Mobile dynamic image recognition automatic drawing robot

Abstract

The utility model provides a mobile dynamic image recognition automatic drawing robot which is characterized by comprising a mobile main body used for freely moving; the drawing board mechanism comprises a drawing board and a drawing board support, and the drawing board is fixedly connected with the moving body through the drawing board support. The drawing mechanism is arranged on the drawing board and used for drawing on the drawing board, the drawing mechanism comprises a roller shutter unit and a tribute unit, the tribute unit comprises a paintbrush, the pen point of the paintbrush makes contact with the drawing board, the roller shutter unit comprises a stepping motor and a roller shutter pull rope, and the stepping motor is used for controlling the roller shutter pull rope to stretch and retract; and the tribute unit connected with the roller shutter pull rope is moved on the drawing board, and drawing is carried out through the drawing pen. In a word, the drawing can be carried out anytime and anywhere, and meanwhile, the manufacturing cost is reduced.

Description

Technical Field

[0001] The utility model relates to a painting robot, in particular to a mobile dynamic image recognition automatic painting robot. Background Art

[0002] With the advancement of intelligent manufacturing, the development of intelligent manufacturing equipment such as industrial robots that can execute automatically is the key to industrial transformation. At present, drawing robots mainly input codes from the outside, allowing the robotic arm to execute the language and dip in paint to output graphics one stroke at a time. However, such drawing robots cannot perform mobile tasks, that is, they cannot paint anytime and anywhere. In addition, in order to achieve a more sophisticated painting effect, the existing drawing robots often have a more complex structure, resulting in higher manufacturing costs. Utility Model Content

[0003] The utility model is developed to solve the above problems and aims to provide a mobile dynamic image recognition automatic painting robot.

[0004] The utility model provides a mobile dynamic image recognition automatic painting robot, which is characterized by comprising: a mobile body, which is used for free movement; a drawing board mechanism, which comprises a drawing board and a drawing board bracket, wherein the drawing board is fixedly connected to the mobile body through the drawing board bracket; a painting mechanism, which is arranged on the drawing board and is used for painting on the drawing board, wherein the painting mechanism comprises a rolling curtain unit and a gondola unit, the gondola unit comprises a paintbrush, the tip of the paintbrush contacts the drawing board, the rolling curtain unit comprises a stepping motor and a rolling curtain pull rope, the stepping motor is used for controlling the scaling of the rolling curtain pull rope, so that the gondola unit connected to the rolling curtain pull rope moves on the drawing board, and painting is performed by the paintbrush.

[0005] In the mobile dynamic image recognition automatic painting robot provided by the utility model, it can also have the following characteristics: wherein, the rolling curtain unit includes two stepper motors recorded as a first stepper motor and a second stepper motor, and two rolling curtain ropes recorded as a first rolling curtain rope and a second rolling curtain rope, the first stepper motor and the second stepper motor are respectively fixed on the drawing board, and the first stepper motor and the second stepper motor are on the same horizontal line, one end of the first rolling curtain rope is connected to the axis of the first stepper motor, and the other end of the first rolling curtain rope is connected to the gondola unit, one end of the second rolling curtain rope is connected to the axis of the second stepper motor, and the other end of the second rolling curtain rope is connected to the gondola unit.

[0006] The mobile dynamic image recognition automatic painting robot provided by the utility model may also have the following features: wherein, the rolling curtain unit also includes a first motor bracket, a second motor bracket, a first sprocket and a second sprocket, the first stepper motor is fixedly connected to the drawing board through the first motor bracket, the second stepper motor is fixedly connected to the drawing board through the second motor bracket, the first sprocket is sleeved on the shaft of the first stepper motor and is connected to one end of the first rolling curtain rope, the second sprocket is sleeved on the shaft of the second stepper motor and is connected to one end of the second rolling curtain rope.

[0007] The mobile dynamic image recognition automatic painting robot provided by the utility model may also have the following features: wherein the rolling shutter unit also includes a first counterweight and a second counterweight, the first counterweight is arranged on the first stepper motor to reduce the vibration during the operation of the first stepper motor, and the second counterweight is arranged on the second stepper motor to reduce the vibration during the operation of the second stepper motor.

[0008] The mobile dynamic image recognition automatic painting robot provided by the utility model may also have the following feature: wherein the first counterweight and the second counterweight are both weights with a weight of 250 g.

[0009] The mobile dynamic image recognition automatic painting robot provided by the utility model may also have the following feature: wherein the shaft of the first stepper motor and the shaft of the second stepper motor are both 5 mm.

[0010] The mobile dynamic image recognition automatic painting robot provided by the utility model may also have the following features: wherein the gondola unit includes a straight tube and a plurality of bearings, and all the bearings are stacked on each other and connected through the straight tube.

[0011] The mobile dynamic image recognition automatic painting robot provided by the utility model may also have the following feature: wherein the bearing is a 6003Z bearing.

[0012] The mobile dynamic image recognition automatic painting robot provided by the utility model may also have the following features, further comprising: a camera, which is arranged on the mobile body and is used to recognize the image on the drawing board.

[0013] The mobile dynamic image recognition automatic painting robot provided by the utility model may also have the following features: wherein the mobile body is a ROSMASTERX3 robot, comprising a motor, a front baffle, a rear baffle, an upper base plate, a lower base plate and wheels, the motor being arranged on the upper base plate to drive the wheels to rotate, one end of the upper base plate being fixedly connected to the upper part of the front baffle, the other end of the upper base plate being fixedly connected to the upper part of the rear baffle, one end of the lower base plate being fixedly connected to the lower part of the front baffle, the other end of the lower base plate being fixedly connected to the lower part of the rear baffle, the wheels being arranged under the lower base plate, the drawing board bracket being fixedly connected to one end of the upper base plate, and the camera being arranged on the upper base plate.

[0014] Functions and effects of utility models

[0015] According to the mobile dynamic image recognition automatic painting robot involved in the utility model, first, the mobile dynamic image recognition automatic painting robot has a mobile body, which can realize painting at any place; second, through the scaling of the first roller curtain pull rope and the second roller curtain pull rope by the first stepper motor and the second stepper motor, the gondola unit provided with a paintbrush can be moved arbitrarily in the drawing area of ​​the drawing board, realizing the function of the mechanical arm, and there is no complex structure of the mechanical arm; third, the brush holder constructed by multiple bearings and straight cylinders can stably place the brush, realizing the function of the mechanical hand stably grasping the brush, and there is no complex structure of the mechanical hand. Therefore, the utility model has the advantages of reducing manufacturing costs while allowing painting anytime and anywhere. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is an exploded view of a mobile body in an embodiment of the utility model;

[0017] Figure 2 It is an exploded view of the drawing board mechanism in the embodiment of the utility model;

[0018] Figure 3 It is a three-dimensional diagram of the painting mechanism in the embodiment of the utility model. DETAILED DESCRIPTION

[0019] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments specifically illustrate an electrode structure and an electro-optic modulator of the present invention in conjunction with the accompanying drawings.

[0020] This embodiment provides a mobile dynamic image recognition automatic painting robot, including: a mobile body, a camera, a drawing board mechanism, a painting mechanism and a control mechanism.

[0021] Figure 1 It is an exploded view of the mobile body in the embodiment of the utility model.

[0022] like Figure 1 As shown, the mobile body 10 includes a motor 101, a front baffle 102, a rear baffle 103, an upper base plate 104, a lower base plate 105 and wheels 106 for free movement.

[0023] The motor 101 is arranged on the upper base plate 104, and drives the wheel 106 to rotate. One end of the upper base plate 104 is fixedly connected to the upper part of the front baffle 102, and the other end of the upper base plate 104 is fixedly connected to the upper part of the rear baffle 103. One end of the lower base plate 105 is fixedly connected to the lower part of the front baffle 102, and the other end of the lower base plate 105 is fixedly connected to the lower part of the rear baffle 103. The wheel 106 is arranged under the lower base plate 105. The camera 20 is arranged on the upper base plate 104, and is used to recognize the image on the drawing board.

[0024] In this embodiment, the mobile body 10 is a ROSMASTER X3 robot, which can realize core functions such as path planning automatic navigation, laser radar scanning and mapping, visual recognition target tracking, OpenCV image processing, radar scanning dynamic obstacle avoidance, etc. In this embodiment, the camera 20 is an Orbbec Astra Pro Plus ROS real-sense depth camera.

[0025] Figure 2 It is an exploded view of the drawing board mechanism in the embodiment of the present utility model.

[0026] like Figure 2 As shown, the drawing board mechanism 30 includes a drawing board 301 and a drawing board support 302 .

[0027] The drawing board 301 is fixedly connected to one end of the upper base plate 104 through the drawing board bracket 302. In this embodiment, the drawing board bracket 302 has a certain bending angle, so that the drawing board 301 is at a certain angle with the horizontal plane, which can make the brush contact the drawing board 301 better, thereby achieving painting. In this embodiment, the material of the drawing board 301 includes a whiteboard, a magnetic board, a wall, etc. The drawing board 301 needs to measure the size and find the zero point.

[0028] Figure 3 It is a three-dimensional diagram of the painting mechanism in the embodiment of the utility model.

[0029] like Figure 3 As shown, the painting mechanism 40 includes a rolling shutter unit 401 and a gondola unit 402 , and is used for painting on the drawing board 301 .

[0030] The roller blind unit 401 includes a first stepper motor 4011, a second stepper motor 4012, a first roller blind pull cord 4013, a second roller blind pull cord 4014, a first motor bracket, a second motor bracket, a first sprocket, a second sprocket, a first counterweight and a second counterweight.

[0031] The first stepper motor 4011 is fixedly connected to the drawing board 301 through a first motor bracket, and the second stepper motor 4012 is fixedly connected to the drawing board 301 through a second motor bracket. The first stepper motor 4011 and the second stepper motor 4012 are on the same horizontal line, and the central axis is as close to the surface of the drawing board 301 as possible.

[0032] The first sprocket sleeve is arranged on the shaft of the first stepper motor 4011, and is connected to one end of the first roller curtain pull rope 4013, and the other end of the first roller curtain pull rope 4013 is connected to the gondola unit 402. The second sprocket sleeve is arranged on the shaft of the second stepper motor 4012, and is connected to one end of the second roller curtain pull rope 4014, and the other end of the second roller curtain pull rope 4014 is connected to the gondola unit 402. In this embodiment, the shaft diameters of the first stepper motor 4011 and the second stepper motor 4012 are both 5 mm. In this embodiment, the lengths of the first roller curtain pull rope 4013 and the second roller curtain pull rope 4014 are adjusted according to the size of the drawing board 301, so that the gondola unit 402 can be moved to any position of the drawing area of ​​the drawing board.

[0033] The first counterweight is arranged on the first stepper motor 4011 to reduce the vibration of the first stepper motor 4011 during operation, and the second counterweight is arranged on the second stepper motor 4012 to reduce the vibration of the second stepper motor 4012 during operation. In this embodiment, both the first counterweight and the second counterweight are weights of 250 g.

[0034] The gondola unit 402 includes a brush 4021 and a brush holder 4022 composed of a plurality of bearings and a straight cylinder.

[0035] All bearings are stacked on each other and connected by straight tubes to form a brush holder 4022. In this embodiment, the bearing is a 6003Z bearing. In this embodiment, the brush 4021 is sleeved in the brush holder 4022, and the diameter of the brush 4021 is only exposed a little, thereby ensuring the stability of the gondola unit 402.

[0036] The first stepper motor 4011 is used to control the scaling of the first roller curtain rope 4013, and the second stepper motor 4012 is used to control the scaling of the second roller curtain rope 4014. By changing the length of the first roller curtain rope 4013 and the second roller curtain rope 4014, the gondola unit 402 connected to the roller curtain rope is moved on the drawing board 301, and the position of the paintbrush 4021 in the drawing area is controlled by controlling the opening and closing angles of the first roller curtain rope 4013 and the second roller curtain rope 4014, thereby realizing painting.

[0037] The control mechanism is used to control the operation of the mobile body 10, the camera 20, the first stepper motor 4011 and the second stepper motor 4012. In this embodiment, the control mechanism is an Arduino Uno board, which is an open source code platform composed of hardware including a microprocessor, circuits, etc. and software including programming interfaces and languages, etc. It has the advantages of an open source hardware and software platform, modularization, facilitating secondary development, being suitable for inexpensive microprocessor controllers, being powered by a USB interface, not requiring an external power supply, and supporting a variety of interactive programs.

[0038] Functions and Effects of the Embodiments

[0039] According to the mobile dynamic image recognition automatic painting robot involved in this embodiment, first, the mobile dynamic image recognition automatic painting robot has a mobile body, which can realize painting at any place; second, through the scaling of the first roller curtain pull rope and the second roller curtain pull rope by the first stepper motor and the second stepper motor, the gondola unit provided with a paintbrush can be moved arbitrarily in the drawing area of ​​the drawing board, realizing the function of the mechanical arm without the complex structure of the mechanical arm; third, the brush holder constructed by multiple bearings and straight cylinders can stably place the brush, realizing the function of the mechanical hand stably grasping the brush, without the complex structure of the mechanical hand. Therefore, the mobile dynamic image recognition automatic painting robot of this embodiment can realize painting anytime and anywhere while reducing the manufacturing cost.

[0040] In addition, by setting a counterweight on the stepper motor, the vibration of the stepper motor during operation can be further reduced, thereby improving the stability of the brush and achieving a fine painting effect.

[0041] Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the description are only for explaining the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A mobile dynamic image recognition automatic painting robot, characterized in that: include: Mobile body, for free movement; The drawing board mechanism comprises a drawing board and a drawing board bracket, and the drawing board is fixedly connected to the mobile body through the drawing board bracket; A drawing mechanism is arranged on the drawing board and is used for drawing on the drawing board. Wherein, the painting mechanism includes a roller blind unit and a gondola unit. The gondola unit includes a brush, the tip of which is in contact with the drawing board. The rolling curtain unit includes a stepping motor and a rolling curtain pull rope. The stepper motor is used to control the scaling of the roller curtain rope, so that the gondola unit connected to the roller curtain rope moves on the drawing board, and painting is performed by the paintbrush.

2. The mobile dynamic image recognition automatic painting robot according to claim 1, characterized in that: in, The roller blind unit includes two stepper motors, which are referred to as a first stepper motor and a second stepper motor, and two roller blind pull cords, which are referred to as a first roller blind pull cord and a second roller blind pull cord. The first stepper motor and the second stepper motor are respectively fixed on the drawing board, and the first stepper motor and the second stepper motor are on the same horizontal line. One end of the first roller curtain pull rope is connected to the shaft of the first stepper motor, and the other end of the first roller curtain pull rope is connected to the gondola unit. One end of the second roller curtain pull cord is connected to the shaft of the second stepping motor, and the other end of the second roller curtain pull cord is connected to the gondola unit.

3. The mobile dynamic image recognition automatic painting robot according to claim 2, characterized in that: in, The rolling shutter unit further includes a first motor bracket, a second motor bracket, a first sprocket and a second sprocket. The first stepper motor is fixedly connected to the drawing board through the first motor bracket, The second stepper motor is fixedly connected to the drawing board via the second motor bracket. The first sprocket is sleeved on the shaft of the first stepper motor and connected to one end of the first roller curtain pull rope. The second sprocket is sleeved on the shaft of the second stepping motor and is connected to one end of the second roller curtain pull rope.

4. The mobile dynamic image recognition automatic painting robot according to claim 2, characterized in that: in, The rolling shutter unit further includes a first counterweight and a second counterweight. The first counterweight is arranged on the first stepper motor to reduce the vibration of the first stepper motor during operation. The second counterweight is arranged on the second stepping motor to reduce vibration of the second stepping motor during operation.

5. The mobile dynamic image recognition automatic painting robot according to claim 4, characterized in that: in, The first counterweight and the second counterweight are both weights with a weight of 250 g.

6. The mobile dynamic image recognition automatic painting robot according to claim 2, characterized in that: in, The shaft of the first stepper motor and the shaft of the second stepper motor are both 5 mm.

7. The mobile dynamic image recognition automatic painting robot according to claim 1, characterized in that: in, The gondola unit includes a straight cylinder and a plurality of bearings. All the bearings are stacked on top of each other and connected by the straight tube.

8. The mobile dynamic image recognition automatic painting robot according to claim 7, characterized in that: in, The bearing is a 6003Z bearing.

9. The mobile dynamic image recognition automatic painting robot according to claim 1, characterized in that: Also includes: A camera is arranged on the mobile body and is used for recognizing the image on the drawing board.

10. The mobile dynamic image recognition automatic painting robot according to claim 9, characterized in that: in, The mobile body is a ROSMASTER X3 robot, including a motor, a front baffle, a rear baffle, an upper bottom plate, a lower bottom plate and wheels. The motor is arranged on the upper base plate to drive the wheels to rotate. One end of the upper base plate is fixedly connected to the upper portion of the front baffle, and the other end of the upper base plate is fixedly connected to the upper portion of the rear baffle. One end of the lower bottom plate is fixedly connected to the lower portion of the front baffle, and the other end of the lower bottom plate is fixedly connected to the lower portion of the rear baffle. The wheels are arranged under the lower base plate, The drawing board bracket is fixedly connected to one end of the upper base plate. The camera is arranged on the upper base plate.

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