A vertically driving marking robot includes a robot body; at least one magnet constraining the robot to move parallel to a vertical, magnetically responsive surface; a drive configured to displace the robot relative to the surface while the robot is held to the surface; a holder configured to hold a marker; an accelerometer measuring a gravity vector; a computing device in communication with the optical sensors, the accelerometer, and the drive. The computing device includes a processor and computer-readable memory, wherein the computer-readable memory includes non-transitory program code for at least one of the following actions: (a) generating a drift correction to compensate for drive slippage drift in response to and as a function of the gravity vector and (b) commanding the drive to displace the robot along a desired trajectory in response to the drift correction.

The present disclosure discloses a measuring and drawing device. The measuring and drawing device comprises a supporting frame, a rotation driving portion, a reciprocation driving portion, a drawing member, a distance measuring sensor, an angle sensor, and a control module. A first motor is configured to drive the rotating arm to rotate relative to the supporting frame, and a second motor is configured to drive the drawing member to reciprocate along the rotating arm to enable the drawing member to move in two dimensions. The distance between the first motor and the drawing member is measured through the distance measuring sensor to achieve measuring of a length of a line segment, and the rotating angle of the rotating arm relative to the first motor is measured through the angle sensor to achieve measuring of the rotating angle.

The present invention provides for a wall mountable system for automated drawing of an image upon a wall which includes a horizontal mounting track for mounting on a wall, a robot having a y-track rigidly mounted it where the robot and the mounted y-track travel along the horizontal track. An end effector, which includes a pen holding mechanism holding a pen, is in electrical communication with the robot and travels along the y-track of the robot. The present invention provides a system and device that can attach to a wall or vertical surface in a damage-free manner and draw fast any complexity or style image of custom size in both the horizontal (X) and vertical (Y) directions, that is easy to remove and transport and require small floor space to operate.

This disclosure relates generally to a robotic gripper to hold a writing and object creation device for writing and object creation. The robotic gripper includes clamping unit, spring loaded slider unit and outer housing unit. The clamping unit include a finger collet with three or more flexible finger positions equispaced within 360 degrees with two areas of contact on each finger in front part for firm gripping. The spring loaded slider unit include a middle housing to transfer a force from the writing and object creation device to a force sensitive resistor (FSR). A micro actuator induces a required force to the writing and object creation device based on feedback from the force sensitive resistor. The middle housing includes a plunger shaft connected with a preload spring. The outer housing unit configured to hold a micro actuator, cotter pins, locator pins to the micro actuator, and a push pull key.

A gaging apparatus and method for automation of a shoemaking process are provided for automating a shoemaking process. According to the method, the gaging apparatus obtains operation data according to the gaging process of drawing a gaging line on a boundary between the upper and the sole for shoe manufacturing, and generates trajectory data for the boundary based on the operation data. Based on the trajectory data, the gaging apparatus generates robot trajectory data for performing a buffing and bonding process after the gaging process and transmits it to a shoemaking robot.

A drawing apparatus based on a robotic arm includes a bracket, a driving device located on the bracket and a robotic arm connected to the driving device, wherein the driving device consists of two speed-reducing stepper motors, one speed-reducing stepper motor being provided with an upper arm, a tail end of the upper arm being hinged to an auxiliary arm, a tail end of the auxiliary arm being hinged to a drawing arm, the other speed-reducing stepper motor being hinged to a lower arm, a tail end of the lower arm being hinged to the drawing arm, and a head end of the upper arm and a head end of the lower arm being connected through a torsional spring.

A cutting machine head and a cutting machine are provided in the present invention. The cutting machine head includes a fixing plate, a cutter holder, a cutting component, a machine head lifting mechanism and a machine head rotating mechanism. The cutter holder is mounted on the fixing plate. The machine head lifting mechanism is connected to the cutter holder, and is used to drive the cutter holder to move up and down on the fixing plate. The cutting component includes at least two cutter head assemblies mounted on the cutter holder. The machine head rotating mechanism is connected to the cutter head assemblies for driving the cutter head assemblies to rotate. The rotating angle of each cutter head assembly of the cutting machine head can be controlled. The machine head rotating mechanism controls the cutter head assembly to rotate when the machine head is cutting, and the resulting cutting line has no flaws, which can ensure the integrity of the cutting pattern.

A drawing device includes a pen fixed to a cartridge, a mover, a conveyer, a processor, and a memory. The memory stores for each classification of each of a plurality of objects, drawing data representing control conditions of the mover and the conveyer for drawing the object, and angle data representing a fixed angle of the pen with respect to the cartridge when drawing the object. The processor receives at least one of the classifications of the plurality of objects, reads out and acquires, from the memory, the drawing data and the angle data corresponding to the received at least one classification. The processor also displays, on a display, fixed angle information corresponding to the fixed angle represented by the acquired angle data, controls the mover and the conveyer on the basis of the acquired drawing data, and draws the object of the received classification on a target object.

A drawing device includes a pen fixed to a cartridge, a mover, a conveyer, a processor, and a memory. The memory stores for each classification of each of a plurality of objects, drawing data representing control conditions of the mover and the conveyer for drawing the object, and angle data representing a fixed angle of the pen with respect to the cartridge when drawing the object. The processor receives at least one of the classifications of the plurality of objects, reads out and acquires, from the memory, the drawing data and the angle data corresponding to the received at least one classification. The processor also displays, on a display, fixed angle information corresponding to the fixed angle represented by the acquired angle data, controls the mover and the conveyer on the basis of the acquired drawing data, and draws the object of the received classification on a target object.

The present disclosure discloses a measuring and drawing device. The measuring and drawing device comprises a supporting frame, a rotation driving portion, a reciprocation driving portion, a drawing member, a distance measuring sensor, an angle sensor, and a control module. A first motor is configured to drive the rotating arm to rotate relative to the supporting frame, and a second motor is configured to drive the drawing member to reciprocate along the rotating arm to enable the drawing member to move in two dimensions. The distance between the first motor and the drawing member is measured through the distance measuring sensor to achieve measuring of a length of a line segment, and the rotating angle of the rotating arm relative to the first motor is measured through the angle sensor to achieve measuring of the rotating angle.