Drawing robot

Abstract

The invention relates to a drawing robot which comprises a support device, an actuating mechanism, and a control mechanism in communication with an upper computer. The actuating mechanism comprises afive-connecting-rod manipulator and a four-connecting-rod mechanical arm, and is used for utilizing the five-connecting-rod manipulator for moving a paintbrush to the specific position for drawing according to a received operating path control command and a drawing command; the four-connecting-rod mechanical arm is used for driving the five-connecting-rod manipulator to rotate so as to lift a penor put the pen; a first drive mechanism is rotatably connected with the five-connecting-rod manipulator and is used for controlling and driving the movement direction of the five-connecting-rod manipulator; a second drive mechanism is rotatably connected with the four-connecting-rod mechanical arm and is used for controlling and driving the movement direction of the four-connecting-rod mechanicalarm; and the control mechanism is used for converting a code sent by the upper computer into coordinates and sending the coordinates to the first drive mechanism and the second drive mechanism so as to drive the actuating mechanism to rotate or move to the specific position for drawing. According to the drawing robot provided by the invention, the structural error of the four-rod mechanism is compensated, the high-accuracy movement output is realized, the complicated movement locus capable of being drawn by the four-rod mechanism can be drawn, and the drawing range is expanded.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a painting robot. Background technique [0002] With the continuous development of modern industrial technology and the continuous increase of the application range of automation technology, robots have become an indispensable part of modern industrial production. A painting robot is a humanoid robot that can imitate humans to complete certain painting actions. Painting robots can be used in various fields, such as teaching, art, life, entertainment, etc. The emergence of painting robots has greatly reduced the workload of relevant personnel, can achieve mass production, reduce costs and labor, and improve work efficiency. [0003] The research on painting robots has a great effect on human production and life. Painting robots can complete painting without being affected by time, space and environment, which greatly saves the time of human painting. For some other things, the work ...

AI Technical Summary

Problems solved by technology

[0004] At present, most of the painting robots developed at home and abroad use the end of the multi-degree-of-freedom robotic arm to hold the pen, and the movement of the robotic arm is controlled by the computer to achieve the purpose of painting. The robotic arm of the painting robot is generally used. Driven by electric servo motors, this kind of multi-degree-of-freedom robotic arm painting robot is often large in size, low in speed and controllability, slow in response, and low in sensitivity. There are also painting robots with a four-link structure, but the four-link The structural error of the robot is large, the drawing accuracy is low, and it is impossible to control the continuous trajectory of the graphics

Images