Tool for redrawing a digital image by robotic drawing, method of redrawing image by robotic drawing and tool calibration method

The tool for redrawing a digital image by robotic drawing, connected to a robot controlled by a genetic algorithm, contains in its upper part a circular flange (1) with a thread (2), to which a hollow piston (3) is screwed in a package (4) with an external spring (5) to spring the tool. A replaceable graphite lead (6) is inserted inside the tube (13) along the entire length of the tool. There is an inner shoulder (7) in the lower part of the tool on which a hollow screw (8) with a cylindrical head is screwed. The jaws (9) rest on the hollow screw (8) from below to hold the graphite lead (6) in place. Above the hollow screw (8), a graphite lead (6) is placed in the inner shoulder (7), which is surrounded by an inner spring (10) for closing the jaws (9). The hole diameter of the hollow screw (8) is smaller than the diameter of the jaw hole (9). The round flange (1) is connected to the robot flange (11). Before the image redrawing process, an off-line preparation process is performed using a genetic algorithm and generating robotic code, which then determines the process of redrawing the original image performed by the tool. The individual lines are drawing in the specified order, places and pressures by elastic compression in robot flange (11) secured by hollow piston (3) and outer spring (5). During the drawing by means of the closed jaws (9) by the inner spring (10), the graphite lead (6) remains in place. The drawing process is interrupted periodically by the tool calibration routine. Nástroj na prekreslenie digitálneho obrázka robotickou kresbou pripojený na robot riadený genetickým algoritmom obsahuje v jeho hornej časti kruhovú prírubu (1) so závitom (2), na ktorý je priskrutkovaný dutý piest (3) v obale (4) s vonkajšou pružinou (5) na pruženie nástroja. Po celej dĺžke nástroja je v jeho vnútri v rúrke (13) vsadená vymeniteľná grafitová tuha (6). V spodnej časti nástroja je vnútorné osadenie (7), na ktoré je naskrutkovaná dutá skrutka (8) s valcovou hlavou. O dutú skrutku (8) sa zospodu opierajú čeľuste (9) na udržanie grafitovej tuhy (6) na mieste. Nad dutou skrutkou (8) je vo vnútornom osadení (7) umiestnená grafitová tuha (6), ktorú obopína vnútorná pružina (10) na zatváranie čeľustí (9). Priemer otvoru dutej skrutky (8) je menší ako priemer otvoru čeľustí (9). Kruhová príruba (1) je pripojená na prírubu robota (11). Pred procesom prekreslenia obrázka sa uskutočňuje offline proces prípravy pri použití genetického algoritmu a vytvorenia robotického k