A dual-arm writing robot and writing method thereof

Abstract

The present invention relates to a dual-arm writing robot, and more particularly to a dual-arm writing robot and a writing method thereof. The dual-arm writing robot comprises a base, a curved joint robotic arm assembly, a controller, and a page-turning device. The curved joint robotic arm assembly comprises two robotic arms; the page-turning device is disposed on the base; two rows of guide grooves are formed on the base, and the area between the two rows of guide grooves is a writing area. The page-turning device comprises two page-turning units; the page-turning units comprise a support frame and an electrostatic generator to absorb the paper to be turned. The support frame comprises an upper frame and a lower frame, and the lower end of the upper frame is connected to the lower frame by a hinge, which is used to drive the hinge to perform a swinging motion. The dual-arm writing robot is less likely to leave indentations on the paper due to local stress concentration due to suction or clamping force, and utilizes the hinged connection of the upper and lower frames. After turning the page, the two electrostatic generators are directly used to press the paper on both sides at the center seam of the book.

Description

Technical Field

[0001] The present invention relates to a dual-arm writing robot, and in particular to a dual-arm writing robot and a writing method thereof. Background Art

[0002] Articulated writing robots, also known as articulated arm robots or articulated manipulators, get their name because they can move freely and flexibly like a human arm. Their applications vary greatly depending on their degrees of freedom, making them the most widely used robots today. Their joints are very similar to those of a human arm, enabling them to perform various tasks more effectively. The hardware of an articulated writing robot primarily consists of a controller and a manipulator, forming the x-, y-, and z-axes in space. The x-axis writes horizontal strokes, the y-axis writes vertical strokes, and the z-axis starts and ends the writing motion. The writing robot uses host computer software to draw a vector diagram of the drawing and uses the coordinate information provided by the vector diagram to control the manipulator arm to write text on paper.

[0003] Dual-arm articulated writing robots offer certain advantages over single-arm robots in writing tasks. For example, dual-arm robots can use both arms simultaneously for writing, enabling parallel writing, completing writing tasks in a shorter time and improving writing efficiency. However, current dual-arm articulated writing robots must coordinate and reliably write on two pages, which means they must first reliably turn the pages.

[0004] Currently, common methods for turning pages include using a robotic arm to grip and turn pages, and using an air suction cup to turn pages. The air suction cup system uses an air suction cup to pick up the page to be turned and turn it over. The device includes the following components: one or more air suction cups, mounted on a robotic arm above the device, capable of generating sufficient suction to pick up a page of paper. A sensor is set up to detect the position and status of the current page to determine when to trigger the page turning operation. The air suction cup is mounted on the robotic arm, and by controlling the movement of the robotic arm, the suction cup moves to the page to be turned, picks it up, and then turns it over.

[0005] A robotic arm system uses mechanical arms to grip paper for page turning. The system includes one or more robotic arms, which utilize sensors to detect the position and status of the current page to determine when to trigger the page turning operation. Furthermore, because the system mimics the human motion of turning pages, it may clamp multiple pages, further complicating the design of how to accurately extract the paper. For example, using a dual-arm robot to turn pages inevitably requires one of the arms to perform both writing and page turning functions, complicating the design of the robotic arm system and increasing manufacturing costs.

[0006] Then, no matter whether the page is turned by the above-mentioned air suction cup or mechanical finger arm, because the mechanical finger arm is used to clamp or the air suction cup is used to suck the paper, the clamping force or adsorption force may be concentrated in a smaller area. Excessive pressure may cause damage to the paper, so that the page turning may cause the paper to be uneven. At the same time, in order to ensure the synchronous writing of two pages after turning the page, higher requirements are also needed for the writing surface of the book after turning the page. Whether it is the possible damage to the paper caused by the current page turning method, or the flatness of the writing surface of the book after turning the page cannot be better guaranteed, it limits the output quality of the current use of dual-arm robots for collaborative synchronous writing. Summary of the Invention

[0007] The purpose of the present invention is to provide a dual-arm writing robot and a writing method thereof. Compared with the traditional air suction cup or mechanical finger arm page turning method, the dual-arm writing robot adopts electrostatic adsorption to adsorb paper to turn pages. At the same time, the page turning device can also be used to press the writing object after turning the page, without the need to set up other pressing devices to keep the writing surface flat and reliable when the dual-arm robot writes synchronously.

[0008] The present invention is achieved through the following technical solutions:

[0009] A first aspect of the present invention provides a dual-arm writing robot comprising a base, a curved joint robotic arm assembly, a controller, and a page turning mechanism. The curved joint robotic arm assembly comprises two robotic arms for performing writing tasks according to instructions, the two robotic arms being arranged side by side on the base; the fingertips of the robotic arms are provided with clamping portions for gripping writing tools; the controller is communicatively connected to the robotic arms and is configured to control the robotic arms to execute preset instructions; the page turning mechanism is disposed on the base and is communicatively connected to the controller and is configured to control the page turning mechanism to perform page turning operations; the base is provided with two parallel and spaced-apart rows of guide grooves, with the area between the two rows of guide grooves being a writing area for placing objects to be written.

[0010] The page-turning device comprises two page-turning units, each of which comprises a support frame and an electrostatic generator. A driving unit is disposed below the support frame, located within a corresponding guide slot, and is configured to drive the support frame along the guide slot in response to a received signal. Each guide slot houses one page-turning unit. The electrostatic generator is disposed on the support frame and is electrically connected to a controller. Based on the received signal, it generates an electrostatic field at a predetermined location to attract the paper to be turned.

[0011] The support frame has an upper bracket and a lower bracket. The lower end of the upper bracket is movably connected to the upper end of the lower bracket through a hinge. The hinge is transmission-connected to a first motor for driving the hinge to swing. The first motor is communicatively connected to the controller and is used to drive the above-mentioned hinge to perform a swinging motion in response to a signal sent by the controller; the electrostatic generating part is connected to the upper bracket and close to the writing area; the lower end of the lower bracket is connected to the above-mentioned driving part.

[0012] Compared to current products that use air suction cups or mechanical finger arms, this dual-arm writing robot is less likely to leave indentations on paper due to suction or clamping force, thereby reducing the risk of damaging the paper. Furthermore, by utilizing the hinged connection between the upper and lower brackets, after turning the page, the two electrostatic generating units are directly used to press the paper on both sides at the center seam of the book. In other words, using this dual-arm writing robot not only allows for page turning, but also better protects the integrity and original appearance of the paper during the page turning process. By directly using the electrostatic generating units to complete the pressing of the two pages after turning the page, these two processes better protect the flatness of the paper surface and the original appearance of the paper. This allows the two robotic arms to perform synchronous writing tasks while maintaining a relatively smooth paper surface, ensuring that the output written work has a higher and more stable quality.

[0013] In some feasible embodiments, the electrostatic generating part is a cylindrical component horizontally mounted on the support frame, and the axial direction of the electrostatic generating part is perpendicular to the extension direction of the guide groove; the electrostatic generating part is rotatably arranged on the upper part of the above-mentioned support frame; one end of the electrostatic generating part is transmission-connected to a second motor, and the second motor is communicatively connected to the controller, and is used to drive the above-mentioned electrostatic generating part to rotate in response to a signal sent by the controller.

[0014] The cylindrical static electricity generating part only needs to move along the guide groove and rotate during the whole process. The movement design is simple and reliable, and it can cleverly complete the page turning action without causing obvious indentations and creases on the paper.

[0015] In some feasible embodiments, the electrostatic generator includes a substrate, a conductive layer, and an electrode. The substrate is cylindrical, one end of which is connected to the support frame and is in driving connection with the second motor. The conductive layer covers the substrate, and the conductive layer is connected to the electrostatic generator controlled by the controller via the electrode.

[0016] During use, electric charge is transferred to the conductive layer to generate an electrostatic field. The electrostatic generator can be controlled by a controller and electrodes are arranged on the conductive layer. Specifically, the electrodes are connected to the conductive layer, and voltage is applied through the electrostatic generator to generate an electrostatic field on the roller surface.

[0017] In some feasible embodiments, a dividing groove is provided on the substrate portion, the length direction of which extends along the axial direction of the substrate portion, for dividing the outer surface of the substrate portion into a plurality of strip-shaped portions; the conductive layer covers the strip-shaped portions.

[0018] The electrostatic generating part is divided into multiple strip parts, so that only one or part of the strip parts needs to be charged, ensuring that a strong adsorption force on the paper will not be generated on the entire cylindrical surface when adsorbing the paper. It can not only concentrate the effective electrostatic field on one or more strip parts, but also ensure that the strip parts that attract the paper and the edge parts of the paper can be relatively single, and there will not be too many line contact parts. It can also ensure that when the paper is attracted, there will be no extra adsorption contact surface when the electrostatic generating part rotates and curls, so as to reduce or avoid the occurrence of the shaping phenomenon of the paper after the flipping and curling work. In this way, the influence of the flipping and curling shaping on the paper can be greatly reduced, and the original appearance of the paper after turning the page can be better guaranteed.

[0019] In some feasible embodiments, one end of the static electricity generating part is movably connected to the upper bracket; a gap is left between the free ends of the static electricity generating parts of the two page turning units; and an insulating sleeve is provided on the free ends.

[0020] The electrostatic fields generated by two electrostatic generators interact when they are close together. When the two electrostatic fields approach each other, this can cause changes in the electric field distribution. This can affect the generator's performance, reduce static electricity generation, or even affect the uniformity of static electricity distribution. In this solution, an insulating sleeve is placed on the free end to reduce mutual interference between the two electrostatic fields and ensure uniform static electricity distribution.

[0021] In some feasible embodiments, a writing board is provided on the writing area; the writing board is a transparent or partially transparent board; an inner groove is opened on the base below the writing board; a camera array with the transmitting end facing the writing board is arranged in the inner groove; the controller includes a central processing module and a feedback module connected to the central processing module; the feedback module is connected to the camera unit in the camera array, and the central processing module is used to control the above-mentioned driving part according to the graphic data captured by the camera unit.

[0022] The transparent or partially transparent writing board is set up, and the objects to be written, such as books, stacked papers, etc., are placed on the writing board. By arranging a camera array and a feedback module connected thereto under the writing board, real-time position detection and feedback can be achieved.

[0023] In some feasible embodiments, a robotic arm baseboard is movably provided on the base; in the curved joint robotic arm group, the base of the robotic arm near the middle of the base is fixedly connected to the robotic arm baseboard.

[0024] By directly fixing the base of one of the robotic arms on a movable robotic arm substrate on the base, and adjusting the above-mentioned robotic arm substrate, the relative position between the two robotic arms can be flexibly determined to adapt to different book sizes, making it more convenient to adjust the writing starting position of the robotic arm to facilitate writing tasks.

[0025] In some feasible embodiments, the base is provided with a slide groove parallel to the extension direction of the guide groove; the robotic arm substrate is movably arranged in the slide groove; the robotic arm substrate has a locking mechanism, which can be optionally connected to the base, and is used to fix the relative position of the robotic arm substrate and the base after the robotic arm substrate determines the position in the slide groove.

[0026] The above-mentioned locking mechanism can be a tightening bolt, for example, a plurality of screw holes are arranged horizontally on the base at the same level as the robot arm base plate, and a tightening bolt is provided to fit in the screw hole, one end of the tightening bolt extends out of the base, and the other end tightens the robot arm base plate. It can also be that a through groove is provided on the base, and a stud is provided on the robot arm base plate to pass through the through groove and extend out of the base. The stud can move along the through groove as the robot arm base plate slides, and a nut is provided at the end of the stud extending out of the base. By tightening the nut, the position of the robot arm base plate in the slide groove is locked, and so on.

[0027] A second aspect of the present invention further provides a writing method for a dual-arm writing robot, configured to cause two robotic arms to perform writing tasks on the two corresponding pages of paper according to received instructions or a preset program. The writing method further comprises a dual-arm writing robot using the first aspect and its improved solution. The writing method comprises the following operations:

[0028] Collecting size information of the object to be written on the writing area;

[0029] Determine the position data of the edge of the object to be written and the position data of the center seam according to the size information;

[0030] Executing page turning includes operating a driving unit to drive an electrostatic generating unit to move to an edge of a side of the object to be written, adsorbing a flippable edge portion of the object to be written, causing an edge of the paper to be written closest to the electrostatic generating unit to be adsorbed on the electrostatic generating unit and then withdrawn to the other side of the object to be written or outside the other side, causing the paper to fall;

[0031] Perform a double-page press, including:

[0032] operating the driving parts in the two guide grooves according to the acquired data of the center seam position of the object to be written;

[0033] The two driving parts are moved to positions corresponding to the middle seam, or the two driving parts are moved to positions on different sides of the middle seam;

[0034] The two electrostatic generating parts for releasing the electrostatic field are swung to opposite positions to press the two sheets of paper located on both sides of the center seam, so that the two mechanical arms respectively perform writing tasks on the two sheets of paper after being pressed.

[0035] By adopting this writing method, the paper is adsorbed by electrostatic adsorption to turn the page. At the same time, the page turning device can be used to press the written object after turning the page, without the need to set up other pressing devices to keep the writing surface flat and reliable when the dual-arm robot writes synchronously.

[0036] In some feasible embodiments, executing page turning further includes:

[0037] When retracting and turning the page, the static electricity generating part rotates. During the retraction process of the static electricity generating part, the adsorbed edge of the paper is rolled over the static electricity generating part, then the rotation is stopped and the paper is continued to be retracted to the specified position; after reaching the specified position, the static electricity generating part releases the electrostatic field, and the edge of the paper falls under the static electricity generating part.

[0038] This method eliminates the need for additional lifting after adsorbing the paper. Instead, it simply flips and curls the edge of the paper to flip it upward, then retracts to complete the page turning. Compared to existing writing robots, this method eliminates the need for excessive vertical space when turning pages. Each moving element only needs to move horizontally to complete the task. Furthermore, compared to using air suction cups and mechanical finger arms for page turning, the system is simpler and more reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the examples. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be considered as limiting the scope. A person of ordinary skill in the art can also derive other relevant drawings based on these drawings without inventive effort. In the drawings:

[0040] Figure 1 Schematic diagram for illustrating the structure of a dual-arm writing robot in an embodiment;

[0041] Figure 2 Schematic diagram for illustrating the structure of a single page-turning unit of a dual-arm writing robot in an embodiment;

[0042] Figure 3 is a schematic diagram for illustrating a cross section of an electrostatic generating portion of a dual-arm writing robot according to an embodiment;

[0043] Figure 4is a schematic diagram for illustrating a dual-arm writing robot sucking an edge of paper in an embodiment;

[0044] Figure 5 for Figure 4 Schematic diagram of the page turning unit in the figure sucking the paper;

[0045] Figure 6 A schematic diagram illustrating a dual-arm writing robot in an embodiment of the present invention, wherein the robot absorbs a piece of paper, flips the edge of the paper to the upper side, and is in a retracted state;

[0046] Figure 7 for Figure 6 Schematic diagram of the page turning unit in FIG. 1 turning the edge of the paper to the upper side;

[0047] Figure 8 is a schematic diagram for illustrating a dual-arm writing robot in an embodiment when an electrostatic field is about to be released;

[0048] Figure 9 is a schematic diagram for illustrating a dual-arm writing robot dropping a paper in an embodiment;

[0049] Figure 10 is a schematic diagram for explaining the movement of a dual-arm writing robot to a mid-seam position in an embodiment;

[0050] Figure 11 A schematic diagram illustrating a dual-arm writing robot in an embodiment of the present invention that independently controls two single-axis robots to move sideways in an interlaced manner at a mid-seam position to perform double-page pressing;

[0051] Figure 12 is a schematic diagram for illustrating a page turning unit in a double-sided pressing state;

[0052] Figure 13 A schematic diagram illustrating the connection between the controller and various actuators when a dual-arm writing robot uses a camera to capture the outline of an object to be written in an embodiment;

[0053] Figure 14 A schematic diagram illustrating a dual-arm writing robot using a photoelectric sensor array in an embodiment;

[0054] Figure 15 A schematic diagram illustrating the connection between the controller and various actuators in a dual-arm writing robot according to an embodiment of the present invention, in which a photoelectric sensor array is used to capture the outline of an object to be written;

[0055] Markings and corresponding parts names in the accompanying drawings:

[0056] 1-base; 110-guide groove; 120-slide groove; 130-through groove; 2-controller; 210-second motor control module; 220-static electricity generating module; 230-drive unit control module; 240-feedback module; 250-first motor control module; 3-page turning device; 300-page turning unit; 310-support frame; 311-upper bracket; 312-lower bracket; 313-pin shaft; 320-static electricity generating part; 321-substrate part; 322-conductive layer; 323-dividing groove; 330-drive unit; 340-second motor; 350-first motor; 4-robotic arm; 5-writing board; 6-camera unit; 6a-photoelectric sensor unit; 7-clamping part; 8-robotic arm base plate; 9-nut; 10-object to be written; 11-insulating sleeve. DETAILED DESCRIPTION

[0057] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0058] In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that these specific details are not necessarily required to practice the present invention. In other instances, well-known structures, circuits, materials, or methods are not described in detail to avoid obscuring the present invention.

[0059] Throughout this specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. Therefore, appearances of the phrases "one embodiment," "an embodiment," "an example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in one or more embodiments or examples in any suitable combinations and / or subcombinations. Furthermore, it will be understood by those of ordinary skill in the art that the figures provided herein are for illustrative purposes only and are not necessarily drawn to scale. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0060] In the description of the present invention, it should be understood that the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present invention.

[0061] Example 1

[0062] Reference Figures 1 to 15 A dual-arm writing robot comprises a base 1, a curved joint robotic arm assembly, a controller 2, and a page turning device 3. The curved joint robotic arm assembly includes two robotic arms 4 for performing writing tasks according to instructions. The two robotic arms 4 are arranged side by side on the base 1; the fingertips of the robotic arms 4 are provided with clamping portions for clamping writing tools; the controller 2 is in communication with the robotic arms 4 and is used to control the robotic arms 4 to execute preset instructions; the page turning device 3 is disposed on the base 1 and is in communication with the controller 2 and is used to control the page turning device 3 to perform page turning actions; the base 1 is provided with two rows of guide grooves 110, which are arranged parallel and spaced apart. The area between the two rows of guide grooves 110 is a writing area for placing objects to be written.

[0063] The page turning device 3 includes two page turning units 300; each page turning unit 300 includes a support frame 310 and an electrostatic generator 320. A driving unit 330 is provided at the lower portion of the support frame 310, located within the corresponding guide slot 110, for driving the support frame 310 along the guide slot 110 in response to a received signal. One page turning unit 300 is provided for each guide slot 110. The electrostatic generator 320 is provided on the support frame 310 and is electrically connected to the controller 2. It is configured to generate an electrostatic field at a predetermined position based on the received signal to attract the paper to be turned.

[0064] The support frame 310 has an upper bracket 311 and a lower bracket 312. The lower end of the upper bracket 311 is movably connected to the upper end of the lower bracket 312 through a hinge. The hinge transmission is connected to a first motor 350 for driving the hinge to perform a swinging motion. The first motor 350 is communicated with the controller 2 and is used to drive the above-mentioned hinge to perform a swinging motion in response to a signal sent by the controller 2; the electrostatic generating part 320 is connected to the upper bracket 311 and close to the writing area; the lower end of the lower bracket 312 is connected to the above-mentioned driving part 330.

[0065] The lower end of the upper bracket 311 is movably connected to the upper end of the lower bracket 312 via a hinge. Specifically, the lower bracket 312 is provided with two upwardly projecting spaced apart protruding plates. An extension plate extends from the lower end of the upper bracket 311, which extends into the gap between the two protruding plates. A pin 313, which connects the protruding plates and the extension plate, is connected to the main shaft of the first motor 350 via a coupling. The pin 313 is fixedly connected to the extension plate of the upper bracket 311, and the pin 313 and the protruding plate are movably connected via a bearing. After receiving a signal from the controller 2, the first motor 350 outputs torque to the pin 313, thereby driving the upper bracket 311 to swing.

[0066] When writing on a page is complete, the drive unit 330 is driven to move the support frame 310 to the position of the object 10 to be written. The static electricity generating unit 320 is then activated to generate an electrostatic field, which attracts the edge of the paper to be turned, allowing the paper to adhere to the static electricity generating unit 320. The static electricity generating unit 320 is then retracted to turn the paper. Once the paper reaches the preset position, the static electricity field is released, causing the paper to fall.

[0067] The guide groove 110 can be a straight groove with a square cross-section to facilitate the arrangement of the inner guide rail and the drive unit 330. This drive unit 330 can be a single-axis robot. Of course, the guide groove 110 can also be a U-shaped groove, allowing the bottom drive unit 330 of the support frame 310 to be embedded therein to provide stable guidance. It can also be designed as a V-shaped groove, allowing the drive unit 330 at the bottom of the support frame 310 to move in a specified direction within the V-shaped groove to maintain the accurate positioning of the paper. The guide grooves 110 can be arranged in a single row, or in two or more rows.

[0068] The lower bracket 312 may be a slide rail type, that is, the lower bracket 312 may be designed as a slide rail structure that matches the guide groove 110 to achieve smooth movement and ensure that the lower bracket 312 moves accurately along the guide groove 110 .

[0069] The curved joint robot arm group in this embodiment includes two six-axis robot arms 4. When working, the robot arms 4 are first initialized, that is, the robot arms 4 are in the initial position at the beginning, and all joint angles are set to initial values. This solution can determine the target position and trajectory of the writing task through image processing or other positioning systems. Calculations can be performed based on a predefined coordinate system or reference point. Then, a motion planning algorithm, such as an inverse kinematics algorithm, is used to convert the target position into the joint angles and trajectory paths of the robot arms 4 to ensure that the robot arms 4 can accurately reach the writing area.

[0070] Then, based on the planned joint angles and trajectories, the joint motors of the robotic arm 4 are controlled to move along the predetermined trajectory. By sending preset control instructions or signals, the various joints of the robotic arm 4 will move according to the set speed and acceleration. When the robotic arm 4 reaches the target position, the writing tool (such as a pen tip) contacts the writing surface and performs the writing action. The robotic arm 4 can control the writing tool's motion trajectory, speed, and pressure according to the set writing mode and path to achieve accurate writing tasks.

[0071] During the writing process, the robotic arm 4 can continuously monitor the position of the writing surface and the pen tip to make real-time adjustments and corrections. In this embodiment, this can be achieved through sensor feedback and visual feedback to ensure writing accuracy and precision. Once the writing task is completed, the robotic arm 4 can move the writing tool out of the writing area, return to its original position, or prepare for the next task.

[0072] Compared with current products that use air suction cups or mechanical finger arms, this dual-arm writing robot is less likely to leave indentations on paper due to suction or clamping force, and is less likely to damage the paper. The thinner the paper, the more obvious the effect. By adopting this writing robot, compared with air suction cups, the suction force will not be concentrated on one point or mechanical clamping will not be used to generate excessive pressure in local areas, thereby reducing the risk of damaging the paper. In addition, by utilizing the hinge of the above-mentioned upper bracket 311 and the lower bracket 312, after turning the page, the two electrostatic generating parts 320 are directly used to press the paper on both sides at the center seam of the book, that is, there is no need to configure extra equipment to press double pages, and the structure is simple and compact. In other words, the use of this dual-arm writing robot can not only turn pages, but also better protect the integrity and original appearance of the paper during the page turning process. After turning the page, the static electricity generating unit 320 is directly used to complete the pressing of the two pages. Through these two processes, the flatness of the paper surface and the original appearance of the paper are better guaranteed. When the two robotic arms 4 perform synchronous writing tasks, the writing tasks can be completed with better paper flatness, ensuring that the output writing works have higher and more stable quality.

[0073] Example 2

[0074] Reference Figures 1 to 15 On the basis of the above-mentioned embodiment 1, the present electrostatic generating part 320 is a cylindrical component horizontally mounted on the support frame 310, and the axial direction of the electrostatic generating part 320 is perpendicular to the extension direction of the guide groove 110; the electrostatic generating part 320 is rotatably arranged on the upper part of the above-mentioned support frame 310; one end of the electrostatic generating part 320 is transmission-connected to the second motor 340, and the second motor 340 is communicatively connected to the controller 2, and is used to drive the above-mentioned electrostatic generating part 320 to rotate in response to the signal sent by the controller 2.

[0075] The controller 2 includes a second motor control module 210, which is used to control the start and stop of the second motor 340 according to a preset program or a received instruction. The controller 2 also includes a first motor control module 250, which is used to control the start and stop of the first motor 350 according to a preset program or a received instruction. The first motor control module 250 and the second motor control module 210 here serve as a submodule in the controller 2. The second motor control module 210 is used to control the second motor 340 to perform the flipping operation of the electrostatic generating unit 320, so that the edge of the adsorbed paper flips up to the upper side of the electrostatic generating unit 320. The first motor control module 250 is used to control the first motor 350 to perform the swinging action of the upper bracket 311 to complete the pressing operation.

[0076] The controller 2 further includes a central processing module, which is connected to the second motor control module 210. A preset program is configured in the central processing module to execute control instructions. Each control module in this embodiment can be a control circuit connected to the central processing module, and the specific connection can be made according to the requirements of the configured single-chip microcomputer, chip, etc. When the preset program or the instruction is received, the second motor control module 210 operates according to the following steps:

[0077] Receiving instructions: The second motor control module 210 receives instructions from the main controller 2 or corresponding steps in a preset program.

[0078] Parsing the instruction: The second motor control module 210 parses the received instruction and determines the requirement to start or stop the second motor 340 , including parameters such as the rotation direction, speed, or duration of the second motor 340 .

[0079] The second motor 340 is started. Based on the parsed command, the second motor control module 210 sends a start signal to connect the electrostatic generator to the second motor 340, causing it to begin rotating. Starting the second motor 340 causes the electrostatic generator 320 to begin rotating, generating an electrostatic field that drives the electrostatic generator 320 to rotate.

[0080] To control the rotation, the second motor control module 210 monitors the rotation state of the second motor 340 and determines when to stop the rotation of the second motor 340 according to a preset time, angle or other conditions.

[0081] Stop the second motor 340. When a preset condition is met, the second motor control module 210 sends a stop signal to cut off the connection between the power supply and the second motor 340, causing it to stop rotating.

[0082] The cylindrical electrostatic generating unit 320 of this embodiment corresponds to the two rows of guide grooves 110 on the base, and the free ends of the two electrostatic generating units 320 are arranged facing each other. During the control process, the two single-axis robots serving as the driving unit 330 are controlled synchronously throughout the entire page turning process. During the pressing process, the synchronization can be released, and the two single-axis robots can be positioned at different positions in their respective guide grooves 110. The first motor 350 is controlled to perform the pressing process. After the writing of both pages is completed, the pressing state is released and the synchronization position is reset, thereby performing the page turning process with synchronous movement.

[0083] Without using a robotic arm 4, this writing robot can place the edge of the adsorbed paper against the electrostatic generating part 320, and then perform a rolling action during the retraction process, so that the writing surface that was initially adsorbed is flipped over to the top of the electrostatic generating part 320, and then continue to complete the retraction. In this way, the page turning action can be completed smoothly without leaving creases or damaging the paper. The cylindrical electrostatic generating part 320 only needs to complete the movement and rotation along the guide groove 110 throughout the process. The movement design is simple and reliable, and can very cleverly complete the page turning action without causing obvious indentations and creases on the paper.

[0084] This embodiment can be further optimized. The electrostatic generator 320 includes a substrate 321, a conductive layer 32, and electrodes. The substrate 321 is cylindrical, with its ends connected to a support frame 310 and in transmission connection with the second motor 340. The conductive layer 32 covers the substrate 321. The conductive layer 32 is connected to the electrostatic generator controlled by the controller 2 via the electrodes.

[0085] During use, electric charge is transferred to the conductive layer 32 to generate an electrostatic field. The electrostatic generator can be controlled by the controller 2 and electrodes are arranged on the conductive layer 32. Specifically, the electrodes are connected to the conductive layer 32, and a voltage is applied through the electrostatic generator to generate an electrostatic field on the roller surface.

[0086] In each of the above embodiments, the controller 2 further includes a static electricity generating module 20 and a driving unit 330 control module 230. The central processing module is connected to the static electricity generating module 20 and the driving unit 330 control module 230 respectively.

[0087] The static electricity generating module 20 is electrically connected to the static electricity generating unit 320 and is configured to output charge to the static electricity generating unit 320 according to a preset program or received instructions, thereby generating an electrostatic field on the static electricity generating unit 320. The drive unit 330 control module 230 is in communication with the drive unit 330 and is configured to control the drive unit 330 to move or stop according to a preset program or received instructions. Based on the received signals, the central processing module issues instructions to the static electricity generating module 20 and the drive unit 330 control module 230 to perform the aforementioned control operations.

[0088] The static electricity generating module 20 includes charge generation and output circuits. The drive unit 330 control module 230 includes the control circuit and signal processing unit of the drive unit 330. The controller 2 can be a microcontroller 2 (microcontroller) or other embedded controller 2, which is used to implement control logic and signal processing functions. The conductive layer 322 is connected to the static electricity generating module 20 of the controller 2 via a circuit. The drive unit 330 can be a single-axis robot, and is connected to the controller 2 via the drive unit 330 control module 230. The output circuit of the static electricity generating module 20 is connected to the electrodes of the static electricity generating unit 320 via the conductive layer 322. This connection can be made via a wire. The drive unit 330 control module 230 is connected to the drive unit 330 via a circuit. The specific connection method depends on the type of motor used and the interface of the controller 2. A cable, a wire, or a plug connection can be used. The controller 2 can be installed in a control box inside or on the base 1. The control box can accommodate other equipment, such as an electrostatic generator connected to the static electricity generating unit 320. The central processing module can be a microcontroller, a single chip computer, a PLC (programmable logic controller) or other control circuits, as long as it can reliably control the various components connected to it according to the compiled program.

[0089] Example 3

[0090] Combine Figure 1 、 Figure 2 and Figure 3 On the basis of the above embodiment, a dividing groove 323 is opened on the above-mentioned substrate portion 321, and the length direction of the dividing groove 323 extends along the axial direction of the substrate portion 321, which is used to divide the outer surface of the above-mentioned substrate portion 321 into a plurality of strip-shaped portions; the above-mentioned conductive layer 32 covers the above-mentioned strip-shaped portions.

[0091] The electrostatic generating part 320 is divided into multiple strip parts, so that only one or part of the strip parts needs to be charged, ensuring that a strong adsorption force on the paper will not be generated on the entire cylindrical surface when the paper is adsorbed. It can not only concentrate the effective electrostatic field on one or more strip parts, but also ensure that the strip parts that attract the paper and the edge parts of the paper can be relatively single, and there will not be too many line contact parts. When the electrostatic generating part 320 rotates and curls, there will be no extra adsorption contact surface when the paper is attracted, so as to reduce or avoid the occurrence of the shaping phenomenon of the paper after the flipping and curling work. In this way, the influence of the flipping and curling shaping on the paper can be greatly reduced, and the original appearance of the paper after turning the page can be better guaranteed.

[0092] The above-mentioned electrode arrangement can be in the form of distributed electrodes, that is, the static electricity generating part 320 can be designed as a tubular structure with distributed electrodes inside. These distributed electrodes can provide an appropriate amount of charge through an electrostatic generator connected to the controller 2 to generate an electrostatic field and attract the paper to be turned over. It can also be a brush-like electrode, that is, the static electricity generating part 320 can adopt a tubular structure, and a brush-like electrode is attached to its outer surface or end. It can also be a plurality of electrode rings, such as the static electricity generating part 320 can be designed as a tubular structure with a plurality of electrode rings. These electrode rings can be controlled by the controller 2 and activated one by one when it is necessary to adsorb paper, thereby generating electrostatic force to achieve the purpose of turning the paper, as long as the charge can be smoothly applied to the above-mentioned conductive layer 322.

[0093] The substrate 321 can be made of rubber, silicone, or a polymer material, as long as it has good insulation properties to maintain the distribution of static charges. The conductive layer 322 can be made of a conductive material such as metal foil, conductive ink, or a conductive coating, covering the surface of the cylindrical roller. This allows the entire roller to be charged.

[0094] During use, electric charge is transferred to the conductive layer 322 to generate an electrostatic field. The electrostatic generator, which can be controlled by the controller 2, and the electrodes disposed on the conductive layer 322, specifically the electrodes connected to the conductive layer 322, are used to apply voltage through the electrostatic generator, thereby generating an electrostatic field on the roller surface.

[0095] Specifically, one end of the static electricity generating part 320 is movably connected to the upper bracket 311 ; a gap is left between the free ends of the static electricity generating parts 320 of the two page turning units 300 ; and an insulating sleeve 11 is sleeved on the free ends.

[0096] The electrostatic fields generated by the two electrostatic generators 320 interact with each other when they are close together. When the electrostatic fields of the two electrostatic generators approach each other, this can cause changes in the electric field distribution. This can affect the performance of the electrostatic generators, reduce static electricity generation, or affect the uniformity of static electricity distribution. In this embodiment, an insulating sleeve 11 is provided on the free end of the two electrostatic generators to reduce mutual interference between the two electrostatic fields and ensure uniform static electricity distribution.

[0097] Example 4

[0098] Reference Figures 1 to 15 Based on the above embodiment, a writing board 5 is provided on the writing area; the writing board 5 is a transparent or partially transparent board; an inner groove is provided below the writing board 5 and is located on the base 1; a camera array with its transmitting end facing the writing board 5 is arranged in the inner groove; the controller 2 includes a central processing module and a feedback module connected to the central processing module; the feedback module is connected to the camera unit 6 in the camera array, and the central processing module is used to control the driving unit 330 according to the graphic data captured by the camera unit 6. This camera array can include at least one camera unit 6. In this embodiment, two left and right camera units 6 ( Figure 4 and Figure 6 The camera unit 6 on the right is blocked by the object to be written 10 in the figure).

[0099] The transparent or partially transparent writing board 5 is set up, and an object to be written on, such as a book or stack of papers, is placed on the writing board 5. A camera array and a feedback module connected to the camera array below the writing board 5 enable real-time position detection and feedback. This solution can determine the size and boundary position of the writing area based on preset book and paper sizes, combined with contour detection. For example, preset book sizes include 260x185mm, 297x210mm, 184x130mm, 204x140mm, and 130x92mm.

[0100] When a robotic arm writes, it typically uses a tactile sensor or force sensor to detect changes in force or pressure on the contact surface. By sensing the force of contact with a writing tool (such as a pen or brush), the robotic arm 4 can determine the location of the writing area. Before starting to write, the robotic arm 4 pre-positions the tip of the writing tool at a predetermined starting position. It then senses changes in the surface during movement, determining the writing area and beginning the writing task.

[0101] In this solution, a camera array is used to capture the outline of the object 10 from the back of the object 10. Image processing algorithms are then used to analyze and identify the outline, allowing the robotic arm 4 to determine the writing area. For example, the robotic arm 4 detects the edge or outline of a pre-marked writing area and uses this as the boundary of the writing area.

[0102] Specifically, when acquiring the writing area, image acquisition is first performed, and the camera array is used to obtain the contour image data of the back of the object to be written 10. The acquired image is preprocessed to extract useful information and reduce the influence of noise. The preprocessing steps include image filtering, edge detection, binarization, etc.

[0103] Then, a feature extraction algorithm is used to identify and extract edge features of the writing area. An edge detection algorithm (such as the Canny operator) can be used to detect edges in the image and extract the position and shape information of the edges.

[0104] Region segmentation is then performed, that is, dividing the image into different regions based on specific markers or rules. The markers or rules can be features such as shape and color. For example, the controller 2 of this solution can use a watershed algorithm or a threshold-based segmentation algorithm to segment the image captured by the camera unit 6 into different regions.

[0105] The segmented regions are verified and screened to determine which regions are writing regions, and a shape matching algorithm can be used to match predefined templates or shapes of writing regions.

[0106] For a continuous sequence of images, an object tracking algorithm is used to track the identified writing area and continuously update the position and shape of the area during the movement of the robotic arm 4.

[0107] Of course, this solution can also adopt a simpler area determination method, such as installing a photoelectric sensor array in the inner groove to ensure that the light emitted by the transparent writing board 5 covers the entire area of the book. In this way, the position of the object 10 to be written on the writing board 5 and the boundary position of the object 10 to be written can be determined.

[0108] A clamping member 7 is provided on one side of the writing board 5 for clamping one edge of the object 10 to be written on the writing board 5. This clamping member 7 does not need to have a strong clamping force; it only needs to serve as a positioning and limiting function. Furthermore, the clamping member 7 does not need to clamp too much of the edge of the paper. It is sufficient to ensure that when the object to be written is attracted by the static electricity generating unit 320, the attracted paper can be pulled out from under the clamping member 7.

[0109] Of course, further optimization can be done here by setting an automatic clamp on the other side of the writing board 5. The automatic clamp opens automatically according to the operating status of the page turning device 3, such as after retreating to a preset position, and then closes again through a delay program to press the paper after turning the page.

[0110] Example 5

[0111] Reference Figures 1 to 15On the basis of the above embodiment, a robot arm substrate 8 is movably provided on the above base 1; in the above curved joint robot arm group, the base of the robot arm 4 near the middle position of the base 1 is fixedly connected to the above robot arm substrate 8.

[0112] In this embodiment, the base of one of the robotic arms 4 is directly fixed to the movable robotic arm substrate 8 of the base 1. By adjusting the above-mentioned robotic arm substrate 8, the relative position between the two robotic arms 4 is flexibly determined to adapt to different book sizes. It is more convenient to adjust the writing starting position of the robotic arm 4 to facilitate writing tasks.

[0113] Specifically, the base 1 is provided with a slide groove 120 parallel to the extension direction of the guide groove 110; the robotic arm substrate 8 is movably arranged in the slide groove 120; the robotic arm substrate 8 has a locking mechanism, which can be optionally connected to the base 1, and is used to fix the relative position of the robotic arm substrate 8 and the base 1 after the robotic arm substrate 8 determines the position in the slide groove 120.

[0114] The above-mentioned locking mechanism can be a tightening bolt, for example, a plurality of screw holes are arranged horizontally on the base 1 at the same horizontal position as the robot arm base plate 8, and a tightening bolt is provided to fit in the screw hole. One end of the tightening bolt extends out of the base, and the other end tightens the robot arm base plate 8. It can also be that a through groove 130 is opened on the base 1, and a stud is provided on the robot arm base plate 8 to pass through the through groove 130 and extend out of the base 1. The stud can move along the through groove 130 as the robot arm base plate 8 slides, and a nut 9 is provided at the end of the stud extending out of the base 1. By tightening the nut 9, the position of the robot arm base plate 8 in the slide groove 120 is locked, and so on.

[0115] Example 6

[0116] A writing method for a dual-arm writing robot is provided, for causing two robotic arms 4 to perform writing tasks on the two corresponding pages of paper according to received instructions or a preset program. The writing method further comprises a dual-arm writing robot using the first aspect and its improved solution. The writing method comprises the following operations:

[0117] Collecting size information of the object to be written on the writing area;

[0118] Determine the position data of the edge of the object to be written and the position data of the center seam according to the size information;

[0119] Executing page turning includes operating the driving unit 330 to drive the static electricity generating unit 320 to move to one side of the object to be written, adsorbing the flippable edge of the object to be written 10, so that the edge of the paper to be written 10 closest to the static electricity generating unit 320 is adsorbed on the static electricity generating unit 320 and then withdrawn to the other side of the object to be written or outside the other side, so that the paper falls;

[0120] Perform a double-page press, including:

[0121] According to the acquired data of the center seam position of the object to be written, the driving parts 330 in the two guide grooves 110 are operated;

[0122] The two driving parts 330 are moved to positions corresponding to the middle seam, or the two driving parts 330 are moved to positions on different sides of the middle seam;

[0123] The two electrostatic generating parts 320 for releasing the electrostatic field are swung to opposite positions to press the two sheets of paper located on both sides of the center seam, so that the two robotic arms 4 respectively perform writing tasks on the two pressed sheets of paper.

[0124] By adopting this writing method, the paper is adsorbed by electrostatic adsorption to turn the page. At the same time, the page turning device 3 can be used to press the writing object 10 after turning the page, without the need to set up other pressing devices to keep the writing surface flat and reliable when the dual-arm robot writes synchronously.

[0125] Specifically, executing page turning also includes:

[0126] When retracting and turning the page, the electrostatic generating unit 320 rotates. During the retraction process, the adsorbed edge of the paper is rolled over the top of the electrostatic generating unit 320 and then stops rotating and continues to retract to the specified position; after reaching the specified position, the electrostatic generating unit 320 releases the electrostatic field and the edge of the paper falls under the electrostatic generating unit 320.

[0127] This method eliminates the need for additional lifting after adsorbing the paper. Instead, it simply flips and curls the edge of the paper to flip it upward, then retracts to complete the page turning. Compared to existing writing robots, this method eliminates the need for excessive vertical space when turning pages. Each moving element only needs to move horizontally to complete the task. Furthermore, compared to methods using air suction cups and mechanical finger arms, this method is simpler and more reliable.

[0128] Preferably, refer to Figures 2 to 13 The control of the static electricity generating unit 320 by this method includes the control of multiple operating states thereof, including:

[0129] S1. Execute the instruction to move to the predetermined adsorption position, that is, control the static electricity generating unit 320 to move to the adsorption position via the driving unit 330.

[0130] S2. Execute the command to generate an electrostatic field. By generating the electrostatic field, the edge of the paper is attracted to the electrostatic generating unit 320 and is brought into contact with the paper.

[0131] S3. Execute the instructions for retracting and flipping. These two movements can be performed simultaneously, or after retracting a certain distance, the flipping action is performed, that is, the static electricity generating unit 320 is rotated so that the edge of the adsorbed paper is flipped to the upper side of the static electricity generating unit 320, and then the rotation is stopped, and then the retraction is continued.

[0132] S4. Execute the instruction to release the electrostatic field. After the electrostatic field is released, the electrostatic generating unit 320 separates from the paper and continues to retract until it reaches a designated position, and the edge of the paper can fall below the electrostatic generating unit 320.

[0133] After you finish writing the next page, repeat the above steps.

[0134] Preferably, the method further includes pressing the static electricity generating unit 320 after completing the first page turning.

[0135] The above pressing operation includes:

[0136] After completing one page turning, the control driving unit 330 drives the electrostatic generating unit 320 to operate the two single-axis robots to the pressing position without activating the electrostatic field.

[0137] That is, the control of the static electricity generating unit 320 by this method further includes:

[0138] S5. Execute the instruction to the pressed position.

[0139] Specifically, the control can be carried out in the following ways:

[0140] During the page-turning process, synchronized control is implemented. Before the page-turning process begins, the two single-axis robots are set to synchronized mode and positioned side by side. Controller 2 sends commands to simultaneously control the movement of the two single-axis robots, allowing them to move forward or backward in sync. Main Controller 2 sends corresponding speed or displacement commands to the two single-axis robots to maintain their relative positions, achieving synchronized control.

[0141] After the page turning process is completed, stop sending synchronization instructions and maintain the current positions of the two single-axis robots.

[0142] If non-parallel position control of the pressing process is required, perform the following operations:

[0143] Before the pressing process begins, the two single-axis robots are desynchronized. The motion of each single-axis robot is controlled using the secondary independent control module of its respective controller 2, so that they move according to the preset position on their respective tracks. Speed or displacement commands are sent to each single-axis robot to control their motion in non-parallel positions.

[0144] Regarding the switch between the page turning process and the pressing process:

[0145] After the page turning process is completed and before switching to the pressing process, the mode of the controller 2 is switched to a state of releasing the synchronization mode so that the controller 2 no longer sends the synchronization instruction.

[0146] After the pressing process is completed and before switching back to the page turning process, the mode of the controller 2 is switched to the synchronous mode and the synchronous instructions are sent again to realize the parallel movement of the two single-axis robots.

[0147] The above-mentioned double-page pressing operation specifically includes: first, detecting and identifying the edges and features of the book through the above-mentioned camera array or photoelectric sensor array. For example, after using the camera unit 6 to identify the center seam feature, the center seam position can be determined by analyzing the image data; or after the edge of the book is identified by the camera array or photoelectric sensor array, the center seam position of the book can be determined by calculation. For example, the position of the center seam can be calculated based on the relative position of the edge.

[0148] The desired working position of the single-axis robot is then calculated based on the determined center seam position and the coordinate system of the guide slot 110 in which the single-axis robot resides. By mapping the center seam position to the single-axis robot's workspace coordinate system, the robot's target position is determined. The first motor 350 is then controlled to swing the upper bracket 311, thereby performing the pressing operation.

[0149] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A dual-arm writing robot, characterized in that: include: base; A curved joint robotic arm assembly, comprising two robotic arms for performing writing tasks according to instructions, the two robotic arms being arranged side by side on a base; the fingertips of the robotic arms being provided with clamping portions for clamping writing tools; a controller, the controller being in communication with the robotic arm and configured to control the robotic arm to execute preset instructions; as well as A page turning device is provided on the base and is in communication with the controller for controlling the page turning device to perform page turning actions; The base is provided with two rows of guide grooves, which are parallel and spaced apart. The area between the two rows of guide grooves is a writing area for placing objects to be written. The page turning device comprises two page turning units; The page turning unit comprises: A support frame, wherein a driving portion located in a corresponding guide slot is provided at the lower portion of the support frame, and is used to drive the support frame to move along the guide slot according to a received signal; a page turning unit is provided in each guide slot; An electrostatic generating unit, which is disposed on the support frame and is electrically connected to the controller, and is used to generate an electrostatic field at a preset position according to a received signal to absorb the paper to be turned; The support frame comprises an upper support and a lower support, the lower end of the upper support being movably connected to the upper end of the lower support via a hinge, the hinge being transmission-connected to a first motor for driving the hinge to swing, the first motor being communicatively connected to a controller for driving the hinge to swing in response to a signal sent by the controller; The static electricity generating part is connected to the upper bracket and is close to the writing area. The lower end of the lower bracket is connected to the driving part; One end of the electrostatic generating portion is connected to a second motor, which is in communication with the controller and is used to drive the electrostatic generating portion to rotate in response to a signal sent by the controller; the electrostatic generating portion is a cylindrical component horizontally mounted on the support frame, and the axial direction of the electrostatic generating portion is perpendicular to the extension direction of the guide groove; The electrostatic generating part is rotatably arranged on the upper part of the supporting frame; The static electricity generating unit includes: a substrate portion, one end of which is connected to the support frame and is in driving connection with the second motor; a conductive layer covering the substrate; The conductive layer is connected to an electrostatic generator controlled by a controller through the electrode.

2. The dual-arm writing robot according to claim 1, characterized in that: The substrate portion is provided with a dividing groove, the length direction of which extends along the axial direction of the substrate portion, and is used to divide the outer surface of the substrate portion into a plurality of strip-shaped portions; The conductive layer covers the strip portion.

3. The dual-arm writing robot according to claim 1, characterized in that: One end of the static electricity generating part is movably connected to the upper bracket; A gap is left between the free ends of the static electricity generating parts of the two page turning units; An insulating sleeve is sleeved on the free end.

4. The dual-arm writing robot according to claim 1, characterized in that: A writing board is provided on the writing area; The writing board is a transparent or partially transparent board; An inner groove located on the base is formed below the writing board; A camera array or a photoelectric sensor array with the transmitting end facing the writing board is arranged in the inner groove; The controller includes a central processing module and a feedback module connected to the central processing module; The feedback module is connected to the camera unit in the camera array, and the central processing module is used to control the driving unit according to the graphic data captured by the camera unit; or, The feedback module is connected to the photoelectric sensor unit in the photoelectric sensor array, and the central processing module is used to control the driving part according to the signal obtained by the photoelectric sensor unit.

5. The dual-arm writing robot according to claim 1, characterized in that: A robotic arm substrate is movably provided on the base; In the curved joint robot arm assembly, the base of the robot arm near the middle of the base is fixedly connected to the robot arm base plate.

6. The dual-arm writing robot according to claim 5, characterized in that: The base is provided with a sliding groove parallel to the extension direction of the guide groove; The robotic arm base plate is movably disposed in the slide groove; The robot base plate has a locking mechanism, which can be selectively connected to the base and is used to fix the relative position of the robot base plate and the base after the robot base plate determines the position in the slide slot.

7. A writing method for a dual-arm writing robot, for causing two robotic arms to perform writing tasks on two corresponding pages of paper according to received instructions or a preset program, characterized in that: The writing method further comprises using a dual-arm writing robot according to any one of claims 1 to 6; the writing method comprises the following operations: Collecting size information of the object to be written on the writing area; Determine the position data of the edge of the object to be written and the position data of the center seam according to the size information; Executing page turning includes operating a driving unit to drive an electrostatic generating unit to move to one side of the object to be written, adsorbing a flippable edge portion of the object to be written, causing the edge of the paper to be written closest to the electrostatic generating unit to be adsorbed on the electrostatic generating unit and then withdrawn to the other side of the object to be written or outside the other side, causing the paper to fall; Perform a double-page press, including: operating the driving parts in the two guide grooves according to the acquired data of the center seam position of the object to be written; The two driving parts are moved to positions corresponding to the middle seam, or the two driving parts are moved to positions on different sides of the middle seam; The two electrostatic generating parts for releasing the electrostatic field are swung to opposite positions to press the two sheets of paper located on both sides of the center seam, so that the two mechanical arms respectively perform writing tasks on the two sheets of paper after being pressed.

8. The writing method of a dual-arm writing robot according to claim 7, characterized in that: Executing a page turn also includes: When retracting and turning the page, the static electricity generating part rotates. During the retraction process of the static electricity generating part, the adsorbed edge of the paper is rolled over the static electricity generating part, then the rotation is stopped and the paper is continued to be retracted to the specified position; after reaching the specified position, the static electricity generating part releases the electrostatic field, and the edge of the paper falls under the static electricity generating part.

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