CN108146073A - A kind of portable spray drawing machine of wire saws parallel drive - Google Patents
A kind of portable spray drawing machine of wire saws parallel drive Download PDFInfo
- Publication number
- CN108146073A CN108146073A CN201810128745.4A CN201810128745A CN108146073A CN 108146073 A CN108146073 A CN 108146073A CN 201810128745 A CN201810128745 A CN 201810128745A CN 108146073 A CN108146073 A CN 108146073A
- Authority
- CN
- China
- Prior art keywords
- host
- drawing machine
- rope
- spray drawing
- nozzle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000007921 spray Substances 0.000 title claims abstract description 48
- 230000001680 brushing effect Effects 0.000 claims description 38
- 238000000034 method Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000003020 moisturizing effect Effects 0.000 claims description 2
- 239000002699 waste material Substances 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000007639 printing Methods 0.000 abstract description 3
- 239000012636 effector Substances 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 244000309464 bull Species 0.000 description 2
- 241001640558 Cotoneaster horizontalis Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
- B41J2/005—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by bringing liquid or particles selectively into contact with a printing material
- B41J2/01—Ink jet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J25/00—Actions or mechanisms not otherwise provided for
- B41J25/24—Case-shift mechanisms; Fount-change arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
Abstract
A kind of portable spray drawing machine of wire saws parallel drive, including host, rope, two fixed parts, wherein host includes at least two serving motors, and connects described two rope fixed parts by rope respectively, and the tie point of the rope and the host is located at the both sides upper end of host respectively.Driving device is no longer set outside host, simplifies spray drawing machine complete machine structure, in particular, simplifies the wiring of spray drawing machine, will not be generated during the work time since cable swings the situation that the printing pattern that generates is unintelligible or is stopped due to spray drawing machine caused by cable winds.Host is also built-in with Z axis motor, and Z axis motor cooperation end effector moves and the parallel-connection structure form of power is, it can be achieved that host Z axis moves.All devices in addition to fixed part are all built in host, compared with existing spray drawing machine, reduce overall mass, reduce the volume of complete machine, and main screw lift is less than 15 kilograms, can be received into compact travel case, accomplish real portable.
Description
Technical field
The present invention relates to wall air brushing technical field more particularly to a kind of portable spray drawing machines of wire saws parallel drive.
Background technology
Wall air brushing technology is widely used in the industries such as wall advertisement, wall beautification, traditional wall advertisement, wall beautification
Main use manually is painted.As technology develops, wall air brushing at present is mainly enterprising in wall using apparatus control nozzle
Row air brushing, compared with artificial paint, machine air brushing has the characteristics that clear patterns, rich in color, pattern types are more.Existing wall
Technical solution is mostly " the campaign-styled air brushing scheme of X, Y-axis " used by body spray drawing machine, and nozzle is mounted in X-axis, makes by the program
Nozzle can move freely in X-axis upper edge X-axis, and X-axis is mounted in Y-axis, and X-axis is enable to be moved freely along Y-axis, be realized with this
Nozzle does plane motion, the printing pattern on metope.But said program is since nozzle movement depends on track, in actual use
There are inconvenient to carry, air brushing area is limited, rough metope air brushing quality declines the shortcomings of.
Invention content
It is limited to solve existing spray drawing machine air brushing area, usually poor definition is not asked for air brushing large area pattern or metope
Topic, the present invention provide a kind of portable spray drawing machine of wire saws parallel drive.
The technical solution adopted by the present invention is：
A kind of portable spray drawing machine of wire saws parallel drive, it is characterised in that consolidate including host, rope, at least two ropes
Determine portion, the host includes at least two serving motors, battery and nozzle, and described two cable fixing portions Wei Yu not air brushing
The upper left corner and the upper right corner in region；Described two serving motors are located inside the host, and described in being connected respectively by rope
The tie point of two rope fixed parts, the rope and the host is located at the both sides upper end of host respectively.
Z-axis motor is further included in the preferred host.
The rotation axis of the further preferred Z axis motor is installed above gear, be equipped on nozzle installing plate nozzle,
Rack and the track along z-axis, for the rack slidably in track, the gear engages the rack.
Further preferred four side of the nozzle includes distance measuring sensor.
The preferred serving motor is located at the symmetrical position in motor lower half.
Also there is 1 or 2 motor, connection is located at can air brushing region lower left side and/or the right side inside the preferred motor
The rope fixed part of side.
The preferred host further include control circuit board, speed reducer, Wifi communication modules, ink storehouse, nozzle moisturizing pad,
And/or waste ink collecting bottle.
The preferred portable spray drawing machine passes through remote control control.
The method for spray-drawing of above-mentioned portable spray drawing machine, it is characterised in that the length of rope is controlled by the serving motor, from
And control the position of host and nozzle.
Two rope fixed part lines on preferred top are horizontal direction, using the rope fixed part of upper left quarter as origin,
Horizontal direction to the right is X-axis, and vertically downward direction is Y-axis, the length of two ropes on top from rope fixed part to host
Degree L1 and L2 meets following formula：
Wherein：(X, Y) represents nozzle coordinate, Q distances between the rope fixed part of two, top.
The advantageous effects of the present invention are as follows：
A kind of portable spray drawing machine of wire saws parallel drive of the present invention replaces slideway or connecting rod as transmission using rope
Element by the movement of driver and power to restrict as medium, and is converted into end effector movement and power parallel-connection structure form.Usually
Rope can only bear pulling force, cause rope driving parallel-connection structure that must use redundant drive, i.e., at least n+1 rope could be realized
The holonomic constriants of n degree of freedom position.And minimum 2 ropes of the present invention i.e. drivable 3DOF wall spray drawing machine, intermediate host
2DOF translation and the rotation around vertical plane axis are done in the plane, make it have following advantage：
1st, spray drawing machine of the invention inside spray drawing machine, will no longer set for the serving electric machine built-in of driving outside spray drawing machine
Driving device simplifies spray drawing machine complete machine structure, in particular, simplifies the wiring of spray drawing machine, outside spray drawing machine in addition to rope there is no
Other wirings, so will not generate during the work time, due to cable, to swing the printing pattern generated unintelligible or since cable twines
Situation about being stopped around caused spray drawing machine.
2nd, spray drawing machine of the invention inside spray drawing machine, will be equipped with for the serving electric machine built-in of driving on serving motor
The tie point of bull wheel, each rope and host is respectively the upper left corner and the upper right corner of host, since two ropes connect respectively
In different tie points, making the spray drawing machine in suspension status, motion state is more stablized at work, even if when quick mobile
Spray drawing machine will not generate swing, not interfere with the positioning accuracy of spray drawing machine, and spray will not be reduced while air brushing speed is improved
The quality of drawing case.Further, two fixing points, and connection air brushing region respectively can be preferably also provided in host lower part
The lower left corner and the lower right corner, pass through the setting of four fixed points so that host operation it is more steady.
3rd, the host of spray drawing machine of the invention is also built-in with Z axis motor, and z-axis motor is in order to which nozzle can be along Z-direction (i.e.
Vertical air brushing face direction) movement, so as to solve because air brushing face it is uneven caused by problems with：(1) ink dot adheres to
Position shifts, and picture precision is caused to decline；(2) ink dot too far and floating away air brushing face with a distance from air brushing face, leads to picture
Pixel lacks；(3) nozzle is too near from air brushing face or air brushing face is encountered in wiping, leads to nozzle damage or the damage of air brushing face.Wherein, Z axis
The rotation axis of motor is installed above gear, and nozzle, rack and track are equipped on nozzle installing plate, and the rotation of Z axis motor drives
Rack direction along ng a path (Z-direction) is mobile, and nozzle also and then moves.Control circuit board passes through nozzle 4 sides installation up and down
The signal that distance measuring sensor returns monitors nozzle with a distance from air brushing face in real time, then controls the rotation of Z axis motor, drives spray
Head forward-reverse, makes nozzle keep suitable distance with air brushing face always.
4th, all devices in addition to fixed part and rope are all built in host by spray drawing machine of the invention, without scaffold
And other supporters, compared with existing spray drawing machine, overall mass is reduced, reduces the volume of complete machine, main screw lift is less than 15
Kilogram, it can be received into compact travel case, accomplish real portable.
5th, spray drawing machine working space of the invention is big, and environmental suitability is strong, and the spray drawing machine of wire saws parallel drive has easily
The characteristics of dismounting, restructural and modularized design, various informative layout and combination can be built according to the needs of application site.
The wall of air brushing can width can be narrow, can be high or low, only need to fix it is minimum 2 rope (in the upper left corner and the upper right corner for treating air brushing metope) i.e.
The large area air brushing construction of whole face wall can be completed, effectively reduce the danger of working at height and improves working efficiency, only needs to adjust
The air brushing operation of large area can be realized in the length of whole rope.
Description of the drawings
Fig. 1 is a kind of operating diagram of the embodiment 1 of the portable spray drawing machine of wire saws parallel drive of the present invention；
Fig. 2 is the operating diagram of embodiment 2；
Fig. 3 is the operating diagram of embodiment 3.
Drawing reference numeral：
1- fixed parts；2- ropes；3- hosts；4- nozzles；5- serving motors；6- treats air brushing metope, 7- batteries.
Specific embodiment
Understand present disclosure in order to clearer, will be described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment 1
As shown in Figure 1, a kind of portable spray drawing machine of wire saws parallel drive of the present invention includes fixed part 1, rope 2, master
Machine 3, host 3 are built-in with nozzle 4 and two serving motors 5 and battery 7.
Two fixed parts 1 as shown in Figure 1, is separately positioned on the position of 2 points of A, B in Fig. 1 by the installation of spray drawing machine of the present invention
On, the other end of the rope 2 on the bull wheel of serving motor 5 is connected respectively with the fixed part 1 on 2 positions of A, B
It connects, the tie point of each rope 2 and host 3 is respectively the upper left corner and the upper right corner of host, hangs on host 3 and treats air brushing metope
6。
During air brushing machine operation, the power totally driven is provided by battery 7, without external any cable.Serving motor 5
The length of rope 2 that is attached thereto is adjusted to control the translation of host 3 and rotation.
As shown in Figure 1, the current air brushing position shown in solid for host 1 in figure, the distance of host and fixed point A is at this time
A1, the distance to fixed point B is B1, when host needs to be moved to dotted line position progress operation in figure, left and right serving motor 5 divides
The length of rope Zhuan Dong not be discharged, the distance for making host to fixed point A is A2, the distance to fixed point B is B2.It is sequentially adjusted in leading
The length of the rope 2 of 3 to two fixed point 1 of machine treats air brushing metope 6 host that makes and carries out whole spraying.
Embodiment 2
Difference lies in air brushing region, 2 points of C, D is also provided with two fixed parts, in host for the present embodiment and embodiment 1
It is additionally provided with two serving motors 5 and 2 points of C, D is connected by rope.Pass through the setting of four fixed points so that host is run more
Add steady accurate.
Embodiment 3
In this preferred embodiment, as shown in figure 3, two rope fixed part AB lines are horizontal direction, with upper left quarter
Rope fixed part for origin, horizontal direction to the right is X-axis, and vertically downward direction is Y-axis, at least two ropes from
The length L1 and L2 of rope fixed part to host meet following formula：
Wherein：(X, Y) represents nozzle coordinate, Q distances between two rope fixed parts, since host is relative to air brushing
Area is smaller, therefore the physical length of L1, L2 can be considered the distance equal to nozzle to rope fixed part.Therefore, nozzle is being translatable
When specific location the length of rope can be adjusted by the algorithm of above formula realize control.
Embodiment 4
In this preferred embodiment, Z axis motor is included in host, rotation axis is installed above gear, nozzle installation
Nozzle 4, rack and track are installed, the rotation of Z axis motor, band carry-over bar direction along ng a path (Z-direction) is mobile, nozzle 4 on plate
And then it is (as shown in Figure 3) mobile in Z axis.Control circuit board is returned by the distance measuring sensor that 4 sides are installed up and down of nozzle 4
Signal monitors nozzle 4 with a distance from air brushing face in real time, then controls the rotation of Z axis motor, drives nozzle forward-reverse, makes spray
Head keeps suitable distance with air brushing face always.
The foregoing is merely the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, change or replacement that can be readily occurred in etc.
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (10)
1. a kind of portable spray drawing machine of wire saws parallel drive, it is characterised in that fixed including host, rope, at least two ropes
Portion, the host include at least two serving motors, battery and nozzle, and described two cable fixing portions Wei Yu not air brushing area
The upper left corner and the upper right corner in domain；Described two serving motors are located inside the host, and connect described two by rope respectively
The tie point of a rope fixed part, the rope and the host is located at the both sides upper end of host respectively.
2. portable spray drawing machine according to claim 1, it is characterised in that z-axis motor is further included in the host.
3. portable spray drawing machine according to claim 2, it is characterised in that the rotation axis of the Z axis motor is installed above with teeth
It takes turns, nozzle, rack and the track along z-axis is installed on nozzle installing plate, the rack is slidably embedded in track, the tooth
Wheel engages the rack.
4. portable spray drawing machine according to claim 3, it is characterised in that four side of nozzle includes distance measuring sensor.
5. portable spray drawing machine according to claim 1, it is characterised in that the serving motor is located at the motor lower half
Symmetrical position.
6. portable spray drawing machine according to claim 1, it is characterised in that also there is 1 or 2 motor, even inside the motor
Connect positioned at can air brushing region lower left side and/or right side rope fixed part.
7. portable spray drawing machine according to claim 1, it is characterised in that the host further includes control circuit board, slows down
Machine, Wifi communication modules, ink storehouse, nozzle moisturizing pad, and/or waste ink collecting bottle.
8. portable spray drawing machine according to claim 1, it is characterised in that the portable spray drawing machine passes through remote control control.
9. according to the method for spray-drawing of any portable spray drawing machines of claim 1-8, it is characterised in that pass through serving electricity
Machine controls the length of rope, so as to control the position of host and nozzle.
10. according to the method described in claim 9, it is characterized in that two rope fixed part lines on top be horizontal direction,
Using the rope fixed part of upper left quarter as origin, horizontal direction to the right is X-axis, and vertically downward direction is Y-axis, two of top
Length L1 and L2 of the rope from rope fixed part to host meet following formula：
Wherein：(X, Y) represents nozzle coordinate, Q distances between two rope fixed parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810128745.4A CN108146073A (en) | 2018-02-08 | 2018-02-08 | A kind of portable spray drawing machine of wire saws parallel drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810128745.4A CN108146073A (en) | 2018-02-08 | 2018-02-08 | A kind of portable spray drawing machine of wire saws parallel drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108146073A true CN108146073A (en) | 2018-06-12 |
Family
ID=62457065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810128745.4A Pending CN108146073A (en) | 2018-02-08 | 2018-02-08 | A kind of portable spray drawing machine of wire saws parallel drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108146073A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108715092A (en) * | 2018-08-02 | 2018-10-30 | 浙江工业大学 | A kind of printer suitable for perpendicular |
| CN108855706A (en) * | 2018-08-09 | 2018-11-23 | 清华大学 | A kind of ship robot spray apparatus |
| CN109431791A (en) * | 2018-10-22 | 2019-03-08 | 珠海市万瑙特健康科技有限公司 | Automatic moxibustion system, control method, device, computer equipment and storage medium |
| CN114132094A (en) * | 2021-11-29 | 2022-03-04 | 武汉华美艾普科技有限公司 | Hanging portable multifunctional spray drawing machine |
| CN114435999A (en) * | 2020-11-04 | 2022-05-06 | 理想科学工业株式会社 | Medium conveying mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4842427A (en) * | 1986-10-22 | 1989-06-27 | Aeg Olympia Aktiengesellschaft | Plotting mechanism mounted on a ribbon cassette for typewriters or office machines |
| CN203046480U (en) * | 2013-01-18 | 2013-07-10 | 武汉华美艾普科技有限公司 | Automatic range finding positioning nozzle apparatus used for colored drawing |
| CN103240989A (en) * | 2013-04-08 | 2013-08-14 | 重庆交通大学 | Wall surface painter |
| CN105856840A (en) * | 2016-03-31 | 2016-08-17 | 张义成 | High-rise outer wall cleaning and spray-painting all-in-one machine |
| CN206344576U (en) * | 2017-01-03 | 2017-07-21 | 四川建筑职业技术学院 | A kind of device for external wall air brushing |
| CN207859755U (en) * | 2018-02-08 | 2018-09-14 | 武汉华美艾普科技有限公司 | A kind of portable spray drawing machine of wire saws parallel drive |
-
2018
- 2018-02-08 CN CN201810128745.4A patent/CN108146073A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4842427A (en) * | 1986-10-22 | 1989-06-27 | Aeg Olympia Aktiengesellschaft | Plotting mechanism mounted on a ribbon cassette for typewriters or office machines |
| CN203046480U (en) * | 2013-01-18 | 2013-07-10 | 武汉华美艾普科技有限公司 | Automatic range finding positioning nozzle apparatus used for colored drawing |
| CN103240989A (en) * | 2013-04-08 | 2013-08-14 | 重庆交通大学 | Wall surface painter |
| CN105856840A (en) * | 2016-03-31 | 2016-08-17 | 张义成 | High-rise outer wall cleaning and spray-painting all-in-one machine |
| CN206344576U (en) * | 2017-01-03 | 2017-07-21 | 四川建筑职业技术学院 | A kind of device for external wall air brushing |
| CN207859755U (en) * | 2018-02-08 | 2018-09-14 | 武汉华美艾普科技有限公司 | A kind of portable spray drawing machine of wire saws parallel drive |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108715092A (en) * | 2018-08-02 | 2018-10-30 | 浙江工业大学 | A kind of printer suitable for perpendicular |
| CN108855706A (en) * | 2018-08-09 | 2018-11-23 | 清华大学 | A kind of ship robot spray apparatus |
| CN109431791A (en) * | 2018-10-22 | 2019-03-08 | 珠海市万瑙特健康科技有限公司 | Automatic moxibustion system, control method, device, computer equipment and storage medium |
| CN114435999A (en) * | 2020-11-04 | 2022-05-06 | 理想科学工业株式会社 | Medium conveying mechanism |
| CN114132094A (en) * | 2021-11-29 | 2022-03-04 | 武汉华美艾普科技有限公司 | Hanging portable multifunctional spray drawing machine |
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Application publication date: 20180612 |