CN211590106U

CN211590106U - High-performance writing robot

Info

Publication number: CN211590106U
Application number: CN201922294719.1U
Authority: CN
Inventors: 雷彬
Original assignee: Taicang Weiji Industrial Automation Co ltd
Current assignee: Taicang Weiji Industrial Automation Co ltd
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2020-09-29
Anticipated expiration: 2029-12-19

Abstract

The application discloses a high-performance writing robot, which comprises a base provided with a writing area, wherein a control system is arranged in the base, a Y-axis motion system capable of moving horizontally, an X-axis motion system and a writing module capable of moving vertically are arranged on the base, and the Y-axis motion system and the X-axis motion system can drive the writing module to move in the writing area; the Y-axis motion system comprises two first guide rails arranged in parallel and first sliding blocks arranged on the first guide rails in a sliding mode through first synchronous belts respectively, the X-axis motion system comprises second guide rails with two ends fixed to the first sliding blocks respectively and second sliding blocks arranged on the second guide rails in a sliding mode through second synchronous belts, and the writing module comprises a lifting frame fixed to the second sliding blocks and a pen holding frame arranged on the lifting frame through linear guide rails. The device has the advantages of simple and reliable structure, stable performance, high motion positioning precision, high strength and the like, and is high in expandability.

Description

High-performance writing robot

Technical Field

The application relates to the field of automation machinery, in particular to a high-performance writing robot.

Background

The robot integrates mechanical, electronic and computer control technologies, is a new industry which is greatly supported and developed by the nation, and is widely applied to various industries at present. The appearance of the writing robot can replace the tedious manual copying work, can greatly reduce the workload of people, not only can replace people to realize personalized writing work, but also can play a great role in the fields of teaching of robot courses, science popularization and exhibition and the like. There are two types of painting and calligraphy robots currently on the market. One is to adopt a mechanical arm to control the motion trail in a specific mode in space to realize the functions of painting and calligraphy. The current typical products include a four-degree-of-freedom writing robot and a five-degree-of-freedom writing robot. Another low-cost, simple and small writing robot adopts the crisscross structure, adopts Arduino control panel to control, and its structure is simple. At present, a mechanical arm writing robot on the market is complex in structure, large in size, high in manufacturing cost and expensive in price and is difficult to walk into a common user, and a low-cost cross-shaped writing machine is simple in structure, but is low in strength, low in speed and low in writing precision. Improvements are needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot is write to high performance possesses production convenient assembling, and structural strength is high, and scalability is good, overcomes not enough among the prior art.

In order to achieve the above object, the utility model provides a following technical scheme:

the embodiment of the application discloses a high-performance writing robot, which comprises a base provided with a writing area, wherein a control system is arranged in the base, a Y-axis motion system capable of moving horizontally, an X-axis motion system and a writing module capable of moving vertically are arranged on the base, and the Y-axis motion system and the X-axis motion system can drive the writing module to move in the writing area; the Y-axis motion system comprises two first guide rails arranged in parallel and first sliding blocks arranged on the first guide rails in a sliding mode through first synchronous belts respectively, the X-axis motion system comprises second guide rails with two ends fixed to the first sliding blocks respectively and second sliding blocks arranged on the second guide rails in a sliding mode through second synchronous belts, and the writing module comprises a lifting frame fixed to the second sliding blocks and a pen holding frame arranged on the lifting frame through linear guide rails.

Preferably, in foretell high performance robot of writing, first guide rail and second guide rail are the section bar guide rail, the both ends of section bar guide rail are concave respectively and are equipped with a plurality of bottom openings, the section bar guide rail includes integrated into one piece's installation department, connecting portion and track portion, the installation department is fixed in the base, the concave spout that holds of top center of track portion first hold-in range or second hold-in range, the both sides of track portion inlay respectively be equipped with first slider or second slider correspond the optical axis that sets up.

Preferably, in the high-performance writing robot, the connecting portion is provided with a pre-groove at each of two sides thereof.

Preferably, in the high-performance writing robot, the first slider and the second slider have the same structure and respectively include a slider body and two sets of U-shaped roller bearings rotatably disposed in the slider body, and the two sets of U-shaped roller bearings are respectively clamped at the outer sides corresponding to the optical axis.

Preferably, in the high-performance writing robot, a mounting groove is concavely formed in the bottom surface of the slider body, two sets of U-shaped roller bearings are respectively disposed on two sides of the mounting groove, and two ends of the first synchronous belt or the second synchronous belt are respectively fixed to two ends of the corresponding slider body.

Preferably, in the high-performance writing robot, two ends of the sliding block body are respectively provided with a T-shaped clamping groove, and a detachable clamping block is arranged in the clamping groove.

Preferably, in foretell high performance writing robot, first hold-in range or second hold-in range are fixed in through shifting motor and idler are rotatable to correspond first guide rail or second guide rail, shifting motor is fixed in through the motor mounting bracket the tip of first guide rail or second guide rail, shifting motor's output is connected with the action wheel, first hold-in range or second hold-in range cover are located and are corresponded action wheel and idler.

Preferably, in foretell high performance writing robot, the idler is fixed in through the idler mounting bracket the deviating from of first guide rail or second guide rail corresponds the one end of aversion motor, the idler is fixed in through the tight fixing device that rises the idler mounting bracket, set up in motor mounting bracket and the idler mounting bracket at second guide rail both ends connect respectively in corresponding the slider body.

Preferably, in the high-performance writing robot, the expansion-fastening device is a stud eccentric bolt.

Preferably, in foretell high performance writing robot, the crane is including being fixed in the correspondence the mounting panel of slider, be fixed in the elevator motor and the elevator of mounting panel, linear guide is fixed in the lower extreme of mounting panel, elevator motor's output is connected with lifting gear, the end-to-end connection of elevator block in hold the penholder, the elevator indent be equipped with lifting gear corresponds the lift groove that sets up.

Compared with the prior art, the utility model has the advantages of: the high-performance writing robot has the advantages of compact structure, sensitive action, high motion positioning precision, high strength and the like, is high in expandability and wide in application range, and is suitable for working occasions with high repeatability; the optical axis is fixed on the first guide rail or the second guide rail in an embedded mode, the first sliding block or the second sliding block provided with the U-shaped roller bearing is matched, and meanwhile, the first synchronous belt or the second synchronous belt is also arranged in the first guide rail or the second guide rail, so that further miniaturization is facilitated.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a high-performance writing robot according to an embodiment of the present invention.

Fig. 2 is a bottom view of the high-performance writing robot according to the embodiment of the present invention.

Fig. 3 is an axial view of a high-performance writing robot according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a profile rail according to an embodiment of the present invention.

Fig. 5 is a schematic view illustrating an installation of the first slider or the second slider and the optical axis according to an embodiment of the present invention.

Fig. 6 is a schematic structural view of the slider body according to an embodiment of the present invention.

Fig. 7 is a schematic structural view of the tightening and fixing device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 7, a high-performance writing robot includes a base 1 having a writing area, a control system (not shown) is disposed in the base 1, a Y-axis motion system, an X-axis motion system and a writing module are disposed on the base 1, the Y-axis motion system and the X-axis motion system can drive the writing module to move in the writing area; the X-axis movement system comprises a second guide rail with two ends fixed on the two first slide blocks respectively and a second slide block arranged on the second guide rail in a sliding mode through a second synchronous belt, and the writing module comprises a lifting frame fixed on the second slide block and a pen holding frame arranged on the lifting frame through a linear guide rail.

In the technical scheme, the base is a cavity structure formed by processing a metal plate, the control system adopts a control system in the prior art and is fixed in the base, a plurality of sockets (not marked) which are correspondingly arranged with a data interface or a power interface and the like of the control system are concavely arranged on the side wall of the base, and the writing module is driven to reach any point in a writing area by the X-axis motion system and the Y-axis motion system; the X-axis motion system and the Y-axis motion system have compact structures and are convenient for further miniaturization.

Further, first guide rail and second guide rail are section bar guide rail 2, and the both ends of section bar guide rail 2 are concave respectively and are equipped with a plurality of bottom openings, and section bar guide rail 2 includes integrated into one piece's installation department 21, connecting portion 22 and track portion 23, and installation department 21 is fixed in base 1, and the top center of track portion 23 is concave to be equipped with the spout 231 that holds first hold-in range or second hold-in range, and the both sides of track portion 23 are inlayed respectively and are equipped with the optical axis 232 that corresponds the setting with first slider or second slider.

In the technical scheme, the first guide rail and the second guide rail are integrally formed aluminum profile guide rails, the processing technology is simple, the self weight is light, the connecting part is of a hollow structure, and the overall weight of the high-performance writing robot can be greatly reduced; the optical axis is fixed on the first guide rail or the second guide rail in an embedded mode, the first sliding block or the second sliding block provided with the U-shaped roller bearing is matched, and meanwhile, the first synchronous belt or the second synchronous belt is also arranged in the first guide rail or the second guide rail, so that further miniaturization is facilitated.

Further, pre-installation grooves 221 are respectively concavely formed at both sides of the connection portion 22.

In the technical scheme, the size of the pre-installation groove is designed according to a photoelectric sensor or a magnetic switch, and the like, so that the possibility is provided for realizing subsequent automatic feeding and discharging and the like.

Further, the first slider and the second slider have the same structure and both include a slider body 3 and two sets of U-shaped roller bearings 4 rotatably disposed in the slider body 3, and the two sets of U-shaped roller bearings 4 are respectively clamped outside the corresponding optical axis 232.

Further, the bottom surface of the slider body 3 is concavely provided with a mounting groove 31, two groups of U-shaped roller bearings 4 are respectively disposed at two sides of the mounting groove 31, and two ends of the first synchronous belt or the second synchronous belt are respectively fixed at two ends of the corresponding slider body 3.

In the two technical schemes, the U-shaped roller bearing is fixed in the mounting groove of the sliding block body through the outside or a bolt and the like carried by the U-shaped roller bearing, and is matched with the correspondingly arranged optical axis, so that the stable movement of the X-axis motion system and the Y-axis motion system is realized, and the precision of the writing robot is improved.

Furthermore, two ends of the slider body 3 are respectively provided with a T-shaped clamping groove 32, and a detachable clamping block 321 is arranged in the clamping groove 32.

In the technical scheme, a reinforcing rib protrudes from the center of the mounting groove to enhance the overall strength of the sliding block body, and meanwhile, the tail end of the first synchronous belt or the tail end of the second synchronous belt is neatly fixed by matching with a T-shaped clamping block; the bottom width of the clamping groove is the same as the widths of the first synchronous belt and the second synchronous belt, so that the first synchronous belt and the second synchronous belt can be conveniently and quickly positioned and installed, and the bottom thickness of the clamping groove is smaller than the thicknesses of the first synchronous belt and the second synchronous belt, so that the clamping firmness of the tail end of the first synchronous belt or the tail end of the second synchronous belt is ensured; two ends of the first synchronous belt or the second synchronous belt are respectively fixed in the corresponding T-shaped clamping grooves, and the first synchronous belt or the second synchronous belt drives the corresponding sliding block bodies to move along the corresponding optical axes when rotating, so that the functions of an X-axis motion system and a Y-axis motion system are realized.

Further, the first synchronous belt or the second synchronous belt is rotatably fixed to the corresponding first guide rail or the corresponding second guide rail through the shift motor 5 and the idler 6, the shift motor 5 is fixed to the end portion of the first guide rail or the second guide rail through the motor mounting frame 51, the output end of the shift motor 5 is connected with the driving wheel 52, and the first synchronous belt or the second synchronous belt is sleeved on the corresponding driving wheel 52 and the idler 6.

Among this technical scheme, the motor mounting bracket belongs to conventional technique, can design the change according to actual need, and the aversion motor is as the power supply, drives the rotation of first hold-in range or second hold-in range to the realization is write the module and is arrived the arbitrary point in writing the region in a flexible way, fast, accurately.

Further, the idler 6 is fixed on one end of the first guide rail or the second guide rail, which deviates from the corresponding shift motor 5, through the idler mounting frame 61, the idler 6 is fixed on the idler mounting frame 61 through the tensioning fixing device 7, and the motor mounting frame 51 and the idler mounting frame 61, which are arranged at two ends of the second guide rail, are respectively connected to the corresponding slider bodies.

Further, the tensioning fixing device 7 is a double-headed eccentric bolt.

Among the two above-mentioned technical scheme, utilize the eccentric bolt of double-end as tight fixing device that rises, simplified structure is convenient for install and adjust.

Further, the lifting frame 8 comprises a mounting plate 81 fixed on the corresponding sliding block, a lifting motor 82 fixed on the mounting plate, and a lifting block 83, the linear guide is fixed on the lower end of the mounting plate 81, the output end of the lifting motor 82 is connected with a lifting gear 821, the tail end of the lifting block 83 is connected to the pen holder 9, and a lifting groove 831 corresponding to the lifting gear 821 is concavely arranged on the lifting block 83.

In the technical scheme, teeth meshed with a lifting gear are processed in a lifting groove of a lifting block, and a pen holding frame is driven to lift through a lifting motor, so that pen lifting and pen dropping are realized; the gear transmission precision is high, and meanwhile, the phenomenon that the pen holder moves upwards due to overlarge pen paper pressing force in the writing process can be avoided.

In conclusion, the high-performance writing robot has the advantages of compact structure, reliable performance, sensitive action, high movement displacement precision, long service life and the like, and is suitable for working occasions with high repeatability; the optical axis is fixed on the first guide rail or the second guide rail in an embedded mode, the first sliding block or the second sliding block provided with the U-shaped roller bearing is matched, and meanwhile, the first synchronous belt or the second synchronous belt is also arranged in the first guide rail or the second guide rail, so that further miniaturization is facilitated.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing is directed to embodiments of the present application and it is noted that numerous modifications and adaptations may be made by those skilled in the art without departing from the principles of the present application and are intended to be within the scope of the present application.

Claims

1. A high-performance writing robot comprises a base provided with a writing area, wherein a control system is arranged in the base, a Y-axis motion system, an X-axis motion system and a writing module are arranged on the base, the Y-axis motion system, the X-axis motion system and the writing module can move horizontally, and the Y-axis motion system and the X-axis motion system can drive the writing module to move in the writing area; the Y-axis motion system comprises two first guide rails arranged in parallel and first sliding blocks arranged on the first guide rails in a sliding mode through first synchronous belts respectively, the X-axis motion system comprises second guide rails with two ends fixed to the first sliding blocks respectively and second sliding blocks arranged on the second guide rails in a sliding mode through second synchronous belts, and the writing module comprises a lifting frame fixed to the second sliding blocks and a pen holding frame arranged on the lifting frame through linear guide rails.

2. The high performance writing robot of claim 1, wherein: first guide rail and second guide rail are the section bar guide rail, the both ends of section bar guide rail are concave respectively and are equipped with a plurality of bottom openings, the section bar guide rail includes integrated into one piece's installation department, connecting portion and track portion, the installation department is fixed in the base, the concave spout that holds in top center of track portion first hold-in range or second hold-in range, the both sides of track portion inlay respectively be equipped with first slider or second slider correspond the optical axis that sets up.

3. The high performance writing robot of claim 2, wherein: and two sides of the connecting part are respectively concavely provided with a pre-assembly groove.

4. The high performance writing robot of claim 2, wherein: the first sliding block and the second sliding block are identical in structure and respectively comprise a sliding block body and two groups of U-shaped roller bearings which are rotatably arranged in the sliding block body, and the two groups of U-shaped roller bearings are respectively clamped on the outer sides corresponding to the optical axis.

5. The high performance writing robot of claim 4, wherein: the bottom surface of the sliding block body is concavely provided with a mounting groove, two groups of U-shaped roller bearings are respectively arranged on two sides of the mounting groove, and two ends of the first synchronous belt or the second synchronous belt are respectively fixed at two ends corresponding to the sliding block body.

6. The high performance writing robot of claim 5, wherein: and T-shaped clamping grooves are respectively formed in two ends of the sliding block body, and detachable clamping blocks are arranged in the clamping grooves.

7. The high performance writing robot of claim 6, wherein: first hold-in range or second hold-in range are fixed in through the shift motor with the idler is rotatable to correspond first guide rail or second guide rail, the shift motor is fixed in through the motor mounting bracket the tip of first guide rail or second guide rail, the output of shift motor is connected with the action wheel, first hold-in range or second hold-in range cover are located and are corresponded action wheel and idler.

8. The high performance writing robot of claim 7, wherein: the idler is fixed in through the idler mounting bracket the deviating from of first guide rail or second guide rail corresponds the one end of aversion motor, the idler is fixed in through the tight fixing device that rises the idler mounting bracket, set up in the motor mounting bracket and the idler mounting bracket at second guide rail both ends connect respectively in corresponding the slider body.

9. The high performance writing robot of claim 8, wherein: the tensioning fixing device is a double-headed eccentric bolt.

10. The high performance writing robot of claim 1, wherein: the crane corresponds including being fixed in the mounting panel of slider, be fixed in the elevator motor and the elevator of mounting panel, linear guide is fixed in the lower extreme of mounting panel, elevator motor's output is connected with lifting gear, the end-to-end connection of elevator piece in hold the penholder, the elevator indent be equipped with lifting gear corresponds the lift groove that sets up.