CN2654293Y

CN2654293Y - Writing robot

Info

Publication number: CN2654293Y
Application number: CN 200320114568
Authority: CN
Inventors: 梁锡昌; 王光建
Original assignee: Chongqing University
Current assignee: Chongqing University
Priority date: 2003-11-10
Filing date: 2003-11-10
Publication date: 2004-11-10
Anticipated expiration: 2013-11-10

Abstract

The utility model relates to a lettering robot manipulator, which is an arm-imitating multi-joint structure, comprising a microcomputer 20 and an electric control cabinet 21. The utility model is characterized in that: the multi-joint structure comprises a vertical joint and at least two horizontal joints; wherein the vertical joint can be rotated around the self axes and is fixed on the column 2 of a pedestal 1, comprising a stepping motor 4 and a harmonic reducer 5; the flexible wheel 7 of the harmonic reducer passes the rotation to the primary horizontal joint through an output connector 8; each horizontal joint can be rotated around the direction perpendicular to the self axes, comprising a stepping motor, a harmonic reducer, an input connector and an output connector; the input connector of the horizontal joint is connected with the output connector of the vertical joint, or connected with the output connector of the preceding horizontal joint through a connecting arm; the output connector of the last horizontal joint is connected with a lettering pen 19 through a pen clamp 18. The utility model can write corresponding words on paper when people input characters and signs through the keyboard of the microcomputer, finishing the lettering order of the operator.

Description

Robot writes

Technical field

The utility model is a kind of robot, can make the robot of the performance of writing.

Background technology

At present, robot application is in assembling, japanning, and many-sides such as carrying, but also do not have the robot that can write; Because the function difference, structurally there is a great difference in various robots, but mostly are to be made of shoulder joint, elbow joint, wrist joint and end effector.

Summary of the invention

The purpose of this utility model is: provide a kind of and can write out the robot that writes of different sizes, different fonts and different literals on flat board by control.

The technical scheme that its technical problem that solves the utility model adopts is such, promptly a kind of robot that writes: be imitative arm multi-joint mechanism, comprise a vertical joint, the horizontal joint of two-stage and electrical control cabinet and microcomputer at least; Rotate around self axis in wherein vertical joint, is fixed on the column on the base, and it comprises stepper motor, harmonic speed reducer, is transmitted and rotate in the joint sidelong by out splice going splice by the flexbile gear of harmonic speed reducer; Each horizontal joint is around self axis normal direction rotation, it comprises stepper motor and harmonic speed reducer, input adapter and out splice going splice, wherein the input adapter in horizontal joint is connected with the out splice going splice in vertical joint, or is connected by the out splice going splice of linking arm with the horizontal joint of previous stage; The out splice going splice in the horizontal joint of final stage is connected with writing pen by the pen clip head.

Technique effect of the present utility model is, can write out corresponding words and expressions on paper according to the people from microcomputer keyboard input characters, symbol, and the complete operation person writes word instruction.

Description of drawings

Below in conjunction with drawings and Examples the utility model is further specified.

Fig. 1 is the general structure schematic diagram of robot of writing.

Fig. 2 is the vector formation figure of literal.

Fig. 3 is the method for adjustment figure that the nib that writes of robot is in arbitrary coordinate point A.

In the accompanying drawing: 1-base, 2-column, 3-overcoat, 4-stepper motor, 5-harmonic speed reducer, 7-flexbile gear, 8-out splice going splice, 9-adapter sleeve, 10-input adapter, 11-harmonic speed reducer, 12-stepper motor, 13-out splice going splice, 14-the second linking arm, 15-stepper motor, 16-the three linking arm, 17-stepper motor, 18-pen clip head, 19-writing pen, 20-microcomputer, 21-regulator cubicle.

The specific embodiment

Provide among the non-limiting embodiment at Fig. 1, column 2 is fixed on the base 1, and first joint is vertical joint, and the screw thread by its overcoat 3 is connected with column 2; Second joint is horizontal joint, and its input adapter 10 is connected with the out splice going splice 8 in vertical joint by adapter sleeve 9, and its out splice going splice is connected with the input adapter in horizontal joint, the second level by linking arm 14; The out splice going splice in horizontal joint, the second level is connected with the out splice going splice in the horizontal joint of the third level by linking arm 16; The out splice going splice in the horizontal joint of the third level connects pen clip head 18, and writing pen 19 is contained in the pen clip head.Behind the Word message of desiring to write from the keyboard input, the angle that rotate in microcomputer 20 each joint of control, the robot system manipulation writing pen 19 in four joints is finished and is write word operation.Microcomputer 20, motion control card, interface board, word processor, system controlling software, driver and power supply all are placed in the regulator cubicle 21.

In the said structure, vertical joint θ ₁Be the vertical joint of rotating around self axis, its overcoat 3 is fixed on the column 2 by screw thread, advances motor 4 and is contained in the overcoat 3, and its drives harmonic speed reducer 5 and rotates, and harmonic speed reducer comprises firm wheel and flexbile gear, just taken turns and flexbile gear between few tooth difference engagement.The flexbile gear 7 of harmonic speed reducer 5 is connected with out splice going splice 8, and out splice going splice 8 passes to adapter sleeve 9 with the rotation of flexbile gear 7, drives adapter sleeve 9 later horizontal joints thus and rotates.

The horizontal joint θ of the first order ₂, the horizontal joint θ in the second level ₃With the horizontal joint θ of the third level ₄Be the horizontal joint of rotating around self axis normal direction, the structure in these three horizontal joints is identical, with the horizontal joint θ of the first order ₂The structural feature in this horizontal joint is described for example.The horizontal joint θ of the first order ₂Input adapter 10 by screw thread and vertical joint θ ₁Adapter sleeve 9 connect, input adapter and stepper motor 12 are connected as a single entity, stepper motor drives harmonic speed reducer 11 and rotates, identical in the structure of harmonic speed reducer and the vertical joint, harmonic speed reducer 11 passes to rotation by bearing and is installed in out splice going splice 13 on the stepper motor, thereby drives the rotation that linking arm 14 is done around the joints axes vertical direction.

In the embodiment shown in Figure 2, the profile of each vector character is successively to be formed by connecting by some vectors, is example with " people " word, and it is that nib moves by the vector consecutive order and forms.Nib is by n ₁Vector begins, along n ₁→ n ₂→ n ₃Get back to starting point at last, like this, " people " word has just been write as.

Embodiment shown in Figure 3 has proposed the nib method of adjustment, establishes A ₄Paper MNPQ lies on the table top, and the center of column 2 (with reference to Fig. 1) is in the O position, and on this top view, arbitrfary point A is represented by polar coordinates ρ, θ.Nib arrives A point position as follows, because A point (x ₁, y ₁, z ₁) known according to literal, the rotational angle theta that this patent design A is ordered ₁Can obtain by A point coordinates x and y.The utmost point footpath OA that A is ordered also can obtain according to x, y and constant, on K view a, as can be seen, OA=ρ=O ₁A ₁, because nib will drop to paper and just can write A ₁A ₂=the amount of starting writing also is known, therefore, and O ₁A ₂=ρ ₁It also is datum.Obtain O ₁A ₂=ρ ₁=O ₂O ₄(O ₂O ₄Be the second and the 4th cradle head center O among Fig. 1 ₂And O ₄Distance), we define O ₂O ₄Be virtual arm.Like this, on the K of Fig. 3 view b, with the virtual arm O of known length ₁A ₂Be the base of isosceles triangle, with the O of equal length ₁B (the O among Fig. 1 ₂O ₃) and BA ₂(the O among Fig. 1 ₃O ₄) be leg-of-mutton waist, add the 3rd joint B, just constituted a deformable isosceles triangle.As the virtual brachium O that requires ₁A ₂After determining, can rotate θ by the 3rd joint ₃Produce this length.In short, the length OA in utmost point footpath can be by θ ₂And θ ₃Access.The 4th joint θ ₄Effect, be to remain penholder, with the quality that guarantees to write perpendicular to paper.For optimal path and the structure that keeps robot, carried out optimal design, and worked out the corresponding calculated support software.

Claims

1, a kind of robot that writes for imitative arm articulated structure, comprises microcomputer (20) and electrical control cabinet (21); It is characterized in that: articulated structure comprises a vertical joint and the horizontal joint of two-stage at least, wherein vertical joint is around self axis rotation, it comprises stepper motor (4), harmonic speed reducer (5), is transmitted to the horizontal joint of the first order by out splice going splice (8) by the flexbile gear (7) of harmonic speed reducer and rotates; Each horizontal joint is around self axis normal direction rotation, it comprises stepper motor and harmonic speed reducer, input adapter and out splice going splice, wherein the input adapter in horizontal joint is connected with the out splice going splice in vertical joint, or is connected by the out splice going splice of linking arm with the horizontal joint of previous stage; The out splice going splice in the horizontal joint of final stage is connected with writing pen (19) by pen clip head (18).

2, the robot that writes according to claim 1, it is characterized in that: vertical joint is fixed on the column (2) by screw thread by overcoat (3), stepper motor (4) is contained in the overcoat (3), it drives harmonic speed reducer (5) and rotates, harmonic speed reducer comprises firm wheel and flexbile gear, just taken turns and flexbile gear between few tooth difference engagement; The flexbile gear (7) of harmonic speed reducer (5) is connected with out splice going splice (8), and out splice going splice (8) passes to adapter sleeve (9) with the rotation of flexbile gear (7), drives the later horizontal joint of adapter sleeve thus and rotates.

3, the robot that writes according to claim 1, it is characterized in that: the input adapter and the stepper motor in horizontal joint are connected as a single entity, stepper motor drives harmonic speed reducer (11) and rotates, harmonic speed reducer (11) passes to rotation by bearing and is installed in out splice going splice (13) on the stepper motor, does rotation around the joints axes vertical direction thereby drive linking arm (14).