Device for drawing on vertical plane

Abstract

The invention discloses a device for drawing on a vertical plane, which belongs to the technical field of drawing equipment and comprises a mounting base body, and a driving unit, a pen control module and a control unit which are arranged on the mounting base body. The driving unit comprises a wire collecting device and two driving mechanisms, and each driving mechanism is composed of a stepping motor, a wire shaft and a pull wire. One end of the stay wire is fixed on the vertical plane, and the other end passes through a first through hole on the wire concentration device and then is wound on the spool. And the pen control module drives the paintbrush to act through the pen lifting mechanism. When the device is suspended, the projection of the central point of the first through hole in the line concentration device on the vertical plane coincides with the pen falling point of the paintbrush, so that the influence of body swinging on the drawing precision is eliminated; meanwhile, the connecting line of the center point of the first through hole and the lateral gravity center of the device is arranged to be perpendicular to the horizontal plane, and it is guaranteed that the installation base body can be stably attached to the drawing plane.

Description

Technical Field

[0001] This invention relates to the field of drawing equipment technology, and in particular to an apparatus for drawing on a vertical plane. Background Technology

[0002] As an automated drawing device, drawing robots have been increasingly widely used in advertising production, artistic creation, and interior decoration in recent years. Traditional drawing robots are mainly divided into two categories: planar drawing robots and vertical drawing robots. For vertical drawing scenarios, existing technologies mostly use robots based on robotic arms or gantry structures, but these suffer from problems such as complex structures, difficult deployment, and limited applicable scenarios.

[0003] Specifically, existing vertical plane mapping robots mainly suffer from the following technical shortcomings: (1) Traditional vertical drawing robots adopt a design that separates the motor and the pen control device, which requires a long cable connection. This limits the robot's range of motion to the cable length, making it difficult to adapt to the drawing needs of large-area walls. At the same time, the separate structure leads to the dispersion of system components, making the installation and debugging process cumbersome and reducing the ease of use. In addition, some robots rely on tracks, guide rails or vacuum adsorption for movement. Although they can achieve vertical movement, the system is complex, costly, and has high requirements for the flatness of the wall. (2) Traditional vertical drawing robots are prone to errors in the pen landing point (the point where the pen tip contacts the canvas) due to the body swinging during the drawing process, which leads to the distortion of the drawn pattern and seriously affects the drawing accuracy. (3) When a traditional vertical drawing robot is placed on a vertical plane, due to changes in the center of gravity or installation errors, the robot's base plate is difficult to keep completely in contact with the canvas plane, resulting in the pen not being able to reliably contact the canvas or creating drawing breaks. (4) Existing vertical plane drawing robots rely on external computers for trajectory planning and fail to achieve a high degree of integration of core components such as controllers, motors, and pen drives, which limits the portability and autonomy of the machine. Summary of the Invention

[0004] The purpose of this invention is to provide an apparatus for drawing on a vertical plane, so as to solve the problems existing in the prior art and improve the quality of drawing on a vertical plane.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides an apparatus for drawing on a vertical plane, comprising: Mounting substrate; A drive unit includes a cable hub and two drive mechanisms. The cable hub is fixedly connected to the mounting base via a bracket, and a first through hole is provided on the cable hub. Each drive mechanism includes a first drive device, a spool, and a pull wire. The first drive device is fixedly mounted on the mounting base. The spool is fixedly connected to the output shaft of the first drive device. The pull wire is wound around the spool and passes through the first through hole. The free end of the pull wire is used to fixally connect to the vertical plane to which drawing is required. The connection points of the two pull wires to the vertical plane are distributed at intervals along the horizontal direction. The pen control module includes a pen and a pen lifting and lowering mechanism. The mounting base is provided with a pen groove, through which the pen tip can pass. The pen lifting and lowering mechanism is used to drive the pen to move so that the pen tip passes through the pen groove to reach or leave the pen placement point. A control unit, which controls the operation of the first drive device and the pen lifting and lowering mechanism; When the mounting base is suspended by the two pull wires, the projection of the center point of the first through hole onto the vertical plane coincides with the pen's landing point, and the line connecting the center point of the first through hole and the lateral center of gravity of the device for drawing on the vertical plane is perpendicular to the horizontal plane.

[0006] Preferably, a canvas serving as a drawing substrate is attached to the vertical surface, and a magnetic material layer is disposed on the canvas; A magnet is provided on the side of the mounting base away from the canvas, and the magnet is able to attract the magnetic material layer.

[0007] Preferably, the cable gathering device is provided with guide wheels that correspond one-to-one with the pull wires, each guide wheel is rotatably engaged with the cable gathering device, and the pull wire is rotatably engaged with the corresponding guide wheel.

[0008] Preferably, the drive mechanism further includes a wire device fixedly connected to the mounting base, the wire device having a second through hole, and the pull wire between the spool and the wire gathering device passing through the second through hole in the same drive mechanism.

[0009] Preferably, both the hub device and the conductor device include a column head, one end of which is provided with a through hole, and the other end of which is threadedly connected to the mounting base. The through hole in the hub device is the first through hole, and the through hole in the guide device is the second through hole.

[0010] Preferably, the pen lifting and lowering mechanism includes a pen holder, a push-pull device, and a support frame. The support frame is fixedly connected to the mounting base, the push-pull device is fixedly connected to the support frame, the pen holder is fixedly sleeved on the paintbrush, and the pen holder is fixedly connected to the output end of the push-pull device.

[0011] Preferably, the pen lifting and lowering mechanism includes a pen holder, a pen sleeve, a support frame, a second drive device, a drive gear, and a transmission rack. The support frame is fixedly connected to the mounting base. The second drive device and the pen holder are respectively fixedly mounted on the support frame. The pen sleeve is fixedly fitted onto the pen and slides with the pen holder. The transmission rack is fixedly connected to the pen sleeve. A groove is provided on the pen holder corresponding to the transmission rack, and the transmission rack slides with the groove. The drive gear is fixedly connected to the output shaft of the second drive device, and the transmission rack meshes with the drive gear.

[0012] Preferably, the pen lifting and lowering mechanism includes a pen holder, a pen sleeve, a support frame, a second drive device, a cam, and a transmission pin. The support frame is fixedly connected to the mounting base. The second drive device and the pen holder are respectively fixedly mounted on the support frame. The pen sleeve is fixedly fitted onto the pen and slidably engages with the pen holder. The transmission pin is fixedly connected to the pen sleeve. A groove is provided on the pen holder corresponding to the transmission pin, and the transmission pin slidably engages with the groove. The cam is fixedly connected to the output shaft of the second drive device. An arc-shaped groove is provided on the cam corresponding to the transmission pin, and the transmission pin passes through the groove and slidably engages with the groove.

[0013] Preferably, both the first drive device and the second drive device are motors capable of controlling the position of the output shaft.

[0014] Preferably, the pen control module is located between the two first drive devices; the free end of the pull wire is fixedly connected to the vertical plane by a nail; and the spool is an I-beam reel.

[0015] The present invention achieves the following technical effects compared to the prior art: In the device for drawing on a vertical plane of the present invention, when the mounting base is suspended by two pull lines, the projection of the center point of the first through hole on the vertical plane coincides with the pen's landing point. This ensures that regardless of the swaying of the mounting base relative to the pull line's force point, the pen's landing point will not move, thus avoiding the impact of mounting base rotation on drawing accuracy. The line connecting the center point of the first through hole and the lateral center of gravity of the device for drawing on a vertical plane is perpendicular to the horizontal plane, allowing the end face of the mounting base near the vertical plane to be parallel to the vertical plane, ensuring that the pen tip can contact the canvas on the vertical plane and improving the stability of the pen tip's contact with the canvas. This invention significantly improves the quality of drawing on vertical surfaces by enhancing drawing accuracy and the stability of the brush tip's contact with the canvas. By highly integrating core components such as the drive unit, controller, and pen control module onto the mounting base, the invention achieves a compact structure and simplifies the installation process. Users only need to fix two cable endpoints to begin working, overcoming the drawbacks of complex wiring and difficult debugging in traditional separate systems. Furthermore, it fundamentally eliminates the limitation of long control cables on the working range, theoretically enabling the robot to operate on an infinitely large vertical surface, greatly expanding its application potential in large-area murals, exterior wall decorations, and other scenarios. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in 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 a first embodiment of the apparatus for drawing on a vertical plane according to the present invention; Figure 2 This is a partial structural diagram of a first embodiment of the apparatus for drawing on a vertical plane according to the present invention. Figure 1 ; Figure 3 This is a partial structural diagram of a first embodiment of the apparatus for drawing on a vertical plane according to the present invention. Figure 2 ; Figure 4 This is a partial structural schematic diagram of a second embodiment of the apparatus for drawing on a vertical plane according to the present invention; Figure 5 This is a partial structural schematic diagram of a third embodiment of the apparatus for drawing on a vertical plane according to the present invention; Figure 6 This is a partial structural schematic diagram of a fourth embodiment of the apparatus for drawing on a vertical plane according to the present invention; In the diagram: 1. Mounting base; 2. Pull wire; 3. Wire gathering device; 4. Spool; 5. Canvas; 6. Pen holder; 7. Controller; 8. Wire guide device; 9. First drive device; 10. Pen; 11. Push-pull device; 12. Bracket; 13. Pen slot; 14. Wire guide wheel; 15. Pen cap; 16. Transmission rack; 17. Drive gear; 18. Second drive device; 19. Transmission pin; 20. Cam; 21. Groove; 22. Magnet. 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.

[0019] The purpose of this invention is to provide an apparatus for drawing on a vertical plane, so as to solve the problems existing in the prior art and improve the quality of drawing on a vertical plane.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Example 1 like Figures 1 to 3 As shown, this embodiment provides an apparatus for drawing on a vertical plane, comprising: Mounting base 1; The drive unit includes a hub 3 and two drive mechanisms. The hub 3 is fixedly connected to the mounting base 1 via a bracket 12, and a first through hole is provided on the hub 3. Each drive mechanism includes a first drive device 9, a bobbin 4, and a pull wire 2. The first drive device 9 is fixedly mounted on the mounting base 1, the bobbin 4 is fixedly connected to the output shaft of the first drive device 9, the pull wire 2 is partially wound on the bobbin 4, the pull wire 2 passes through the first through hole, and the free end of the pull wire 2 is used to fixally connect to the vertical surface to which drawing is required. The connection points of the two pull wires 2 to the vertical surface are distributed at intervals along the horizontal direction. The pen control module includes a pen 10 and a pen lifting and lowering mechanism. A pen passage groove 13 is provided on the mounting base 1, through which the pen tip of the pen 10 can pass. The pen lifting and lowering mechanism is used to drive the pen 10 to move so that the pen tip passes through the pen passage groove 13 to reach or leave the pen landing point. When the pen tip reaches the pen landing point, the pen landing function is realized, and when the pen tip leaves the pen landing point, the pen lifting function is realized. The control unit is used to control the operation of the first drive device 9 and the pen lifting and lowering mechanism; When the base 1 is suspended by two pull wires 2, the projection of the center point of the first through hole onto the vertical plane coincides with the pen point of the pen 10, and the line connecting the center point of the first through hole and the lateral center of gravity of the device for drawing on the vertical plane is perpendicular to the horizontal plane.

[0022] It is worth noting that, since the first driving device 9 in the driving mechanism drives the spool 4 to rotate, the corresponding pull wire 2 will slide relative to the first through hole when it is being retracted or extended. Therefore, in practical applications, the inner wall of the first through hole needs to be as smooth as possible, and the pull wire 2 should be made of wear-resistant material to improve the service life of the pull wire 2.

[0023] During use, the mounting base 1 is suspended by two pull lines 2, and it is necessary to ensure that the projection of the center point of the first through hole on the vertical plane coincides with the pen's landing point. This ensures that no matter how the mounting base 1 swings relative to the force point of the pull lines 2, the landing point will not move, thus avoiding the impact on drawing accuracy due to the rotation of the mounting base 1. When the mounting base 1 is suspended by two pull lines 2, if the line connecting the lateral center of gravity of the device used for drawing on the vertical plane and the force point of the pull lines 2 (i.e., the center point of the first through hole) is not perpendicular to the ground, then the end face of the mounting base 1 near the canvas 5 will not coincide with the plane of the canvas 5, which will cause the pen tip to not contact the canvas 5. Therefore, in this embodiment, when the mounting base 1 is suspended by two pull lines 2, it is also necessary to ensure that... The line connecting the center point of the first through hole and the lateral center of gravity of the device used for drawing on the vertical plane is perpendicular to the horizontal plane, so that the end face of the mounting base 1 near the vertical plane can be parallel to the vertical plane, ensuring that the tip of the pen 10 can contact the canvas 5 on the vertical plane, and improving the stability of the contact between the tip of the pen 10 and the canvas 5. Since the wire gathering device 3 in this embodiment adopts a hinged bolt, and the wire gathering device 3 is threadedly connected to the mounting hole on the bracket 12, the distance between the first through hole and the canvas 5 can be adjusted by rotating the wire gathering device 3, so that the line connecting the force point of the pull line 2 and the lateral center of gravity is perpendicular to the ground, thereby ensuring that the end face of the mounting base 1 near the vertical plane can be parallel to the vertical plane, that is, the end face of the mounting base 1 near the vertical plane can fit against the canvas 5.

[0024] In this embodiment, the mounting base 1 is a flat plate. During use, the mounting base 1 is vertically positioned, with the side closest to the vertical surface in contact with the canvas 5 on the vertical surface. The control unit includes a controller 7.

[0025] In an optional embodiment, a preferred embodiment is that a canvas 5, serving as a drawing substrate, is attached to the vertical surface, and a magnetic material layer is provided on the canvas 5. A magnet 22 is provided on the side of the mounting base 1 away from the canvas 5. The magnet 22 can attract the magnetic material layer. Before fixing the magnet 22, the magnetic attraction between the magnet 22 and the magnetic material layer is tested at different distances between the magnet 22 and the canvas 5 to find a suitable distance. Then, the magnet 22 is installed on the mounting base 1 at this suitable distance so that when the mounting base 1 is attached to the canvas 5, the magnetic attraction between the magnet 22 and the magnetic material layer is appropriate. This magnetic attraction can make the mounting base 1 adhere to the canvas 5 without affecting the movement of the mounting base 1.

[0026] In the optional scheme of this embodiment, more preferably, the driving mechanism further includes a wire guide device 8 fixedly connected to the mounting base 1. The wire guide device 8 is provided with a second through hole, and the pull wire 2 between the spool 4 and the wire gathering device 3 passes through the second through hole in the same driving mechanism. In this embodiment, the function of the wire guide device 8 is to change the direction of the pull wire 2 so that the pull wire 2 can be stably wound and unwound by the corresponding spool 4. In practical applications, if the pull wire 2 can be stably wound and unwound by the corresponding spool 4 without the wire guide device 8, then the wire guide device 8 can be omitted. Moreover, the specific number of wire guide devices 8 in a driving mechanism is not limited to one in this embodiment, and the setting position and specific number of the guide device can be adaptively adjusted according to actual needs.

[0027] In the optional solutions of this embodiment, it is more preferred that both the hub device 3 and the guide device 8 use hinged bolts. Hinged bolts are a mature existing component, comprising an annular retaining ring and a threaded connecting post. In this embodiment, the first through hole in the hub device 3 and the second through hole in the guide device 8 refer to the inner hole of the annular retaining ring in the hinged bolt. Although both the hub device 3 and the guide device 8 in this embodiment use hinged bolts, in practical applications, the specific form of the hub device 3 and the guide device 8 is not limited to hinged bolts, as long as the hub device 3 has a first through hole and the guide device has a second through hole. For example, both the hub device 3 and the guide device 8 can use a single post head, with a through hole at one end and a threaded connection between the other end of the post head and the mounting base. The through hole in the hub device is the first through hole, and the through hole in the guide device is the second through hole.

[0028] In the optional embodiments of this example, a preferred embodiment includes a pen holder 6, a push-pull device 11, and a support frame. The support frame is fixedly connected to the mounting base 1, the push-pull device 11 is fixedly connected to the support frame, the pen holder 6 is fixedly sleeved on the paintbrush 10, and the pen holder 6 is fixedly connected to the output end of the push-pull device 11. In this embodiment, the push-pull device 11 can specifically be a linear reciprocating drive device such as a linear motor, a cylinder, or a hydraulic cylinder.

[0029] In the optional embodiments of this example, a preferred option is that the first driving device 9 is a stepper motor. Stepper motors have high positioning accuracy and response speed, which facilitates the device as a whole to quickly and accurately adjust the position of the pen tip, thereby improving the drawing quality. It is worth noting that the specific form of the first driving device 9 is not limited to a stepper motor; other types of motors capable of precisely controlling the rotation position of the output shaft can also be used.

[0030] In the optional scheme of this embodiment, it is more preferred that the pen control module is located between the two first driving devices 9, and the two first driving devices 9 are symmetrically distributed on both sides of the pen control module; the free end of the pull wire 2 is fixedly connected to the vertical surface by a nail, that is, the free end of the pull wire 2 is fixedly connected to the nail, and the nail is nailed to the vertical surface; the spool 4 is an I-beam wheel, and the function of the spool 4 is to wind the pull wire 2. In practical applications, the type of spool 4 can be adaptively adjusted as needed, as long as the function of winding the pull wire 2 can be realized.

[0031] The specific working principle and usage method of the device for drawing on a vertical plane in this embodiment are as follows: (1) First, install the device in front of the vertical surface (such as a wall) to be drawn, and anchor the free ends of the two pull wires 2 to two predetermined fixed points above the vertical surface with nails. These two fixed points are horizontally spaced apart. Then, drive the two first drive devices 9 to retract and extend the pull wires 2 through the control unit (such as a microcontroller), suspend the mounting base 1 and initially position it in front of the vertical surface. During this process, the device body hangs down naturally by its own weight, and the attitude is initially calibrated by the adjustable wire gathering device 3 (such as a hinge bolt), so that the base plate of the mounting base 1 can be close to the vertical surface.

[0032] (2) Ensure that the projection point of the center point of the first through hole on the wire-gathering device 3 (i.e., the point where the resultant force of the two pull wires 2 is applied) on the vertical plane is completely coincident with the landing point of the pen tip of the pen 10. No matter how the device body deflects or swings due to the change in the length of the pull wires 2, the actual working point (i.e., the landing point) of the pen 10 on the vertical plane remains unchanged. This greatly simplifies the motion control algorithm. The controller 7 only needs to calculate the required length changes (ΔL1 and ΔL2) of the two pull wires 2 according to the target coordinates, and drive the corresponding first drive device 9 to accurately retract and extend the wires to accurately position the pen tip, effectively avoiding drawing distortion caused by changes in the posture of the device body.

[0033] By adjusting the mounting height of the wire gathering device 3 on the bracket 12, the relative position between the stress point of the pull wire 2 (the center of the first through hole) and the lateral center of gravity of the device can be changed. When adjusted to the point where the line connecting these two points is in the vertical direction, the base plate of the device body can naturally remain parallel to the vertical plane and stably fit under the action of gravity, solving the problem of base plate tilting caused by installation or center of gravity shift, and ensuring that the brush 10 can reliably contact the surface of the canvas 5.

[0034] (3) To further enhance stability during the drawing process, especially in dealing with the reaction force generated when the brush 10 contacts the canvas 5, a magnetic material layer can be provided in the canvas 5. An adjustable magnet 22 (such as a magnetic bead) is provided on the main body of the device. By adjusting the distance between the magnet 22 and the canvas 5, the magnitude of the magnetic attraction can be changed. This magnetic attraction can effectively overcome minor interferences during drawing, guide and maintain the bottom surface of the base plate always aligned with the plane of the canvas 5, and prevent the brush 10 from detaching from the canvas 5 due to impact or vibration, thereby ensuring the continuity and stability of the drawn lines.

[0035] When a pattern needs to be drawn, the control unit first controls the pen lifting and lowering mechanism to lift the pen, causing the pen tip 10 to retract and detach from the canvas 5. Then, it controls two stepper motors to coordinate their operation, moving the pen tip 10 to the starting point via the retractable cable 2. Upon reaching the starting point, the control unit instructs the pen lifting and lowering mechanism to lower the pen, causing the pen tip to pass through the pen slot 13 on the mounting base 1 and contact the canvas 5. Next, the controller 7 calculates and controls the movement of the two stepper motors in real time according to the preset pattern path coordinates, driving the pen tip to complete a precise trajectory drawing on the canvas 5. After one stroke is completed, the pen is lifted again, moving to the next position to continue drawing.

[0036] (4) The movement of the device is based on two-dimensional plane coordinate control. The direction of the line connecting the two fixed nails is defined as the X-axis, the vertical direction is defined as the Y-axis, and the point where the pen 10 touches the paper is the origin of the coordinates. The controller 7 uses a kinematic algorithm to convert the coordinates (Px, Py) of the target point into the length changes required by the two pull lines 2. By controlling the two first drive devices 9 to perform different combinations of line take-up (shortening the pull line 2) and line release (extending the pull line 2) operations, the pen tip can move precisely along the X-axis and Y-axis directions on the canvas 5 plane, thereby drawing complex graphics and lines.

[0037] Example 2 like Figure 4 As shown, this embodiment provides a device for drawing on a vertical plane. The device for drawing on a vertical plane in this embodiment is basically the same as the device for drawing on a vertical plane in Embodiment 1 in terms of structure and working principle, with the only difference being: In this embodiment, the cable hub 3 is provided with guide wheels 14 that correspond one-to-one with the pull cable 2. Each guide wheel 14 is rotatably engaged with the cable hub 3, and the pull cable 2 is rotatably engaged with the corresponding guide wheel 14. When the pull cable 2 is retracted or extended, it can drive the corresponding guide wheel 14 to rotate. This arrangement can reduce the frictional loss between the pull cable 2 and the cable hub 3 and improve the service life of the pull cable 2.

[0038] Example 3 like Figure 5 As shown, this embodiment provides a device for drawing on a vertical plane. The device for drawing on a vertical plane in this embodiment is basically the same as the device for drawing on a vertical plane in Embodiment 1 in terms of structure and working principle, with the only difference being: The specific structure of the pen-lifting and lowering mechanism in this embodiment differs from that in Embodiment 1. Specifically, the pen-lifting and lowering mechanism in this embodiment includes a pen holder 6, a pen sleeve 15, a support frame, a second drive device 18, a drive gear 17, and a transmission rack 16. The support frame is fixedly connected to the mounting base 1. The second drive device 18 and the pen holder 6 are respectively fixedly mounted on the support frame. The pen sleeve 15 is fixedly mounted on the brush 10, and the pen sleeve 15 slides in conjunction with the pen holder 6. The transmission rack 16 is fixedly connected to the pen sleeve 15. A groove is provided on the pen holder 6 corresponding to the transmission rack 16, and the transmission rack 16 slides in conjunction with the groove. The drive gear 17 is fixedly connected to the output shaft of the second drive device 18, and the transmission rack 16 meshes with the drive gear 17. The second drive device 18 is a servo motor. When the second drive device 18 is working, it drives the drive gear 17 to rotate. The drive gear 17 drives the transmission rack 16 to move, and the transmission rack 16 drives the pen sleeve 15 and the brush 10 to slide relative to the pen holder 6, thereby realizing the pen-lifting and lowering actions. It is worth noting that the specific form of the second drive device 18 is not limited to a servo motor; other types of motors capable of precisely controlling the rotational position of the output shaft can also be used.

[0039] Example 4 like Figure 6 As shown, this embodiment provides a device for drawing on a vertical plane. The device for drawing on a vertical plane in this embodiment is basically the same as the device for drawing on a vertical plane in Embodiment 1 in terms of structure and working principle, with the only difference being: The specific structure of the pen-lifting and lowering mechanism in this embodiment differs from that in Embodiment 1. Specifically, the pen-lifting and lowering mechanism in this embodiment includes a pen holder 6, a pen sleeve 15, a support frame, a second drive device 18, a cam 20, and a transmission pin 19. The support frame is fixedly connected to the mounting base 1. The second drive device 18 and the pen holder 6 are respectively fixedly mounted on the support frame. The pen sleeve 15 is fixedly sleeved on the paintbrush 10, and the pen sleeve 15 slides in conjunction with the pen holder 6. The transmission pin 19 is fixedly connected to the pen sleeve 15, and the pen holder 6 is provided with a corresponding transmission pin 19. The device has a sliding groove, with the transmission pin 19 slidingly engaged with it. The cam 20 is fixedly connected to the output shaft of the second drive device 18. An arc-shaped groove 21 is provided on the cam 20 corresponding to the transmission pin 19, through which the transmission pin 19 passes and slides. The second drive device 18 is a servo motor. When the second drive device 18 is working, it drives the cam 20 to rotate. The rotation of the cam 20 drives the transmission pin 19 to move relative to the sliding groove via the groove 21. The transmission pin 19 then drives the pen cap 15 and the pen 10 to slide relative to the pen holder 6, thereby realizing the pen-putting and pen-lifting actions. It is worth noting that the specific form of the second drive device 18 is not limited to a servo motor; other types of motors capable of precisely controlling the rotation position of the output shaft can also be used.

[0040] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An apparatus for drawing on a vertical plane, characterized in that, include: Mounting substrate; A drive unit, the drive unit comprising a hub and two drive mechanisms; The cable gathering device is fixedly connected to the mounting base via a bracket, and the cable gathering device is provided with a first through hole; each of the driving mechanisms includes a first driving device, a spool, and a pull wire. The first driving device is fixedly mounted on the mounting base, the spool is fixedly connected to the output shaft of the first driving device, the pull wire is wound around the spool, the pull wire passes through the first through hole, and the free end of the pull wire is used to be fixedly connected to the vertical plane to be drawn, and the connection points of the two pull wires to the vertical plane are distributed at intervals along the horizontal direction. The pen control module includes a pen and a pen lifting and lowering mechanism. The mounting base is provided with a pen groove, through which the pen tip can pass. The pen lifting and lowering mechanism is used to drive the pen to move so that the pen tip passes through the pen groove to reach or leave the pen placement point. A control unit, which controls the operation of the first drive device and the pen lifting and lowering mechanism; When the mounting base is suspended by the two pull wires, the projection of the center point of the first through hole onto the vertical plane coincides with the pen's landing point, and the line connecting the center point of the first through hole and the lateral center of gravity of the device for drawing on the vertical plane is perpendicular to the horizontal plane.

2. The apparatus for drawing on a vertical plane according to claim 1, characterized in that: A canvas serving as a drawing substrate is attached to the vertical surface, and a magnetic material layer is provided on the canvas; A magnet is provided on the side of the mounting base away from the canvas, and the magnet is able to attract the magnetic material layer.

3. The apparatus for drawing on a vertical plane according to claim 1, characterized in that: The cable gathering device is equipped with guide wheels that correspond one-to-one with the pull wires. Each guide wheel is rotatably engaged with the cable gathering device, and the pull wire is rotatably engaged with the corresponding guide wheel.

4. The apparatus for drawing on a vertical plane according to claim 1, characterized in that: The drive mechanism also includes a wire device fixedly connected to the mounting base, the wire device having a second through hole, and the pull wire between the spool and the wire gathering device passing through the second through hole in the same drive mechanism.

5. The apparatus for drawing on a vertical plane according to claim 4, characterized in that: Both the cable gathering device and the wire guiding device include a column head, one end of which is provided with a through hole, and the other end of which is threadedly connected to the mounting base. The through hole in the cable gathering device is the first through hole, and the through hole in the guiding device is the second through hole.

6. The apparatus for drawing on a vertical plane according to claim 1, characterized in that: The pen lifting and lowering mechanism includes a pen holder, a push-pull device, and a support frame. The support frame is fixedly connected to the mounting base, the push-pull device is fixedly connected to the support frame, the pen holder is fixedly sleeved on the paintbrush, and the pen holder is fixedly connected to the output end of the push-pull device.

7. The apparatus for drawing on a vertical plane according to claim 1, characterized in that: The pen lifting and lowering mechanism includes a pen holder, a pen sleeve, a support frame, a second drive device, a drive gear, and a transmission rack. The support frame is fixedly connected to the mounting base. The second drive device and the pen holder are respectively fixedly mounted on the support frame. The pen sleeve is fixedly fitted onto the pen and slides with the pen holder. The transmission rack is fixedly connected to the pen sleeve. The pen holder has a groove corresponding to the transmission rack, and the transmission rack slides with the groove. The drive gear is fixedly connected to the output shaft of the second drive device, and the transmission rack meshes with the drive gear.

8. The apparatus for drawing on a vertical plane according to claim 1, characterized in that: The pen lifting and lowering mechanism includes a pen holder, a pen sleeve, a support frame, a second drive device, a cam, and a transmission pin. The support frame is fixedly connected to the mounting base. The second drive device and the pen holder are respectively fixedly mounted on the support frame. The pen sleeve is fixedly fitted onto the pen and slides with the pen holder. The transmission pin is fixedly connected to the pen sleeve. A groove is provided on the pen holder corresponding to the transmission pin, and the transmission pin slides with the groove. The cam is fixedly connected to the output shaft of the second drive device. An arc-shaped groove is provided on the cam corresponding to the transmission pin, and the transmission pin passes through the groove and slides with the groove.

9. The apparatus for drawing on a vertical plane according to claim 1, 7 or 8, characterized in that: Both the first drive device and the second drive device use a motor capable of controlling the position of the output shaft.

10. The apparatus for drawing on a vertical plane according to claim 1, characterized in that: The pen control module is located between the two first drive devices; the free end of the pull wire is fixedly connected to the vertical plane by a nail; the spool is an I-beam wheel.

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