JPS6048275A - Writing robot device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (3) The present invention relates to a writing robot device using a human piece-shaped manipulator.

2. Description of the Related Art Robotic devices that write characters using a manipulator that grips a felt-tip pen or the like in imitation of the functions and movements of a human arm are well known and are currently in common use.

Regarding the robot device as described in I-, there are problems in that the conventional device has a complicated mechanism and is large in size, resulting in high manufacturing costs and is prone to failure.

The present invention has been made based on the above-mentioned viewpoints, and an object of the present invention is to provide a writing robot device using a manipulator that has a simple mechanism, is inexpensive to manufacture, and is difficult to break down. It is in.

The gist of the present invention is to provide a base provided with movable wheels, a rotatable main body placed on the base, and a rotary wheel provided on the main body to rotate the base. a first joint that is rotatable in a plane perpendicular to the axis; a first arm that is bendably attached to the rotation axis by the first joint; and (4) at the free end of the first arm. A writing robot device having a manipulator consisting of a second arm attached to the body so as to be bendable via a second joint and a pen holder attached to the tip of the second arm is rotated around its central axis by the main body. A tubular first shaft that is freely supported, a tubular @2 shaft that is rotatably inserted into the first shaft so that both ends protrude from the first shaft end, and the! a triple shaft consisting of a third shaft that is rotatably rotatable about the 182 shaft and is inserted through the shaft so that its both ends protrude from the end of the second shaft; a main casing provided at the free end of the first shaft; A rotary housing that is coaxial with the housing and relatively immovable in the direction of its central axis but rotatable around the central axis, and the interior of the main housing and the rotating housing. a first joint consisting of a driving bevel gear provided at the free end of the second shaft within the cavity, and a driven bevel gear provided on the rotating housing and meshing with the driving bevel gear; one end of the first joint is attached to the rotating housing. (5) a second joint provided at the free end of the first arm; and a second arm, one end of which is pivotally supported by a support shaft provided in the second joint. , a pen holder provided at the tip of the second arm, one end of which passes through the first arm and is wrapped around the free end of the third shaft within the first joint, and the other end is attached to the second arm within the fJ42 joint. At least one plate attached to the first shaft of the triple shaft labeled F, and a second plate of the triple shaft attached to the plate provided on the first shaft of the triple shaft via a reduction gear. a motor that rotates the shaft; a motor that is attached to a plate provided on the first shaft of the triplex shaft and rotates the third shaft of the triplex shaft via a reduction gear; a motor that is attached to the main body and that rotates the third shaft of the triplex shaft; It consists of a motor that rotates the first shaft, and an encoder that detects the rotation of each of the motors (6).

Hereinafter, the details of the present invention will be specifically explained with reference to the drawings.

1@1 Figure 1 is a side view illustrating one embodiment of the writing robot device according to the present invention, Figure 2 is a partially cutaway front view of the manipulator and main body driving device in Figure 1, and Figure 3 is a partially cutaway front view of the manipulator and main body drive device in Figure 1. FIG. 2 is a plan view taken along arrow A-A in FIG. 2, FIG. 4 is a cross-sectional developed view of the first joint taken along width arrow B-B in FIG. 2, and FIG. 5 is a cross-sectional view of the second joint.

In the diagram, 1 is a manipulator consisting of an lJ1 joint 2, a first arm 3, a second joint 4, a second arm 5, and a pen holder 6, 7 is a main body, 8 is a base, 9 is a battery, 10 is a wheel, 11 is a control board, 12 is a sensor, 13 is a guide, 14 is a felt ben, and 15 is a table.

In Fig. 2, 16 is a triple shaft consisting of a double tubular first shaft 7 and 11!2 shaft 18 and a jP13 shaft 19 and an outer shaft 9 inserted through the center, 20.21 is a bearing, and 22.23 is a triple shaft. 1 axis directly attached plate, 24 plate attached to plate 23 by column 26, 25 axis 31.3
2, (7) a fixed plate, 27 a rotatable stand placed on the base 8, 28 a channel attached to the stand 27, 29
．． 30 is a fixing member attached to both ends of the channel 28;
31.32 is a shaft inserted into the fixing member 29.30 and fixed, 33.34 is a receiving plate attached to both end faces of the shaft 31.32 and supports the bearing 20.21, 35 is a wire, and 36 is a driving bevel gear. , 37 is a driven bevel gear, and 3 is a motor that rotates the first shaft 17.

In FIG. 3, 39 is a motor that rotates the third shaft 19;
0, old, 42 is its reduction gear, 43 is a part that rotates the second shaft 18, 44 to 51 are its reduction gears, 52 is a hood plate attached to one center of the rotation axis of the motor 39, 53
54 is a code plate attached to the center of the rotating shaft of the motor 43, and 55 is an encoder that detects the rotation.

In FIG. 4, 56 is a main casing provided at the free end of the first shaft 17, and 57 is coaxial with the main casing 56 and relatively immovable in the direction of its central axis, but around the central axis. 58 is a lid, and 59 is a bottle with a stopper.

(8) In this figure, the first arm 3 and the wire 35 are connected to the triple shaft 1.
Although drawn on the extension line of 6, this figure is a developed view, and these are actually in a direction perpendicular to the triple axis 16.

In Fig. 5, 60.63 is the housing, 61.62 is the lid, and 64
27 - a shaft that pivots the arm 5; 65 a shaft that supports the wire 35;
7-This is a screw to be attached to the frame 5.

Four wheels 10, 10 are attached to the base 8, and the entire robot apparatus can be driven by a motor (not shown).

The main body 7 is placed on a base 8 and can be rotated 90 degrees left and right by driving a motor (not shown).

A battery 9 mounted on a base 8 supplies power to everything.

The entire robot device is mounted on a guide 13 facing a table 15.
is detected by the sensor 12.12, and the desired sentence is written on the paper placed on the table 15 while moving along the guide 13 every time one character is written.

The entire robot device first starts from the starting point, and when it approaches the table 15, it turns 90 degrees (9) and stops at the position where the sensors 12 and 12 detect the guide 13, and the main body 7 moves toward the table 15 side. Turn the manipulator 1 by 90 degrees to face the table 15. Next, move each time you write a letter and finish writing the sentence. When writing new sentences, I return to the starting point and continue writing. When the text is finished, the main body 7 is turned 90 degrees at that point, the whole body is turned 90 degrees, and the whole body is turned 90 degrees away from the table 15, and then the whole body is turned 90 degrees and returned to the starting point.

The manipulator 1 is rotatably supported by bearings 20.21 and is raised and lowered by a motor 38 attached to a plate 25 fixed to a shaft 31.32.

Next, the first joint 2 will be explained with reference to FIG.

The main housing 56 has a cylindrical shape and is attached to one end of the first shaft 17. The interchanging housing 57 is provided with a circumferentially long elongated hole into which the pin 59 is inserted, and the main housing 56
It is rotatably attached coaxially to the Stopper bottle 59
is inserted into the elongated hole and firmly driven into the bottle hole (10) provided in the main casing 56, whereby the rotating casing 5
7 cannot be moved relative to the main housing 56 in the axial direction, but it is attached so that it can freely rotate within a certain angular range around the central axis.

The first arm 3 has one end attached to the rotating housing 57 of the first joint 2, and is rotated around the central axis of the main housing 56 by bevel gears 36 and 37. 1st axis 1
The motor 43 attached to the plate 23 provided at 7 has reduction gears 44.45.46.47.48.49.50.
51 to rotate the second shaft 1B, and the bevel gear 36.
37 to move the first arm 3 to the left and right.

The felt pen 14 can be moved diagonally by combining the left-right movement and the vertical movement of the first arm 3. For example, it can be configured to be movable in eight directions divided by 45 degrees.

The entire drive device including the first arm 3 and the second arm 5 of the manipulator 1 and the bevel gears 36 and 37 is the first arm 3.
Therefore, there is no fear that the bevel gear 37 of the first joint 2 will rotate along with this movement and move the first arm 3 from side to side.

The second arm 5 is rotated by a shaft 64 provided at the second joint 4.
l] Rotate within a plane that includes arm 3 and second arm 5! It is supported to do so.

One end of the soi 135 is wound around the free end f=j of the third shaft 19 protruding into the inside of the first joint 2, and the other end is wrapped around the free end of the third shaft 19 protruding inside the first joint 2.
The second C that passes through the arm 3 and is pivotally supported inside the second checkbox m4.
It is attached to the end of the arm 5 and supports each second arm 5. In other words, the other -613 of the wire 35 is
It is attached to the second arm 5 so as to be able to support the second arm 5 against the rotational torque due to the second arm 5's own weight.

The motor 39 is a plate 23 attached to the first shaft 17.
By rotating the three shafts 19 through the reduction gears 40, 41 and 42, the wire 35 can be wound up and the w42 arm 5 can be pulled upward.

Further, when the seventh and third arms 39 are rotated in the opposite direction, the wire 35 is loosened and the second arm 5 is lowered by its own weight.

Thus, a pen holder 6 fixed to the tip of the second arm 5
Let the child hold the felt-tip pen.

The structure of ``Ju 27-mu 5'' is designed not only to lower the felt-tip pen 14 held in the pen holder 6 at the beginning and end of writing, but also to place the tip of the felt-tip pen 4 on the table 15. It is also necessary to move the object along the paper surface. That is, the movement of the felt-tip pen 4 is originally a circular motion, but with the above configuration, when the felt-tip pen 14 comes into contact with the table surface, the w42 arm 5 is pushed up against gravity, causing the felt-tip pen 14 to move in a plane. This makes it possible to obtain appropriate writing pressure.

That is, when the felt pen II writes characters on the paper on the table 15, the felt pen 14 and #! The second arm 5 is pushed up, and the wire 35 in the first arm 3 is naturally loosened. Therefore, the original circular arc movement of the 27th arm 5 is changed to a planar movement, and the felt pen 14 can move within the plane.

The drive device for each of the motors 39, 43, and 38 is equipped with a home position setting switch (not shown) and an encoder 53, 55 that detects the amount of rotation of each motor. Arm and felt pen 1
(13) After writing a predetermined character, each arm and felt-tip pen 14
It is configured to return to the home bodhisi gentleman.

There are no special restrictions on the size of the characters, but for normal use it is recommended that the fishing line be approximately 5 cm and the width approximately 4 cI11.

Several methods for making this robot device write sentences will now be explained.

The simplest method is to store the text you want to write in advance in the ROM of the control board 11.11 of the robot device, and store the character pattern and the sentence to be written. There is a way to control the text and read/write the text.

In addition, for a higher level control method, the shape data of characters (for example, hiragana, katakana, English characters, simple kanji @) is stored in advance in the ROM of control board Fll, 11 of the robot device, and these characters are Attach a code number to ζ, and then enter the ID code indicating the desired character using an external keyboard, etc. (14)
There is a method to send it to AM and have it write the desired characters.

With this method, various texts can be input from the outside at any time.

Also, instead of typing in the information on the keyboard, it is also possible to use information stored in advance on a cassette tape or the like.

Since the present invention is constructed as described above, it is possible to provide a writing robot device that can be easily used with an extremely simple device and operating method.

Possible uses for this writing robot device include use in store advertising, electronic news, and the like.

Incidentally, the configuration of the present invention is not limited to the embodiment for ironwork, and although a motor and a reduction gear are used as the drive device, it may be simplified to a geared motor. Further, other configurations can be freely installed or changed within the scope of the purpose of the present invention, and the present invention encompasses all of them.

[Brief explanation of the drawing]

FIG. 1 is a side view illustrating one embodiment of the writing robot device according to the present invention, FIG. FIG. 4 is a cross-sectional developed view of the first joint taken along arrow B-B in FIG. 2, and FIG. 5 is a cross-sectional view of the second joint. ■−−−−・−−１−−−−・−−−m=−１−−−
Manipulator 2------------------
--IN 1 joint 3-----1・-1-
−−・−First arm 4−−−−−−−−−−−−−
−−−−−−−Second joint 5-1−−−−−−−−−−−
---Second arm 6~----------1-----
----------Pen holder 7----------1---M-body part 8-----
To base 9---------------Battery 10------・------・-1---・
Wheel 11----------・-------1------
−〜Control board 12−−−−1・−−−1−−
・−=−−−1−−−−−Sensor 13−−−−・−−1−−−−−−−−−−−−−−−・Guide 14−−−−
------
−Table 16−・−・−−−−・−−−−−1−−−
--- Triple axis 17 --- --- --- --- ---
------1・-・1st axis 18------
-----------1--Second axis 19--------
−−−−・−m=−−−−−・−3rd axis 20.21−−
-----------1・-1---Bearings 22 to 25---
−−・・−−−−−1−−−Plate 26− ・−・−
---1----------1--Column 27--
−・−・−・−・−−−−−・・One unit 28−−−・−・
−・・−・−−m=・−−−−− Channel 29.30
−・−1−−−−−−−−−−Fixing member 3L 32
・−・・−−−−−−・・Axis 33.34−−−−
・−・−〜−−・−−−One receiving plate 35− ・−−One−−
・−1−−−・−−−−−−11 wire 36−−−−−
---------1-----------------Driven bevel gear (17) 37------------, ---Driven bevel gear 3B-----1.- −−−1−−−・−−−−−−−
---1st shaft rotation motor 31 ------N43 shaft rotation motor 40.41. , 42----------One reduction gear 43-------------m 2-axis ff11
Diversion motor 44 to 5F------1--Reduction gear 52.5F--1-----'-de plate 53.
55-----m=・---encoder 56-----
−−−−〜−−−−−−・− Main casing 57 of the joint
--------------Rotating housing 5t of the first Kan SII
L------------------First joint lid body 5!
1l-----------1--Pins 60, 63--Second joint casing 61
．． 62--1-------------11!2-joint lid body 64----------2nd joint axis 65--
−−−−−−−−−−−−−−Wire set screw patent applicant K Co., Ltd. (Thailand)) − Agent (7524) Mogami Shotabe (18) 26 Figure 3 Figure 4 Figure 5 Figure 1

Claims (1)

[Scope of Claims] A base provided with movable wheels, a rotatable main body placed on the base, and a rotary shaft provided on the main body in a plane perpendicular to the rotary wheels. a first joint that is rotatable; a first arm that is bendably attached to the rotating wheel by the first joint; and 12 arms that are bendably attached to the free end of the first arm via a second joint. In a writing robot device having a manipulator consisting of a pen holder attached to the tip of the second arm, the manipulator and the main body mechanism for driving it are as shown in 18 below.
The above-mentioned writing robot device comprising the components described in Items 1 and 1. la) 11 tubular shafts rotatably supported around the central axis by the main body, and (1) inserted into the first shaft so as to be rotatable and with both ends protruding from the first shaft end; A triple shaft consisting of a tubular second shaft, and a third shaft rotatably inserted through the second shaft so that both ends protrude from the ends of the second shaft. (bl) A main casing provided at the free end of the first shaft, which is coaxial with the main casing and relatively immovable in the direction of its central axis, but rotatable around the central axis. a rotating housing that is removably mounted; a driving bevel gear provided on the free end of the second shaft within the internal cavities of the main housing and the rotating housing; and a driven bevel gear provided on the rotating housing and meshing with the driving bevel gear; a first joint consisting of a bevel gear; TO) a tubular first arm, one end of which is attached to the rotating housing; (dl A second joint provided at the free end of the first arm. (0) A second arm whose one end is pivotally supported by a support shaft provided at the second joint. A pen holder provided.
) A wire wrapped around the free end of a third shaft in one joint and the other end attached to a second arm in a second joint. (hl) A small plate attached to the first shaft of the above triple shaft. A motor that rotates the third shaft of the triple shaft. TJI A motor that is attached to the plate provided on the first shaft of the triple shaft and rotates the third shaft of the triple shaft via a reduction gear. A motor that rotates the first axis. (1) An encoder that detects the rotation of the third axis rotation motor of the triple axis. (b) An encoder that detects the rotation of the second axis rotation motor of the triple axis. (nl An encoder that detects the rotation of the first axis rotation motor of the triple axis.