Separated vertical plane drawing robot and control method

Abstract

The invention discloses a separated vertical plane drawing robot and a control method, and relates to the technical field of automatic drawing equipment. The robot comprises a control assembly arranged outside the plane of a canvas and a drawing assembly suspended in front of the canvas. The control assembly comprises a controller, a driving motor and a bobbin; the drawing assembly comprises a bottom plate, a paintbrush and a pen lifting device; the two are connected through at least two stay wires, and the direction of the stay wire path is changed by a turning line device fixed at the boundary of the canvas. And the control assembly pulls the lightweight drawing assembly to perform two-dimensional motion on the plane of the canvas by coordinating winding and unwinding the stay wire. By means of a control and execution separated framework, the weight of a moving part is greatly reduced, the requirement for a driving system is lowered, the moving precision and the effective load capacity are improved, meanwhile, ground operation and debugging are safer and more convenient, and the automatic drawing robot is particularly suitable for automatic drawing operation of a large-area vertical face.

Description

Technical Field

[0001] This invention belongs to the field of automated drawing equipment technology, and in particular relates to a robot system and method for drawing on vertical or inclined planes. Background Technology

[0002] There are already various technical solutions for automated drawing on vertical planes (such as walls, blackboards, and large display boards). These solutions can be mainly divided into two categories: contact-mobile (such as wheeled or tracked robots) and suspended-traction type.

[0003] A typical suspension-traction solution employs an integrated structure, where the drive, control, and actuator mechanisms are all integrated onto a single robot body capable of moving on a vertical plane. For example, Chinese utility model patent CN208558851U discloses a "drawing robot for a vertical plane." However, this integrated solution suffers from the following problems: The large weight of the mobile body and its low redundancy load capacity place high demands on the drive system: Because heavy components such as the drive motor, battery, and control unit are all integrated onto the mobile body, its weight is significantly increased. To move this heavy body vertically, the traction cable needs to provide substantial tension, which directly places higher demands on the stepper motor's output torque and power, increasing system cost and energy consumption. Simultaneously, the heavy body exhibits significant inertia during sudden stops or speed changes, affecting motion accuracy and control response speed.

[0004] Therefore, existing integrated vertical plane mapping robots suffer from inconveniences in terms of weight reduction, payload increase, and operational convenience due to their excessive structural integration. An innovative architectural design is urgently needed to fundamentally solve these problems. Summary of the Invention

[0005] The present invention aims to overcome the above-mentioned defects of the prior art and provide a separate vertical plane drawing robot and control method, which solves the problems raised in the background art by separating the drive, control and power supply units, which account for most of the system weight.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: A detachable vertical plane drawing robot includes a control component, a drawing component, a wire pulling mechanism, and a wire bending device. The control component and the drawing component are connected and controlled by the wire. The detachable design primarily refers to the separation of the motor and the drawing component. Because the motor itself is heavy, integrating it into the drawing component would require overcoming its own weight, thus reducing redundant load.

[0007] Specifically, it includes: A control component is fixedly mounted on the plane of the canvas to be drawn on. The control component includes a base, at least two drive motors, a bobbin driven independently by each of the drive motors, and a controller for controlling the drive motors. A drawing component is suspended on the canvas plane by at least two pull lines. The drawing component includes a base plate for adhering to the canvas, a brush mounted on the base plate, and a brush lifting and lowering device for driving the brush to perform lifting and lowering in a direction perpendicular to the canvas plane. Each pull wire has a pull wire sleeve at one end, which is fitted onto the drawing component, and the other end is connected to a corresponding spool of the control component; and A bending device is fixedly installed at the boundary position of the canvas plane to change the path direction of the pull line from the control component to the drawing component; The control component coordinates the extension and retraction of the pull line to guide the drawing component to perform two-dimensional motion on the canvas plane.

[0008] Furthermore, the pen lifting and lowering device has multiple implementations to adapt to different precision and space requirements. Precise pen lifting and lowering can be achieved using a cam-pin structure, a gear-rack structure, or a hinged swing arm structure, as detailed below: The cam-pin structure pen lifting and lowering device includes a pen holder fixed to the base plate and a drive module. The pen is slidably fixed on the pen holder by a pen sleeve. The output end of the drive module is provided with a cam with a spiral groove. The pen sleeve is provided with a positioning pin that extends into the groove. The drive module drives the cam to move the pen sleeve on the pen holder.

[0009] The gear-rack structure pen lifting and lowering device includes a pen holder fixed to the base plate and a drive module. The pen is slidably fixed on the pen holder by a pen sleeve. The output end of the drive module is provided with a gear, and the pen sleeve is provided with a rack. The drive module drives the gear to drive the rack so that the pen sleeve slides on the pen holder.

[0010] The pen lifting and lowering device with a hinged swing arm structure includes a movable block hinged to the base plate. A pen sleeve and a drive module are fixed on the movable block, and the pen is fixed on the pen sleeve. A servo arm is fixed to the output end of the drive module. The drive module drives the servo arm to rotate. One end of the servo arm applies a force to the base plate, causing the movable block and the base plate to rotate around the hinge axis, thereby driving the pen tip to detach from or contact the canvas.

[0011] Furthermore, to optimize the performance of the drawing robot, the following preferred features may also be included: the canvas is made of a magnetic material and magnetically adsorbed onto the base plate, the base plate being made of a magnetically conductive material, and the two are bonded together by magnetic attraction. The control component is typically mounted on the ground or operating platform around the canvas plane for easy operation. A wire guide device is also provided on the base, and an encoder is located on one side of the wire guide device. The encoder provides feedback on the angle of wire rotation, solving the problem of changing the spool diameter during winding. The drawing component may be equipped with counterweights and magnetic beads to adjust its center of gravity, ensuring stable adhesion to the canvas in various postures. The magnetic beads adhere to the canvas through adsorption. The wire bending device is preferably a low-friction wire wheel, or it can be a fixed fulcrum with a wire hole. A pen tip through-hole may be provided on the base plate of the drawing component, with the pen holder, pen sleeve, and pen concentrically positioned therewith. Multi-level grooves may be provided on the outer wall of the pen holder to facilitate the installation and fine-tuning of the wire sleeve, thus balancing the drawing component.

[0012] A drawing method based on the aforementioned robot, executed by the controller of the control component, is based on coordinate calculation and cooperative control using a kinematic model. The method includes: S01, with the drawing component in a pen-lifting state, calculating the required length difference between the extension and retraction of each of the pull lines based on the target pen tip coordinates; S02, driving the corresponding drive motors to rotate, pulling the drawing component to the target position by extending and retracting the pull lines; S03, at the starting point of the drawing trajectory, controlling the pen-lifting and retracting device to perform a pen-dropping action; S04, by controlling the extension and retracting movements of each drive motor, pulling the drawing component with the pen along a preset trajectory; S05, at the ending point of the drawing trajectory, controlling the pen-lifting and retracting device to perform a pen-lifting action.

[0013] The present invention has the following beneficial effects: 1. This invention achieves lightweight structure and drive optimization: by separating the drive, control, and power supply units, which account for the majority of the system weight, the drawing component only contains the necessary actuators, reducing the weight of the actuators. This significantly reduces the pulling force required for traction, and significantly reduces the torque and power requirements of the drive motor, saving costs and energy consumption. At the same time, the drawing component has a small mass and low inertia, resulting in faster start-stop and speed change responses, reducing overshoot or jitter caused by inertia.

[0014] 2. It offers excellent payload and scalability: The drawing component can carry a variety of tools such as pens of different sizes and weights (such as markers, airbrushes, laser engraving heads), erasers, vision sensors, and lights, expanding its application scenarios.

[0015] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a split vertical plane drawing robot according to the present invention; Figure 2 This is a schematic diagram of the control component. Figure 3 A schematic diagram of a cam-type pen lifting and lowering device used in the drawing component; Figure 4 for Figure 3 Structural side view; Figure 5 A schematic diagram of a rack and pinion pen-lifting and lowering device used in the drawing component; Figure 6 A schematic diagram of a hinged swing arm pen lifting and lowering device for drawing components; Figure 7 This is a schematic diagram showing the control components installed below the canvas. Figure 8 This is a schematic diagram illustrating the kinematic principle of calculating the pen tip's planar coordinates based on the length of the double-strand wire; Figure 9 A flowchart illustrating the control logic for the controller to draw the trajectory of the straight line EF. Figure 10 This is a schematic diagram illustrating how magnetic attraction guides the bottom surface of the base plate to align with the canvas. The attached diagram lists the components represented by each number as follows: 1-Control component, 2-Drawing component, 3-Pull wire, 4-Curved wire device, 5-Canvas, 6-Magnetic bead, 101-Controller, 102-Spool, 103-Wire device, 104-Drive motor, 105-Base, 201-Base plate, 202-Brush, 203-Brush holder, 204-Brush sleeve, 205-Drive module, 206-Counterweight, 207-Brush holder groove, 208-Brush tip through hole, 209-Brush tip, 211-Cam, 212-Rack, 213-Servo arm, 222-Gear, 223-Moving block, 234-Positioning pin, 301-Pull wire sleeve. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0019] like Figure 1 As shown in the figure, this embodiment demonstrates the basic architecture of a split vertical plane drawing robot, which mainly includes four parts: a control component 1 fixedly installed on the periphery or outer side of the canvas 5, a drawing component 2 suspended in front of the canvas 5, a pull line 3 connecting the two, and a bending line device 4 installed on the top boundary of the canvas 5.

[0020] like Figure 2 As shown, control component 1 is the control center and power source of the entire system. Control component 1 includes a stable base 105, on which are mounted a controller 101 (such as a microcontroller, PLC, or industrial computer), a wire guide 103, at least two drive motors 104 (such as stepper motors or servo motors), and a bobbin 102 directly driven by each motor 104 via a coupling. The controller 101 is responsible for running the control program, receiving drawing instructions (such as G-code), and calculating the required angle or number of rotations for each motor based on kinematic algorithms, thereby issuing pulse signals to precisely control the operation of the motors 104. The bobbin 102 is used for winding and releasing the draw wire 3. The key feature of control component 1 is that it is located outside the plane of the canvas 5, typically on the ground, separate from the drawing area.

[0021] The guide wire device 103 is a guide wire wheel structure inside the control component 1. In large-area drawing scenarios, the number of coils on the spool 102 will be very large, resulting in an increase in the diameter of the spool 102. Consequently, the actual change in the amount of wire pulled per rotation of the spool 102 will also increase. This manifests in the drawing component as inaccurate positioning of the pen tip 209, leading to distorted patterns. To solve this problem, a front guide wire wheel is added to the front end of the spool 102. After the wire 3 exits from the spool 102, it wraps around the guide wire wheel once before passing through the wire bending device 4. An angle sensor is installed on the front guide wire wheel to accurately record its rotation angle. Since the wire diameter on the guide wheel does not change, the length of the wire taken in and out can be precisely measured and controlled through the diameter and angle changes of the guide wire wheel. This solves the problem of spool diameter changes caused by excessive coil count.

[0022] The drawing component 2 is the execution end of the system, and its weight is designed to be as light as possible. It includes a flat base plate 201, the front of which (the side facing the canvas) supports the drawing tool. In this embodiment, the drawing tool is a brush 202, which is driven to rise and fall by a brush lifting and lowering mechanism. The back of the base plate 201 (the side facing away from the canvas) has an interface for connecting to pull cables 3. The entire drawing component 2 is suspended by at least two pull cables 3, and its planar position is entirely determined by the length of the two pull cables 3.

[0023] The drawstring 3 is made of a high-strength, low-elongation material, such as polyester thread, Kevlar thread, or fine steel wire. One end of each drawstring 3 is fixed to the drawing component 2 by a detachable drawstring sleeve 301 (e.g., an "Ω" shaped buckle or a loop knot), while the other end is securely wound and locked to the corresponding spool 102 of the control component 1.

[0024] like Figure 7 As shown, the function of the bend device 4 is to change the force transmission path of the pull wire 3. Due to the presence of the bend device 4, the control component 1 can be flexibly deployed in any suitable position below, to the side, or even behind the canvas 5, as long as the path of the pull wire 3 is unobstructed. It can adapt to various complex on-site environments, such as corners with limited space or walls with obstacles. Figure 1 As shown, the bending device 4 is fixed to the upper boundary of the canvas 5 plane, ideally on the extension line of the top corner of the canvas. This allows the pull line 3, extending from the side or below the ground, to point at the drawing component 2 at a roughly perpendicular angle after being turned by the bending device 4. This arrangement effectively decomposes the traction force of the control component 1 on the drawing component 2 into a two-dimensional component force controlling its movement within the canvas plane.

[0025] Working principle: When the controller 101 needs to move the pen tip to a target point on the canvas, it calculates the required retraction or release lengths (ΔL1, ΔL2) of the two pull lines 3 based on the coordinates of the target point using inverse kinematics (see Example 4). Then, the controller 101 drives the corresponding drive motor 104 to rotate at the appropriate angle. One motor retracts the line, while the other motor may release or also retract the line (but at different lengths). Through this differential control, the lengths of the two pull lines 3 are precisely adjusted, thereby pulling the lightweight drawing component 2 to the target position. When drawing a trajectory, the controller 101 continuously calculates a series of dense path points on the trajectory and controls the two motors to work together in real time, so that the pen tip 209 moves smoothly along the preset path. At the same time, the pen lifting and lowering device controls the raising and lowering of the pen 202.

[0026] Example 2: Multiple Implementations of the Pen Lifting and Dropping Device The pen lifting and lowering device is the core functional module of drawing component 2, requiring precise, reliable operation and minimal space occupation. This invention provides three preferred implementation methods.

[0027] Implementation Method 1: Cam-type pen lifting and lowering device See Figure 3 The device includes a pen holder 203 vertically fixed on a base plate 201 and a drive module 205 (preferably a micro servo motor or stepper motor) as a power source. The pen 202 is held by a pen sleeve 204. The outer diameter of the pen sleeve 204 slides in conjunction with the inner diameter of the pen holder 203, so that the pen sleeve 204 can slide up and down along the axis of the pen holder 203, but will not rotate.

[0028] See Figure 4 The drive module 205 has a spiral groove 211. A positioning pin 234 is fixed on the side wall of the pen cap 204, and the end of the positioning pin 234 is inserted into the spiral groove of the cam 211.

[0029] When the drive module 205 receives the "pen placement" command from the controller 101, it drives the cam 211 to rotate. Since the positioning pin 234 is restricted to linear motion by the pen holder 203, the rotational motion of the cam 211 is converted through the helical groove into a linear downward movement of the positioning pin 234 and the pen cap 204 fixed thereto, thus achieving pen placement. Conversely, when the cam 211 rotates in the opposite direction, the pen cap 204 is lifted, achieving pen lifting. The stroke of the cam helical groove determines the lifting distance of the pen tip 209, and the motion curve can be optimized by designing the cam profile.

[0030] Implementation Method 2: Gear and rack type pen lifting and lowering device See Figure 5 The device also includes a pen holder 203 and a drive module 205, but differs in the transmission method. A small gear 222 is installed on the output shaft of the drive module 205, and a rack 212 is fixedly installed on the side of the pen holder 204 along its axial direction. The rack 212 meshes with the small gear 222.

[0031] When the drive module 205 rotates, the pinion 222 rotates accordingly. Through meshing with the rack 212, the rotational motion is directly converted into the precise linear up-and-down motion of the pen cap 204 along the pen barrel 203. The rack and pinion drive has advantages such as high transmission efficiency, high precision, and no slippage. Closed-loop control of the pen tip 209 position can also be achieved by integrating an encoder into the drive module 205.

[0032] Implementation Method 3: Hinged Swing Arm Pen Lifting and Lowering Device See Figure 6This device employs a different design. An L-shaped movable block 223 is hinged to the base plate 201 via a hinge or pivot. The pen sleeve 204 and the drive module 205 (usually a servo motor) are directly fixed to the movable block 223. The pen 202 is installed in the pen sleeve 204. A servo arm 213 is fixed to the output shaft of the drive module 205. The pen sleeve 204 has several annular grooves, which serve the same function as the pen holder groove 207. The pull cable sleeve (301) at one end of the pull cable 3 is fitted onto the groove on the pen sleeve 204.

[0033] When the drive module 205 rotates, the servo arm 213 swings accordingly. Contact or a small gap can be maintained between the free end (or a point in the middle) of the servo arm 213 and a fixed point on the base plate 201. When the servo arm 213 swings downwards, its free end abuts against the base plate, acting as a fulcrum to push the drive module 205 housing upwards. Since the drive module 205 is fixed to the movable block 223, this forces the movable block 223 to swing around the hinge point towards the canvas, causing the drawing pen 202 to fall (pen placement). When the servo arm 213 swings upwards, the movable block 223 swings back under the action of gravity or a return spring (not shown in the figure), lifting the pen. This method converts linear lifting motion into swinging motion, resulting in a more compact structure, particularly suitable for applications where the thickness of the drawing component 2 is strictly limited.

[0034] Example 3: System Optimization and Auxiliary Features To improve system performance and ease of use, the present invention also includes the following optimization features: Brush tip 209 guidance and protection ( Figure 3 , Figure 5 , Figure 6 A pen tip through hole 208 is made on the base plate 201, directly opposite the pen tip. The pen holder 203, pen cap 204, and pen 202 are all installed concentrically with this through hole 208. This through hole 208 serves two purposes: firstly, it provides precise guidance to prevent the pen 202 from swaying during raising and lowering; secondly, it allows the pen tip 209 to extend precisely and contact the canvas 5.

[0035] Adjustable cable connection: Several annular grooves 207 are machined on the outer cylindrical surface of the pen holder 203. The cable sleeve 301 at the end of the cable 3 can be selectively fitted into grooves of different depths. For example... Figure 4As shown, the function of the pen holder groove 207 is to ensure better contact between the base plate 201 and the canvas 5. When the line connecting the force point a of the pull line 3 and the center of gravity b of the drawing component is parallel to the plane of the canvas 5, the base plate 201 will fit snugly against the canvas 5. If the lower pen holder groove 207 is selected, the base plate 201 will tilt upwards, meaning the bottom of the base plate 201 will contact the canvas 5, but the top will not. If the upper pen holder groove 207 is selected, the base plate 201 will tilt upwards, meaning the top of the base plate 201 will contact the canvas 5, but the bottom will not.

[0036] Counterweight design (e.g.) Figure 6 (As shown in the diagram): A counterweight 206 can be installed on the back of the drawing component 2 (the side away from the canvas) using screws or clips. The mass and position of the counterweight 206 can be adjusted according to the weight of the brush used. Its function is to adjust the overall center of gravity of the drawing component 2, ensuring that the drawing component 2 can stably adhere to the canvas surface under its own weight, regardless of its position on the canvas, and will not tilt due to a shift in the center of gravity. It also helps to tighten the tension line 3, improving drawing accuracy.

[0037] Magnetic-assisted bonding ( Figure 10 To further enhance the adhesion between the drawing component 2 and the canvas 5, especially during rapid movement or when using heavier tools, magnetic assistance can be employed. Specifically, the canvas 5 itself is made of a magnetic material, such as a common magnetic whiteboard or a display board with a magnetic layer. Correspondingly, the base plate 201 of the drawing component 2 is made of a magnetically conductive material or fitted with magnetic beads 6, such as soft iron or low-carbon steel. In this way, an attractive force (F-magnetic force) is generated between the base plate 201 and the canvas 5. This force, together with the gravity (G) of the drawing component 2, forms a stable normal adhesion force, effectively preventing the drawing component 2 from jumping or detaching during movement.

[0038] Selection of bending device ( Figure 1 , Figure 7 The core function of the turning device 4 is to reduce the frictional resistance when the pull cable 3 turns. It uses a guide wheel with a deep groove ball bearing or an oil-impregnated bearing, and the pull cable 3 passes through the wheel groove, resulting in an extremely low coefficient of friction. Alternatively, it uses a fixed metal or plastic fulcrum with a smooth wire-passing hole drilled in it, through which the pull cable 3 passes. Although the latter has slightly higher friction, its structure is extremely simple and reliable.

[0039] Flexible arrangement of control components ( Figure 7 One of the greatest advantages of this invention is the freedom to arrange the control component 1. Figure 7The illustration shows the control component 1 placed on the ground directly below canvas 5. With this arrangement, all wiring, debugging, and maintenance can be easily performed on the ground. Operators can directly observe the winding and unwinding of the spools, facilitating operations such as threading and changing wires. This solves the "see but not touch" debugging problem faced by traditional integrated robots when operating at heights.

[0040] Example 4: Detailed Description of Kinematic Model and Control Method The precise motion of this invention relies on a planar positioning model based on the length of the pull wire. The kinematic model based on two-point positioning in a two-dimensional plane is simple, reliable, computationally inefficient, and places low demands on controller performance. Combined with a mature trajectory interpolation algorithm, it can efficiently and accurately complete the task of drawing complex graphics.

[0041] Coordinate system and geometric points (used for schematic diagrams, such as...) Figure 8 and 9 (as shown) O: Origin of the coordinate system A: Fixed Point A of the bend device one B: Fixed Point B of the bend device 2 P: Pen Tip Position P E: Path Start Point E F: Path End Point F (x, y): Coordinates of Pen Tip (x_A, y_A): Coordinates of Point A (x_B, y_B): Coordinates of Point B L1: Length of Line AP L2: Length of Line BP Kinematic model ( Figure 8 ): like Figure 8 As shown, a two-dimensional coordinate system XOY is established for the canvas plane. Assume the coordinates of the fixed points of the two turning devices 4 (i.e., the turning points of the pull wire 3) are A(x_A, y_A) and B(x_B, y_B), respectively. These two coordinates are known constants after system installation and calibration. The position of the pen tip 209 on the drawing component 2 is P(x, y), which is the variable that needs to be controlled.

[0042] Let the length of guy wire AP be L1, and the length of guy wire BP be L2. Based on geometric relationships, the following system of equations exists: L1² = (x - x_A)² + (y - y_A)² (1) L2² = (x - x_B)² + (y - y_B)² (2) For control purposes, inverse kinematics is more commonly used: given the coordinates (x, y) of the target point P, calculate the required cable lengths L1 and L2. This can be directly calculated using formulas (1) and (2).

[0043] The controller 101 internally stores the thread lengths (L1_cur, L2_cur) corresponding to the current pen tip position P_cur. When it receives a command to move to the target point P_tar, it calculates the target lengths (L1_tar, L2_tar). The difference in length between the two spools that need to be extended or retracted is then: ΔL1 = L1_tar - L1_cur ΔL2 = L2_tar - L2_cur Based on the sign and magnitude of ΔL1 and ΔL2, the controller 101 drives motors 104A and 104B to rotate by the corresponding angle (number of revolutions) to complete the positioning.

[0044] Drawing control methods ( Figure 9 The process of controller 101 executing drawing tasks is a typical "pen movement-pen placement-line drawing-pen lifting" loop. Controller 101 can use linear interpolation, circular interpolation, or spline interpolation algorithms to achieve complex trajectory drawing. Taking drawing a straight line from point E to point F as an example, combined with... Figure 9 Explain its control logic: S01: Pen Lifting and Idle Positioning. The controller first ensures that the drawing component 2 is in the pen-lifting state. Then, based on the coordinates (x_E, y_E) of the trajectory starting point E, it calculates the required L1_E and L2_E using the inverse kinematics described above. Next, it calculates the length differences ΔL1_E and ΔL2_E from the current position and drives the two motors to move together, quickly and accurately moving the pen tip 209 above point E. During this process, the pen does not contact the canvas.

[0045] S02: The pen tip touches the starting point of the trajectory. After the pen tip reaches point E, the controller sends a signal to the drive module 205 of the pen lifting device to execute the pen-dropping action, so that the pen tip of the pen 202 contacts the canvas 5.

[0046] S03: Trajectory Interpolation and Continuous Motion – This is the core stage of the drawing process. The controller needs to "interpolate" the straight line from E to F. It discretizes the straight line EF into N sufficiently dense intermediate points P_i (i=1,2,...,N, where P_N = F). For each interpolation point P_i, the controller calculates its corresponding draw length (L1_i, L2_i) in real time and immediately converts it into motor commands. By continuously updating the target points at a high frequency (e.g., hundreds of times per second) and controlling two motors to retract and extend the line at matched speeds, the pen tip can be smoothly guided along the straight line EF, leaving a continuous trajectory on the canvas. For curves, the principle is the same, only the interpolation algorithm changes to circular interpolation, spline interpolation, etc.

[0047] S04: Lift pen at the end of the trajectory. When the pen tip reaches the end point F, the controller immediately sends a lift pen command to make the pen 202 leave the canvas.

[0048] S05: Subsequent operation: After lifting the pen, the controller can continue to move the pen tip to the starting point of the next trajectory, or return to the origin to prepare for the next drawing.

[0049] Throughout the control process, controller 101 needs to efficiently perform coordinate transformation, interpolation calculation, and motor pulse distribution. These algorithms are relatively lightweight and easy to implement for modern microcontrollers.

[0050] Example 5: Arrangement of three or more guy wires A layout with three or more guy wires can form a triangular arrangement and redundant control, which enhances the stability of the structure during use.

[0051] The above embodiments detail the separate architecture, multiple pen lifting and lowering implementation methods, key optimization features, and core control principles of the present invention. Those skilled in the art will understand that various changes and modifications can be made to the above embodiments without departing from the basic concept of the present invention. For example, the number of pull wires can be increased to three or more to improve system rigidity or workspace; the drive motor can be a servo motor to achieve more precise closed-loop control; the controller can integrate a wireless communication module to receive remote commands; a camera can be integrated into the drawing component to achieve visual positioning or drawing effect feedback, etc. These variations and improvements based on the core concept of the present invention should all be included within the protection scope of the present invention.

Claims

1. A detachable vertical plane drawing robot, characterized in that: include The control component (1) is fixedly set on the plane of the canvas (5) to be drawn. The control component (1) includes a base (105), at least two drive motors (104), a bobbin (102) driven independently by each of the drive motors (104), and a controller (101) for controlling the drive motors (104). The drawing component (2) is suspended on the canvas (5) plane by at least two pull wires (3). The drawing component (2) includes a base plate (201) for adhering to the canvas, a brush (202) mounted on the base plate (201), and a brush lifting and lowering device for driving the brush (202) to perform lifting and lowering in a direction perpendicular to the canvas plane. A pull wire (3), one end of which is provided with a pull wire sleeve (301), which is fitted onto the drawing component (2) through the pull wire sleeve (301), and the other end is connected to the corresponding spool (102) of the control component (1); and The bending device (4) is fixedly set at the boundary position of the canvas (5) plane and is used to change the path direction of the pull line (3) from the control component (1) to the drawing component (2); The control component (1) pulls the drawing component (2) to perform two-dimensional motion on the canvas (5) plane by extending and retracting the pull line (3).

2. The detachable vertical plane drawing robot as described in claim 1, characterized in that, The pen lifting and lowering device includes a pen holder (203) fixed to the base plate (201) and a drive module (205). The pen (202) is slidably fixed on the pen holder (203) by a pen sleeve (204). The output end of the drive module (205) is provided with a cam (211) with a spiral groove. The pen sleeve (204) is provided with a positioning pin (234) extending into the groove. The drive module (205) drives the cam (211) to drive the pen sleeve (204) to slide on the pen holder (203).

3. The detachable vertical plane drawing robot as described in claim 1, characterized in that, The pen lifting and lowering device includes a pen holder (203) fixed to the base plate (201) and a drive module (205). The pen (202) is slidably fixed on the pen holder (203) by a pen sleeve (204). The output end of the drive module (205) is provided with a gear (222), and the pen sleeve (204) is provided with a rack (212). The drive module (205) drives the gear (222) to drive the rack (212) so that the pen sleeve (204) slides on the pen holder (203).

4. A detachable vertical plane drawing robot as described in claim 1, characterized in that, The pen lifting and lowering device includes a movable block (223) hinged to the base plate (201). A pen sleeve (204) and a drive module (205) are fixed on the movable block (223). The pen (202) is fixed on the pen sleeve (204). A servo arm (213) is fixed to the output end of the drive module (205). The drive module (205) drives the servo arm (213) to rotate. One end of the servo arm (213) applies a force to the base plate (201), causing the movable block (223) and the base plate (201) to rotate around the hinge axis, thereby driving the pen tip to detach from or contact the canvas (5).

5. A detachable vertical plane drawing robot as described in any one of claims 2, 3, or 4, characterized in that, The base plate (201) also has a pen tip through hole (208), and the pen cap (204) and the pen (202) are respectively concentrically arranged with the pen tip through hole (208).

6. A detachable vertical plane drawing robot as described in claim 5, characterized in that, The pen holder (203) has multiple pen holder grooves (207), and the pull wire sleeve (301) at one end of the pull wire (3) is fitted onto the pen holder groove (207).

7. A detachable vertical plane drawing robot as described in claim 1, characterized in that, The canvas (5) is made of magnetic material and is magnetically attracted to the base plate (201), which is made of magnetically conductive material.

8. A detachable vertical plane drawing robot as described in claim 1, characterized in that, The control component (1) is installed on the ground or operating platform around the plane where the canvas is located. A wire device (103) is also provided on the base (105), and an encoder is provided on one side of the wire device (103).

9. A detachable vertical plane drawing robot as described in claim 1, characterized in that, The drawing component (2) is provided with a counterweight (206) and a magnetic bead (6); the wire bending device (4) is a wire wheel or a fixed support point with a wire hole.

10. A drawing method for a split-type vertical plane drawing robot as described in any one of claims 1-9, characterized in that, The method is executed by the controller (101) of the control component (1) and includes the following steps: S01 When the drawing component (2) is in the pen-lifting state, calculate the difference in length required for each of the drawn lines (3) to extend or retract based on the coordinates of the target pen tip (209); S02 drives the corresponding drive motor (104) to rotate, and pulls the drawing component (2) to the target position by retracting and extending the pull cable (3); S03 At the starting point of the drawing trajectory, control the pen lifting and lowering device to perform the pen lowering action; S04 By controlling the winding and unwinding movements of each of the drive motors (104), the drawing component (2) with the animation pen (202) is pulled to move along a preset trajectory; S05 At the end of the drawn trajectory, control the pen lifting and lowering device to perform a pen lifting action.

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