CN209050758U - A kind of auto-portrait robot - Google Patents
A kind of auto-portrait robot Download PDFInfo
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- CN209050758U CN209050758U CN201821902258.0U CN201821902258U CN209050758U CN 209050758 U CN209050758 U CN 209050758U CN 201821902258 U CN201821902258 U CN 201821902258U CN 209050758 U CN209050758 U CN 209050758U
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Abstract
A kind of auto-portrait robot, including support device, executing agency includes five link robot manipulators and double leval jib mechanical arm, for paintbrush being moved to designated position using five link robot manipulators and is painted according to the operating path control instruction and drawing instruction received；Double leval jib mechanical arm is for driving the rotation of five link robot manipulators, realizing lift pen or starting to write；First driving mechanism and five link robot manipulators are rotatablely connected, for controlling and driving the five link robot manipulator directions of motion；Second driving mechanism and double leval jib mechanical arm are rotatablely connected, for controlling and driving double leval jib manipulator motion direction；The code conversion that host computer is sent is that coordinate is sent to the first driving mechanism and the second driving mechanism by the control mechanism for communicating with host computer, and driving executing agency, which rotates or is moved to designated position, paints.The utility model compensates for the structural failure of four-bar mechanism, realizes high-precision motion output, can complete the complicated motion profile that four-bar mechanism cannot be drawn, increase drawing range.
Description
Technical field
The utility model belongs to robotic technology field, is related to a kind of auto-portrait robot.
Background technique
With the continuous development of modern industrial technology, automation technology application range is continuously increased, and robot has become
An essential part in modern industrial production.Auto-portrait robot is that one kind can imitate the mankind to complete certain drawing dynamic
The humanoid robot of work, auto-portrait robot can be used for a variety of different fields, such as teaching, art, life, amusement etc..Drawing
The appearance of robot greatly reduces the workload of related personnel, may be implemented to produce in batch, reduces cost and labour, mentions
High working efficiency.
The research of auto-portrait robot play the role of to the production and living of the mankind it is very big, auto-portrait robot can not by when
Between, space, complete to draw a picture under the influence of environment, the time of mankind's drawing is greatly saved, while robot drawing, may be used also
To do some other things, working efficiency is just greatly improved.
Most of in the auto-portrait robot at home and abroad developed at present is all that the multi-degree-of-freemechanical mechanical arm end used is write,
By the movement of computer controlled machine tool arm, drawing is achieved the purpose that with this, the mechanical arm of auto-portrait robot is under normal circumstances
Electrical servo motor driven is used, often volume is larger for this multivariant mechanical arm auto-portrait robot, exploitation speed
It is low with controllability, reaction speed is slow, sensitivity is lower, also there is the auto-portrait robot using four-bar linkage structure, but four-bar linkage structure
Robot architecture's error it is big, drawing precision it is low, cannot achieve the control to figure continuous path.
Summary of the invention
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of auto-portrait robot, pass through single-chip microcontroller
The code conversion that upper computer software is sent is that steering engine rotates angle and position coordinates, utilizes the execution machine of servo driving robot
Structure is painted, and the five link robot manipulator executing agencies with excellent mechanical properties are selected, and the structure for compensating for four-bar mechanism is missed
Difference realizes high-precision motion output, can complete the complicated motion profile that four-bar mechanism cannot be drawn, increase drawing model
It encloses.
Purpose of the utility model is realized as follows:
A kind of auto-portrait robot, including support device are used to support each mechanism and place drawing paper；
Executing agency, the executing agency include five link robot manipulators and double leval jib mechanical arm, five link robot manipulator
Above support device, for utilizing five link robot manipulators according to the operating path control instruction and drawing instruction received
It clamps paintbrush and paintbrush is moved to specified position and paint；The double leval jib mechanical arm is located in support device, is used for
It drives five link robot manipulators to rotate, realize lift pen or starts to write；
First driving mechanism, first driving mechanism are set to support device rear, mechanical with five connecting rods of executing agency
Hand rotation connection, for controlling and driving the direction of motion of five link robot manipulators；
Second driving mechanism, second driving mechanism are set in support device, the double leval jib mechanical arm with executing agency
Rotation connection, for controlling and driving the direction of motion of double leval jib mechanical arm；
Control mechanism is that coordinate is sent to the first drive for communicating with host computer, and by the code conversion that host computer is sent
Motivation structure and the second driving mechanism, driving executing agency, which rotates or is moved to designated position, paints, on the control mechanism
It is provided with reset button, the initialization operation for robot.
Preferably, the support device includes bottom plate, top plate and side plate, and the side plate is fixed with bottom plate and top plate respectively to be connected
It connects, and roof supporting, the top plate is for placing drawing paper.Bottom plate is the location base of total installation, and not only support is entire
Mechanical structure is still established between equipment and working face, the basis between equipment and equipment.
Preferably, first driving mechanism includes that steering engine a, steering engine bracket a, steering engine bracket b, long axis and long axis are fixed
Part, the steering engine a are fixed on steering engine bracket a, and steering engine a and five link robot manipulators are rotatablely connected, by steering engine a as actuator,
Five link robot manipulators are driven to move；The steering engine bracket b is placed in the two sides below steering engine bracket a, solid with steering engine bracket a grafting
Fixed, the long axis fixing piece is fixed on the bottom plate of support device, for connecting steering engine bracket b and by steering engine bracket b and long axis
It is fixed on bottom plate, the long axis sequentially passes through long axis fixing piece and steering engine bracket b, connects steering engine bracket b and makes steering engine bracket b
It is rotated around long axis.
Preferably, second driving mechanism includes steering engine b, steering engine bracket c and steering engine bracket d, the steering engine bracket c solid
Surely it is connected to the bottom plate of support device, the steering engine b is fixed in steering engine bracket c, and the steering engine bracket d and steering engine bracket a are inserted
Fixation is connect, one end of steering engine bracket d passes through long axis, and the other end is connect with double leval jib mechanical arm, by steering engine b as actuator, leads to
It crosses steering engine b and steering engine bracket drives the rotation of double leval jib mechanical arm, and then the first driving mechanism is driven to rotate around long axis, complete paintbrush
Lift pen or start to write.
Preferably, the steering engine a quantity is 2, is mounted side by side on steering engine bracket a, and the steering engine b quantity is 1,
Steering engine a and steering engine b are controlled by control mechanism, and control mechanism is by calling G code in the host computer and by code
Steering engine a, the rotation angle of steering engine b and position are converted to, the steering engine a and steering engine b is controlled and realizes 0 ° of -180 ° of rotation.
Preferably, the control mechanism is STM32 single-chip microcontroller, and the steering engine a and steering engine b use MG996R model.Favorably
In the stable operation of robot, facilitate operation and control.
Preferably, multiple foot props for reinforcing are provided between the top plate and bottom plate and side plate, the foot prop is L-shaped,
It is fixedly connected respectively with the top plate and bottom plate and side plate.
Preferably, the penholder for clamping paintbrush is socketed at the upper end of five link robot manipulator, the penholder uses
Anchor ear clamps paintbrush.Ke Kuaisugenghuan paintbrush improves drawing speed.
By adopting the above-described technical solution, the utility model has the following beneficial effects:
1, using steering engine as auto-portrait robot driving mechanism, not only have energy conservation, the stabilization, operating speed of electric drive
Rate is high, controllability is high, occupied area is small and many merits such as easy to maintenance, also possess be quick on the draw, torque is suitable and can realize
The advantages that control of continuous path；
2, auto-portrait robot manipulator can be improved as auto-portrait robot control mechanism using STM32f103 single-chip microcontroller
Robust motion, it is ensured that the movement velocity of auto-portrait robot and the continuous-stable of acceleration, by the control to steering engine, thus
The movement for controlling each executing agency, finally realizes painting function.
3, the executing agency using five link robot manipulators and double leval jib mechanical arm as auto-portrait robot, has manipulator
Excellent mechanical performance, five-rod can compensate for the structural failure of four-bar mechanism, realize high-precision motion output, can complete
The complicated drawing characteristics of motion and motion profile, increases the range of manipulator clamping paintbrush drawing；Using double leval jib mechanical arm
As the waist of robot, it ensure that auto-portrait robot is lifting pen, starts to write and moving paintbrush, transported during realizing drawing movement
Dynamic stationarity can drive entire robot to rotate, final to realize that the tip of the brushstyle of a writing or painting is moved to another point from a point.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structure diagram of double leval jib mechanical arm in the utility model；
Fig. 3 is the control mechanism figure of the utility model；
Fig. 4 is the overall procedure schematic diagram of the utility model.
Appended drawing reference
In attached drawing, 1 is support device, and 2 be five link robot manipulators, and 3 be double leval jib mechanical arm, and 4 be the first driving mechanism, 5
It is foot prop for the second driving mechanism, 6,
11 be bottom plate, and 12 be top plate, and 13 be side plate, and 22 be penholder,
41 be steering engine a, and 42 be steering engine bracket a, and 43 be steering engine bracket b, and 44 be long axis,
45 be long axis fixing piece, and 51 be steering engine b, and 52 be steering engine bracket c, and 53 be steering engine bracket d
Specific embodiment
The embodiments of the present invention are described in further detail with reference to the accompanying drawing.
It is described including being used to support each mechanism and placing the support device 1 of drawing paper as shown in Figure 1, a kind of auto-portrait robot
Support device 1 includes bottom plate 11, top plate 12 and side plate 13, and the side plate 13 is fixedly connected with bottom plate 11 and top plate 12 respectively, and
Roof supporting 12, the top plate 12 is for placing drawing paper.Bottom plate 11 is the location base of total installation, and not only support is entire
Mechanical structure is still established between equipment and working face, the basis between equipment and equipment, in the present embodiment, the top plate
12, be provided between bottom plate 11 and side plate 13 it is multiple for reinforcing foot props 6, foot prop 6 is L-shaped, respectively with the top plate 12,
Bottom plate 11 is fixedly connected with side plate 13.
As shown in Figure 1 and Figure 2, the auto-portrait robot of the utility model further includes executing agency, and the executing agency includes five
Link robot manipulator 2 and double leval jib mechanical arm 3, five link robot manipulator 2 are located at 1 top of support device, receive for basis
Operating path control instruction and drawing instruction, clamp paintbrush using five link robot manipulators 2 and paintbrush be moved to specified position
It sets and paints, be quick-replaceable paintbrush in the present embodiment, improve drawing speed, covered at the upper end of five link robot manipulators 2
It is connected to the penholder 22 for clamping paintbrush, the penholder 22 clamps paintbrush using anchor ear；The double leval jib mechanical arm 3 is located at support
In device 1, for driving the rotation of five link robot manipulators, realizing lift pen or starting to write；
As shown in Figure 1, the auto-portrait robot of the utility model further includes the first driving mechanism 4 and the second driving mechanism 5, institute
The first driving mechanism 4 is stated set on 1 rear of support device, is rotatablely connected with five link robot manipulators 2 of executing agency, for controlling simultaneously
Drive the direction of motion of five link robot manipulators 2；Second driving mechanism 5 is set in support device 1, four companies with executing agency
Bar mechanical arm 3 is rotatablely connected, for controlling and driving the direction of motion of double leval jib mechanical arm 3；In the present embodiment, described first
Driving mechanism 4 includes steering engine a41, steering engine bracket a42, steering engine bracket b43, long axis 44 and long axis fixing piece 45, the steering engine
A41 is fixed on steering engine bracket a42, and steering engine a41 and five link robot manipulators 2 are rotatablely connected, by steering engine a41 as actuator, band
Dynamic five link robot manipulators 2 movement；The steering engine bracket b43 is placed in the two sides below steering engine bracket a41, inserts with steering engine bracket a41
Fixation is connect, the long axis fixing piece 45 is fixed on the bottom plate 11 of support device, for connecting steering engine bracket b43 and by steering engine bracket
B43 and long axis 44 are fixed on bottom plate 11, and the long axis 44 sequentially passes through long axis fixing piece 45 and steering engine bracket b43, connection
Steering engine bracket b43 simultaneously rotates steering engine bracket b43 around long axis 44；Second driving mechanism 5 includes steering engine b51, steering engine bracket
C52 and steering engine bracket d53, the steering engine bracket c52 are fixedly connected on the bottom plate 11 of support device, and the steering engine b51 is fixed on
In steering engine bracket c52, the steering engine bracket d53 is plugged and fixed with steering engine bracket a42, and one end of steering engine bracket d53 passes through long axis
44, the other end is connect with double leval jib mechanical arm 3, by steering engine b51 as actuator, is driven by steering engine b51 and steering engine bracket d53
Double leval jib mechanical arm 3 rotates, and then the first driving mechanism 4 is driven to rotate around long axis 44, completes the lift pen of paintbrush or starts to write.
In the present embodiment, the steering engine a41 has used 2, is mounted side by side on steering engine bracket a42, and steering engine b51 is used
1, steering engine a41 and steering engine b51 use MG996R model, and steering engine a41 generates drive to the left and right large arm of five link robot manipulators
It is dynamic, while the rotation angle of left and right large arm is controlled, steering engine b51 generates driving to the large arm of double leval jib mechanical arm, generates simultaneously
Angle control.Steering engine a41 and steering engine b51 are controlled by control mechanism, and control mechanism is by calling in the host computer
G code and by code conversion be steering engine a41, the rotation angle of steering engine b51 and position, control the steering engine a41 and steering engine b51
It realizes 0 ° of -180 ° of rotation, using the distinctive performance of steering engine, can easily realize and be connected with control mechanism, and control can be passed through
The signal of mechanism output processed accurately controls it and rotates angle, and keeps the angle constant, and it is accurate to guarantee that auto-portrait robot is completed
Drawing.
As shown in figure 3, the auto-portrait robot of the utility model further includes control mechanism, for being communicated with host computer, and will
The code conversion that host computer is sent is that coordinate is sent to the first driving mechanism 4 and the second driving mechanism 5, the rotation of driving executing agency
Or be moved to designated position and paint, it is provided with reset button on the control mechanism, for the initialization operation of robot,
It needs to press reset button before auto-portrait robot starts drawing movement, guarantees that auto-portrait robot is in an original state,
Guarantee auto-portrait robot proper motion that in this way could be safer.In the present embodiment, the control mechanism uses STM32F103
Single-chip microcontroller, it can realize the control to PWM output signal by timer, counter, to complete to steering engine a and steering engine
B relevant rotating angle and position are extremely accurately controlled, and the signal that STM32f103 single-chip microcontroller generates is hardly by extraneous ring
It may be implemented to steering engine a and steering engine in the interference of border factor, the movement that steering engine a and steering engine b is controlled with STM32f103 single-chip microcontroller
B rotates the accurate control of angle and position, guarantees that entire control system can be stablized, reliably, accurately work normally and move,
The stable operation for being conducive to robot, facilitates operation and control.
As shown in figure 4, the overview flow chart of auto-portrait robot moves summary are as follows: it plugs in and USB interface, machine
People prepares setting in motion, presses reset button, opens upper computer software, and parameter and selection port is arranged, and selects picture, setting
In coordinate range, click starts dimension of picture, and five link robot manipulators are rotated in the forward direction to designated position, and waist, which rotates, makes double leval jib
Mechanical arm is moved to designated position, and the and then counter-rotating of five link robot manipulators starts to write and starts to paint；After the completion of drawing, five
Link robot manipulator rotates in the forward direction, the double leval jib mechanical arm counter-rotating of waist, then five link robot manipulators counter-rotating again, lift
Pen, drawing are completed.
The auto-portrait robot of the utility model realizes the motion process of drawing:
STM32 microcontroller serial port is connected by the first step with upper computer software Driver serial ports；
Second step, picture concerned is processed into G code by upper computer software, and sends G code to STM32 single-chip microcontroller；
Third step, STM32 single-chip microcontroller handle the data that serial ports transmits, and XY coordinate is extracted；
The coordinate transformation transmitted is four bar coordinates (i.e. steering engine rotates angle and position) by the 4th step, STM32 single-chip microcontroller；
Four bar coordinates are sent to steering engine a or steering engine b by the 5th step, STM32 single-chip microcontroller；
6th step, steering engine a or steering engine b respectively drive five link robot manipulators or the rotation of double leval jib mechanical arm or are moved to specified
Position；
6th step, five link robot manipulators start drawing movement under the driving of steering engine a.
Finally, it is stated that preferred embodiment above is merely intended for describing the technical solutions of the present application, but not for limiting the present application, to the greatest extent
Pipe has been described in detail the utility model by above preferred embodiment, but those skilled in the art should manage
Solution, can make various changes, without departing from the utility model claims book institute to it in the form and details
The range of restriction.
Claims (8)
1. a kind of auto-portrait robot, it is characterised in that: including
Support device is used to support each mechanism and places drawing paper；
Executing agency, the executing agency include five link robot manipulators and double leval jib mechanical arm, and five link robot manipulator is located at
Above support device, for being clamped using five link robot manipulators according to the operating path control instruction and drawing instruction received
Paintbrush is simultaneously moved to specified position and painted by paintbrush；The double leval jib mechanical arm is located in support device, for driving
The rotation of five link robot manipulators realizes lift pen or starts to write；
First driving mechanism, first driving mechanism are set to support device rear, turn with five link robot manipulators of executing agency
Dynamic connection, for controlling and driving the direction of motion of five link robot manipulators；
Second driving mechanism, second driving mechanism are set in support device, are rotated with the double leval jib mechanical arm of executing agency
Connection, for controlling and driving the direction of motion of double leval jib mechanical arm；
Control mechanism is that coordinate is sent to the first driving machine for communicating with host computer, and by the code conversion that host computer is sent
Structure and the second driving mechanism, driving executing agency, which rotates or is moved to designated position, paints, and is arranged on the control mechanism
There is reset button, the initialization operation for robot.
2. a kind of auto-portrait robot according to claim 1, it is characterised in that: the support device includes bottom plate, top plate
And side plate, the side plate is fixedly connected with bottom plate and top plate respectively, and roof supporting, and the top plate is for placing drawing paper.
3. a kind of auto-portrait robot according to claim 2, it is characterised in that: first driving mechanism include steering engine a,
Steering engine bracket a, steering engine bracket b, long axis and long axis fixing piece, the steering engine a are fixed on steering engine bracket a, steering engine a and five connecting rods
Manipulator rotation connection drives the movement of five link robot manipulators by steering engine a as actuator；The steering engine bracket b is placed in steering engine branch
Two sides below frame a are plugged and fixed with steering engine bracket a, and the long axis fixing piece is fixed on the bottom plate of support device, for connecting
Steering engine bracket b and long axis are simultaneously fixed on bottom plate by steering engine bracket b, and the long axis sequentially passes through long axis fixing piece and steering engine branch
Frame b connects steering engine bracket b and rotates steering engine bracket b around long axis.
4. a kind of auto-portrait robot according to claim 3, it is characterised in that: second driving mechanism include steering engine b,
Steering engine bracket c and steering engine bracket d, the steering engine bracket c are fixedly connected on the bottom plate of support device, and the steering engine b is fixed on rudder
In machine support c, the steering engine bracket d is plugged and fixed with steering engine bracket a, and one end of steering engine bracket d passes through long axis, the other end and four
The connection of connecting rod mechanical arm drives the rotation of double leval jib mechanical arm by steering engine b and steering engine bracket, in turn by steering engine b as actuator
It drives the first driving mechanism to rotate around long axis, completes the lift pen of paintbrush or start to write.
5. a kind of auto-portrait robot according to claim 4, it is characterised in that: the steering engine a quantity is 2, is pacified side by side
On steering engine bracket a, the steering engine b quantity is 1, and steering engine a and steering engine b are controlled by control mechanism, control mechanism
By calling G code in the host computer and being steering engine a, the rotation angle of steering engine b and position by code conversion, described in control
Steering engine a and steering engine b realizes 0 ° of -180 ° of rotation.
6. a kind of auto-portrait robot according to claim 5, it is characterised in that: the control mechanism is STM32 single-chip microcontroller,
The steering engine a and steering engine b uses MG996R model.
7. a kind of auto-portrait robot according to claim 6, it is characterised in that: set between the top plate and bottom plate and side plate
Multiple foot props for reinforcing are equipped with, the foot prop is L-shaped, is fixedly connected respectively with the top plate and bottom plate and side plate.
8. a kind of auto-portrait robot according to claim 1, it is characterised in that: covered at the upper end of five link robot manipulator
It is connected to the penholder for clamping paintbrush, the penholder clamps paintbrush using anchor ear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821902258.0U CN209050758U (en) | 2018-11-19 | 2018-11-19 | A kind of auto-portrait robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821902258.0U CN209050758U (en) | 2018-11-19 | 2018-11-19 | A kind of auto-portrait robot |
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| Publication Number | Publication Date |
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| CN209050758U true CN209050758U (en) | 2019-07-02 |
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| CN201821902258.0U Active CN209050758U (en) | 2018-11-19 | 2018-11-19 | A kind of auto-portrait robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278055A (en) * | 2018-11-19 | 2019-01-29 | 重庆科技学院 | A kind of auto-portrait robot |
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2018
- 2018-11-19 CN CN201821902258.0U patent/CN209050758U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109278055A (en) * | 2018-11-19 | 2019-01-29 | 重庆科技学院 | A kind of auto-portrait robot |
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Effective date of registration: 20210804 Address after: 518000 1002, North building, No. 3003, Shennan Middle Road, Fuhua community, Futian street, Futian District, Shenzhen, Guangdong Province Patentee after: Shenzhen certainly Intelligent Technology Co.,Ltd. Address before: No. 20, East Road, University City, Chongqing, Shapingba District, Chongqing Patentee before: Chongqing University of Science & Technology |