Front-end executing mechanism of writing robot

Abstract

The utility model relates to the technical field of writing robots, and provides a writing robot front end executing mechanism which comprises a driving mechanism and a writing mechanism, the driving mechanism drives the writing mechanism to move in the horizontal direction, and the writing mechanism comprises a lifting assembly, a pen clamping assembly, a damping assembly and a magnetic attraction driving assembly. The pen clamping assembly is vertically connected to the lifting assembly in a sliding mode, the damping assembly is connected to the lower portion of the pen clamping assembly, the magnetic attraction driving assembly is arranged above the pen clamping assembly and comprises an electromagnet and a permanent magnet, the permanent magnet is arranged on the pen clamping assembly, and the magnetic attraction driving assembly is connected to the upper portion of the magnetic attraction driving assembly. The electromagnet is arranged above the permanent magnet, a gap is reserved between the electromagnet and the permanent magnet, and the sides, facing each other, of the electromagnet and the permanent magnet are the same in magnetic pole. Therefore, the stability can be improved, and the service life is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of writing robot, and particularly relates to a front end execution mechanism of a writing robot. BACKGROUND

[0002] The writing robot can easily adapt to diversified application scenarios from basic education assistance to high-end artistic creation due to its high flexibility and customizability, and provides users with unprecedented convenience and personalized experience. However, although the writing robot has made many breakthroughs in the technical level, the design of the front end execution mechanism still faces a series of challenges. The common pen lifting mechanisms in the market, such as the stepping motor gear set pen lifting mechanism, the rudder pen lifting mechanism and the remote pen lifting mechanism, have great limitations in service life and maintenance due to the problems of easy damage to the pen shaft or poor stability.

[0003] Therefore, the present application studies a front end execution mechanism of a writing robot, which can increase stability and prolong service life. CONTENT OF THE UTILITY MODEL

[0004] In order to increase stability and prolong service life, the present application provides a front end execution mechanism of a writing robot.

[0005] The front end execution mechanism of the writing robot provided by the present application adopts the following technical solution:

[0006] The front end execution mechanism of the writing robot comprises a driving mechanism and a writing mechanism, the driving mechanism drives the writing mechanism to move in the horizontal direction, the writing mechanism comprises a lifting assembly, a pen clamping assembly, a damping assembly and a magnetic attraction driving assembly, the pen clamping assembly is vertically and slidingly connected to the lifting assembly, the damping assembly is connected below the pen clamping assembly, the magnetic attraction driving assembly is arranged above the pen clamping assembly, the magnetic attraction driving assembly comprises an electromagnet and a permanent magnet, the permanent magnet is arranged on the pen clamping assembly, the electromagnet is arranged above the permanent magnet with a spacing therebetween, and the side of the electromagnet and the permanent magnet facing each other is the same magnetic pole.

[0007] By fixing the pen shaft on the pen clamping assembly, when writing is not needed, the electromagnet is not powered, and there is no force acting between the electromagnet and the permanent magnet, the pen clamping assembly is pressed downward by the action of gravity on the damping assembly, and the counterforce of the damping assembly prevents the pen from contacting the writing plane, when writing is needed, the electromagnet is powered, and the pen shaft is pressed downward under the mutual repulsion of the electromagnet and the permanent magnet, and the buffering action of the damping assembly is avoided to prevent direct collision, thereby increasing stability and prolonging service life.

[0008] Optionally, the lifting assembly comprises a mounting base and a sliding rail mounted on the mounting base, the pencil clamping assembly comprises a moving base and a pencil clamping base, the pencil clamping base is mounted on the moving base, the moving base is vertically and slidingly connected to the sliding rail, the permanent magnet is mounted above the moving base, the electromagnet is arranged on the sliding base and above the permanent magnet, and the damping assembly is connected between the mounting base and the moving base.

[0009] Optionally, a limiting piece is connected below the sliding rail, the limiting piece is arranged perpendicularly to the sliding rail, and the length of the limiting piece is greater than the width of the sliding rail.

[0010] Optionally, a guide rod is arranged on the mounting base, the moving base is sleeved on the guide rod and slidingly connected to the guide rod.

[0011] Optionally, the driving mechanism comprises a idler wheel, a synchronous belt, a gear and a first driving piece, the idler wheel is connected to the mounting base, the two ends of the synchronous belt are sleeved on the gear, the idler wheel is connected in the synchronous belt, the first driving piece drives the gear to rotate, and the synchronous belt drives the mounting base to move horizontally through the idler wheel.

[0012] Optionally, the driving mechanism further comprises a bearing seat, the bearing seat is connected to the mounting base, the bearing seat is provided with a bearing, and the bearing is sleeved with a sliding rod.

[0013] By adopting the above technical scheme, the sliding rod and the bearing support can stably drive the mounting base to move.

[0014] Optionally, the driving assembly further comprises a pressing block, the pressing block is mounted on the mounting base, and the idler wheel is above the pressing block.

[0015] By adopting the above technical scheme, the pressing block is used for limiting the moving direction of the synchronous belt and preventing the synchronous belt from loosening.

[0016] Optionally, the pencil clamping assembly further comprises a fastening bolt, the pencil clamping base is provided with a shrinkage groove and a deformation groove which are mutually penetrated, the pencil clamping base on the two sides of the shrinkage groove is respectively provided with a connecting hole and a threaded hole, and in the mounting, the fastening bolt passes through the connecting hole and the shrinkage groove in sequence and is connected with the threaded hole.

[0017] By adopting the above technical scheme, due to the arrangement of the deformation groove, the pencil clamping base can be deformed to facilitate the insertion of the pen barrel into the pencil clamping base, the pencil clamping base on the two sides of the shrinkage groove is locked by the pen barrel under the action of the deformation groove due to the force of the fastening bolt, so that the stability of the pen barrel is ensured.

[0018] In summary, this application includes at least one of the following beneficial technical effects:

[0019] 1. The pen barrel is fixed to the pen clamp assembly. When writing is not required, the electromagnet is not energized and there is no force between it and the permanent magnet. The pen clamp assembly is pressed down by gravity against the shock-absorbing assembly. The reaction force of the shock-absorbing assembly prevents the pen from contacting the writing surface. When writing is required, the electromagnet is energized. Under the mutual repulsion between the electromagnet and the permanent magnet, the pen barrel moves downward. At the same time, the shock-absorbing assembly buffers the impact and avoids direct collision, thereby increasing stability and extending service life.

[0020] 2. Due to the deformation groove, the pen holder can deform to allow the pen barrel to be easily inserted into the pen holder. The pen holders on both sides of the compression groove are connected by fastening bolts. Under the action of the deformation groove, the pen holders on both sides lock the pen barrel due to the force of the fastening screws, thus ensuring the stability of the pen barrel. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the front-end actuator of the writing robot according to an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of the writing mechanism in the front-end actuator of the writing robot, which is an embodiment of this application.

[0023] Reference numerals: 1. Drive mechanism; 11. Idler wheel; 12. Gear; 13. First drive component; 14. Bearing seat; 15. Bearing; 16. Sliding rod; 17. Pressing block; 2. Writing mechanism; 21. Lifting assembly; 211. Mounting base; 212. Slide rail; 213. Guide rod; 22. Pen clamping assembly; 221. Moving seat; 222. Pen clamping seat; 223. Fastening bolt; 224. Tightening groove; 225. Deformation groove; 226. Connecting hole; 227. Threaded hole; 23. Shock absorption assembly; 231. Shock absorption seat; 232. Shock absorption spring; 24. Magnetic drive assembly; 241. Electromagnet; 242. Permanent magnet; 3. Limiting component. Detailed Implementation

[0024] The following is in conjunction with the appendix Figures 1-2 This application will be described in further detail.

[0025] This application discloses a front-end actuator for a writing robot. (Refer to...) Figure 1 The front-end actuator of the writing robot includes a drive mechanism 1 and a writing mechanism 2. The drive mechanism 1 drives the writing mechanism 2 to move in the horizontal direction. The writing mechanism 2 includes a lifting component 21, a pen clamping component 22, a shock absorption component 23, and a magnetic drive component 24. The pen clamping component 22 is vertically slidably connected to the lifting component 21.

[0026] ReferenceFigure 2 The shock-absorbing component 23 is connected to the lower part of the pen clip component 22. In this embodiment, the shock-absorbing component 23 includes a shock-absorbing seat 231 and a shock-absorbing spring 232, with the shock-absorbing spring 232 placed inside the shock-absorbing seat 231.

[0027] The magnetic drive assembly 24 is positioned above the pen clamping assembly 22. The magnetic drive assembly 24 includes an electromagnet 241 and a permanent magnet 242. In this embodiment, the electromagnet 241 includes a coil and a wire core, the wire core being made of soft iron or silicon steel. The permanent magnet 242 is positioned on the pen clamping assembly 22, and the electromagnet 241 is positioned above it with a gap between them. The electromagnet 241 and the permanent magnet 242 have the same magnetic poles facing each other. In use, when the electromagnet 241 is energized, the repulsion of the like magnetic poles causes the permanent magnet 242 to move downwards, thus moving the pen clamping assembly 22 downwards. The pen is then installed inside the pen clamping assembly 22. The shock absorption effect of the shock-absorbing assembly 23 prevents the pen from falling and impacting directly, providing a buffer and protecting the pen, thereby increasing stability and extending its service life.

[0028] In some embodiments, the lifting assembly 21 includes a mounting base 211 and a slide rail 212 mounted on the mounting base 211. The pen clamping assembly 22 includes a movable base 221 and a pen clamping base 222. The pen clamping base 222 is mounted on the movable base 221. The movable base 221 is vertically slidably connected to the slide rail 212. A permanent magnet 242 is mounted above the movable base 221. An electromagnet 241 is disposed on the mounting base 211 and located above the permanent magnet 242. A shock-absorbing assembly 23 is connected between the mounting base 211 and the movable base 221. In this embodiment, the shock-absorbing base 231 of the shock-absorbing assembly 23 is fixedly mounted on the mounting base 211, and the shock-absorbing spring 232 is connected to the movable base 221. Two sets of shock-absorbing assemblies 23 are spaced apart to provide more stable support for the pen clamping base 222 and form a buffer.

[0029] In some embodiments, a limiting member 3 is connected below the slide rail 212. The limiting member 3 is perpendicular to the slide rail 212. The length of the limiting member 3 is greater than the width of the slide rail 212. The limiting member 3 is used to prevent the movable seat 221 from sliding directly down the slide rail 212 and to limit the sliding position of the movable seat 221.

[0030] In some embodiments, the mounting base 211 is provided with guide rods 213, two guide rods 213 are spaced apart, and the movable base 221 is sleeved on the guide rods 213 and slidably connected to the guide rods 213, so as to better guide the movement direction of the movable base 221.

[0031] Continue to refer to Figure 2In some embodiments, the pen clamping assembly 22 further includes a fastening bolt 223. The pen clamping base 222 has a through-hole tightening groove 224 and a deformation groove 225. The pen clamping bases 222 on both sides of the tightening groove 224 have a connecting hole 226 and a threaded hole 227, respectively. The connecting hole 226 passes through the pen clamping base 222. During installation, the fastening bolt 223 passes through the connecting hole 226 and the tightening groove 224 in sequence and connects with the threaded hole 227. When the fastening bolt 223 is screwed into the threaded hole 227, the pen clamping bases 222 on both sides of the tightening groove 224 are brought closer together by the deformation of the deformation groove 225 to clamp the pen barrel, thus stably fixing the pen barrel.

[0032] Refer again Figure 1 In some embodiments, the drive mechanism 1 includes an idler wheel 11, a timing belt, two gears 12, and a first drive member 13. The first drive member 13 is a motor. The idler wheel 11 is connected to the mounting base 211. The two ends of the timing belt are respectively sleeved on the two gears 12. The idler wheel 11 is connected inside the timing belt. The first drive member 13 drives the gears 12 to rotate the timing belt. The timing belt drives the mounting base 211 to move horizontally through the idler wheel 11, so that the mounting base 211 can be moved stably, that is, the pen holder 222 can be moved, thereby ensuring the stability of writing.

[0033] In some embodiments, the drive mechanism 1 further includes a bearing seat 14, which is connected to the mounting base 211. A bearing 15 is disposed inside the bearing seat 14, and a sliding rod 16 is sleeved on the bearing 15. In this embodiment, two bearing seats 14, two bearings 15, and two sliding rods 16 are respectively provided and connected to the mounting base 211 near the upper and lower ends, so as to stably drive the movement of the mounting base 211.

[0034] In some embodiments, the drive assembly further includes a clamping block 17, which is mounted on the mounting base 211. The idler pulley 11 is located above the clamping block 17. The clamping block 17 can limit the timing belt within the idler pulley 11, thereby preventing the timing belt from coming off the idler pulley 11.

[0035] The implementation principle of the front-end actuator of the writing robot in this application embodiment is as follows: the pen barrel is fixed to the pen clamping assembly 22. When writing is not required, the electromagnet 241 is not energized and has no force interaction with the permanent magnet 242. The pen clamping assembly 22 is subjected to gravity and presses down on the shock-absorbing assembly 23. The reaction force of the shock-absorbing assembly 23 prevents the pen from contacting the writing surface. When writing is required, the electromagnet 241 is energized. Under the mutual repulsion between the electromagnet 241 and the permanent magnet 242, the pen barrel moves downward. At the same time, the buffering effect of the shock-absorbing assembly 23 avoids direct collision, thereby increasing stability and extending service life.

[0036] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A front-end actuator for a writing robot, characterized in that: The device includes a driving mechanism and a writing mechanism. The driving mechanism drives the writing mechanism to move horizontally. The writing mechanism includes a lifting component, a pen clamping component, a shock-absorbing component, and a magnetic drive component. The pen clamping component is vertically slidably connected to the lifting component. The shock-absorbing component is connected below the pen clamping component. The magnetic drive component is located above the pen clamping component and includes an electromagnet and a permanent magnet. The permanent magnet is located on the pen clamping component, and the electromagnet is located above the permanent magnet with a gap between them. The electromagnet and the permanent magnet have the same magnetic poles facing each other.

2. The front-end execution mechanism of a writing robot according to claim 1, characterized in that: The lifting assembly includes a mounting base and a slide rail mounted on the mounting base. The pen clamping assembly includes a movable base and a pen clamping base. The pen clamping base is mounted on the movable base. The movable base is vertically slidably connected to the slide rail. The permanent magnet is mounted above the movable base. The electromagnet is disposed on the mounting base and located above the permanent magnet. The shock absorption assembly is connected between the mounting base and the movable base.

3. The front-end execution mechanism of a writing robot according to claim 2, characterized in that: A limiting member is connected below the slide rail. The limiting member is perpendicular to the slide rail and its length is greater than the width of the slide rail.

4. The front-end execution mechanism of a writing robot according to claim 2, characterized in that: The mounting base is provided with a guide rod, and the movable seat is sleeved on the guide rod and slidably connected to the guide rod.

5. The front-end execution mechanism of a writing robot according to claim 2, characterized in that: The drive mechanism includes an idler wheel, a timing belt, a gear, and a first drive member. The idler wheel is connected to the mounting base. The two ends of the timing belt are sleeved on the gear. The idler wheel is connected inside the timing belt. The first drive member drives the gear to rotate the timing belt. The timing belt drives the mounting base to move horizontally through the idler wheel.

6. The front-end execution mechanism of a writing robot according to claim 5, characterized in that: The drive mechanism also includes a bearing housing, which is connected to the mounting base. A bearing is disposed inside the bearing housing, and a sliding rod is sleeved on the bearing.

7. The front-end execution mechanism of a writing robot according to claim 5, characterized in that: The drive assembly further includes a clamping block mounted on the mounting base, with the idler wheel located above the clamping block.

8. The front-end execution mechanism of a writing robot according to claim 2, characterized in that: The pen clamping assembly also includes a fastening bolt. The pen clamping base has a through-hole tightening groove and a deformation groove. The pen clamping base on both sides of the tightening groove has a connecting hole and a threaded hole respectively. During installation, the fastening bolt passes through the connecting hole and the tightening groove in sequence and connects with the threaded hole.

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