CN206123650U

CN206123650U - Scribble robot

Info

Publication number: CN206123650U
Application number: CN201620679337.4U
Authority: CN
Inventors: 高飞; 梁全; 孙显旺; 池学敏; 杜翠; 邸鹏
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-07-01
Filing date: 2016-07-01
Publication date: 2017-04-26
Anticipated expiration: 2026-07-01

Abstract

The utility model belongs to the technical field of intelligent machine, concretely relates to scribble robot, including the rail frame of rectangle, rail frame's four corners position is provided with along rail frame long track limit four relative horizontal rotating electrical machiness, and two long track edges of rail frame are equipped with horizontal rail slider respectively, and two horizontal rail slider link to each other through connecting the rail, are provided with vertical rotating electrical machines on the horizontal rail slider, connects the rail and is equipped with vertical rail slider, and vertical rail slider facial make -up has mechanical change -fountain pen device, the horizontal rotating electrical machines at a single rail frame long track limit both ends passes through horizontal steel wire and connects horizontal rail slider, is located two vertical rotating electrical machiness connecting the rail both ends and connects vertical rail slider through vertical wire rope, and this kind scribble robot through the removal of three direction in the space, accomplishes the mechanized pen that uses and depicts the scribble to utilize intelligence software control, realized the intellectuality of drawing, reach both labour saving and time saving, again accurate unerring purpose.

Description

One kind scribble robot

Technical field

The utility model belongs to intelligent machine technical field, and in particular to one kind scribble robot.

Background technology

Drawing is that a kind of more technical ability, especially engineering drawing are applied in present work, at work much Side will be with obtaining, now for drawing, it is desirable to have special draftsman is carried out, and either Hand drawing or computer are painted Figure, is required for spending very big energy to go to complete, especially in precision aspect, it is often necessary to repeatedly change.

Now intelligent machine is more flourishing, and at present intelligent machine is not applied to energy Enough the aspect of drawing, if Capital of a country can be drawn and Man Graphics are acted on behalf of by intelligent machine, it will reach both time saving and energy saving and accurate effect.

Utility model content

The purpose of this utility model is that drawing course is realized into it is both time saving and energy saving to reach by puma manipulator, and accurately Errorless purpose.

For this purpose, the utility model provides a kind of scribble robot, including the track-frame of rectangle, described track-frame Corner location be provided with along four relative transverse rotation motors of the long track side of track-frame, two long rails of track-frame Cross track slide block is respectively provided with road side, two cross track slide blocks are connected by connection rail, are arranged on cross track slide block There is longitudinal electric rotating machine, connection rail is equipped with long rails slide block, equipped with mechanical change-fountain pen device on long rails slide block；

The transverse rotation motor at single described track-frame long track side two ends connects transverse rails by transverse steel wire rope Road slide block, two longitudinal electric rotating machines positioned at connection rail two ends connect long rails slide block by longitudinal steel wire rope.

Described mechanical change-fountain pen device includes a storehouse rotating disk and with a storehouse rotating disk edge with the arrangement of worm and gear connected mode Pull bar, the direction on a storehouse rotating disk circumferentially uniformly begins to write hole, and one of them hole is arranged above push rod, often Pen is respectively arranged with individual hole, described pull bar connects the first stepper motor, and push rod connects the second stepper motor.

There is the circular hole passed through for push rod at the fixed retainer ring in top in a described hole, retainer ring center, the pen in a hole Middle part be fixed with loose collar with up and down action of beginning to write, retainer ring lower surface and loose collar upper surface are connected by spring.

Described transverse rotation motor, longitudinal electric rotating machine, the first stepper motor and the second stepper motor are all connected with together One controller, the controller is connected to a single-chip microcomputer.

The beneficial effects of the utility model：This kind of scribble robot that the utility model is provided, by space three The movement in individual direction, complete mechanization carries out description scribble using pen, and using intelligence software control, realizes the intelligence of drawing Change, reach both time saving and energy saving and accurate purpose.

Description of the drawings

The utility model is described in further details below with reference to accompanying drawing.

Fig. 1 is overall structure diagram of the present utility model.

Fig. 2 is the structural representation of mechanical change-fountain pen device.

Fig. 3 is a hole internal structure schematic diagram.

Description of reference numerals：1st, track-frame；2nd, transverse rotation motor；3rd, longitudinal electric rotating machine；4th, transverse steel wire rope；5、 Cross track slide block；6th, rail is connected；7th, longitudinal steel wire rope；8th, long rails slide block；9th, a storehouse rotating disk；10th, pull bar；11st, push away Bar；12nd, the first stepper motor；13rd, the second stepper motor；14th, a hole；15th, pen；16th, retainer ring；17th, loose collar；18th, spring.

Specific embodiment

Embodiment 1：

The present embodiment provides a kind of scribble robot, as shown in figure 1, including the track-frame 1 of rectangle, described track box The corner location of frame 1 is provided with along four relative transverse rotation motors 2 of the long track side of track-frame 1, and the two of track-frame 1 Cross track slide block 5 is respectively provided with individual long track side, two cross track slide blocks 5 are connected by connection rail 6, and cross track is slided Longitudinal electric rotating machine 3 is provided with block 5, connection rail 6 is equipped with long rails slide block 8, equipped with mechanical change-fountain pen on long rails slide block 8 Device；

The transverse rotation motor 2 at the long track side of single track-frame 1 two ends connects cross track and slides by transverse steel wire rope 4 Block 5, two longitudinal electric rotating machines 3 positioned at connection rail 6 two ends connect long rails slide block 8 by longitudinal steel wire rope 7.

Using the underface of track-frame 1 as operation area, electric rotating machine 2 can control transverse rails by transverse steel wire rope 4 Road slide block 5 realizes the transverse shifting of mechanical change-fountain pen device then along the long track side movement of track-frame 1；Longitudinal electric rotating machine 3 Long rails slide block 8 can be controlled by longitudinal steel wire rope 7 to move on connection rail 6, the vertical of mechanical change-fountain pen device is realized then To movement；Again moving up and down and change-fountain pen by mechanical change-fountain pen device, finally realizes movement of the pen in solid space so that It starts writing operation in diverse location, completes scribble process.

Embodiment 2：

The present embodiment describes mechanical change-fountain pen device in detail, as shown in Fig. 2 mechanical change-fountain pen device include a storehouse rotating disk 9 and with The pull bar 10 that the edge of storehouse rotating disk 9 is arranged with worm and gear connected mode, the direction on a storehouse rotating disk 9 circumferentially is uniformly begun to write Hole 14, and one of them hole 14 is arranged above push rod 11, and in each hole 14 pen 15, described pull bar are respectively arranged with 10 the first stepper motors 12 of connection, push rod 11 connects the second stepper motor 13.

As shown in figure 3, the fixed retainer ring 16 in top in a described hole 14, the center of retainer ring 16 has and is passed through for push rod 11 Circular hole, the middle part of the pen 15 in a hole 14 is fixed with the loose collar 17 with 15 up and down actions of beginning to write, the lower surface of retainer ring 16 Connected by spring 18 with the upper surface of loose collar 17.

First stepper motor 12 controls the action of pull bar 10, and then band is started writing the rotation of storehouse rotating disk 9, until required pen Fall immediately below the ground of push rod 11, then the control of the second stepper motor 13 push rod 11 is descending, and push rod 11 pushes corresponding pen 15 and stretches out Hole 14, then carries out drawing performance, and when change-fountain pen is needed, afterwards the control of the second stepper motor 13 push rod 11 is up, pen 15 Spring 18 act under return to original position, then by the first stepper motor 12 control the action of pull bar 10, band start writing storehouse turn Disk 9 rotates so that required pen falls immediately below the ground of push rod 11, and then the control of the second stepper motor 13 push rod 11 is descending, pushes away Bar 11 pushes corresponding pen 15 and stretches out a hole 14, proceeds drawing performance, in constantly more change-fountain pen 15 and continuous replacing position In the case of, complete drawing course of scribbling.

Embodiment 3：

The present embodiment is further improved on the basis of embodiment 1 and embodiment 2, in the present embodiment, laterally rotation Rotating motor 2, longitudinal electric rotating machine 3, the first stepper motor 12 and the second stepper motor 13 are all connected with same controller, the control Device processed is connected to a single-chip microcomputer.

In the present embodiment, the programming of drawing course can be completed on single-chip microcomputer first, i.e., which kind of pen when used at what Kind of position carries out scribble drafting, and each process is arranged in order operation one by one, realizes the intelligentized control method of whole process, accurately Ground scribble completes whole drawing performance.

In sum, this kind of scribble robot that the utility model is provided, by the movement in three directions in space, Complete mechanization carries out description scribble using pen, and using intelligence software control, realizes the intellectuality of drawing, reaches and both saved time Laborsaving and accurate purpose.

Exemplified as above is only, to illustration of the present utility model, not constitute to protection domain of the present utility model Limit, every design same or analogous with the utility model is belonged within protection scope of the present invention.

Claims

1. a kind of scribble robot, it is characterised in that：Including the track-frame of rectangle（1）, described track-frame（1）Corner Position is provided with along track-frame（1）Four relative transverse rotation motors of long track side（2）, track-frame（1）Two Cross track slide block is respectively provided with long track side（5）, two cross track slide blocks（5）By connecting rail（6）It is connected, transverse rails Road slide block（5）On be provided with longitudinal electric rotating machine（3）, connect rail（6）Equipped with long rails slide block（8）, long rails slide block（8） It is upper that mechanical change-fountain pen device is housed；

Single described track-frame（1）The transverse rotation motor at long track side two ends（2）By transverse steel wire rope（4）Connection is horizontal To rail slider（5）, positioned at connection rail（6）The longitudinal electric rotating machine of two of two ends（3）By longitudinal steel wire rope（7）Connection longitudinal direction Rail slider（8）；

Described mechanical change-fountain pen device includes a storehouse rotating disk（9）And with a storehouse rotating disk（9）Edge is with worm and gear connected mode row The pull bar of cloth（10）, a storehouse rotating disk（9）On direction circumferentially uniformly begin to write hole（14）, and one of them hole（14）Just Top is provided with push rod（11）, each hole（14）Inside it is respectively arranged with pen（15）, described pull bar（10）Connect the first stepping electricity Machine（12）, push rod（11）Connect the second stepper motor（13）.

2. scribble as claimed in claim 1 robot, it is characterised in that：A described hole（14）The fixed retainer ring in interior top （16）, retainer ring（16）Center supplies push rod（11）The circular hole for passing through, a hole（14）Interior pen（15）Middle part be fixed with Begin to write（15）The loose collar of up and down action（17）, retainer ring（16）Lower surface and loose collar（17）Upper surface passes through spring（18）Even Connect.

3. scribble as claimed in claim 1 or 2 robot, it is characterised in that：Described transverse rotation motor（2）, longitudinal direction rotation Rotating motor（3）, the first stepper motor（12）With the second stepper motor（13）Same controller is all connected with, the controller connection A single-chip microcomputer.