Servo-controlled 3D drawing robot

Abstract

The invention relates to a servo-controlled 3D drawing robot composed of a 3-DOF parallel base, a waist auxiliary device and a five-rod robot actuator. The servo-controlled 3D drawing robot can realize plane and space drawing operation with a small driving moment during actual work. The five-rod robot actuator realizes drawing of a two-dimensional plane complex curve through a five-rod structure, and proper interference fit is utilized in the five-rod structure to lower the transmission error, so that the drawing process is convenient to control precisely and stably; an embedded structure is adopted in the waist auxiliary device, and a servo motor is utilized for enlarging working space for actuation; the 3-DOF parallel base imitating movement of the shoulder of a human body enables the drawing robot to realize space drawing operation at three degrees of freedom. The product has the advantages of being flexible in structure, small in occupied space, good in compatibility and stability, low in weight and cost, good in locating precision and the like.

Description

technical field [0001] The invention belongs to the design technical field of bionic robots, and in particular relates to a servo-controlled 3D drawing robot capable of drawing on solid surfaces. Background technique [0002] A drawing robot refers to a robot that can simulate the drawing and writing process of the human arm to independently draw portraits and write artistic characters. In industrial production, the drawing robot mainly completes the functions of numbering the model and size of the parts, and simple engraving. The research on drawing robots in today's scientific and technological circles generally advances along three directions: one is to make drawing robots more intelligent and functional; the other is to make drawing robots more human, that is, more human-like; , that is, to allow the drawing robot to do more detailed work. [0003] At present, the intelligent drawing robots with relatively advanced performance known in the art mainly include the portra...

AI Technical Summary

Problems solved by technology

[0003] At present, the intelligent drawing robots with relatively advanced performance known in the art mainly include the portrait painting robot produced by Google, the Cartesian coordinate writing robot produced by BAHR Company of Germany, the articulated robot developed by the Institute of Industrial Science, University of Tokyo, and the Shanghai Jiao Tong University and The "magic brush Ma Liang" portrait and comic drawing robot developed by ABB company, etc., but the above-mentioned drawing robots still have a single structure, less degrees of freedom, poor compatibility, poor positioning accuracy, and inability to adapt to planes and spaces to varying degrees in practical applications. Drawing requirements etc.

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