CN214870625U

CN214870625U - Intelligent writing robot

Info

Publication number: CN214870625U
Application number: CN202121314211.4U
Authority: CN
Inventors: 张帆
Original assignee: Guangzhou Kuke Technology Co ltd
Current assignee: Guangzhou Kuke Technology Co ltd
Priority date: 2021-06-14
Filing date: 2021-06-14
Publication date: 2021-11-26
Anticipated expiration: 2031-06-14

Abstract

The utility model discloses an intelligent writing robot, which comprises a mounting base, a horizontal transmission mechanism, a transverse transmission mechanism, a longitudinal transmission mechanism, a clamping mechanism and a control module, wherein the mounting base is provided with a writing area, the longitudinal transmission mechanism comprises a third driving motor, a third guide rail, a third sliding block component, a third belt wheel, a third transmission belt and an elastic part, the third driving motor and the third guide rail are connected with the transverse transmission mechanism, the third sliding block component is arranged on the third guide rail in a sliding way, the third belt wheel is fixed on a driving shaft of the third driving motor, one end of the third transmission belt is connected with the third sliding block component, the third transmission belt is connected with the third belt wheel and the transverse transmission mechanism, the elastic part is connected with the transverse transmission mechanism and the third belt wheel, the utility model discloses a robot is write to intelligence compact structure, motion displacement precision height, longe-lived.

Description

Intelligent writing robot

Technical Field

The utility model relates to an intelligent robot equipment field especially relates to an intelligence robot of writing.

Background

In recent years, in life and work, some requirements for repeated handwriting are frequently met, such as a handwriting invitation letter, a postscript, a copybook and the like, at the moment, printing or copying generally cannot be operated, and time and labor are wasted through handwriting.

The intelligent writing robot in the related technology has the defects of complex structure, unreliable performance, short service life, poor writing effect and the like. In view of the above, there is a need to provide a new intelligent writing robot to replace human writing.

Disclosure of Invention

An object of the utility model is to defect among the prior art and not enough, for people provide a compact structure, dependable performance, write effectual, long service life's intelligent writing robot and replace the manual work to write or draw.

The embodiment of the utility model is realized like this: an intelligent writing robot comprises a mounting base, a horizontal transmission mechanism, a transverse transmission mechanism, a longitudinal transmission mechanism, a clamping mechanism and a control module, wherein a writing area is arranged on the mounting base, the control module controls the horizontal transmission mechanism, the transverse transmission mechanism and the longitudinal transmission mechanism to drive a writing pen on the clamping mechanism to move above the writing area at will, the longitudinal transmission mechanism comprises a third driving motor, a third guide rail, a third sliding block component, a third belt wheel, a third transmission belt and an elastic part, the third driving motor and the third guide rail are connected onto the transverse transmission mechanism, the third sliding block component is slidably arranged on the third guide rail, the third belt wheel is fixed on a driving shaft of the third driving motor, one end of the third transmission belt is connected with the third sliding block component, the other end of the third transmission belt is fixed on the third belt wheel, one end of the elastic part is fixedly connected with the transverse transmission mechanism, the other end of the elastic part is connected with the third belt wheel, and the third belt wheel rotates to enable the third transmission belt to be wound or loosened around the third belt wheel so as to drive the third sliding block assembly to move up and down along the third guide rail.

In an alternative embodiment, the third drive motor is a stepper motor.

In an optional embodiment, the third slider assembly includes a third slider and a connecting plate, the third slider is slidably disposed on the third guide rail, the connecting plate is connected to the third slider, one end of the third transmission belt is connected to the connecting plate through a connecting column, the other end of the third transmission belt is fixed to the third pulley through a fixing member, and the other end of the elastic member is connected to the third pulley through the fixing member.

In an optional embodiment, the clamping mechanism is fixed on the connecting plate, the clamping mechanism includes a fixing seat and a fastener, the fixing seat includes a base plate, two clamping plates perpendicular to the base plate and connected to a fastening plate on the base plate, wherein the two clamping plates are arranged oppositely, each clamping plate is provided with a clamping groove, the fastener is connected to the fastening plate, and the writing pen is matched in the clamping grooves and fastened through the fastener.

In an optional embodiment, the horizontal transmission mechanism is provided with a connecting beam, the horizontal transmission mechanism is movably connected to the connecting beam, sliding grooves are respectively formed in the top surface and the bottom surface of the connecting beam, the horizontal transmission mechanism comprises a mounting assembly, a second driving motor, a second belt wheel, a second driving belt and a pulley, the mounting assembly comprises a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate are oppositely arranged and are respectively positioned on two sides of the connecting beam, two connecting shafts are respectively arranged on the upper side and the lower side of the connecting beam, two ends of each connecting shaft are respectively connected with the first mounting plate and the second mounting plate, the second driving motor is fixed on one side of the first mounting plate, which is far away from the second mounting plate, a driving shaft of the second driving motor penetrates between the first mounting plate and the second mounting plate along a through hole on the first mounting plate, the second band pulley with second driving motor's drive shaft fixed connection, the pulley includes four, four the pulley rotationally overlaps respectively and is established on the connecting axle, wherein, is located two of tie-beam top the pulley cooperation is in the spout of tie-beam top surface, is located two of tie-beam below the pulley cooperation is in the spout of tie-beam bottom surface, the mid portion of second drive belt with the meshing of second band pulley is connected, follow respectively at the both ends of second drive belt tie-beam top or two of below the below or the top of pulley pass, and fix the both ends of the spout of tie-beam top surface or bottom surface make the second drive belt is the tensioning state.

In an optional embodiment, a mounting cavity is formed in the mounting base, the mounting base includes a side plate and a top plate, the side plate and the top plate jointly enclose the mounting cavity, and the control module is disposed in the mounting cavity.

In an optional embodiment, the side plates at least include two first side plates disposed oppositely, the two first side plates are respectively provided with oppositely disposed avoiding holes, the avoiding holes penetrate through the first side plates and are communicated with the installation cavity, the horizontal transmission mechanism includes a first driving motor, a first transmission assembly and a bracket, each first transmission assembly includes a first guide rail, a first slider, two first pulleys and a first transmission belt, each two first pulleys form a group, the first driving motor is fixed on the top surface of the top plate, a driving shaft of the first driving motor penetrates into the installation cavity along the through hole on the top plate, the first guide rail is disposed in the installation cavity, the first slider is movably disposed on the first guide rail, and the two first pulleys are respectively disposed at two ends of the first guide rail in the installation cavity, wherein, two in the first band pulley with driving motor's drive shaft fixed connection, two another in the first band pulley with roof rotatable coupling, first driving belt and two first band pulley meshing is connected, first driving belt still with first slider fixed connection, the support includes two support piece that set up relatively and connects two between the support piece the tie-beam, support piece includes interconnect's connecting portion and supporting part, connecting portion wear to establish two respectively in the two of first curb plate dodge downtheholely, the one end that the supporting part was kept away from to connecting portion with be connected on the first slider, the one end that the connecting portion was kept away from to the supporting part respectively with the tie-beam is connected.

In an optional embodiment, the horizontal transmission mechanism includes two first driving motors and two first transmission assemblies, each first driving motor corresponds to one first transmission assembly, and one end of the connecting portion of each support member, which is far away from the support portion, corresponds to one first slider of one first transmission assembly to be connected.

In an optional implementation manner, an installation groove is formed in the top surface of the top plate, a magnetic conductive soft rubber plate is arranged in the installation groove, and the top surface of the magnetic conductive soft rubber plate is formed into the writing area.

In an optional implementation manner, the control module includes a main control circuit board, a power switch, an emergency switch, and a limit switch, wherein the main control circuit board controls the horizontal transmission mechanism, and the longitudinal transmission mechanism to drive a writing pen disposed on the clamping mechanism to move above the writing area at will.

The embodiment of the utility model provides a robot is write to intelligence's beneficial effect includes as follows:

the horizontal transmission mechanism, the transverse transmission mechanism and the longitudinal transmission mechanism are compact in structure and easy to install, and the size of the intelligent writing robot is greatly reduced. The longitudinal transmission mechanism comprises an elastic part, one end of a third transmission belt is connected with a third sliding block component, the other end of the third transmission belt is fixed on a third belt wheel, one end of the elastic part is fixedly connected with the transverse transmission mechanism, and the other end of the elastic part is connected with the third belt wheel. When the writing pen on the clamping mechanism is contacted with the paper or the writing cloth arranged in the writing area, the impact between the writing pen and the paper or the writing cloth can be reduced through the arrangement of the elastic piece, the writing pen and the paper or the writing cloth are effectively protected, the service life of the writing pen and the paper or the writing cloth is longer, and the writing effect of writing on the paper or the writing cloth is better. Meanwhile, the third transmission belt can be lengthened in the using process, and the arrangement of the elastic piece can increase the control precision of the longitudinal transmission mechanism.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of an intelligent writing robot provided by an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of the intelligent writing robot in FIG. 1 in another direction;

FIG. 3 is an assembly view of the traverse actuator and the third driving motor;

FIG. 4 is an assembly view of the transverse drive mechanism and the connecting beam;

FIG. 5 is an assembly view showing a partial structure of the longitudinal transmission mechanism;

fig. 6 is an assembly view of the clamping mechanism.

Reference numerals:

the intelligent writing robot 100 is provided with a writing function,

a mounting base 10, a mounting cavity 101, a side plate 11, a first side plate 111, a relief hole 1110, a second side plate 112, a top plate 12, a writing area 121, a supporting leg 13,

a horizontal transmission mechanism 20, a first driving motor 21, a first guide rail 22, a first slider 23, a first belt wheel 24, a first transmission belt 25, a bracket 26, a support 261, a connecting part 2611, a supporting part 2612, a connecting beam 262 and a sliding groove 2620,

a transverse transmission mechanism 30, a mounting component 31, a first mounting plate 311, a second mounting plate 312, a second driving motor 32, a second belt wheel 33, a second transmission belt 34, a pulley 35, a connecting shaft 36,

a longitudinal transmission mechanism 40, a third driving motor 41, a third guide rail 42, a third slide block 43, a third belt wheel 44, a third transmission belt 45, an elastic member 46, a connecting plate 47, a connecting column 471, a fixing member 48,

a clamping mechanism 50, a fixed seat 51, a base plate 511, a clamping plate 512, a clamping groove 5120, a fastening plate 513, a fastener 52,

a control module 60.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

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 the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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.

The intelligent writing robot 100 according to the embodiment of the present invention is described below with reference to fig. 1 to 6. The intelligent writing robot 100 comprises a mounting base 10, a horizontal transmission mechanism 20, a transverse transmission mechanism 30, a longitudinal transmission mechanism 40, a clamping mechanism 50 and a control module 60. Wherein the mounting base 10 has a writing area 121 thereon, and paper or writing cloth to be written can be disposed on the writing area 121. The horizontal transmission mechanism 20 is connected to the mounting base 10, the transverse transmission mechanism 30 is connected to the horizontal transmission mechanism 20, the longitudinal transmission mechanism 40 is connected to the transverse transmission mechanism 30, and the clamping mechanism 50 is fixed to the longitudinal transmission mechanism 40. The clamping mechanism 50 may be used to mount a writing pen. The control module 60 is disposed on the mounting base 10, and the control module 60 can control the horizontal transmission mechanism 20, the horizontal transmission mechanism 30 and the longitudinal transmission mechanism 40 to drive the writing pen disposed on the clamping mechanism 50 to move freely above the writing area 121, so as to write and/or draw in paper or writing cloth.

Referring to fig. 1 to 2, the mounting base 10 is formed substantially in a square housing structure having a mounting cavity 101 at the bottom. Specifically, the mounting base 10 includes a side plate 11 and a top plate 12, and a space enclosed by the side plate 11 and the top plate 12 is formed as a mounting cavity 101, wherein the side plate 11 includes two oppositely disposed first side plates 111 and two oppositely disposed second side plates 112. Two first curb plate 111 are last to have seted up the relative setting and be rectangular shape dodge hole 1110 respectively, dodge hole 1110 to run through first curb plate 111 and be linked together with installation cavity 101. The top surface of the top plate 12 may be formed as a writing area 121.

Further, a mounting groove is formed in the top surface of the top plate 12, a magnetic soft rubber plate can be arranged in the mounting groove, and a writing area 121 is formed on the top surface of the magnetic soft rubber plate. The paper or writing cloth to be written can be fixed on the top surface of the magnetic conductive soft rubber plate through the magnet, and when the writing pen writes on the top surface of the magnetic conductive soft rubber plate, the excessive friction between the writing pen and the paper or the writing cloth can be avoided, the service life of the writing pen and the paper or the writing cloth is prolonged, and the writing effect of the writing pen on the paper or the writing cloth is improved.

In some embodiments, top plate 12 may be a metallic magnetically permeable material and the paper or writing cloth to be written may be secured to writing area 121 by a magnet.

In some embodiments, the side plates 11 may also be formed by injection molding integrally with the top plate 12, and a metal magnetic conductive material plate may be embedded on the top plate 12. For example, the top plate 12 is provided with an installation groove, and a plate made of a metal magnetic conductive material is arranged in the installation groove, so that the convenience of use of a user is improved, and the processing cost is saved.

Further, the mounting base 10 further includes a supporting leg 13, and the supporting leg 13 is used for supporting the intelligent writing robot 100. The supporting legs 13 are disposed in the mounting cavity 101, and the supporting legs 13 are fixedly connected to the top plate 12 of the mounting base 10.

Referring to fig. 1-2 and 4, the horizontal transfer mechanism 20 includes a first driving motor 21, a first transfer assembly, and a bracket 26. Wherein each first transmission assembly comprises a first guide rail 22, a first slider 23, two first pulleys 24 and a first transmission belt 25.

In this embodiment, the number of the first driving motors 21 is two, the two first driving motors 21 are respectively fixed on the top surface of the top plate 12, and the driving shafts of the two first driving motors 21 respectively penetrate into the installation cavity 101 along the through holes on the top plate 11. The first transmission assembly includes two first guide rails 22, that is, the two first guide rails 22 are respectively fixed in the installation cavity 101, and the two first guide rails 22 are arranged in parallel. The first slider 23 includes two, and each of the first sliders 23 is movably disposed on the first guide rail 22. The first pulleys 24 are arranged in the mounting cavity 101, the first pulleys 24 include four, every two first pulleys 24 form one group, the two first pulleys 24 of each group are respectively arranged at two ends of one of the first guide rails 22, one of the first pulleys 24 of each group is rotatably connected with the top plate 12, and the other one of the first pulleys 24 of each group is fixedly connected with a driving shaft of the first driving motor 21. The number of the first transmission belts 25 is two, each first transmission belt 25 is engaged with a group of first pulleys 24, and each first transmission belt 25 is further connected with the first sliding block 23 on the first guide rail 22 on which the group of first pulleys 24 are arranged. The bracket 26 includes two oppositely disposed supports 261 and a connection beam 262 connected between the two supports 261. Wherein each support 261 includes a connection portion 2611 and a support portion 2612 connected to each other. One end of each connecting portion 2611 is fixedly connected with one of the first sliders 23, the other end of each connecting portion 2411 penetrates out of the installation cavity 101 along the avoiding hole 1110, each supporting portion 2412 extends along the extending direction of the side plate 11 and is higher than the top surface of the top plate 12, and one end of each supporting portion 2412, which is far away from the connecting portion 2411, is respectively connected with the connecting beam 262. The connecting beam 262 is used to connect the traverse actuator 30. The top and bottom surfaces of the connecting beam 262 are also respectively provided with sliding grooves 2620.

In other embodiments, the first driving motor 21 and the first transmission assembly may only comprise one, the first driving motor 21 is fixed on the top surface of the top plate 12, and the driving shafts of the first driving motor 21 respectively penetrate into the mounting cavity 101 along the through holes on the top plate 11. The first rail 22 is fixed in the mounting cavity 101. The first slider 23 is movably disposed on the first guide rail 22. The first belt pulleys 24 are arranged in the mounting cavity 101, the first belt pulleys 24 form a group, two first belt pulleys 24 are respectively arranged at two ends of the first guide rail 22, one of the first belt pulleys 24 is rotatably connected with the top plate 12, and the other one of the first belt pulleys 24 is fixedly connected with a driving shaft of the first driving motor 21. The first transmission belt 25 is engaged with the two first pulleys 24 of the group, and the first transmission belt 25 is also connected with the first slider 23 on the first guide rail 22. One end of each connecting portion 2611 of the two supporting members 261 is fixedly connected to the first sliding block 23, and the other end of each connecting portion 2411 penetrates through the installation cavity 101 along the avoiding hole 1110.

In operation, the first driving motor 21 drives the first belt pulley 24 to rotate, the first belt pulley 24 drives the first driving belt 25 to rotate, the first driving belt 25 rotates to drive the first slider 23 to move on the first guide rail 22, the first slider 23 moves to drive the driving bracket 26 to move in the horizontal direction, and then the transverse transmission mechanism 30, the longitudinal transmission mechanism 40 and the clamping mechanism 50 fixed on the connecting beam 262 are driven to move horizontally above the writing area 121.

In this embodiment, the first guide rail 22, the first slider 23, the first pulley 24, and the first transmission belt 25 of the horizontal transmission mechanism 20 are respectively disposed in the installation cavity 101, one end of the connection portion 2611 of the bracket 26 is fixedly connected to the first slider 23, the other end of the connection portion 2411 of the bracket 26 penetrates through the installation cavity 101 along the avoiding hole 1110, and one end of the support portion 2412, which is far away from the connection portion 2411, is used for connecting the connection beam 262.

Referring to fig. 4, the traverse actuator 30 is movably fixed to the connection beam 262. The transverse transmission mechanism 30 includes a mounting assembly 31, a second drive motor 32, a second pulley 33, a second drive belt 34, and a pulley 35.

Specifically, the mounting assembly 31 includes a first mounting plate 311 and a second mounting plate 312, wherein the second mounting plate 312 is used for connecting the longitudinal transmission mechanism 40. The first mounting plate 311 and the second mounting plate 312 are oppositely disposed on two sides of the connecting beam 262, and during mounting, the four connecting shafts 36 are respectively disposed on the upper side and the lower side of the connecting beam 262, and two ends of each connecting shaft 36 are respectively connected with the first mounting plate 311 and the second mounting plate 312. The second driving motor 32 is fixed on a side of the first mounting plate 311 away from the second mounting plate 312, a driving shaft of the second driving motor 32 may penetrate between the first mounting plate 311 and the second mounting plate 312 along a through hole on the first mounting plate 311, and the driving shaft of the second driving motor 32 may be located on an upper side of the connecting beam 262, and the second pulley 33 is fixedly connected with the driving shaft of the second driving motor 32. The pulleys 35 include four, and four pulleys 35 are respectively rotatably sleeved on the connecting shaft 36, wherein two pulleys 35 located on the upper side of the connecting beam 262 are fitted in the sliding grooves 2620 on the top wall of the connecting beam 262, and two pulleys 35 located on the lower side of the connecting beam 262 are fitted in the sliding grooves 2620 on the bottom wall of the connecting beam 262. As shown in fig. 4, the middle portion of the second belt 34 is engaged with the second pulley 33, and both ends of the second belt 34 pass under the two pulleys 35 on the upper side of the connecting beam 262, respectively, and are fixed to both ends of the sliding groove 2620 on the top wall of the connecting beam 262, so that the second belt 34 is in a tensioned state. In this embodiment, the transverse transmission mechanism 30 is compact in structure and easy to install.

During operation, the second driving motor 32 rotates to drive the second belt wheel 33 to rotate, the second belt wheel 33 rotates to drive the second belt wheel 34 to rotate, the second belt wheel 34 further drives the pulley 35 to move transversely along the sliding groove 2620 of the connecting beam 262, so as to realize transverse movement of the longitudinal transmission mechanism 40 and the clamping mechanism 50 above the writing area 121.

It is understood that in the present embodiment, the driving shaft of the second driving motor 32 may also pass through the through hole of the first mounting plate 311 to the position between the first mounting plate 311 and the second mounting plate 312, the driving shaft of the second driving motor 32 is located at the lower side of the connecting beam 262, and the second pulley 33 is also located at the lower side of the connecting beam 262. The middle part of the second belt 34 is engaged with the second pulley 33, and both ends of the second belt 34 pass over the two pulleys 35 on the lower side of the connecting beam 262, respectively, and are fixed to both ends of the sliding groove 2620 on the bottom wall of the connecting beam 262.

Referring to fig. 5, the longitudinal transmission mechanism 40 is fixed to the second mounting plate 312, and the longitudinal transmission mechanism 40 includes a third driving motor 41, a third guide rail 42, a third slider 43, a third pulley 44, a third transmission belt 45, an elastic member 46, and a connection plate 47. The third slider 43 and the connecting plate 47 together form a third slider assembly, and specifically, the third driving motor 41 is disposed between the first mounting plate 311 and the second mounting plate 312 and fixedly connected to the second mounting plate 312. The drive shaft of the third drive motor 41 passes along the through hole in the second mounting plate 312 to the side away from the first mounting plate 311. The third guide rail 42 is provided on a side of the second mounting plate 312 away from the first mounting plate 311, and the third slider 43 is slidably provided on the third guide rail 42. The third pulley 44 is connected to a drive shaft of the third drive motor 41. The connecting plate 47 is fixed on the third slider 43 and can slide up and down on the third guide rail 42 along with the third slider 43, and one side surface of the connecting plate 47 away from the third slider 43 is used for connecting the clamping mechanism 50. One end of the third belt 45 is connected to the connecting plate 47 through a connecting column 471, and the other end of the third belt 45 is fixed to the third pulley 44 through a fixing member 48. One end of the elastic member 46 is fixedly connected with the second mounting plate 312, the other end of the elastic member 46 is connected with the fixing member 48 fixed on the third pulley 44, when the writing instrument works, the third driving motor 41 drives the third pulley 44 to rotate, the third pulley 44 rotates to enable the third driving belt 45 to be wound or loosened along the third pulley 44, and then the connecting plate 47 is driven to move up and down along the third guide rail 42, so that the clamping mechanism 50 moves in the vertical direction of the writing area 121.

In this embodiment, the elastic member 46 is disposed in the longitudinal transmission mechanism 40, and the elastic member 46 is normally in a stretched state during operation. The third belt wheel 44 rotates to enable the third transmission belt 45 to be wound or loosened along the third belt wheel 44, the elastic member 46 can effectively prevent the third transmission belt 45 from being slipped or self-lengthened to cause low control precision of the intelligent writing robot 100, and meanwhile, the writing pen on the clamping mechanism 50 can be prevented from being excessively contacted or not contacted with the writing area 121, so that the service life of the writing pen and paper or writing cloth is longer, and the font effect on the paper or writing cloth is better.

Referring to fig. 6, the clamping mechanism 50 is fixed on the connecting plate 47, and the clamping mechanism 50 includes a fixing seat 51 and a fastening member 52. Specifically, the fixing base 51 includes a substrate 511, two clamping plates 512 extending perpendicular to the substrate 511, and a fastening plate 513 connected to the substrate 511, wherein the two clamping plates 512 are disposed opposite to each other, and each clamping plate 512 is provided with a clamping groove 5120. The fastener 52 is attached to the fastening plate 513. When installed, the writing pen may be fitted into the clamping groove 5120 and then fixed by the fastener 52.

Referring to fig. 2, the control module 60 is disposed in the installation cavity 101, and the control module 60 includes a main control circuit board, a power switch, an emergency switch, a limit switch, and the like, where the main control circuit board can control the first driving motor 21, the second driving motor 32, and the third driving motor 41 to operate and drive the clamping mechanism 50 to move above the writing area 121 at will, so as to implement writing or drawing of the writing pen on paper or writing cloth.

Further, a communication module in communication connection with the main control circuit board is further installed on the installation base 10, and the communication module can communicate with terminals such as a mobile phone, a computer, and a tablet computer. Therefore, the intelligent writing robot 100 can be directly controlled by a mobile phone, a computer, a tablet computer, or the like.

When the intelligent writing robot is used, a related program is installed on a mobile phone or a computer, a pattern to be drawn or a character to be written is inserted into the program, a start button is clicked, a pause button and a stop button can be clicked during operation, the pause button can be restarted from the pause position, the program can also be provided with functions of adjusting speed, setting the speed to return to the original point and the like, and the intelligent writing robot 100 can be operated according to the instruction by pressing a corresponding instruction.

The working principle of the intelligent writing robot 100 is as follows: first, the horizontal actuator 20 and the horizontal actuator 30 are controlled such that the writing pen on the clamping mechanism 50 corresponds to a start writing position in the paper or writing cloth. Next, the longitudinal actuator 40 is controlled such that the writing pen is dropped at the initial writing position within the paper or writing cloth. Finally, the horizontal transmission mechanism 20 and the transverse transmission mechanism 30 are controlled to move to write continuous lines or strokes. After drawing a line or writing a stroke, the longitudinal driving mechanism 40 controls the lifting of the writing pen on the holding mechanism 50. After the pen lifting operation is finished, the above movement is repeated to simulate the writing or drawing of a human.

In this embodiment, the first driving motor 21, the second driving motor 32, and the third driving motor 41 may be stepping motors, which are low in cost and easy to control.

In this embodiment, the first belt 25 and the second belt 34 may be synchronous belts, and the third belt 45 may be a flat belt.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An intelligent writing robot comprises a mounting base, a horizontal transmission mechanism, a transverse transmission mechanism, a longitudinal transmission mechanism, a clamping mechanism and a control module, wherein a writing area is arranged on the mounting base, the control module controls the horizontal transmission mechanism, the transverse transmission mechanism and a writing pen arranged on the clamping mechanism and driven by the longitudinal transmission mechanism to move above the writing area at will, and the intelligent writing robot is characterized in that the longitudinal transmission mechanism comprises a third driving motor, a third guide rail, a third slider component, a third belt wheel, a third transmission belt and an elastic component, the third driving motor and the third guide rail are connected to the transverse transmission mechanism, the third slider component is arranged on the third guide rail in a sliding manner, the third belt wheel is fixed on a driving shaft of the third driving motor, one end of the third transmission belt is connected with the third slider component, the other end of the third transmission belt is fixed on the third belt wheel, one end of the elastic part is fixedly connected with the transverse transmission mechanism, the other end of the elastic part is connected with the third belt wheel, and the third belt wheel rotates to enable the third transmission belt to wind or loosen the third belt wheel so as to drive the third sliding block assembly to move up and down along the third guide rail.

2. The intelligent writing robot of claim 1, wherein the third drive motor is a stepper motor.

3. The intelligent writing robot of claim 1, wherein the third slider assembly comprises a third slider and a connecting plate, the third slider is slidably disposed on the third guide rail, the connecting plate is connected to the third slider, one end of the third driving belt is connected to the connecting plate through a connecting column, the other end of the third driving belt is fixed to the third pulley through a fixing member, and the other end of the elastic member is connected to the third pulley through the fixing member.

4. The intelligent writing robot of claim 3, wherein the clamping mechanism is fixed on the connecting plate, the clamping mechanism comprises a fixing seat and a fastening member, the fixing seat comprises a base plate, two clamping plates extending perpendicular to the base plate, and a fastening plate connected to the base plate, the two clamping plates are arranged oppositely, each clamping plate is provided with a clamping groove, the fastening member is connected to the fastening plate, and the writing pen is fitted in the clamping grooves and fastened by the fastening member.

5. The intelligent writing robot of claim 1, wherein the horizontal transmission mechanism has a connection beam, the horizontal transmission mechanism is movably connected to the connection beam, sliding grooves are respectively formed in the top surface and the bottom surface of the connection beam, the horizontal transmission mechanism comprises a mounting assembly, a second driving motor, a second belt wheel, a second driving belt and pulleys, the mounting assembly comprises a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate are oppositely arranged and are respectively located on two sides of the connection beam, two connecting shafts are respectively arranged on the upper side and the lower side of the connection beam, two ends of each connecting shaft are respectively connected with the first mounting plate and the second mounting plate, the second driving motor is fixed on one side of the second mounting plate far away from the first mounting plate, and a driving shaft of the second driving motor penetrates through the first mounting plate and the second mounting plate along a through hole on the first mounting plate Between the mounting panel, the second band pulley with second driving motor's drive shaft fixed connection, the pulley includes four, four the pulley is rotationally established respectively on the connecting axle, wherein, is located two of tie-beam top the pulley cooperation is in the spout of tie-beam top surface, be located two of tie-beam below the pulley cooperation is in the spout of tie-beam bottom surface, the intermediate portion of second drive belt with the meshing of second band pulley is connected, follow respectively at the both ends of second drive belt tie-beam top or two of below the below or the top of pulley is passed, and fixes the both ends of the spout of tie-beam top surface or bottom surface make the second drive belt is the tensioning state.

6. The intelligent writing robot of claim 5, wherein a mounting cavity is formed in the mounting base, the mounting base comprises a side plate and a top plate, the side plate and the top plate jointly enclose the mounting cavity, and the control module is disposed in the mounting cavity.

7. The intelligent writing robot of claim 6, wherein the side plates comprise at least two first side plates disposed opposite to each other, the two first side plates are respectively provided with opposing avoiding holes, the avoiding holes penetrate through the first side plates and are communicated with the mounting cavity, the horizontal transmission mechanism comprises a first driving motor, a first transmission assembly and a bracket, each first transmission assembly comprises a first guide rail, a first sliding block, two first belt wheels and a first transmission belt, every two first belt wheels form a group, the first driving motor is fixed on the top surface of the top plate, a driving shaft of the first driving motor penetrates into the mounting cavity along the through hole on the top plate, the first guide rail is disposed in the mounting cavity, and the first sliding block is movably disposed on the first guide rail, the two first pulleys are respectively arranged at two ends of the first guide rail in the mounting cavity, wherein one of the two first belt wheels is fixedly connected with a driving shaft of the first driving motor, the other one of the two first belt wheels is rotatably connected with the top plate, the first transmission belt is engaged with the two first pulleys and is fixedly connected with the first sliding block, the bracket comprises two oppositely arranged supporting pieces and the connecting beam connected between the two supporting pieces, the supporting piece comprises a connecting part and a supporting part which are connected with each other, the connecting part is respectively arranged in the two avoiding holes of the two first side plates in a penetrating way, one end of the connecting portion, which is far away from the supporting portion, is connected to the first slider, and one end of the supporting portion, which is far away from the connecting portion, is connected to the connecting beam.

8. The intelligent writing robot of claim 7, wherein the horizontal transmission mechanism comprises two first driving motors and two first transmission assemblies, each first driving motor corresponds to one first transmission assembly, and one end of the connecting portion of each support member, which is far away from the support portion, corresponds to and is connected with one first sliding block of one first transmission assembly.

9. The intelligent writing robot of claim 6, wherein a mounting groove is formed in the top surface of the top plate, a magnetically conductive soft rubber plate is arranged in the mounting groove, and the top surface of the magnetically conductive soft rubber plate forms the writing area.

10. The intelligent writing robot of claim 1, wherein the control module comprises a main control circuit board, a power switch, an emergency switch and a limit switch, wherein the main control circuit board controls the horizontal transmission mechanism, the horizontal transmission mechanism and the longitudinal transmission mechanism to drive a writing pen arranged on the clamping mechanism to move freely above the writing area.