CN107088882A - Robot humanoid handwriting system and its control method - Google Patents
Robot humanoid handwriting system and its control method Download PDFInfo
- Publication number
- CN107088882A CN107088882A CN201710461171.8A CN201710461171A CN107088882A CN 107088882 A CN107088882 A CN 107088882A CN 201710461171 A CN201710461171 A CN 201710461171A CN 107088882 A CN107088882 A CN 107088882A
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- China
- Prior art keywords
- guide rail
- stepper motor
- handwriting
- optical axis
- writing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of robot humanoid handwriting system and its control method.Specially one intelligent bionic printer apparatus and its supporting handwriting platform.Computer obtains the path of user handwriting by writing process of the user on software platform and sets up exclusive character library.Coordinate random algorithm just can be by arbitrary fields afterwards, the person's handwriting that calling and obtaining user is selected is exported to writing system, replace manpower to complete writing process by hardware device.Flow of the present invention is simple, and compact conformation, handwriting is close with me, writing quality efficiency high.
Description
Technical field
The present invention relates to printer technology field, and in particular to a kind of robot humanoid handwriting system and its control
Method processed, i.e., a kind of intelligent bionic printer apparatus and its supporting handwriting platform.
Background technology
Handwriting style often varies with each individual when writing writing, and some can burst out the shock of boundless air, and some are then contained
The grace of wonderful workmanship excelling nature.But their none non-disclosres the aesthetic feeling coordinated, and seemingly can inherently see different style from writing
The world.But a feast for the eyes printing device on the market, no matter its print form, principle various kinds, can only be finally will be interior
Appearance is palely printed on medium.Although each of printing type face work is carefully and neatly done whole and has no mistake, it does not have life, it is impossible to
The expressive force of the writing possessed with artificial hand-written contribution, exquisite sense are mentioned in the same breath, so that there is many fields still to keep setting about
The requirement write is to pursue the aesthetic feeling that brain printing can not be accomplished.
At present on the market free printer such as Evil Mad Science LLC team on March 9th, 2016
The product picture machine AxiDraw of issue.AxiDraw is controlled by USB connections computer, uses Inkscape vectograms
, can any edit-modify using design of increasing income as software.Although it can also write out simplified form of Chinese Character and Chinese-traditional, shape
Can only be then that profile is described in formula（Write outline letters）, and without the dynamics of starting to write can be controlled, the functions such as user handwriting are imitated, this
It is also the weak point that it is present, while being also the reason for AxiDraw is defined as picture machine.Equally it is the similar of foreign countries
Problem also has entitled Bond hand-written robot, the hand-written example that it can be submitted by user, analyzes user automatically
Writing characteristics, be singly only limitted to 26 English alphabets, complicated Chinese character is not dabbled.It is domestic on the market at present not with
The similar problem of the design, it is therefore seen that being on the market at present relatively little of with the design phase the other shop, and work as character library
Set up that module is gradually ripe and when come into operation, these rivals learn in writing, are in face of former handwriting
Has no competitiveness.And existing bionical printer cost is higher on the market, structure is more complicated.
In summary, the present invention devise a kind of cost low, compact conformation, easy to use and reliable robot humanoid person's handwriting
Writing system and its control method.
The content of the invention
In view of the shortcomings of the prior art, the present invention seeks to be to provide a kind of robot humanoid handwriting system
System and its control method, can be by App platforms, intelligence learning and the writing for imitating user, even the production made by machinery
Thing can also possess vitality.Bionical printer expeditiously completes book using most genuine writing implement in bionical form
Write and even draw operation, stand fast at Chinese-character writing its exclusive cultural deposits.Direction is segmented with conventional printing apparatus, differentiation is competing
Strive, strive occupying high-end, individual demand printing market.
To achieve these goals, the present invention is to realize by the following technical solutions：Robot humanoid handwriting
System, including straight-line guide rail slide block, main body frame, elastic threads, lettering pen mounting bracket, the first stepper motor, cable, the second stepping
Motor, control mainboard, cable plug, motor mounting rack, lettering pen, aluminium alloy hollow section bar, main frame plate, straight optical axis
Lengthen sliding block, guide rail slide block installing plate, chromium plating optical axis guide rail, synchronous pulley, the 3rd stepper motor, writing paper clamp bottom plate,
First tooth form synchronous belt, the second tooth form synchronous belt, optical axis support and miniature guide rail, main body frame surrounding pass through aluminium alloy hollow type
Material clamps bottom plate with writing paper and mutually fixed, and main frame plate is fixed with main body frame medial center line, and main frame plate two ends are consolidated
Fixed and straight optical axis lengthens sliding block, and straight optical axis lengthens sliding block and is arranged on chromium plating optical axis guide rail, and chromium plating optical axis guide rail two ends lead to
The corner that optical axis support is fixed on main body frame is crossed, two jiaos of main body frame are further fixed on the first stepper motor, the second stepping electricity
Machine, the first stepper motor, the second stepper motor are provided with synchronous pulley, synchronous pulley respectively by the first tooth form synchronous belt,
Second tooth form synchronous belt is connected with guide rail slide block installing plate, and straight-line guide rail slide block is provided with guide rail slide block installing plate, and straight line is led
Rail sliding block is slidably matched with miniature guide rail, and miniature guide rail two ends are fixed on main frame plate, is pacified above miniature guide rail by motor
Dress support is provided with the 3rd stepper motor, and the motor shaft of the 3rd stepper motor is connected by elastic threads with lettering pen mounting bracket, book
Write and lettering pen is installed on a mounting bracket, control mainboard is fixed on main body frame, three cables are provided with control mainboard and are connect
Plug-in unit, cable plug is connected with the first stepper motor, the second stepper motor and the 3rd stepper motor respectively by cable.
Preferably, described Exterior cable is provided with cable duct.
Preferably, described control mainboard is connected with computer end and the control of WEB terminal software.
Preferably, the control method of robot humanoid handwriting system, comprises the following steps：First, computer leads to
Writing process of the user on software platform is crossed to obtain the path of user handwriting and set up exclusive character library；Then random algorithm is coordinated
Just can be by arbitrary fields, the person's handwriting that calling and obtaining user is selected is exported to writing system；Finally by hardware device（Robot humanoid
Handwriting system）While the lettering pen completed instead of manpower in writing process, hardware device is moved freely in X/Y plane,
Console is started to write and dynamics.
Beneficial effects of the present invention：1st, the lift of whole penholder is controlled to fall using elastic threads, execution efficiency is high, is easy to more
Change, it is convenient and reliable；
2nd, the stainless steel materials by Numerical control cutting are employed as fuselage material comprehensively, by GT2 timing belts and stepper motor
The EEF bogie of composition, is run with CoreXY framework.Simultaneously take by Switching Power Supply it is external, using based on Arduino
（Grbl firmwares）The measure such as triaxial integration control panel significantly reduce the volume and weight of complete machine.And ensure precision
In the case of greatly improve operating rate；
3rd, using linear bearing, the life-span, longer protectiveness was more preferable；
4th, increase stroke to be allowed to adapt to A4 pictures, employ 6062 aluminum alloy materials so that type more lightweight, transport
Row is more stablized.And on the rising and falling of penholder, add cabling bearing realize above and below two-way tension control, output more connects
It is continuous fine and smooth, intend true degree higher；
5th, the character library of the previous typing of user can be called, passes through most common pen on working media（Pencil, most of ball water
Pen and pen, small white board marker, chalk, charcoal, brush）Exported the writing that imitates user, it is simultaneously certainly
Support the writing of computer font.
Brief description of the drawings
Describe the present invention in detail with reference to the accompanying drawings and detailed description；
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is decomposition texture schematic diagram of the invention.
Embodiment
To be easy to understand the technical means, the inventive features, the objects and the advantages of the present invention, with reference to
Embodiment, is expanded on further the present invention.
Reference picture 1, present embodiment uses following technical scheme：Robot humanoid handwriting system, including machine
Device people personification handwriting system and its control method, including straight-line guide rail slide block 1, main body frame 2, elastic threads 3, lettering pen peace
Shelve the 4, first stepper motor 6, cable 7, the second stepper motor 8, control mainboard 9, cable plug 10, motor mounting rack
11st, lettering pen 12, aluminium alloy hollow section bar 13, main frame plate 14, straight optical axis lengthen sliding block 15, guide rail slide block installing plate 16,
Chromium plating optical axis guide rail 17, synchronous pulley 18, the 3rd stepper motor 19, writing paper clamp bottom plate 20, the first tooth form synchronous belt 21,
Second tooth form synchronous belt 22, optical axis support 23 and miniature guide rail 24, the surrounding of main body frame 2 pass through aluminium alloy hollow section bar 13 and book
Write paper and clamp bottom plate 20 and mutually fix, main frame plate 14 is fixed with the medial center line of main body frame 2, the two ends of main frame plate 14 are consolidated
Fixed and straight optical axis lengthens sliding block 15, and straight optical axis lengthens sliding block 15 and is arranged on chromium plating optical axis guide rail 17, chromium plating optical axis guide rail
17 two ends are fixed on the corner of main body frame 2 by optical axis support 23, and two jiaos of main body frame 2 are further fixed on the first stepper motor
6th, the second stepper motor 8, the first stepper motor 6, the second stepper motor 8 are provided with synchronous pulley 18, and synchronous pulley 18 is distinguished
It is connected by the first tooth form synchronous belt 21, the second tooth form synchronous belt 22 with guide rail slide block installing plate 16, guide rail slide block installing plate 16
Straight-line guide rail slide block 1 is inside provided with, straight-line guide rail slide block 1 is slidably matched with miniature guide rail 24, the two ends of miniature guide rail 24 are fixed on
On main frame plate 14, the top of miniature guide rail 24 is provided with the 3rd stepper motor 19, the 3rd stepping electricity by motor mounting rack 11
The motor shaft of machine 19 is connected by elastic threads 3 with lettering pen mounting bracket 4, and lettering pen 12 is provided with lettering pen mounting bracket 4, control
Mainboard 9 is fixed on main body frame 2, and three cable plugs 10 are provided with control mainboard 9, and cable plug 10 passes through cable
7 are connected with the first stepper motor 6, the second stepper motor 8 and the 3rd stepper motor 19 respectively.
It is worth noting that, being provided with cable duct 5 outside described cable 7.
In addition, described control mainboard 9 is connected with computer end and the control of WEB terminal software.
Present embodiment uses Cartesian robot arm structure, is designed with X, Y, the control of the axles of Z tri-.X, Y level
Two axles are responsible for completing the output of content working path in the plane, and Z axles then play writing implement lift is started to write, dynamics of starting to write
Control, by the path three dimensional stress of script plane to reach more preferable apery hand writing effect.Pass through App platform building character libraries
Set up platform, its record essence is the path of user writing and each puts corresponding dynamics of starting to write, storage form is numerical control
The widely used G codes in field.After the multiple sampling one by one to user's Chinese characters in common use and symbol is completed, equipment can be realized
Random call is distinguished and reverse according to actual text content（Compared to character library typing）The writing of user in itself is restored, is completed whole
Individual work flow.And pre-install a few money fonts and reduce the threshold that character library sets up typing for users to use, in a disguised form.
The control software part of present embodiment is as follows：
1st, epigynous computer section：As a result of the control panel for firmware schemes of being increased income based on grbl, machine is in itself one and connect
By the numerical control device of G code.This printer employs Grbl Controller softwares, need to only carry out the parameter setting of correlation, just
It can be achieved to send to specified COM mouthfuls and instruct（Content generates G codes）Process.
2nd, content generating portion：
On the one hand Web ends platform based on HTML5+JavaScript, be so that most users can be used and matched somebody with somebody
Software is covered, on the other hand, supports user to disclose its person's handwriting character library with compensation and used for other people, builds ecological chain.In flow, Yong Hu
Obtain invitation code to register after login into Web ends, start to need to manually select the version of establishment, respectively English words before creating
The conventional font 3700 of body 178, Chinese, Chinese omnifont 6965.Its phase female collection subset relation each other, can be from small
Capacity adds to full capacity version.More than wherein each independent word at least one version of typing, it is after such multiple sampling
System just can carry out random call to it.The typing part of person's handwriting is mainly by importing one piece of board, and according to the speed of writing
Spend to control the thickness of stroke, finally, the field for needing to export is copied into web page dialog box by user, setting font size and line-spacing,
Spacing, just can generate a G code file handled well, and sending to equipment just can start to set below writing, board
There are multiple buttons to correspond to different functions respectively.
By such scheme, actual anthropomorphic handwriting effect may finally be obtained.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (4)
1. robot humanoid handwriting system, it is characterised in that including straight-line guide rail slide block (1), main body frame (2), elasticity
Rope (3), lettering pen mounting bracket (4), the first stepper motor (6), cable (7), the second stepper motor (8), control mainboard (9), line
Cable connector (10), motor mounting rack (11), lettering pen (12), aluminium alloy hollow section bar (13), main frame plate (14), straight line
Optical axis lengthens sliding block (15), guide rail slide block installing plate (16), chromium plating optical axis guide rail (17), synchronous pulley (18), the 3rd stepping electricity
Machine (19), writing paper clamp bottom plate (20), the first tooth form synchronous belt (21), the second tooth form synchronous belt (22), optical axis support
(23) and miniature guide rail (24), main body frame (2) surrounding clamps bottom plate by aluminium alloy hollow section bar (13) with writing paper
(20) mutually fix, main frame plate (14) is fixed with main body frame (2) medial center line, main frame plate (14) two ends are fixed and straight
Linear light axle lengthens sliding block (15), and straight optical axis lengthens sliding block (15) and is arranged on chromium plating optical axis guide rail (17), chromium plating optical axis guide rail
(17) two ends are fixed on the corner of main body frame (2) by optical axis support (23), and two jiaos of main body frame (2) are further fixed on first
Stepper motor (6), the second stepper motor (8), the first stepper motor (6), the second stepper motor (8) are provided with synchronous pulley
(18), synchronous pulley (18) is installed by the first tooth form synchronous belt (21), the second tooth form synchronous belt (22) and guide rail slide block respectively
Plate (16) is connected, and is provided with straight-line guide rail slide block (1) in guide rail slide block installing plate (16), straight-line guide rail slide block (1) is led with miniature
Rail (24) is slidably matched, and miniature guide rail (24) two ends are fixed on main frame plate (14), and motor is passed through above miniature guide rail (24)
Mounting bracket (11) is provided with the 3rd stepper motor (19), and the motor shaft of the 3rd stepper motor (19) passes through elastic threads (3) and book
Write a mounting bracket (4) to be connected, lettering pen (12) is installed, control mainboard (9) is fixed on main body frame on lettering pen mounting bracket (4)
(2) three cable plugs (10) are provided with, in control mainboard (9), cable plug (10) is by cable (7) respectively with
One stepper motor (6), the second stepper motor (8) are connected with the 3rd stepper motor (19)；Described printer also includes software portion
Point.
2. robot humanoid handwriting system according to claim 1, it is characterised in that described cable (7) is outside
It is provided with cable duct (5).
3. robot humanoid handwriting system according to claim 1, it is characterised in that described control mainboard (9)
It is connected with computer end and the control of WEB terminal software.
4. the control method of robot humanoid handwriting system, it is characterised in that comprise the following steps：First, computer leads to
Writing process of the user on software platform is crossed to obtain the path of user handwriting and set up exclusive character library；Then random algorithm is coordinated
Just can be by arbitrary fields, the person's handwriting that calling and obtaining user is selected is exported to writing system；It is last to replace manpower complete by hardware device
Into writing process, while the lettering pen in hardware device is moved freely in X/Y plane, console is started to write and dynamics.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710461171.8A CN107088882A (en) | 2017-06-18 | 2017-06-18 | Robot humanoid handwriting system and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710461171.8A CN107088882A (en) | 2017-06-18 | 2017-06-18 | Robot humanoid handwriting system and its control method |
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| CN107088882A true CN107088882A (en) | 2017-08-25 |
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Family Applications (1)
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| CN201710461171.8A Pending CN107088882A (en) | 2017-06-18 | 2017-06-18 | Robot humanoid handwriting system and its control method |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390630A (en) * | 2017-06-29 | 2017-11-24 | 北京石油化工学院 | A kind of auto-portrait robot control system |
| CN108466272A (en) * | 2018-04-25 | 2018-08-31 | 福建思安智能科技开发有限公司 | A kind of emulation writing and drawing robot and its application method |
| CN108818565A (en) * | 2018-07-20 | 2018-11-16 | 深圳市幻尔科技有限公司 | A kind of control method and system that the mechanical arm that writes writes |
| CN109623846A (en) * | 2019-01-31 | 2019-04-16 | 湖南工学院 | A kind of three track box posture intelligence painting and calligraphy robots |
| CN109623801A (en) * | 2019-01-09 | 2019-04-16 | 北京精密机电控制设备研究所 | A kind of toothed belt transmission type high-accuracy mechanical shoulder joint |
| CN109664300A (en) * | 2019-01-09 | 2019-04-23 | 湘潭大学 | A kind of windy lattice calligraphic copying method of robot for feeling study based on power |
| CN109774353A (en) * | 2019-03-07 | 2019-05-21 | 赵木琦 | It takes an examination towards high school student and assists the fixed plate and method of writing device |
| CN109773796A (en) * | 2019-03-20 | 2019-05-21 | 河海大学常州校区 | How a robotic arm works |
| CN110076792A (en) * | 2018-01-26 | 2019-08-02 | 南京机器人研究院有限公司 | Robot automatic signature method |
| CN110076791A (en) * | 2018-01-26 | 2019-08-02 | 南京机器人研究院有限公司 | The style of brushwork imitates robot |
| CN110164238A (en) * | 2019-06-25 | 2019-08-23 | 西北大学 | A kind of intelligence system and working method for calligraphy training |
| CN110782710A (en) * | 2019-09-20 | 2020-02-11 | 厦门快商通科技股份有限公司 | Writing teaching method and device based on robot |
| CN111976343A (en) * | 2020-07-31 | 2020-11-24 | 安徽鸿程光电有限公司 | Blackboard writing drawing method and device and writing equipment |
| CN112989899A (en) * | 2019-12-18 | 2021-06-18 | 湖南创乐博智能科技有限公司 | Method for writing personalized font based on writing robot |
| CN114919313A (en) * | 2022-04-05 | 2022-08-19 | 三峡大学 | Device and method for generating man-machine interaction font and writing characters |
| US11803709B2 (en) | 2021-09-23 | 2023-10-31 | International Business Machines Corporation | Computer-assisted topic guidance in document writing |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390630B (en) * | 2017-06-29 | 2019-07-26 | 北京石油化工学院 | A painting robot control system |
| CN107390630A (en) * | 2017-06-29 | 2017-11-24 | 北京石油化工学院 | A kind of auto-portrait robot control system |
| CN110076791A (en) * | 2018-01-26 | 2019-08-02 | 南京机器人研究院有限公司 | The style of brushwork imitates robot |
| CN110076792A (en) * | 2018-01-26 | 2019-08-02 | 南京机器人研究院有限公司 | Robot automatic signature method |
| CN108466272A (en) * | 2018-04-25 | 2018-08-31 | 福建思安智能科技开发有限公司 | A kind of emulation writing and drawing robot and its application method |
| CN108466272B (en) * | 2018-04-25 | 2020-11-13 | 福建思安智能科技开发有限公司 | Simulation writing and drawing robot and use method thereof |
| CN108818565A (en) * | 2018-07-20 | 2018-11-16 | 深圳市幻尔科技有限公司 | A kind of control method and system that the mechanical arm that writes writes |
| CN109623801A (en) * | 2019-01-09 | 2019-04-16 | 北京精密机电控制设备研究所 | A kind of toothed belt transmission type high-accuracy mechanical shoulder joint |
| CN109664300A (en) * | 2019-01-09 | 2019-04-23 | 湘潭大学 | A kind of windy lattice calligraphic copying method of robot for feeling study based on power |
| CN109623846A (en) * | 2019-01-31 | 2019-04-16 | 湖南工学院 | A kind of three track box posture intelligence painting and calligraphy robots |
| CN109774353A (en) * | 2019-03-07 | 2019-05-21 | 赵木琦 | It takes an examination towards high school student and assists the fixed plate and method of writing device |
| CN109773796A (en) * | 2019-03-20 | 2019-05-21 | 河海大学常州校区 | How a robotic arm works |
| CN110164238A (en) * | 2019-06-25 | 2019-08-23 | 西北大学 | A kind of intelligence system and working method for calligraphy training |
| CN110164238B (en) * | 2019-06-25 | 2020-12-22 | 西北大学 | Intelligent system for calligraphy training and working method |
| CN110782710A (en) * | 2019-09-20 | 2020-02-11 | 厦门快商通科技股份有限公司 | Writing teaching method and device based on robot |
| CN112989899A (en) * | 2019-12-18 | 2021-06-18 | 湖南创乐博智能科技有限公司 | Method for writing personalized font based on writing robot |
| CN111976343A (en) * | 2020-07-31 | 2020-11-24 | 安徽鸿程光电有限公司 | Blackboard writing drawing method and device and writing equipment |
| US11803709B2 (en) | 2021-09-23 | 2023-10-31 | International Business Machines Corporation | Computer-assisted topic guidance in document writing |
| CN114919313A (en) * | 2022-04-05 | 2022-08-19 | 三峡大学 | Device and method for generating man-machine interaction font and writing characters |
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Application publication date: 20170825 |