Remote signing robot

Abstract

The invention provides a remote signing robot. The remote signing robot comprises a signature recording end and a signature execution end which are in communication connection, the signature recordingend comprises a rack, a pen bridge, a translation recording mechanism and a pen gesture recording mechanism, the translation recording mechanism is used for recording the displacement of a pen in theX direction and the Y direction of a three-dimensional rectangular coordinate system, the pen gesture recording mechanism is used for recording the included angle formed by the pen and a Z axis, thepen gesture recording mechanism comprises a feed part, a deflection part and a pen clamping part which are arranged on the pen bridge, the deflection part comprises a frame body and a ball body, the ball body is arranged in the frame body, three rollers used for recording three-dimensional rolling of the ball body in a space rectangular coordinate system are arranged on the frame body, the head part of the pen is clamped in the pen clamping part, a writer holds the middle part of the pen to write and watches writing tracks through the top of the machine frame and the pen bridge, an encoder anda rolling encoder are driven to collect motion data and transmit the motion data to the signature execution end, and the signature execution end transmits the motion data to a corresponding motor anda rolling motor to output required handwriting.

Description

technical field [0001] The invention relates to a robot for generating handwriting in batches by using a writing tool, in particular to a remote signature robot. 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 cos...

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

Images