Robot signature entry system

Abstract

The invention provides a robot signature entry system. The robot signature entry system mainly consists of a rack, a pen bridge, a pen holder, a horizontal displacement recording mechanism and a pen gesture control mechanism; the horizontal displacement recording mechanism is used for recording the displacement of a pen in the XY direction of a three-dimensional rectangular coordinate system; thepen gesture control mechanism is used for recording an included angle formed between the pen and a Z axis, and comprises a feed part, a deflecting part, a laser positioning part and a pen clamping part which are arranged on the pen bridge; the deflecting part comprises a frame body and a sphere; the sphere is arranged in the frame body; the frame body is provided with three rollers used for recording three-dimensional rolling of the sphere in a space rectangular coordinate system; the head part of the pen is clamped in the pen clamping part; a writer holds the middle part of the pen with handand writes, and watches the writing trace via the rack at the top and the pen bridge; a first encoder, a second encoder and a rolling encoder are driven to collect motion data, and the motion data isstored continuously by time; and the stored data is directly input into a corresponding first motor, second motor and rolling motor, and required handwriting is output.

Description

technical field [0001] The invention relates to a robot that uses writing tools to generate handwriting in batches, in particular to a robot signature entry system. Background technique [0002] For the signature machine, the programming mode similar to the CNC machine tool was generally used before, scanning the required signature, digitizing the trajectory, and then writing the program in coordinate / displacement mode, and then decoding it on the signature machine. Distortion, and it is only suitable for copying a signature to sign the same file in batches, which is too troublesome for pre-signing or remote signing of a single file. [0003] However, when a person writes a signature, although each individual has a specific writing rule, due to the difference in the fiber of the writing medium, the degree of wear of the writing tool, and the difference in muscle control, the handwriting of each signature will be slightly different. If Being able to record signatures at low ...

AI Technical Summary

Problems solved by technology

[0002] For the signature machine, the programming mode similar to the CNC machine tool was generally used before, scanning the required signature, digitizing the trajectory, and then writing the program in coordinate / displacement mode, and then decoding it on the signature machine. Distortion, and it is only suitable for copying a signature to sign the same file in batches, which is too troublesome for pre-signing or remote signing of a single file

[0003] However, when a person writes a signature, although each individual has a specific writing rule, due to the difference in the fiber of the writing medium, the degree of wear of the writing tool, and the difference in muscle control, the handwriting of each signature will be slightly different. If Signatures can be recorded at low cost and conveniently, and signed documents can be completed in a humanized manner

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