Mechanical arm for drawing operation and intelligent drawing equipment

Abstract

The invention discloses a mechanical arm for drawing operation and intelligent drawing device.The mechanical arm for drawing operation comprises a base, and the base is provided with a bottom plate; the multi-axis mechanical arm is mounted on the base; the drawing assembly can conduct drawing operation with an external drawing medium, the drawing surface of the drawing medium is parallel or flush with the bottom plate, and the drawing assembly is installed at the tail end of the multi-axis mechanical arm and provided with a drawing end; wherein the multi-axis mechanical arm can drive the drawing end of the drawing assembly to move on the drawing medium so as to carry out drawing operation. The drawing end of the drawing assembly can be driven by the multi-axis mechanical arm to move on the drawing medium so as to carry out drawing operation, the upper surface of the drawing medium does not change in the drawing operation process of the mechanical arm, so that the drawing reference surface does not need to be repeatedly adjusted in the drawing operation, and the drawing efficiency is improved. And the efficiency and convenience of drawing operation are greatly improved.

Description

Technical Field

[0001] This application relates to the field of automation technology, specifically to a robotic arm and an intelligent drawing device for drawing operations. Background Art

[0002] In the fields of intelligent manufacturing and automation, as a key automation device, robotic arms are widely used in many fields such as industrial production, art creation, education, and scientific research. With the continuous progress of technology, the functions of robotic arms are becoming increasingly diverse, and their precision, flexibility, and intelligence are constantly improving. In the field of art creation, robotic arm drawing has gradually become a new form of creation, which combines the characteristics of mechanical automation and art design, bringing new possibilities to art creation.

[0003] Currently, there are some devices and systems related to robotic arm drawing on the market. A common robotic arm drawing system mainly consists of a robotic arm body, drawing tools (such as paintbrushes, spray guns, etc.), and control software. The robotic arm usually adopts a multi-axis structure to achieve precise movement of the drawing tool in space. The control software is responsible for generating the drawing path and controlling the movement of the robotic arm. In terms of the drawing board, most are ordinary flat boards for placing drawing paper. Usually, a separate drawing board is set up for drawing. Since the drawing reference surface needs to be repeatedly readjusted each time it is set up, it is difficult to ensure that the angles, distances from the robotic arm body, etc. are exactly the same each time. Each drawing operation requires repeated and frequent adjustments, which is rather cumbersome. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, this application provides a robotic arm and an intelligent drawing device for drawing operations, which solve the problem that for traditional robotic arms for drawing operations, since the drawing reference surface needs to be repeatedly readjusted each time it is set up, it is difficult to ensure that the angles, distances from the robotic arm body, etc. are exactly the same each time, and each drawing operation requires repeated and frequent adjustments, which is rather cumbersome.

[0005] To achieve the above objectives, this application is realized through the following technical solutions:

[0006] A robotic arm for drawing operations, comprising:

[0007] A base, the base having a bottom plate;

[0008] A multi-axis robotic arm, the multi-axis robotic arm being installed on the base; and,

[0009] A drawing assembly, the drawing assembly being capable of performing drawing operations with an external drawing medium, the drawing surface of the drawing medium being parallel or flush with the bottom plate, the drawing assembly being installed at the end of the multi-axis robotic arm, the drawing assembly having a drawing end;

[0010] Among them, the multi-axis robotic arm can drive the drawing end of the drawing component to move on the drawing medium for drawing operations.

[0011] This application discloses a robotic arm and an intelligent drawing device for drawing operations, including a base with a bottom plate, a multi-axis robotic arm, and a drawing component. The multi-axis robotic arm is installed on the base, and the drawing component can perform drawing operations with an external drawing medium. The drawing component is installed at the end of the multi-axis robotic arm and has a drawing end. The multi-axis robotic arm can drive the drawing end of the drawing component to move on the drawing medium for drawing operations. In this application, through the multi-axis robotic arm, the drawing end of the drawing component can be driven to move on the drawing medium for drawing operations. During the drawing operation of the robotic arm for drawing operations, the upper surface of the drawing medium is flush or parallel with the upper surface of the bottom plate, and the surface formed by the movement path of the drawing end is flush or parallel with the upper surface of the bottom plate, so that in subsequent drawing operations, there is no need to repeatedly adjust the drawing reference surface, greatly improving the efficiency and convenience of the drawing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0013] Figure 1 It is a schematic structural diagram of the intelligent drawing device of the present application;

[0014] Figure 2 It is a schematic structural diagram of the robotic arm of the present application;

[0015] Figure 3 It is a schematic structural diagram of the assembly flange of one embodiment of the present application;

[0016] Figure 4 It is a schematic structural diagram of one perspective of the assembly flange of another embodiment of the present application;

[0017] Figure 5 It is a schematic structural diagram of the drawing component of the present application;

[0018] Figure 6 It is a schematic structural diagram of the pen holder of the present application;

[0019] Figure 7 It is a cross-sectional view of the sleeve and the pen barrel in the pen holder of the present application;

[0020] Figure 8A cross-sectional schematic diagram of the sleeve, pen holder, and drawing pen in the pen holder of this application;

[0021] Figure 9 is Figure 8 a schematic diagram from another perspective;

[0022] Figure 10 A structural schematic diagram of the assembly flange from another perspective in another embodiment of this application;

[0023] Figure 11 A structural schematic diagram of the camera module in one embodiment of this application;

[0024] Figure 12 A structural schematic diagram of the pen holder and drawing pen of this application;

[0025] Figure 13 A schematic diagram of the camera module in another embodiment of this application;

[0026] Figure 14 A structural schematic diagram of the drawing board of this application.

[0027] Among them, each reference numeral in the figure:

[0028] 1, bottom plate; 2, base; 3, multi-axis robotic arm; 4, metal plate; 5, assembly flange; 6, cylinder; 7, drawing pen; 8, camera module; 9, drawing board; 10, magnetic part; 11, first fixing part; 12, first installation position; 13, second installation position; 14, second plug-in part; 15, cover plate; 16, adjusting screw; 17, pen holder; 18, drawing medium; 19, elastic part; 20, weight-reducing hole; 21, boss; 22, first blind hole; 23, first plug-in part; 24, second blind hole; 25, second fixing part. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

[0030] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0031] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "mounted", "connected" and "coupled" shall be construed broadly. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection, an electrical connection or a connection capable of mutual communication; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0032] In the present application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely means that the horizontal height of the first feature is lower than that of the second feature.

[0033] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0034] In an embodiment of the present application, a robotic arm for drawing operations is provided, including:

[0035] A base 2, the base 2 having a bottom plate 1;

[0036] A multi-axis robotic arm 3, the multi-axis robotic arm 3 being installed on the base 2; and,

[0037] A drawing component, the drawing component being capable of performing drawing operations with an external drawing medium 18, the drawing component being installed at the end of the multi-axis robotic arm 3, the drawing component having a drawing end; wherein, the multi-axis robotic arm 3 can drive the drawing end of the drawing component to move on the drawing medium to perform drawing operations.

[0038] The robotic arm for drawing operations disclosed in the present application includes a base 2, the base 2 having a bottom plate 1, a multi-axis robotic arm 3, and a drawing component. The multi-axis robotic arm 3 is installed on the base 2. The drawing component is capable of performing drawing operations with an external drawing medium 18. The drawing component is installed at the end of the multi-axis robotic arm 3, and the drawing component has a drawing end. The multi-axis robotic arm 3 can drive the drawing end of the drawing component to move on the drawing medium 18 to perform drawing operations. In the process of the robotic arm for drawing operations performing drawing operations, the upper surface of the drawing medium 18 is flush with or parallel to the upper surface of the bottom plate 1, and the surface formed by the movement path of the drawing end is flush with or parallel to the upper surface of the bottom plate 1, so that in subsequent drawing operations, there is no need to repeatedly adjust the drawing reference surface, greatly improving the efficiency and convenience of drawing operations.

[0039] Specifically, the base 2 serves as the basic support component of the entire kit, playing a role in stabilizing the entire kit. The multi-axis robotic arm 3 is installed on the base 2, which has high flexibility and accuracy, can complete complex drawing actions in a relatively small space, and can achieve multi-angle and multi-directional movements during drawing, thus meeting different drawing requirements. The drawing component is installed at the end of the multi-axis robotic arm 3 and is driven by the multi-axis robotic arm 3 to perform drawing operations with an external drawing medium 18, including but not limited to physical contact, magnetic interaction, and capacitive induction, and can be a magnetic type drawing board, paper, etc., or a drawing method similar to a smart electronic tablet.

[0040] In some other embodiments of the present application, the present application also provides a robotic arm for drawing operations, including:

[0041] A base 2, the base 2 having a bottom plate 1;

[0042] A multi-axis robotic arm 3, the multi-axis robotic arm 3 being installed on the base 2; and,

[0043] Drawing component, the drawing component can perform a drawing operation with an external drawing medium 18, the drawing component is installed at the end of the multi-axis robotic arm 3, and the drawing component has a drawing end;

[0044] The multi-axis robotic arm 3 can drive the drawing end of the drawing component to move on the drawing medium 18 to perform a drawing operation; during the process of the robotic arm for drawing operation performing the drawing operation, the upper surface of the drawing medium 18 is flush with or parallel to the upper surface of the bottom plate 1, and the surface formed by the movement path of the drawing end is flush with or parallel to the upper surface of the bottom plate 1, and the distance R between the drawing end and the center of the bottom plate 1 is always greater than 250 mm. In some specific embodiments of the present application, the value of R ranges from 267 mm to 400 mm. In this way, it can not only ensure that each drawing board can basically perform on the same plane, only one adjustment is required, and there is no need to repeatedly adjust each time a drawing operation is performed, but also ensure that the multi-axis robotic arm 3 is not prone to singularities and interference caused by adjacent joints during the drawing process, thereby ensuring the drawing stability of the robotic arm during the drawing process.

[0045] In some other embodiments of the present application, the present application also provides a robotic arm for drawing operation, including:

[0046] Base 2, the base 2 has a bottom plate 1;

[0047] Multi-axis robotic arm 3, the multi-axis robotic arm 3 is installed on the base 2; and,

[0048] Drawing component, the drawing component can perform a drawing operation with an external drawing medium 18, the drawing component is installed at the end of the multi-axis robotic arm 3, and the drawing component has a drawing end;

[0049] The multi-axis robotic arm 3 can drive the drawing end of the drawing component to move on the drawing medium 18 to perform a drawing operation;

[0050] During the process of the robotic arm for drawing operation performing the drawing operation, the upper surface of the drawing medium 18 is flush with or parallel to the upper surface of the bottom plate 1, the surface formed by the movement path of the drawing end is flush with or parallel to the upper surface of the bottom plate 1, and the distance R between the drawing end and the center of the bottom plate 1 always satisfies the following relationship: R≥R min ;

[0051]

[0052] Wherein, R min is the minimum distance value in the first direction between the drawing pen 7 and the center of the bottom plate 1 during the drawing process, L nis the length parameter, i is the radius of the i-th joint of the robotic arm, and i + 1 is the radius of the (i + 1)-th joint of the robotic arm.

[0053] Specifically, the distance R between the drawing end and the center of the bottom plate 1 satisfies specific conditions. The setting of this distance is based on a comprehensive consideration of the motion range of the multi-axis robotic arm 3 and the drawing operation space. By reasonably setting this distance, on the one hand, it can ensure that the drawing pen 7 has sufficient movement space during the drawing process and avoid interference with other components of the multi-axis robotic arm 3; on the other hand, it is also beneficial to maintain the overall balance and stability during the movement of the multi-axis robotic arm 3. When the multi-axis robotic arm 3 performs drawing operations, by precisely calculating and adjusting the distance between the pen holder and the center of the bottom plate 1, it can ensure that the drawing pen 7 is always in the optimal working position during the movement process, thereby improving the accuracy and quality of the drawing. In judging the interference problem between adjacent joints of the multi-axis robotic arm 3, a method of calculating the distance between joints is adopted. When the distance between two adjacent joints is less than the sum of their radii, interference will occur. Thus, during the design and use of the multi-axis robotic arm 3, it is possible to judge in advance whether interference will occur between joints, providing an important basis for the motion path planning of the multi-axis robotic arm 3. By reasonably planning the motion path, the occurrence of joint interference problems can be effectively avoided, ensuring that the multi-axis robotic arm 3 can operate smoothly and stably during the drawing process, thereby solving the problem that traditional robotic arms used for drawing operations are prone to jamming, shaking, etc. due to the existence of problems such as robotic arm joint interference when facing complex drawing tasks, which affects the fluency and quality of the drawing.

[0054] Among them, the meaning of the drawing end is the tip end of the drawing pen 7.

[0055] In some embodiments of the present application, the interference between adjacent joints of the multi-axis robotic arm 3 is judged by calculating the distance between the joints. Let the radii of each joint be r1, r2, r3, r4, r5, r n , then the interference condition between adjacent joints i and i + 1 is:

[0056]

[0057] Among them, (x i , y i ) and (x i+1 , y i+1 ) are the coordinates of joints i and i + 1 on the horizontal plane respectively.

[0058] Specifically, when the multi-axis robotic arm 3 is operating, the normal operation of the robotic arm is crucial for the accuracy and stability of the drawing operation. Whether there is interference between adjacent joints of the robotic arm is one of the key factors affecting its normal operation. Therefore, it is necessary to accurately judge the joint interference situation. Assume that each joint of the robotic arm can be approximately regarded as a cylinder with a certain radius. Let the radii of each joint be r1, r2, r3, r4, r5, r n , during the movement of the robotic arm, when the distance between two adjacent joints in space is too close, so that the distance between them is less than the sum of the radii of these two joints, there may be a collision or interference, thus affecting the normal movement of the robotic arm and the progress of the drawing operation.

[0059] In order to accurately judge whether there will be interference between adjacent joints, it is necessary to calculate the distance between adjacent joints. In the plane rectangular coordinate system (taking the horizontal plane as an example here), obtain the coordinates of joint i and i + 1 on the horizontal plane, which are respectively denoted as (x i , y i ) and (x i+1 , y i+1 ). According to the distance formula between two points, the distance di between these two joints on the horizontal plane can be calculated, and the calculation formula is:

[0060]

[0061] The principle is based on the Pythagorean theorem. By calculating the square root of the sum of the squares of the differences in the x-axis and y-axis directions of the coordinates of the two joints, the actual distance between them on the horizontal plane is obtained. After obtaining the distance di between adjacent joints, compare it with the sum of the radii of these two adjacent joints x i +x i+1 . When the condition is satisfied, it indicates that there is an interference risk between adjacent joints i and i + 1.

[0062] By calculating and comparing the distances of each group of adjacent joints in the above manner, it is possible to comprehensively judge whether there will be joint interference during the movement of the entire robotic arm. If it is found that a certain group of adjacent joints has an interference risk, corresponding adjustments can be made in the motion control algorithm of the robotic arm, such as changing the motion path of the robotic arm to avoid the distance between joints being too close, so as to ensure the safe and stable operation of the robotic arm and provide reliable support for the drawing operation. By accurately judging the joint interference situation, the movement of the robotic arm can be better planned, so that the distance between the drawing pen 7 and the center of the bottom plate 1 in a specific direction meets the design requirements, thereby giving full play to the flexibility and precision of the robotic arm during the drawing process, improving the quality and efficiency of the drawing, and avoiding drawing errors or mechanical failures caused by joint interference, bringing a more stable and reliable drawing experience to users.

[0063] In a specific embodiment of the present application, R min is calculated as follows:

[0064]

[0065] where R min is the minimum distance value between the drawing pen 7 and the center of the bottom plate 1 in the first direction during the drawing process, L n is a length parameter, i is the radius of the i-th joint of the robotic arm, and i + 1 is the radius of the (i + 1)-th joint of the robotic arm.

[0066] Specifically, in the robotic arm for drawing operations of the present application, formula (2) is used to calculate the minimum distance value R min , and this minimum distance value is of great significance for the drawing operations of the robotic arm. It is related to the movement range and safety of the robotic arm during the drawing process, ensuring that the distance between the drawing pen 7 and the center of the robotic arm bottom plate 1 in a specific direction meets certain requirements, and avoiding interference or collision between the drawing pen 7 and other components of the robotic arm.

[0067] R min represents the minimum allowable distance between the drawing pen 7 and the center of the robotic arm bottom plate 1 in a certain specific direction (such as the first direction from the center of the bottom plate 1 towards the edge of the bottom plate 1) during the drawing operations of the robotic arm. It is an important parameter to ensure the normal and safe operation of the robotic arm and the smooth progress of the drawing operations. During the actual drawing process, if the distance between the drawing pen 7 and the center of the bottom plate 1 is less than R min , it may cause collision between the robotic arm and the drawing board 9 or other components, affecting the drawing accuracy and the service life of the robotic arm.

[0068] L n usually represents the length from the n-th joint (or the relevant part of the end effector) of the robotic arm to a certain reference point (such as the center of the robotic arm bottom plate 1). In different robotic arm structures, the specific meaning and value of L n will be different. Taking the six-axis robotic arm of the present application as an example, L6 represents the length from the robotic arm base 2 (center of the bottom plate 1) to the end of the robotic arm (the position connected to the assembly flange). It is a fixed structural parameter and plays a key fundamental role in calculating the minimum distance.

[0069] i is the radius of the i-th joint of the robotic arm, and i + 1 is the radius of the (i + 1)-th joint of the robotic arm. It reflects the actual size of each joint of the robotic arm. During the movement of the robotic arm, the size of the joints will affect its reachable range and movement safety. A larger joint radius may limit the movement of the robotic arm in certain directions or increase the risk of interference with other components. By considering these joint radii, the formula can more accurately calculate the minimum distance.

[0070] Formula (2) is a summation operation, which represents the accumulation of the sum of the radii of adjacent joints from the 1st joint to the (n - 1)th joint. It comprehensively considers the influence of the dimensions of multiple joints of the robotic arm on the minimum distance. In a six-axis robotic arm, n = 6, then the radii of adjacent joints will be added pairwise and accumulated, and by subtracting this accumulated sum from L n the minimum distance R considering the factors of the robotic arm joint dimensions can be obtained. min This is to ensure that the robotic arm can operate within a safe and effective range during the drawing operation. By accurately calculating R min the motion path of the robotic arm can be better planned, enabling the drawing pen 7 to always be in an appropriate position during the drawing process, avoiding interference with other components of the robotic arm. At the same time, combined with the method for judging interference between adjacent joints of the robotic arm (judging interference by calculating the distance between joints), the stability and reliability of the robotic arm during the drawing process can be comprehensively guaranteed, thereby improving the accuracy and quality of the drawing and meeting the requirements for high-quality drawing operations.

[0071] In some embodiments of the present application, please refer to the attached Figure 1 - attached Figure 14 The drawing assembly may further include an assembly flange 5.

[0072] It is worth noting that the robotic arm for drawing operations proposed in the present application may have two implementation manners.

[0073] The first implementation manner: The assembly flange 5 only has a first mounting position 12. The drawing assembly further includes a pen holder mounted on the first mounting position 12. Defining the direction from the base towards the drawing medium 18 as the front, the first mounting position 12 is located on the front side of the assembly flange 5.

[0074] That is to say, in the first implementation manner, the assembly flange 5 is only assembled with a pen holder and only relies on a predetermined drawing route for drawing operations. Further, by fixing the pen holder on the front side of the assembly flange 5, that is, during the drawing operation of the drawing pen 7, it can always be located on the front side of the multi-axis robotic arm 3, which can not only simplify the algorithm design but also enable the multi-axis robotic arm 3 to perform the drawing operation relatively stably.

[0075] It can be understood that when the end of the multi-axis robotic arm 3 is closer to the base 2, the adjacent joints are more compact, which will make the movement between adjacent joints more difficult and it is more difficult to calculate information such as its output torque, etc. Therefore, fixing the assembly position of the pen holder on the front side of the assembly flange 5 can make the drawing pen 7 farther away from the base 2, thereby enabling the joints of the multi-axis robotic arm 3 to perform the drawing operation more stably and smoothly.

[0076] Second Embodiment: The assembly flange 5 has a first mounting position 12 and a second mounting position 13. The drawing assembly further includes a pen holder mounted on the first mounting position 12 and a camera module 8 mounted on the second mounting position 13. Defining the direction in which the base faces the drawing medium 18 as the front, the first mounting position 12 is located on the front side of the assembly flange, and the second mounting position 13 is located on the left or right side of the assembly flange 5. The assembly flange 5 serves as a connection hub, enabling the pen holder and the camera module 8 in the drawing assembly to form an integral unit at the end of the multi-axis robotic arm 3, ensuring that the drawing board 9 can be in a relatively fixed position and angle during each installation, so that the entire system can form a stable overall structure after installation. Thus, in subsequent drawing operations, there is no need to repeatedly adjust the drawing reference surface, greatly improving the efficiency and convenience of the drawing operation. Moreover, through the real-time monitoring and feedback of the camera module 8, the drawing process can also be adjusted and optimized in real time to further ensure the accuracy and quality of the drawing. Among them, the camera module 8 can include one or more cameras, which can be specifically set according to the actual application situation and are not limited here.

[0077] It should be noted that the assembly structures between the first mounting position 12 and the pen holder and between the second mounting position 13 and the camera module 8 can be similar or different. When the two adopt similar assembly structures, it is necessary to design the dimensions of the connection structures differently to achieve the anti-misassembly effect.

[0078] For example: both can use the connection method between a slot and a plug (detachable plug-in connection); or one of them can adopt a detachable plug-in connection, and the other can adopt a detachable embedded connection directly with the assembly flange.

[0079] The assembly between the second mounting position 13 and the camera module 13 can also be in multiple embodiments. One of the embodiments can be referred to Figure 3 , a recess can be formed on the left or right side of the assembly flange 5 to form a groove, and at least part of the camera module 8 is embedded in the groove. In this way, by designing a recessed groove on the assembly flange 5 itself, not only can the unnecessary structural parts of the assembly flange 5 be reduced, but also no additional fittings are required to achieve the assembly of the camera module 8. It can also make the overall assembly of the assembly flange 5 and the camera module 8 more compact, and can also reduce the overall mass of the drawing assembly, thereby reducing the load at the end of the multi-axis robotic arm 3. That is, a multi-axis robotic arm 3 with a lower load can be used to achieve the drawing operation.

[0080] In addition, in order to further reduce the overall mass of the drawing assembly to reduce the load at the end of the multi-axis robotic arm 3, weight reduction holes 20 can also be opened in the unnecessary parts of the assembly flange 5 to reduce the mass of the drawing assembly.

[0081] Continue to refer toFigures 2 - 11 , in some embodiments of the present application, a first slot is formed on the front side of the assembly flange 5, and the first slot constitutes the first mounting position 12. The pen holder has a first plug-in member, and the first plug-in member is inserted into the first slot;

[0082] In some other embodiments of the present application, a second slot is formed on the left or right side of the assembly flange 5, and the second slot constitutes the second mounting position. The pen holder has a second plug-in member, and the second plug-in member is inserted into the second slot; when the assembly flange 5 has the first mounting position 12 and the second mounting position 13, wherein the outer diameters of the first plug-in member and the second plug-in member are different, thus achieving the above-mentioned anti-fooling effect.

[0083] In some embodiments of the present application, as Figures 3 - 11 shown, a first fixing hole can be provided on one side wall of the first slot, and the first fixing hole communicates with the first slot; the drawing assembly can further include a first fixing member, and the first fixing member is movably assembled in the first fixing hole and abuts against the first plug-in member to fix the first plug-in member; in some other embodiments of the present application, a second fixing hole can also be provided on one side wall of the second slot, and the second fixing hole communicates with the second slot; at this time, the drawing assembly can further include a second fixing member, and the second fixing member is movably assembled in the second fixing hole and abuts against the second plug-in member to fix the second plug-in member.

[0084] Specifically, the first fixing member and the second fixing member can both be hand-tightening screws to improve the assembly efficiency without the user having to use standard tools for disassembly and assembly.

[0085] Correspondingly, the first fixing hole and the second fixing hole can both be threaded holes.

[0086] In some embodiments of the present application, as Figures 3 - 11 shown, the first plug-in member 23 is provided with a first blind hole 22, and the first fixing member 11 abuts against the bottom wall of the first blind hole 22. The diameter of the first blind hole 22 is greater than or equal to the outer diameter of the first fixing member 11; in the direction of the first fixing member 11 towards the first plug-in member 23, the diameter of the first blind hole 22 gradually decreases; in some other embodiments of the present application, the second plug-in member 14 is provided with a second blind hole 24, and the second fixing member 25 abuts against the bottom wall of the second blind hole 24. The diameter of the second blind hole 24 is greater than or equal to the outer diameter of the second fixing member 25. In the direction of the second fixing member 25 towards the second plug-in member 14, the diameter of the second blind hole 24 gradually decreases.

[0087] It should be noted that the first plug-in member 23 and the second plug-in member 14 are specifically metal inserts, and their structures are relatively thin. It is not suitable to adopt a relatively rigid connection method, and they are prone to deformation.

[0088] Therefore, a first blind hole 22 and a second blind hole 24 are correspondingly provided on the first plug-in member 23 and the second plug-in member 14, and the diameters of the first blind hole 22 and the second blind hole 24 are correspondingly larger than the outer diameters of the first fixing member 11 and the second fixing member 25, that is, larger than the outer diameter of the end of the hand-tightened screw.

[0089] In this way, the connection area between the first fixing member 11 and the second fixing member 25 corresponding to the first plug-in member 23 and the second plug-in member 14 can be greatly reduced, which is only a point connection, rather than the synchronous connection of the outer diameter and the end face of the screw end, and the deformation probability of the first plug-in member 23 and the second plug-in member 14 can be effectively reduced.

[0090] Furthermore, the design that the first blind hole 22 and the second blind hole 24 gradually decrease along the plugging direction of the first plug-in member 23 and the second plug-in member 14 can avoid the rubbing between the blind hole wall and the hand-tightened screw, and further ensure the service life of the first plug-in member 23 and the second plug-in member 14.

[0091] Optionally, as Figures 6 - 9 shown, the pen holder may further include a pen barrel 17 and a sleeve sleeved outside the pen barrel 17, and the sleeve is installed on the assembly flange 5; the pen barrel 17 is movably installed in the sleeve in the vertical direction, and the pen barrel 17 is used to fix the drawing pen 7.

[0092] In this way, during the drawing process, the drawing pen 7 will be squeezed against the surface of the drawing medium 9, which may cause damage to the tip of the drawing pen 7, and seriously may even cause the drawing operation to be unable to proceed. However, by movably connecting the pen barrel 17 to the sleeve, when the drawing pen 7 contacts the drawing medium, it can be adaptively adjusted and will not rigidly contact each other and cause damage, playing a certain buffering role.

[0093] Further, in some embodiments of the present application, as Figures 6 - 9 shown, the sleeve may include: a cover plate 15, the cover plate 15 is installed on the assembly flange 5; a cylinder body 6, installed on the cover plate 15 and joined to the cover plate 15 at the top, and a pen barrel 17 channel is constructed in the middle of the cover plate 15 and the cylinder body 6; there is a boss on the outside of the pen barrel 17, and a limiting platform is provided at the bottom of the cylinder body 6. In the natural state, the boss overlaps on the limiting platform. An accommodating cavity is formed between the inner wall surface of the cylinder body 6 and the outer wall surface of the pen barrel 17, and an elastic member 19 is accommodated in the accommodating cavity. One end of the elastic member 19 abuts against the cover plate 15, and the other end of the elastic member 19 abuts against the boss. The elastic member 19 has a tendency to drive the boss to move downward. Among them, the elastic member 19 may be a spring.

[0094] Through the setting of the elastic member 19, on the one hand, it can tend to keep the drawing pen 7 always under pressure towards the drawing medium (downward), ensuring the contact degree between the drawing pen 7 and the drawing medium to ensure the drawing quality and prevent situations such as broken lines. On the other hand, when the drawing pen 7 comes into excessive contact with the drawing medium 18, the elastic member 19 can also achieve a buffering effect, preventing a relatively rigid excessive contact between the two.

[0095] Specifically, a base 2 is installed on the top of the base plate 1. The base 2 is fixed to the base plate 1 by bolts, welding or other firm connection methods to ensure that it will not displace or shake during use. The multi-axis robotic arm 3 is an operating component, and its bottom is installed on the top of the base 2. A six-axis robotic arm is used, which has a high degree of flexibility and freedom and can achieve complex motion trajectories in three-dimensional space to meet diverse drawing requirements. The base 2 not only provides a stable support for the multi-axis robotic arm 3 but also limits the installation position of the multi-axis robotic arm 3 to ensure the stability and accuracy of the multi-axis robotic arm 3 during operation and avoid a decrease in drawing accuracy caused by installation deviation.

[0096] The assembly flange 5 is installed at one end of the multi-axis robotic arm 3 and serves to connect different functional components. A first slot is provided on one side, and a second installation position 13 is provided on the other side, fully considering the actual needs of the drawing operation, enabling the pen holder and the camera module to be reasonably distributed at the end of the robotic arm, without interfering with each other and working in coordination. The fixing member 11 provided at its bottom is mainly used to adjust and fix the pen diameter to adapt to drawing pens 7 of different sizes. The camera module 8 plays a visual assistance role during the drawing process. It can capture the image information of the drawing area in real time and transmit the image data to the system for analysis and processing through connection with the robotic arm control system. Before drawing, the camera module 8 can identify and position the position and angle of the drawing paper, providing a basis for the multi-axis robotic arm 3 to plan an accurate drawing path; during the drawing process, the camera module 8 can monitor the position and drawing effect of the drawing pen 7 in real time, promptly detect deviations and feedback them to the control system for adjustment and correction to ensure the accuracy and quality of the drawing.

[0097] The pen holder is the main structure of the pen holder, which plays a role in supporting and connecting other components. A first plug-in member 23 is fixedly connected to the top of the pen holder. One side of the first plug-in member 23 is installed in the first slot of the assembly flange 5 and fixed by means of bolts or card slots to ensure a firm connection between the pen holder and the assembly flange 5, so that there will be no looseness or shaking during the movement of the robotic arm. The interior of the pen barrel 17 is used to install the drawing pen 7. After the drawing pen 7 is inserted into the pen barrel 17, by tightening the adjusting screw 16, the drawing pen 7 can be firmly fixed in the pen barrel 17, and the pen diameter can also be adjusted to improve adaptability. The evenly distributed design of the adjusting screw 16 can ensure that the pressure applied to the drawing pen 7 is uniform, avoiding damage to the drawing pen 7 or insecure fixation caused by excessive local pressure.

[0098] An elastic member 19 is provided in the middle of the pen barrel 17, which plays a role in buffering and adjusting the pressure of the drawing pen 7. During the drawing process, the multi-axis robotic arm 3 drives the drawing pen 7 to move on the drawing paper. The elastic member 19 can elastically expand and contract according to the unevenness of the drawing surface or the change of the drawing force. When the drawing pen 7 encounters a protrusion or needs to increase the drawing force, the elastic member 19 will be compressed to absorb part of the impact force, avoiding excessive damage to the drawing medium by the drawing pen 7 or too deep drawing lines; when the drawing pen 7 encounters a depression or needs to reduce the drawing force, the elastic member 19 will rebound to keep the drawing pen 7 at an appropriate pressure, ensuring the uniformity and smoothness of the drawing lines.

[0099] Please refer to the attached Figure 1 、 Figures 13 - 14 As shown, the present application also provides an intelligent drawing device, including the robotic arm for drawing operations in any one of the above-described embodiments of the robotic arm for drawing operations, and a drawing board 9. Among them, the drawing board 9 is detachably assembled to the outer periphery of the bottom plate 1 of the base 2, and the upper surface of the drawing board 9 is parallel or coplanar with the upper surface of the bottom plate 1.

[0100] In the intelligent drawing device according to the embodiment of the present application, the multi-axis robotic arm 3 can drive the drawing end of the drawing assembly to move on the drawing medium 18 for drawing operations. During the drawing operations of the multi-axis robotic arm 3, the upper surface of the drawing medium is flush or parallel with the upper surface of the bottom plate 1, and the surface formed by the movement path of the drawing end is flush or parallel with the upper surface of the bottom plate 1, so that in subsequent drawing operations, there is no need to repeatedly adjust the drawing reference surface, greatly improving the efficiency and convenience of the drawing operations of the intelligent drawing device.

[0101] Optionally, a clamping notch is formed on the periphery of the drawing board 9, and the clamping notch can be clamped and matched with the periphery of the bottom plate 1; or, the drawing board 9 is detachably matched with the bottom plate 1 by magnetic attraction.

[0102] As Figure 14As shown, the drawing board 9 includes a metal plate 4. The robotic arm assembly further includes a magnetic member 10. The magnetic member 10 can be magnetically attracted to the upper surface of the drawing board 9 to fix the drawing medium 18 on the upper surface of the drawing board 9, thereby realizing the detachable cooperation between the drawing board 9 and the bottom plate 1 through the magnetic member 10. The metal plate 4 serves as the basic support structure of the drawing board 9 and has high strength and stability. One side of it is arranged on one side of the bottom plate 1 and is firmly connected to the bottom plate 1 by means such as welding, bolt connection or slot embedding, ensuring that the metal plate 4 remains stable during the entire drawing process without displacement or shaking, thus providing a reliable basic platform for the drawing operation.

[0103] Specifically, the magnetic member 10 is usually made of a permanent magnetic material, such as a neodymium iron boron magnet, etc. Its working principle is to utilize the magnetic force to attract the metal plate 4. When the magnetic member 10 is placed on the drawing board 9, due to the magnetic attractability of the metal plate 4, the magnetic member 10 will be tightly adsorbed on the metal plate 4, thereby generating a fixing force. Through the magnetic force between the magnetic member 10 and the metal plate 4, it is convenient to fix the paper or other drawing media to be drawn on the drawing board 9. The operation is more simple and fast. And when replacing, just gently remove the magnetic member 10, then it can be easily replaced, and then place the magnetic member 10 back to its original position to complete the fixation, which greatly saves time and effort. On the other hand, the fixing effect is more stable and reliable. Multiple magnetic members 10 can be set. Multiple magnetic members can be evenly distributed on the upper surface of the drawing board 9. For example, 4 magnetic members are arranged at the four corners of the upper surface of the drawing board 9. In this way, it can ensure that the magnetic force generated by the magnetic members is evenly distributed. The even distribution of the magnetic force can ensure that the drawing medium remains flat throughout the drawing process without situations such as movement or wrinkles that affect the drawing effect, meeting the requirements of precise drawing by the robotic arm. It can be understood that more magnetic members can be set, such as 8. In addition to the four corners of the upper surface of the drawing board 9, one is also respectively set in the middle of the four sides of the upper surface of the drawing board 9, and the fixation is more secure. The specific number of settings is determined according to the actual application situation and is not limited here.

[0104] As Figure 14 As shown, in some embodiments of the present application, a PC board 9 can also be arranged on the top of the metal plate 4, and one side of the metal plate 4 is arranged on one side of the bottom plate 1; in this way, the magnetic member 10 can be arranged on the top of the PC board. The PC board is arranged on the top of the metal plate 4 and has good flatness, wear resistance and impact resistance. Its flatness ensures that the drawing paper can remain flat when placed on it, avoiding uneven drawing lines or deviations caused by an uneven surface. The wear resistance enables the PC board not to be easily worn or scratched even when being frequently rubbed by the drawing pen 7 during long-term use, thus ensuring the quality of the drawing surface. The impact resistance can reduce the damage to the drawing board 9 when the drawing pen 7 accidentally collides with the PC board during the robotic arm drawing process and extend the service life of the drawing board 9.

[0105] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For parts not elaborated in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0106] The above has introduced in detail an electronic device provided by an embodiment of the present application. Specific examples are used herein to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the technical solution and its core idea of the present application; those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robotic arm for drawing operations, characterized in that: include: a base having a bottom plate; A multi-axis mechanical arm, wherein the multi-axis mechanical arm is mounted on the base; as well as, A drawing component, wherein the drawing component can perform drawing operations with an external drawing medium, wherein a drawing surface of the drawing medium is parallel to or flush with the bottom plate, and wherein the drawing component is installed at the end of the multi-axis robot arm, and wherein the drawing component has a drawing end; The multi-axis mechanical arm can drive the drawing end of the drawing component to move on the drawing medium to perform a drawing operation.

2. A robotic arm for drawing operations, characterized in that: include: a base having a bottom plate; A multi-axis mechanical arm, wherein the multi-axis mechanical arm is mounted on the base; as well as, A drawing component, wherein the drawing component can perform drawing operations with an external drawing medium, wherein a drawing surface of the drawing medium is parallel to or flush with the bottom plate, and wherein the drawing component is installed at the end of the multi-axis robot arm, and wherein the drawing component has a drawing end; The multi-axis mechanical arm can drive the drawing end of the drawing component to move on the drawing medium to perform a drawing operation; During the drawing operation of the drawing robot, the upper surface of the drawing medium is flush with or parallel to the upper surface of the base plate, the surface formed by the moving path of the drawing end is flush with or parallel to the upper surface of the base plate, and the distance R between the drawing end and the center of the base plate always satisfies the following relationship: R≥R min ; Among them, R min L is the minimum distance between the drawing pen and the center of the base plate in the first direction during the drawing process. n is the length parameter, i is the radius of the i-th joint of the robot, and i+1 is the radius of the i+1-th joint of the robot.

3. A robotic arm for drawing operations, characterized in that: include: a base having a bottom plate; A multi-axis mechanical arm, wherein the multi-axis mechanical arm is mounted on the base; as well as, A drawing component, which can perform drawing operations with an external drawing medium, is installed at the end of the multi-axis robot arm, and has a drawing end; The multi-axis mechanical arm can drive the drawing end of the drawing component to move on the drawing medium to perform a drawing operation; During the drawing operation performed by the drawing robot, the upper surface of the drawing medium is flush with or parallel to the upper surface of the base plate, the surface formed by the moving path of the drawing end is flush with or parallel to the upper surface of the base plate, and the distance R between the drawing end and the center of the base plate is always greater than 250 mm.

4. The robot arm for drawing operation according to claim 2, characterized in that: The interference between adjacent joints of the multi-axis robot is determined by calculating the distance between the joints. The radius of each joint is r1, r2, r3, r4, r5, r6, r7, r8, r9, r10, r11, r12, r13, r14, r15, r16, r17, r18, r19, r20, r21, r22, r3 n , then the interference condition between adjacent joints i and i+1 is: Among them, (x i ,y i ) and (x i+1 ,y i+1 ) are the coordinates of joints i and i+1 on the horizontal plane.

5. The robot arm for drawing work according to any one of claims 1 to 3, characterized in that: The drawing assembly includes a mounting flange; When the mounting flange has a first mounting position, the drawing assembly further comprises a pen holder mounted at the first mounting position, the direction of the base facing the drawing medium is defined as the front, and the first mounting position is located at the front side of the mounting flange; When the mounting flange has a first mounting position and a second mounting position, the drawing component further includes a pen holder mounted at the first mounting position and a camera module mounted at the second mounting position, and the direction of the base facing the drawing medium is defined as front, the first mounting position is located at the front side of the mounting flange, and the second mounting position is located at the left side or the right side of the mounting flange.

6. The robot arm for drawing operation according to claim 5, characterized in that: The left side or the right side of the mounting flange is recessed to form a groove, and the camera module is at least partially embedded in the groove.

7. The robot arm for drawing operation according to claim 5, characterized in that: The front side of the mounting flange is configured with a first slot, the first slot constituting the first mounting position, the pen holder having a first plug-in component, the first plug-in component being plugged into the first slot; And / or, a second slot is configured on the left side or the right side of the mounting flange, the second slot constitutes the second mounting position, the pen holder has a second plug-in component, and the second plug-in component is plugged into the second slot; When the mounting flange has a first installation position and a second installation position, the outer diameter of the first plug-in connector is different from the outer diameter of the second plug-in connector.

8. The robot arm for drawing operation according to claim 7, characterized in that: A first fixing hole is provided on one side wall of the first slot, and the first fixing hole is connected to the first slot; The drawing assembly further includes a first fixing member, which can be movably assembled in the first fixing hole and abut against the first plug-in member to fix the first plug-in member; And / or, a second fixing hole is provided on one side wall of the second slot, and the second fixing hole is connected to the second slot; The drawing assembly further includes a second fixing member, which can be movably assembled in the second fixing hole and abut against the second plug-in member to fix the second plug-in member.

9. The robot arm for drawing operation according to claim 8, characterized in that: The first connector is provided with a first blind hole, the first fixing member abuts against the bottom wall of the first blind hole, and the diameter of the first blind hole is greater than or equal to the outer diameter of the first fixing member; In the direction from the first fixing member to the first plug-in member, the aperture of the first blind hole gradually decreases; And / or, the second connector is provided with a second blind hole, the second fixing member abuts against the bottom wall of the second blind hole, and the diameter of the second blind hole is greater than or equal to the outer diameter of the second fixing member; In the direction from the second fixing member to the second plug-in member, the diameter of the second blind hole gradually decreases.

10. The robot arm for drawing operation according to claim 5, characterized in that: The pen holder comprises a pen barrel and a sleeve sleeved on the outside of the pen barrel, and the sleeve is mounted on the mounting flange; The pen holder can be movably mounted on the sleeve in a vertical direction, and the pen holder is used to fix the drawing pen.

11. The robot arm for drawing operation according to claim 10, characterized in that: The sleeve comprises: a cover plate, the cover plate being mounted on the mounting flange; A barrel body is mounted on the cover plate and the top is engaged with the cover plate, and the cover plate and the middle part of the barrel body form a pen barrel channel; The outer side of the pen holder is provided with a boss, and the bottom of the barrel is provided with a limiting platform. In a natural state, the boss is overlapped with the limiting platform.

12. The robot arm for drawing operation according to claim 11, characterized in that: An accommodating cavity is formed between the inner wall surface of the barrel and the outer wall surface of the pen holder. An elastic member is placed in the accommodating cavity. One end of the elastic member abuts against the cover plate, and the other end of the elastic member abuts against the boss. The elastic member has a tendency to drive the boss to move downward.

13. An intelligent drawing device, characterized in that: include: A robotic arm for drawing operations as claimed in any one of claims 1 to 12; A drawing board is detachably mounted on the periphery of the bottom plate of the base, and the upper surface of the drawing board is parallel or coplanar with the upper surface of the bottom plate.

14. The intelligent drawing device according to claim 13, characterized in that: The peripheral edge of the drawing board is configured with a snap-fitting notch, and the snap-fitting notch can be snap-fitted with the peripheral edge of the base plate; Alternatively, the drawing board is detachably matched with the base plate by magnetic attraction.

15. The intelligent drawing device according to claim 13, characterized in that: The drawing board includes a metal plate, and the mechanical arm assembly also includes a magnetic member, which can be magnetically attracted to the upper surface of the drawing board to fix the drawing medium on the upper surface of the drawing board.

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