CN214323381U

CN214323381U - Omnidirectional writing robot

Info

Publication number: CN214323381U
Application number: CN202023267655.5U
Authority: CN
Inventors: 向华安; 王浩; 焦郑瑞; 王荣昌
Original assignee: Luoyang Anhuaida Intelligent Technology Co ltd
Current assignee: Luoyang Anhuaida Intelligent Technology Co ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-10-01
Anticipated expiration: 2030-12-30

Abstract

An omnidirectional writing robot comprises a Macnahm wheel chassis, a rotating motor, a parallel four-connecting-rod mechanical arm, a driving motor and a writing pen; the top surface of the Mecanum wheel chassis is provided with a rotating motor and a bevel gear mechanism correspondingly matched with a driving end gear of the rotating motor pair, a bevel gear in the bevel gear mechanism is correspondingly and fixedly connected with the tail end of the mechanical arm, the tail end of the mechanical arm is provided with a driving motor for driving the mechanical arm to move, and the head end of the mechanical arm is correspondingly connected with a writing pen through a clamping mechanism; and the robot can write out various fonts and has high writing efficiency.

Description

Omnidirectional writing robot

Technical Field

The utility model belongs to the technical field of the robot technique of writing and specifically relates to a robot is written to omnidirectional type.

Background

As is known, a writing robot is a teaching and science popularization device; in the aspect of teaching, writing robot writing experiments, drawing experiments, structural experiments, assembly experiments, computer application experiments, robot drawing software compiling experiments, numerical control programming experiments and the like can be provided for the professions of university machinery, electronics, computers, software and the like, and in the aspect of science popularization, writing and drawing performances can be performed for primary and middle school students to improve the visual field and interest of the primary and small students;

at present, the most commonly used writing robot is a four-degree-of-freedom articulated robot, the pen holding end of the robot can only perform lifting and translation motions, although basic writing can be performed, only a relatively square font can be written out, the writing range is small, one character needs to be paused after being written, then the next character is written, and the writing efficiency is relatively low; therefore, in summary, there is a need in the market for a writing robot capable of writing a plurality of fonts and having high writing efficiency.

Disclosure of Invention

In order to overcome the deficiency in the background art, the utility model discloses an omnidirectional writing robot.

In order to achieve the purpose, the utility model adopts the following technical scheme:

an omnidirectional writing robot comprises a Mecanum wheel chassis, a rotating motor, a parallel four-link mechanical arm, a driving motor and a writing pen; the top surface of the Mecanum wheel chassis is provided with a rotating motor and a bevel gear mechanism, the bevel gear mechanism is correspondingly matched with a driving end gear of the rotating motor, a bevel gear in the bevel gear mechanism is correspondingly and fixedly connected with the tail end of the mechanical arm, the tail end of the mechanical arm is provided with a driving motor for driving the mechanical arm to move, and the head end of the mechanical arm is correspondingly connected with a writing pen through a clamping mechanism;

preferably, the bevel gear mechanism is formed by correspondingly matching a bearing seat and a bevel gear, and the bearing seat is correspondingly arranged on the top surface of the Mecanum wheel chassis;

preferably, the clamping mechanism comprises a shell, a fixed shaft, clamping rods and an opening and closing cylinder, the shell is correspondingly installed at the head end of the mechanical arm, an opening for a writing pen to pass through is formed in the bottom surface of the shell, the fixed shaft is vertically installed on the inner top surface of the shell, two symmetrical clamping rods are rotatably arranged on the shaft body of the fixed shaft, the two clamping rods are correspondingly hinged with the telescopic end of the opening and closing cylinder respectively, and the fixed end of the opening and closing cylinder is installed on the corresponding inner side surface of the shell;

preferably, the clamping end of the clamping rod is provided with an elastic rubber pad;

preferably, the inner top surface of the shell is provided with a positioning block for limiting the position of the writing pen.

Due to the adoption of the technical scheme, the utility model discloses following beneficial effect has:

the utility model discloses an omnidirectional writing robot, which can realize 360-degree free motion of the whole robot through a Mecanum wheel chassis, thereby the consistency of writing of the robot is stronger, and further the writing efficiency of the robot is improved, the diversity of writing characters can be increased by driving the mechanical arm to rotate through the rotating motor, the mechanical arm can be driven to move up and down and open and close through the driving motor, and the writing range of a writing pen is larger; in addition, the clamping mechanism can be used for fixedly clamping the writing pen and can be adapted to writing pens with different thicknesses.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic structural view of the clamping mechanism.

In the figure: 1. a Mecanum wheel chassis; 2. a rotating electric machine; 3. a bevel gear mechanism; 3.1, bearing seats; 3.2, bevel gears; 4. a mechanical arm; 5. a drive motor; 6. a clamping mechanism; 6.1, a shell; 6.2, fixing the shaft; 6.3, clamping rods; 6.4, opening and closing the air cylinder; 6.5, an elastic rubber cushion; 7. a writing pen.

Detailed Description

The invention will be explained in more detail by the following examples, which disclose the invention and are intended to protect all technical improvements within the scope of the invention.

The omnidirectional writing robot described with reference to fig. 1-2 includes a mecanum wheel chassis 1, a rotating motor 2, a parallel four-bar linkage type mechanical arm 4, a driving motor 5 and a writing pen 7; the robot can integrally realize 360-degree free motion through the Mecanum wheel chassis 1, so that the consistency of writing of the robot is stronger, and the writing efficiency of the robot is improved, wherein the top surface of the Mecanum wheel chassis 1 is provided with the rotating motor 2 and the bevel gear mechanism 3, the rotary motor 2 drives the mechanical arm 4 to rotate, so that the variety of written fonts can be increased, the bevel gear mechanism 3 is correspondingly matched with a driving end gear of the rotating motor 2, the bevel gear mechanism 3 is formed by correspondingly matching a bearing seat 3.1 and a bevel gear 3.2 according to needs, the bearing seat 3.1 is correspondingly arranged on the top surface of the Mecanum wheel chassis 1, and the bearing seat 3.1 plays a role in protecting the bevel gear 3.2 and ensures the driving capability of the bevel gear 3.2; a bevel gear 3.2 in the bevel gear mechanism 3 is correspondingly and fixedly connected with the tail end of the mechanical arm 4, the bevel gear 3.2 is driven to rotate by a gear of the rotating motor 2, then the bevel gear 3.2 drives the mechanical arm 4 to rotate, the tail end of the mechanical arm 4 is provided with a driving motor 5 for driving the mechanical arm 4 to move, the mechanical arm 4 can be driven to move up and down and open and close by the driving motor 5, so that the writing range of the writing pen 7 is larger, the head end of the mechanical arm 4 is correspondingly connected with the writing pen 7 by a clamping mechanism 6, so that the writing pen 7 is driven to move by the matching action of each part, and writing creation is realized;

in addition, the clamping mechanism 6 comprises a housing 6.1, a fixed shaft 6.2, a clamping rod 6.3 and an opening and closing cylinder 6.4, the housing 6.1 is correspondingly installed at the head end of the mechanical arm 4, the bottom surface of the housing 6.1 is provided with an opening for the writing pen 7 to pass through, the fixed shaft 6.2 is vertically installed at the inner top surface of the housing 6.1, the shaft body of the fixed shaft 6.2 is rotatably provided with two symmetrical clamping rods 6.3, the clamping end of the clamping rod 6.3 is correspondingly matched with the outer wall of the writing pen 7, the two clamping rods 6.3 are respectively and correspondingly hinged with the telescopic end of the opening and closing cylinder 6.4, through the synchronous action of the two opening and closing cylinders 6.4, the opening and closing action of the clamping rod 6.3 is realized, the clamping and the releasing of the writing pen 7 are finished, the fixed end of the opening and closing cylinder 6.4 is installed at the corresponding inner side surface of the housing 6.1, particularly, the clamping end of the clamping rod 6.3 is provided with an elastic rubber pad 6.5 which can be adapted to the writing pens 7 with different diameters, according to the needs, the interior top surface of shell 6.1 is equipped with the locating piece that is used for restricting the 7 positions of writing pen to guarantee that 7 tail ends of writing pen of same length are located same horizontal plane, reduce the degree of difficulty of follow-up operation, in addition, this clamping machine constructs 6 can also install equipment such as transport anchor clamps, perforator, cutting knife, welding rifle, thereby lets this robot can accomplish other industrial operations.

The part of the utility model not detailed is prior art.

Claims

1. An omnidirectional writing robot is characterized in that: the mechanical hand comprises a Mecanum wheel chassis (1), a rotating motor (2), a parallel four-link mechanical arm (4), a driving motor (5) and a writing pen (7); the top face of mecanum wheel chassis (1) is equipped with rotating electrical machines (2) and bevel gear mechanism (3), bevel gear mechanism (3) correspond the cooperation with the drive end gear of rotating electrical machines (2), bevel gear (3.2) in bevel gear mechanism (3) correspond fixed connection with the tail end of arm (4), and the tail end of arm (4) is equipped with driving motor (5) that are used for driving arm (4) action, the head end of arm (4) is passed through clamping mechanism (6) and is corresponded with writing pen (7) and be connected.

2. The omnidirectional writing robot of claim 1, wherein: the bevel gear mechanism (3) is formed by correspondingly matching a bearing seat (3.1) and a bevel gear (3.2), and the bearing seat (3.1) is correspondingly arranged on the top surface of the Mecanum wheel chassis (1).

3. The omnidirectional writing robot of claim 1, wherein: clamping mechanism (6) contain shell (6.1), fixed axle (6.2), supporting rod (6.3) and open and shut cylinder (6.4), shell (6.1) is corresponding to be installed in the head end of arm (4), and the bottom face of shell (6.1) is equipped with the opening that is used for writing pen (7) to pass through, fixed axle (6.2) are installed perpendicularly in the interior top surface of shell (6.1), the shaft body of fixed axle (6.2) rotates and is equipped with supporting rod (6.3) of bisymmetry, two supporting rod (6.3) correspond with the flexible end of an open and shut cylinder (6.4) respectively and articulate, the stiff end of open and shut cylinder (6.4) is installed in the corresponding medial surface of shell (6.1).

4. The omnidirectional writing robot of claim 3, wherein: and the clamping end of the clamping rod (6.3) is provided with an elastic rubber cushion (6.5).

5. The omnidirectional writing robot of claim 3, wherein: and a positioning block for limiting the position of the writing pen (7) is arranged on the inner top surface of the shell (6.1).