inner wall of upper bush of elastic clip cylinder 300, realize that elastic clip cylinder 300 is gradually stretching into upper set
During cylinder 200, elastic clip cylinder 300 is to the action collapsed at axle center, and then to the writing brush component 500 in elastic clip cylinder 300
It is effectively clamped, realizes that the action for taking writing brush then powers off electromagnet 600, lower sleeve when needing to put down writing brush
400 with elastic clip cylinder 300 synchronize move down, the lateral surface of elastic clip cylinder 300 loses the withstanding effect with 200 inner wall of upper bush,
Gradually outer in folding process, writing brush component 500 is loosened, pen action is put in realization, and entire change-fountain pen process is not necessarily to manually by writing brush
Installation is taken out to the lower end of control arm 700 or from the lower end of control arm 700, the operation of automatic more change-fountain pen is realized, using extremely
It is convenient.
As further optimization, also referring to Fig. 1, Fig. 2 and Fig. 6, as calligraphy machine provided by the utility model
A kind of specific implementation mode of change-fountain pen mechanism is clamped in people, and elastic clip cylinder 300 includes positive round platform 310, and positive round platform 310 is equipped with multiple
Around the upper constringency cleft 330 of 310 axis of positive round platform distribution, the opening upwards of upper constringency cleft 330 are also set on positive round platform 310
There are multiple lower constringency clefts 340 around the distribution of 310 axis of positive round platform, Open Side Down for lower constringency cleft 340.Upper constringency cleft
330 and the form that is evenly distributed on the circumferencial direction of positive round platform 310 of lower constringency cleft 340, it is proposed that upper constringency cleft 330
With the respectively setting three or more of lower constringency cleft 340, gathering and clamping of the cooperation elastic clip cylinder 300 during moving up are moved
Make, realize the clamping to internal writing brush component 500, realizes the action for taking pen.
As further optimization, also referring to Fig. 1, Fig. 2 and Fig. 6, as calligraphy machine provided by the utility model
A kind of specific implementation mode of change-fountain pen mechanism is clamped in people, further includes the inverted round stage 320 for being set to 310 lower section of positive round platform, lower contraction
Open Side Down in gap 340 extends to the lower edge of inverted round stage 320, and Open Side Down extends to rounding for upper constringency cleft 330
The lower end of platform 320.The setting of inverted round stage 320 can combine the shape for forming a similar spindle with the positive round platform 320 of top
Shape, ensures the integral, flexible of elastic clip cylinder 300, while also enhancing its stability, avoids local fracture, at this time upper constringency cleft
330 Open Side Down extends to the lower end of inverted round stage 320, realizes the effect that upper opening is connected by 320 lower end of inverted round stage
Fruit can be conducive to the contraction on top, and lower constringency cleft 340 extends to the lower edge of inverted round stage 320 directly down, under realization
End opening locally connects the shrinkage for realizing lower openings by 310 upper end of positive round platform, is used in combination, contractive effect is more preferably.
As further optimization, also referring to Fig. 1, Fig. 2 and Fig. 6, as calligraphy machine provided by the utility model
The periphery of the junction of a kind of specific implementation mode of people's clamping change-fountain pen mechanism, positive round platform 310 and inverted round stage 320 is equipped with card slot
350, the inner wall of lower sleeve 400 is equipped with the circle circumferential projection 420 for being clamped with card slot 350.Positive round platform 310 is up-small and down-big
Form, during being moved up with lower sleeve 400, the diameter in the section contacted with upper bush 200 becomes larger, then by upper
200 inner wall of sleeve for the outer wall of elastic clip cylinder 300 clamping action, simultaneously because upper constringency cleft 330 and lower constringency cleft
340 setting realizes effect of the elastic clip cylinder 300 to contraction at axle center, and then is clamped writing brush group at its core
Part 500 realizes the action for taking writing brush 510.Pass through card slot 350 and protrusion between lower sleeve 400 and elastic clip cylinder 300 simultaneously
420 realize both move synchronously, avoid elastic clip cylinder 300 from not generated along the case where axial-movement, safety action process it is suitable
Freely.Lower sleeve 400 drives elastic clip cylinder 300 to move up, on the one hand passes through card slot during mutually being adsorbed with electromagnet 600
350 and raised 420 mating reaction, while also passing through the inside bottom surface of lower sleeve 400 and supporting for the lower face of elastic clip cylinder 300
It connects effect and realizes that promotion elastic clip cylinder 300 moves up, and powered off in electromagnet 600, during lower sleeve 400 moves down, due to upper
Sleeve 200 is limited with lower sleeve 400 by interconnecting piece 210 and spacer pin 410, and the slippage of lower sleeve 400 can be avoided.
It is pressed from both sides as calligraphy robot provided by the utility model also referring to Fig. 1 to Fig. 6 as further optimization
A kind of specific implementation mode of change-fountain pen mechanism is held, the upper outside of upper bush 200 is equipped with the limiting slot arranged along the vertical direction
230, the inner wall of lower sleeve 400 is equipped with the spacer pin 410 being slidably connected in the up-down direction with limiting slot 230.Upper bush 200
The spacer pin 410 of limiting slot 230 and lower sleeve 400 can realize limit of the lower sleeve 400 in folding process, avoid putting
Lower sleeve 400 ensures dress the phenomenon that not slipped from 200 lower end of upper bush under by the suction-operated of electromagnet 600 during pen
The integrality set.
It is pressed from both sides as calligraphy robot provided by the utility model also referring to Fig. 1 to Fig. 4 as further optimization
A kind of specific implementation mode of change-fountain pen mechanism is held, upper bush 200 is connected by terminal pad 100 with control arm 700, upper bush 200
It is connected with terminal pad 100 including interconnecting piece 210 and the auxiliary section 220 being set to below interconnecting piece 210, interconnecting piece, auxiliary section
220 inner wall is abutted with the outer wall of elastic clip cylinder 300, and the inner wall of the outer wall and lower sleeve 400 of auxiliary section 220 is slidably matched, limit
Position slot 230 is set on auxiliary section 220.Upper bush 200 is connected by the interconnecting piece 210 of upper end with terminal pad 100, is realized
Control arm 700 drives the effect of lower member action, the setting of auxiliary section 220 to realize and elastic clip cylinder 300 and lower sleeve
Effective cooperation between 400, and then control the subsequent action process for taking writing brush component 500.
It is pressed from both sides as calligraphy robot provided by the utility model also referring to Fig. 1 to Fig. 4 as further optimization
A kind of specific implementation mode of change-fountain pen mechanism is held, the internal diameter of auxiliary section 220 gradually increases from top to bottom.The internal diameter of auxiliary section 220
The process that the design gradually increased from top to bottom can coordinate outer diameter during moving up of elastic clip cylinder 300 to become larger,
The smoothness for improving action process avoids that elastic clip cylinder 300 is caused card resistance phenomenon occur during moving up.
It is pressed from both sides as calligraphy robot provided by the utility model also referring to Fig. 1 to Fig. 4 as further optimization
Hold a kind of specific implementation mode of change-fountain pen mechanism, terminal pad 100 is set to the periphery of interconnecting piece 210, outside the top of interconnecting piece 210
Week is equipped with nut 211, and the bottom surface of nut 211 is abutted with the top surface of terminal pad 100.Interconnecting piece 210 is set to terminal pad 100
At center, the fixed effect to upper bush 200 is realized by the nut 211 that is threadedly coupled with interconnecting piece 210, terminal pad 100 with
The control arm 700 of upper end is connected, and the top that nut 211 is set to terminal pad 100 passes through the abutting with terminal pad 100, realization pair
The fixed function of upper bush 100.
As further optimization, referring to Fig. 1, as calligraphy robotic gripper change-fountain pen mechanism provided by the utility model
A kind of specific implementation mode, written frame 800 is set to the side of paper, and written frame 800 is equipped with several writing brush components
500.Writing brush component 500 be equipped with it is multiple, be placed on written frame 800, by control arm 700 drive the device be moved to correspondence
Position, that realizes writing brush component 500 effectively takes action.
It is pressed from both sides as calligraphy robot provided by the utility model also referring to Fig. 1 and Fig. 4 as further optimization
A kind of specific implementation mode of change-fountain pen mechanism is held, writing brush component 500 includes writing brush 510 and the clamping for being set to 510 periphery of writing brush
Pen container 520, clamping pen container 520 include the column casing 521 that inner wall and writing brush 510 are engaged and be set to 521 lower part of column casing and
Perpendicular to the snap-gauge 522 of the main shaft of column casing 521, snap-gauge 522 abuts plate face with the bottom of lower sleeve 400, and elastic clip cylinder 300 is used for
Clamp column casing 521.Clamping pen container 520 is set to the outside of writing brush 510, can realize the protective effect to writing brush 510, keep away face bullet
Property folder cylinder 300 when being clamped to writing brush component 500, cause the damage on 510 surface of writing brush, while being clamped pen container 520 can also
Realization and the direct withstanding effect of 400 bottom surface of lower sleeve, during the device moves down, clamping pen container 520 can
It avoids the depth that writing brush 510 enters in device excessive, avoids the problem that impacting normal use.Column casing 521 is for accommodating hair
Pen 510 realizes the protective effect to 510 periphery of writing brush, and the snap-gauge 522 that plate face is arranged perpendicular to the main shaft of column casing 521 then can
The depth entered in elastic clip cylinder 300 to writing brush component 500 is effectively limited, and is avoided stretching into and is excessively being impacted writing brush just
The problem of being often used.
Calligraphy robotic gripper change-fountain pen mechanism provided by the utility model, by using the power on/off of electromagnet to lower sleeve
It is adsorbed, and then lower sleeve and elastic clip cylinder is driven to move up, made using the inclined-plane of elastic clip cylinder and the abutting of upper bush inner wall
With realizing to the clamping action of the writing brush component in elastic clip cylinder, and then the action for taking writing brush is realized, when needing to put down writing brush
When, then electromagnet is powered off, then can elastic clip cylinder move down outer, writing brush component is loosened, pen action is put in realization.
The above is only the preferred embodiments of the present utility model only, is not intended to limit the utility model, all in this practicality
All any modification, equivalent and improvement etc., should be included in the guarantor of the utility model made by within novel spirit and principle
Within the scope of shield.
Claims (10)
1. a kind of calligraphy robotic gripper change-fountain pen mechanism, including control arm (700), written frame (800) and several writing brush components
(500), it is characterised in that：Further include be connected with the control arm (700) lower end and upper bush (200) up and down, setting
In the internal elastic clip cylinder (300) of the upper bush (200), be set to the upper bush (200) top electromagnet (600) and
For the lower sleeve (400) with the electromagnet (600) magnetic absorption, the lower sleeve (400) and the elastic clip cylinder (300)
Connection, and the lower sleeve (400) is slidable in the vertical direction with the upper bush (200) and connect, the elastic clip cylinder (300)
Outer diameter gradually increases from top to bottom, and the maximum outside diameter of the elastic clip cylinder (300) is more than the most imperial palace of the upper bush (200)
Diameter.
2. a kind of calligraphy robotic gripper change-fountain pen mechanism as described in claim 1, it is characterised in that：The elastic clip cylinder
(300) include positive round platform (310), the positive round platform (310) is equipped with multiple around the upper of positive round platform (310) the axis distribution
Constringency cleft (330), the opening upwards of the upper constringency cleft (330) are additionally provided on the positive round platform (310) and multiple surround institute
The lower constringency cleft (340) of positive round platform (310) axis distribution is stated, Open Side Down for the lower constringency cleft (340).
3. a kind of calligraphy robotic gripper change-fountain pen mechanism as claimed in claim 2, it is characterised in that：Further include be set to it is described
Inverted round stage (320) below positive round platform (310), Open Side Down extends to the inverted round stage for the lower constringency cleft (340)
(320) lower edge, Open Side Down extends to the lower ends of the inverted round stage (320) for the upper constringency cleft (330).
4. a kind of calligraphy robotic gripper change-fountain pen mechanism as claimed in claim 3, it is characterised in that：The positive round platform (310)
Be equipped with card slot (350) with the periphery of the junction of inverted round stage (320), the inner wall of the lower sleeve (400) be equipped with for it is described
The circle circumferential projection (420) of card slot (350) clamping.
5. a kind of calligraphy robotic gripper change-fountain pen mechanism as described in claim 1, it is characterised in that：The upper bush (200)
Upper outside be equipped with the limiting slot (230) arranged along the vertical direction, the inner wall of the lower sleeve (400) is equipped with and the limit
The spacer pin (410) that position slot (230) is slidably connected in the up-down direction.
6. a kind of calligraphy robotic gripper change-fountain pen mechanism as claimed in claim 5, it is characterised in that：The upper bush (200)
It is connected with the control arm (700) by terminal pad (100), the upper bush (200) includes interconnecting piece (210) and is set to
Auxiliary section (220) below the interconnecting piece (210), the interconnecting piece are connected with the terminal pad (100), the auxiliary section
(220) inner wall is abutted with the outer wall of the elastic clip cylinder (300), outer wall and the lower sleeve of the auxiliary section (220)
(400) inner wall is slidably matched, and the limiting slot (230) is set on the auxiliary section (220).
7. a kind of calligraphy robotic gripper change-fountain pen mechanism as claimed in claim 6, it is characterised in that：The auxiliary section (220)
Internal diameter gradually increase from top to bottom.
8. a kind of calligraphy robotic gripper change-fountain pen mechanism as claimed in claim 6, it is characterised in that：The terminal pad (100)
It is set to the periphery of the interconnecting piece (210), the top periphery of the interconnecting piece (210) is equipped with nut (211), the nut
(211) bottom surface is abutted with the top surface of the terminal pad (100).
9. a kind of calligraphy robotic gripper change-fountain pen mechanism as described in claim 1, it is characterised in that：The nib frame (800)
It is set to the side of paper, and the written frame (800) is equipped with several described writing brush components (500).
10. a kind of calligraphy robotic gripper change-fountain pen mechanism as claimed in claim 9, it is characterised in that：The writing brush component
(500) include writing brush (510) and be set to the clamping pen container (520) of the writing brush (510) periphery, the clamping pen container (520)
The column casing (521) that is engaged including inner wall and the writing brush (510) and it is set to the column casing (521) lower part and plate face is hung down
Directly in the snap-gauge (522) of the main shaft of the column casing (521), the snap-gauge (522) abuts with the bottom of the lower sleeve (400),
The elastic clip cylinder (300) is for clamping the column casing (521).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721917429.2U CN207747068U (en) | 2017-12-29 | 2017-12-29 | A kind of calligraphy robotic gripper change-fountain pen mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721917429.2U CN207747068U (en) | 2017-12-29 | 2017-12-29 | A kind of calligraphy robotic gripper change-fountain pen mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207747068U true CN207747068U (en) | 2018-08-21 |
Family
ID=63151987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721917429.2U Expired - Fee Related CN207747068U (en) | 2017-12-29 | 2017-12-29 | A kind of calligraphy robotic gripper change-fountain pen mechanism |
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| Country | Link |
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| CN (1) | CN207747068U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109993680A (en) * | 2019-04-04 | 2019-07-09 | 中科云创(厦门)科技有限公司 | Writing imitates method, apparatus, electronic equipment and computer-readable medium |
| CN110815265A (en) * | 2019-11-09 | 2020-02-21 | 南宁学院 | Robot gripper |
| CN115071309A (en) * | 2022-06-21 | 2022-09-20 | 东南大学 | Automatic pen changing device and pen changing method |
-
2017
- 2017-12-29 CN CN201721917429.2U patent/CN207747068U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109993680A (en) * | 2019-04-04 | 2019-07-09 | 中科云创(厦门)科技有限公司 | Writing imitates method, apparatus, electronic equipment and computer-readable medium |
| CN110815265A (en) * | 2019-11-09 | 2020-02-21 | 南宁学院 | Robot gripper |
| CN115071309A (en) * | 2022-06-21 | 2022-09-20 | 东南大学 | Automatic pen changing device and pen changing method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180821 Termination date: 20181229 |
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| CF01 | Termination of patent right due to non-payment of annual fee |