A printing robot

Abstract

This application discloses a printing robot, specifically including: a lateral moving device, a longitudinal moving device, and a linkage switching device; wherein, the lateral moving device is used to realize the lateral movement of the printing robot for printing; the longitudinal moving device is used to realize the longitudinal movement of the printing robot for switching lines; the linkage switching device includes: a linkage gear; the linkage gear meshes with the lateral moving device and the longitudinal moving device respectively, and the linkage gear drives the lateral moving device and the longitudinal moving device to extend and retract in the vertical direction by rotating, realizing the linkage switching of one of the lateral moving device and the longitudinal moving device to perform the movement work. This application realizes that the lateral and longitudinal movements of the printing robot are independent, and the linkage control switching is based on the linkage gear, optimizing the linkage switching of the movement direction of the printing robot while ensuring the feasibility of unidirectional movement of the printing robot, thereby achieving the purpose of intelligent line switching.

Description

Technical Field

[0001] This application relates to the field of printing robots, specifically to a printing robot. Background Technology

[0002] To improve the portability and intelligence of printers, mobile printing robots have been introduced. Mobile printing robots are robots capable of intelligently moving and printing with line breaks on paper. Currently, during printing, mobile printing robots typically require users to manually move the robot or turn around to achieve line breaks, resulting in low efficiency and a negative user experience. For example, in Chinese patent application number CN202211693205.3, entitled "A Positioning Method, Chip, and Robot for a Mobile Printing Robot," the mobile printing robot needs to repeatedly capture images of the walking surface to achieve positioning. This is because the mobile printing robot cannot flexibly perform line breaks, leading to repeated repositioning during the printing process, resulting in a poor user experience and consuming significant computing resources for positioning calculations. Summary of the Invention

[0003] This application provides a printing robot, the specific technical solution of which is as follows: A printing robot specifically includes: a lateral moving device, a longitudinal moving device, and a linkage switching device; wherein, the lateral moving device is used to realize the lateral movement of the printing robot for printing; the longitudinal moving device is used to realize the longitudinal movement of the printing robot for switching lines; the linkage switching device includes: a linkage gear; the linkage gear meshes with the lateral moving device and the longitudinal moving device respectively, and the linkage gear drives the lateral moving device and the longitudinal moving device to extend and retract in the vertical direction by rotating, realizing the linkage switching of one of the lateral moving device and the longitudinal moving device to perform the movement work.

[0004] Furthermore, the printing robot also includes: a first housing, a second housing, and a third housing; wherein a lateral moving device is assembled between the first housing and the second housing, and a longitudinal moving device is assembled between the second housing and the third housing.

[0005] Furthermore, the printing robot also includes: an assembly column; a first housing with a first housing through hole; a lateral moving device with a lateral assembly through hole; a second housing with a second housing through hole; a longitudinal moving device with a longitudinal assembly through hole; and a third housing with a third housing through hole. The assembly column is assembled coaxially, connecting the first housing, lateral moving device, second housing, longitudinal moving device, and third housing in series. This achieves a lateral moving device between the first and second housings, and a longitudinal moving device between the second and third housings. The number of first housing through holes, second housing through holes, third housing through holes, lateral assembly through holes, and longitudinal assembly through holes is equal. The first and third housing through holes are semi-closed, with the first housing through hole closed on the top surface of the first housing and the third housing through hole closed on the bottom surface of the third housing.

[0006] Further, the lateral movement device includes: a lateral drive shaft, a lateral drive motor, a pair of lateral drive wheels, a lateral drive gear, a lateral driven gear, a pair of lateral bearings, a lateral top cover, and a lateral bottom cover; wherein, the lateral drive motor is coaxially mounted on the lateral drive shaft; the pair of lateral drive wheels are coaxially mounted on both ends of the lateral drive shaft; the lateral driven gear is coaxially mounted on the lateral drive shaft, the lateral drive gear is mounted on the lateral drive motor and meshes with the lateral driven gear, the lateral drive gear is driven by the lateral drive motor to drive the lateral driven gear to rotate, and the lateral driven gear drives the pair of lateral drive wheels mounted on both ends of the lateral drive shaft to rotate, thereby realizing the movement of the lateral movement device; the pair of lateral bearings are respectively mounted between the lateral drive shaft and the lateral drive wheels; the lateral top cover has a lateral top cover through hole, the lateral bottom cover has a lateral bottom cover through hole, and the lateral top cover through hole and the lateral bottom cover through hole together constitute a lateral assembly through hole.

[0007] Further, the longitudinal moving device includes: a longitudinal drive shaft, a longitudinal drive motor, a pair of longitudinal drive wheels, a longitudinal drive gear, a longitudinal driven gear, a pair of longitudinal bearings, a longitudinal top cover, and a longitudinal bottom cover; wherein, the longitudinal drive motor is coaxially mounted on the longitudinal drive shaft; the pair of longitudinal drive wheels are coaxially mounted on both ends of the longitudinal drive shaft; the longitudinal driven gear is coaxially mounted on the longitudinal drive shaft, the longitudinal drive gear is mounted on the longitudinal drive motor and meshes with the longitudinal driven gear, the longitudinal drive gear is driven by the longitudinal drive motor to drive the longitudinal driven gear to rotate, and the longitudinal driven gear drives the pair of longitudinal drive wheels mounted on both ends of the longitudinal drive shaft to rotate, thereby realizing the movement of the longitudinal moving device; the pair of longitudinal bearings are respectively mounted between the longitudinal drive shaft and the longitudinal drive wheels; the longitudinal top cover has a longitudinal top cover through hole, the longitudinal bottom cover has a longitudinal bottom cover through hole, and the longitudinal top cover through hole and the longitudinal bottom cover through hole together constitute a longitudinal assembly through hole.

[0008] Furthermore, the lateral moving device also includes a lateral spring; the lateral spring is assembled between the first housing through hole and the lateral top cover through hole, and when the assembly column is connected in series with the first housing and the lateral moving device through the first housing through hole and the lateral assembly through hole, the lateral spring is sleeved on the assembly column.

[0009] Furthermore, the longitudinal moving device also includes a longitudinal spring; the longitudinal spring is assembled between the second housing through hole and the longitudinal top cover through hole, and when the assembly column is connected in series with the second housing and the longitudinal moving device through the second housing through hole and the longitudinal assembly through hole, the longitudinal spring is sleeved on the assembly column.

[0010] Furthermore, the linkage gear meshes with the lateral moving device and the longitudinal moving device respectively, specifically including: the linkage gear is a double-toothed gear, including a first meshing tooth and a second meshing tooth; the lateral top cover of the lateral moving device is provided with lateral meshing teeth, which are used to abut against the first meshing tooth of the linkage gear, so that the first meshing tooth of the linkage gear drives the lateral meshing tooth to move in the vertical direction, thereby controlling the lateral spring of the lateral moving device to compress or extend, so that the lateral drive wheel contacts or leaves the ground in the vertical direction; the longitudinal top cover is provided with longitudinal linkage meshing teeth, which are used to abut against the second meshing tooth of the linkage gear, so that the longitudinal moving device is driven by the linkage gear device to move in the vertical direction, thereby controlling the longitudinal spring of the longitudinal moving device to compress or extend, so that the longitudinal drive wheel contacts or leaves the ground; wherein, when the lateral spring is compressed, the longitudinal spring extends; when the lateral spring extends, the longitudinal spring is compressed.

[0011] Furthermore, the linkage switching device also includes: a linkage motor; the linkage motor is used to drive the linkage gear to rotate, so that the first meshing tooth or the second meshing tooth of the linkage gear controls the lateral linkage meshing tooth or the longitudinal linkage meshing tooth to move upward, so that the lateral drive wheel or the longitudinal drive wheel leaves the ground, thereby making the longitudinal drive wheel or the lateral drive wheel contact the ground.

[0012] Furthermore, the first housing is provided with a first longitudinal engagement opening and a transverse engagement opening; the transverse top cover is provided with a second longitudinal engagement opening; and the transverse bottom cover is provided with a third longitudinal engagement opening. The transverse engagement opening is used to allow the transverse linkage engagement teeth on the transverse top cover to pass through the first housing and abut against the first engagement teeth of the linkage gear. The first longitudinal engagement opening, the second longitudinal engagement opening, and the third engagement opening are used to allow the longitudinal linkage engagement teeth on the longitudinal top cover to pass through the transverse moving device and the first housing and abut against the second engagement teeth of the linkage gear.

[0013] Furthermore, the third housing has a longitudinal drive wheel opening for the longitudinal drive wheel to contact the ground through the longitudinal drive wheel opening of the third housing.

[0014] Furthermore, the bottom of the third housing is provided with several omnidirectional casters.

[0015] The printing robot described in this application flexibly links the moving device to switch between lateral and longitudinal movement via a linkage line-changing device. This allows the robot to turn and change lines without the user having to manually move the robot body. Furthermore, based on the switching of the moving device, the printing robot does not need to turn around to change lines. The linkage line-changing device of the printing robot has a simple structure and can effectively optimize the line-changing efficiency of the printing robot. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the assembly of the printing robot according to one embodiment of this application.

[0017] Figure 2 This is a schematic diagram of the structure of a printing robot according to one embodiment of this application.

[0018] Figure 3 This is a schematic diagram of the structure of a lateral moving device according to one embodiment of this application.

[0019] Figure 4 This is a schematic diagram of the structure of a longitudinal moving device according to one embodiment of this application.

[0020] Figure 5 This is a bottom schematic diagram of a printing robot according to one embodiment of this application.

[0021] Explanation of the numbers in the image: 1-Printing robot; 2- Lateral movement device; 21- Lateral drive wheel; 22- Lateral bearing pair; 23- Lateral drive shaft; 24- Lateral driven gear; 25- Lateral spring; 26- Lateral bottom cover; 261- Lateral bottom cover through hole; 27- Lateral drive gear; 28- Assembly column; 29- Lateral drive motor; 210- Lateral top cover; 2101- Lateral linkage meshing gear; 2102- Lateral top cover through hole; 3-Longitudinal moving device; 31-Longitudinal drive wheel; 32-Longitudinal bearing pair; 33-Longitudinal drive shaft; 34-Longitudinal driven gear; 35-Longitudinal spring; 36-Longitudinal bottom cover; 361-Longitudinal bottom cover through hole; 37-Longitudinal drive gear; 38-Assembly column; 39-Longitudinal drive motor; 310-Longitudinal top cover; 3101-Longitudinal linkage meshing gear; 3102-Longitudinal top cover through hole; 4-Linkage motor; 5-Linkage gear device; 6-Second housing; 7-Third housing; 71-Universal caster; 8-First housing. Detailed Implementation

[0022] The embodiments of this application will now be described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described below are for illustrative purposes only and are not intended to limit the scope of this application.

[0023] Currently, in order to achieve line breaks during the printing process, users usually need to manually move the mobile printing robot or make a turn to achieve line breaks. This is inefficient and affects the user experience.

[0024] To address the aforementioned technical problems, this application provides a printing robot 1, such as... Figure 1 As shown and Figure 2 As shown, it specifically includes: a horizontal moving device 2, a vertical moving device 3, and a linkage switching device; wherein, the horizontal moving device 2 is used to realize the horizontal movement of the printing robot 1 for printing; the vertical moving device 3 is used to realize the vertical movement of the printing robot 1 for switching lines; the linkage switching device is used to realize the linkage switching of the horizontal moving device 2 and the vertical moving device 3, thereby controlling the printing robot 1 to switch its movement direction between horizontal and vertical movement, flexibly realizing the linkage switching of the printing robot 1. Specifically, the linkage switching device includes: a linkage gear; the linkage gear meshes with the horizontal moving device 2 and the vertical moving device 3 respectively, and the linkage gear drives the horizontal moving device 2 and the vertical moving device 3 to extend and retract in the vertical direction by rotating, realizing the linkage switching of one moving device from the horizontal moving device 2 and the vertical moving device 3 to perform the movement work. Specifically, when the linkage gear drives the lateral moving device 2 to retract in the vertical direction, the lateral moving device 2 leaves the ground. At the same time, the rotation of the linkage gear drives the longitudinal moving device 3 to extend in the vertical direction, so that the longitudinal moving device 3 contacts the ground, thus enabling the printing robot 1 to switch from using the lateral moving device 2 to using the longitudinal moving device 3 to perform movement work. Conversely, when the linkage gear drives the longitudinal moving device 3 to retract in the vertical direction, the longitudinal moving device 3 leaves the ground. At the same time, the rotation of the linkage gear drives the lateral moving device 2 to extend in the vertical direction, so that the lateral moving device 2 contacts the ground, thus enabling the printing robot 1 to switch from using the longitudinal moving device 3 to using the lateral moving device 2 to perform movement work.

[0025] The linkage line-changing printing provided in this application enables the printing robot 1 to flexibly switch between horizontal and vertical movement. It can turn and change lines without the user having to manually move the body of the printing robot 1. Moreover, based on the switching of the moving device, the printing robot 1 does not need to turn around to change lines. The linkage line-changing device of the printing robot 1 has a simple structure and can effectively optimize the line-changing efficiency of the printing robot 1.

[0026] As a preferred embodiment of this application, such as Figure 2As shown, the printing robot 1 also includes: a first housing 8, a second housing 6, and a third housing 7; wherein, a lateral moving device 2 is assembled between the first housing 8 and the second housing 6, and a longitudinal moving device 3 is assembled between the second housing 6 and the third housing 7. Specifically, the first housing 8 serves as the top cover of the printing robot 1, the second housing 6 serves as the partition between the lateral moving device 2 and the longitudinal moving device 3, and the third housing 7 serves as the bottom cover of the printing robot 1. By assembling the first housing 8, the second housing 6, and the third housing 7, the lateral moving device 2 and the longitudinal moving device 3 are fitted together and assembled vertically.

[0027] In a preferred embodiment of this application, the printing robot 1 further includes: an assembly column; a first housing 8 having a first housing through hole; a lateral moving device 2 having a lateral assembly through hole; a second housing 6 having a second housing through hole; a longitudinal moving device 3 having a longitudinal assembly through hole; and a third housing 7 having a third housing through hole. Specifically, the assembly column is assembled in a coaxial manner via the first housing through hole, the lateral assembly through hole, the second housing through hole, the longitudinal assembly through hole, and the third housing through hole, thereby assembling the first housing 8, the lateral moving device 2, the second housing 6, the longitudinal moving device 3, and the third housing 7 in series, so that the lateral moving device 2 is assembled between the first housing 8 and the second housing 6, and the longitudinal moving device 3 is assembled between the second housing 6 and the third housing 7; wherein the number of the first housing through hole, the second housing through hole, the third housing through hole, the lateral assembly through hole, and the longitudinal assembly through hole are equal; the first housing through hole and the third housing through hole are semi-closed through holes, with the first housing through hole closed on the top surface of the first housing 8 and the third housing through hole closed on the bottom surface of the third housing 7. This application achieves stable connection between multiple shells of the printing robot 1 and the lateral moving device 2 and the longitudinal moving device 3 by using an assembly unit, which makes the internal structure of the printing robot 1 compact, simplifies the assembly process of the printing robot 1 on the production line, and optimizes the production assembly efficiency.

[0028] As a preferred embodiment of this application, such as Figure 3As shown, the lateral movement device 2 includes: a lateral drive shaft 23, a lateral drive motor 29, a pair of lateral drive wheels 21, a lateral drive gear 27, a lateral driven gear 24, a pair of lateral bearings 22, a lateral top cover 210, and a lateral bottom cover 26; wherein, the lateral drive motor 29 is coaxially mounted on the lateral drive shaft 23; the pair of lateral drive wheels 21 are coaxially mounted on both ends of the lateral drive shaft 23; the lateral driven gear 24 is coaxially mounted on the lateral drive shaft 23; the lateral drive gear 27 is mounted on the lateral drive motor 29 and meshes with the lateral driven gear 24; the lateral drive gear 27 is driven by the lateral drive motor 29 to drive the lateral driven gear 24 to rotate, thus laterally... The passive gear 24 drives a pair of transverse drive wheels 21 mounted at both ends of the transverse drive shaft 23 to rotate, thereby realizing the movement of the transverse moving device 2; a pair of transverse bearings 22 are respectively mounted between the transverse drive shaft 23 and the transverse drive wheels 21; the transverse top cover 210 is provided with a transverse top cover through hole 2102, and the transverse bottom cover 26 is provided with a transverse bottom cover through hole 261. The transverse top cover through hole 2102 and the transverse bottom cover through hole 261 together form a transverse assembly through hole. Based on the assembly of the transverse top cover 210 and the transverse bottom cover 26, the transverse drive shaft 23 is embedded, and the pair of transverse drive wheels 21 are mounted on both sides of the transverse top cover 210 and the transverse bottom cover 26 based on the transverse drive shaft 23. Specifically, the lateral movement device 2 provided in this application achieves independent lateral movement based on its independent lateral drive shaft 23, lateral drive motor 29, lateral drive wheel 21, etc., which is separated from the longitudinal movement device 3, so that the lateral movement and longitudinal movement of the printing robot 1 are independent of each other, but based on the linkage gear linkage control switching, the direction linkage switching of the printing robot 1 is optimized while ensuring that the unidirectional movement of the printing robot 1 is feasible.

[0029] As a preferred embodiment of this application, such as Figure 4As shown, the longitudinal moving device 3 includes: a longitudinal drive shaft 33, a longitudinal drive motor 39, a pair of longitudinal drive wheels 31, a longitudinal driving gear 37, a longitudinal driven gear 34, a pair of longitudinal bearings 32, a longitudinal top cover 310, and a longitudinal bottom cover 36; wherein, the longitudinal drive motor 39 is coaxially mounted on the longitudinal drive shaft 33; the pair of longitudinal drive wheels 31 are coaxially mounted on both ends of the longitudinal drive shaft 33; the longitudinal driven gear 34 is coaxially mounted on the longitudinal drive shaft 33; and the longitudinal driving gear 37 is mounted on the longitudinal drive motor 39 and rotates with the longitudinal driven gear 34. The longitudinal drive gear 37 is driven by the longitudinal drive motor 39 to rotate the longitudinal driven gear 34. The longitudinal driven gear 34, based on the longitudinal drive shaft 33, drives a pair of longitudinal drive wheels 31 mounted at both ends to rotate, realizing the movement of the longitudinal moving device 3. A pair of longitudinal bearings 32 are respectively mounted between the longitudinal drive shaft 33 and the longitudinal drive wheels 31. The longitudinal top cover 310 is provided with a longitudinal top cover through hole 3102, and the longitudinal bottom cover 36 is provided with a longitudinal bottom cover through hole 361. The longitudinal top cover through hole 3102 and the longitudinal bottom cover through hole 361 together constitute a longitudinal assembly through hole. The longitudinal moving device 3 provided in this application is assembled into one unit based on the longitudinal top cover 310 and the longitudinal bottom cover 36, so as to facilitate the integrated linkage of the linkage gear to drive the extension and retraction of the longitudinal moving device 3. Furthermore, based on the series connection of the longitudinal assembly through hole and the assembly column, the assembly details of the longitudinal moving device 3 in the assembly process of the printing robot 1 are simplified, effectively improving the production assembly efficiency.

[0030] As a preferred embodiment of this application, such as Figure 2 As shown, the lateral moving device 2 further includes a lateral spring 25. The lateral spring 25 is assembled between the through hole of the first housing 8 and the through hole of the lateral top cover 2102. When the assembly column connects the first housing 8 and the lateral moving device 2 in series via the through hole of the first housing 8 and the lateral assembly through hole, the lateral spring 25 is sleeved on the assembly column. Specifically, the number of lateral springs 25 is adapted to the number of lateral top cover through holes 2102, and may be, but is not limited to, equal to, or equal to 1 times, 2 times, etc., the number of lateral top cover through holes 2102. This application, by setting the lateral spring 25 between the corresponding assembly through holes of the first housing 8 and the lateral top cover 210, enables the lateral moving device 2 to complete the extension and retraction in the vertical direction based on the traction effect of the extension and retraction of the lateral spring 25.

[0031] As a preferred embodiment of this application, such as Figure 2As shown, the longitudinal moving device 3 further includes a longitudinal spring 35. The longitudinal spring 35 is assembled between the through hole of the second housing 6 and the through hole of the longitudinal top cover 3102. When the assembly column is connected in series with the second housing 6 and the longitudinal moving device 3 via the through hole of the second housing 6 and the longitudinal assembly through hole, the longitudinal spring 35 is sleeved on the assembly column. Specifically, the number of longitudinal springs 35 assembled is adapted to the number of longitudinal top cover through holes 3102, and can be, but is not limited to, equal to the number of longitudinal top cover through holes 3102, or equal to 1 times, 2 times, etc., the number of longitudinal top cover through holes 3102. This application, by setting the longitudinal spring 35 between the through holes corresponding to the assembly of the second housing 6 and the longitudinal top cover 310, enables the longitudinal moving device 3 to complete the extension and retraction in the vertical direction based on the traction effect of the extension and retraction of the longitudinal spring 35.

[0032] In a preferred embodiment of this application, the linkage gear meshes with both the lateral moving device 2 and the longitudinal moving device 3, specifically including: the linkage gear is a double-toothed gear, such as... Figure 1 As shown, the double-toothed gear refers to a linkage gear that includes a first meshing tooth and a second meshing tooth; the transverse top cover 210 of the transverse moving device 2 is provided with transverse meshing teeth, which are used to abut against the first meshing tooth of the linkage gear, so that the first meshing tooth of the linkage gear drives the transverse meshing tooth to move in the vertical direction, thereby controlling the compression or extension of the transverse spring 25 of the transverse moving device 2, so that the transverse drive wheel 21 contacts or leaves the ground in the vertical direction; the longitudinal top cover 310 is provided with longitudinal linkage meshing teeth 3101, which are used to abut against the second meshing tooth of the linkage gear, so as to be driven by the linkage gear device 5 to drive the longitudinal moving device 3 to move in the vertical direction, thereby controlling the compression or extension of the longitudinal spring 35 of the longitudinal moving device 3, so that the longitudinal drive wheel 31 contacts or leaves the ground; wherein, when the transverse spring 25 is compressed, the longitudinal spring 35 extends; when the transverse spring 25 extends, the longitudinal spring 35 is compressed. In this embodiment, corresponding meshing teeth are provided on the lateral moving device 2 and the longitudinal moving device 3 respectively, so that the linkage gear can mesh and abut. The linkage gear adopts a double toothed gear. Compared with the conventional circular multi-toothed gear, the double toothed gear can more accurately and stably adjust the lifting of the moving device. The linkage switching of the lateral moving device 2 and the longitudinal moving device 3 is realized based on the gear abutment structure.

[0033] As a preferred embodiment of this application, such as Figure 1As shown, the linkage switching device further includes a linkage motor 4; the linkage motor 4 drives the linkage gear to rotate, so that the first or second meshing tooth of the linkage gear controls the lateral linkage meshing tooth 2101 or the longitudinal linkage meshing tooth 3101 to move upward, so that the lateral drive wheel 21 or the longitudinal drive wheel 31 leaves the ground, thereby making the longitudinal drive wheel 31 or the lateral drive wheel 21 contact the ground. Specifically, the linkage motor 4 drives the linkage gear, and the linkage motor 4 drives the linkage gear to rotate in both directions, thereby driving the first and second meshing teeth to turn, so as to drive the lateral linkage meshing tooth 2101 and the longitudinal linkage meshing tooth 3101 to move in a linkage manner in the vertical direction.

[0034] In a preferred embodiment of this application, the first housing 8 is provided with a first longitudinal engagement opening and a transverse engagement opening; the transverse top cover 210 is provided with a second longitudinal engagement opening; and the transverse bottom cover 26 is provided with a third longitudinal engagement opening. The transverse engagement opening allows the transverse linkage engagement teeth 2101 on the transverse top cover 210 to pass through the first housing 8 and abut against the first engagement teeth of the linkage gear. The first, second, and third longitudinal engagement openings allow the longitudinal linkage engagement teeth 3101 on the longitudinal top cover 310 to pass through the transverse moving device 2 and the first housing 8 and abut against the second engagement teeth of the linkage gear. This embodiment, by providing multiple openings on the first housing 8, the transverse top cover 210, and the transverse bottom cover 26, allows the longitudinal linkage engagement teeth 3101 on the longitudinal moving device 3 mounted below the transverse moving device 2 to abut against the second engagement teeth of the linkage gear through multiple openings, thereby enhancing the linkage between multiple structural components inside the printing robot 1.

[0035] As a preferred embodiment of this application, such as Figure 5 As shown, the third housing 7 has an opening for a longitudinal drive wheel 31, allowing the longitudinal drive wheel 31 to contact the ground through this opening. This application achieves this by creating an opening for the longitudinal drive wheel 31 on the third housing 7, allowing the longitudinal drive wheel 31 to contact the ground through this opening. This enables the longitudinal moving device 3 to be assembled between the second housing 6 and the third housing 7, with only the longitudinal drive wheel 31 exposed outside the body of the printing robot 1 through the opening, thus reducing the impact of debris on the internal structure of the moving device during the movement of the printing robot 1.

[0036] As a preferred embodiment of this application, such as Figure 5As shown, the bottom of the third housing 7 is provided with several omnidirectional casters 71. This application achieves this by installing several omnidirectional casters 71 at the bottom of the third housing 7, i.e. the bottom of the printing robot 1, so that regardless of whether the reversing linkage mechanism switches the lateral moving device 2 or the longitudinal moving device 3 as the main moving device to perform the moving work, there are several omnidirectional casters to assist the movement, thereby optimizing the movement performance of the printing robot 1.

[0037] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention. The scope of the invention is defined by the appended claims and their equivalents. The above descriptions are merely preferred embodiments of the invention and are not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the scope of protection of the invention.

Claims

1. A printing robot, characterized in that, The printing robot specifically includes: a lateral movement device, a longitudinal movement device, and a linkage switching device; wherein... The lateral movement device is used to enable the printing robot to move laterally for printing. The longitudinal movement device is used to enable the printing robot to move longitudinally and change lines. The linkage switching device includes: a linkage gear; the linkage gear meshes with the lateral moving device and the longitudinal moving device respectively, and the linkage gear drives the lateral moving device and the longitudinal moving device to extend and retract in the vertical direction by rotating, so as to realize the linkage switching of one moving device from the lateral moving device and the longitudinal moving device to perform the moving work.

2. The printing robot according to claim 1, characterized in that, The printing robot also includes a first housing, a second housing, and a third housing; wherein a lateral moving device is assembled between the first housing and the second housing, and a longitudinal moving device is assembled between the second housing and the third housing.

3. The printing robot according to claim 2, characterized in that, The printing robot also includes: an assembly column; a first housing with a first housing through hole; a lateral moving device with a lateral assembly through hole; a second housing with a second housing through hole; a longitudinal moving device with a longitudinal assembly through hole; and a third housing with a third housing through hole. The assembly column is assembled coaxially, connecting the first housing, the lateral moving device, the second housing, the longitudinal moving device, and the third housing in series. This achieves a lateral moving device between the first and second housings and a longitudinal moving device between the second and third housings. The number of first housing through holes, second housing through holes, third housing through holes, lateral assembly through holes, and longitudinal assembly through holes is equal. The first and third housing through holes are semi-closed, with the first housing through hole closed on the top surface of the first housing and the third housing through hole closed on the bottom surface of the third housing.

4. The printing robot according to claim 3, characterized in that, The lateral movement device includes: a lateral drive shaft, a lateral drive motor, a pair of lateral drive wheels, a lateral drive gear, a lateral driven gear, a pair of lateral bearings, a lateral top cover, and a lateral bottom cover; wherein, the lateral drive motor is coaxially mounted on the lateral drive shaft; the pair of lateral drive wheels are coaxially mounted at both ends of the lateral drive shaft; the lateral driven gear is coaxially mounted on the lateral drive shaft, the lateral drive gear is mounted on the lateral drive motor and meshes with the lateral driven gear, the lateral drive gear is driven by the lateral drive motor to drive the lateral driven gear to rotate, and the lateral driven gear drives the pair of lateral drive wheels mounted at both ends of the lateral drive shaft to rotate, thereby realizing the movement of the lateral movement device; the pair of lateral bearings are respectively mounted between the lateral drive shaft and the lateral drive wheels; the lateral top cover has a lateral top cover through hole, the lateral bottom cover has a lateral bottom cover through hole, and the lateral top cover through hole and the lateral bottom cover through hole together constitute a lateral assembly through hole.

5. The printing robot according to claim 4, characterized in that, The longitudinal moving device includes: a longitudinal drive shaft, a longitudinal drive motor, a pair of longitudinal drive wheels, a longitudinal drive gear, a longitudinal driven gear, a pair of longitudinal bearings, a longitudinal top cover, and a longitudinal bottom cover; wherein, the longitudinal drive motor is coaxially mounted on the longitudinal drive shaft; the pair of longitudinal drive wheels are coaxially mounted at both ends of the longitudinal drive shaft; the longitudinal driven gear is coaxially mounted on the longitudinal drive shaft, the longitudinal drive gear is mounted on the longitudinal drive motor and meshes with the longitudinal driven gear, the longitudinal drive gear is driven by the longitudinal drive motor to drive the longitudinal driven gear to rotate, and the longitudinal driven gear drives the pair of longitudinal drive wheels mounted at both ends of the longitudinal drive shaft to rotate, thereby realizing the movement of the longitudinal moving device; the pair of longitudinal bearings are respectively mounted between the longitudinal drive shaft and the longitudinal drive wheels; the longitudinal top cover has a longitudinal top cover through hole, the longitudinal bottom cover has a longitudinal bottom cover through hole, and the longitudinal top cover through hole and the longitudinal bottom cover through hole together constitute a longitudinal assembly through hole.

6. The printing robot according to claim 5, characterized in that, The lateral movement device further includes a lateral spring; the lateral spring is assembled between the first housing through hole and the lateral top cover through hole, and when the assembly column is connected in series with the first housing and the lateral movement device through the first housing through hole and the lateral assembly through hole, the lateral spring is sleeved on the assembly column.

7. The printing robot according to claim 6, characterized in that, The longitudinal moving device further includes a longitudinal spring; the longitudinal spring is assembled between the second housing through hole and the longitudinal top cover through hole, and when the assembly column is connected in series with the second housing and the longitudinal moving device through the second housing through hole and the longitudinal assembly through hole, the longitudinal spring is sleeved on the assembly column.

8. The printing robot according to claim 7, characterized in that, The linkage gears mesh with the lateral moving device and the longitudinal moving device respectively, specifically including: The linkage gear is a double-tooth gear, which includes a first meshing tooth and a second meshing tooth; The transverse top cover of the transverse moving device is provided with transverse meshing teeth, which are used to abut against the first meshing teeth of the linkage gear, so as to realize that the first meshing teeth of the linkage gear drive the transverse meshing teeth to move in the vertical direction, thereby controlling the transverse spring of the transverse moving device to compress or extend, so that the transverse drive wheel contacts or leaves the ground in the vertical direction. The longitudinal top cover is provided with longitudinal linkage meshing teeth, which are used to abut against the second meshing teeth of the linkage gear, so as to be driven by the linkage gear device to drive the longitudinal moving device to move in the vertical direction, thereby controlling the compression or extension of the longitudinal spring of the longitudinal moving device so that the longitudinal drive wheel contacts the ground or leaves the ground. When the lateral spring is compressed, the longitudinal spring extends; when the lateral spring extends, the longitudinal spring is compressed.

9. The printing robot according to claim 8, characterized in that, The linkage switching device further includes: a linkage motor; the linkage motor is used to drive the linkage gear to rotate, so that the first meshing tooth or the second meshing tooth of the linkage gear controls the lateral linkage meshing tooth or the longitudinal linkage meshing tooth to move upward, so that the lateral drive wheel or the longitudinal drive wheel leaves the ground, thereby making the longitudinal drive wheel or the lateral drive wheel contact the ground.

10. The printing robot according to claim 9, characterized in that, The first housing is provided with a first longitudinal engagement opening and a transverse engagement opening; the transverse top cover is provided with a second longitudinal engagement opening; the transverse bottom cover is provided with a third longitudinal engagement opening; wherein, the transverse engagement opening is used to allow the transverse linkage engagement teeth on the transverse top cover to pass through the first housing and abut against the first engagement teeth of the linkage gear; the first longitudinal engagement opening, the second longitudinal engagement opening and the third engagement opening are used to allow the longitudinal linkage engagement teeth on the longitudinal top cover to pass through the transverse moving device and the first housing and abut against the second engagement teeth of the linkage gear.

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