Self-walking printer with independent paper fixing device

Abstract

The utility model discloses a self-walking printer with an independent paper fixing device. The self-walking printer comprises a printer body and a paper fixing device which are in wireless connection, the paper fixing device conducts horizontal fixing and reference positioning on paper of different sizes, the printer body conducts self-walking printing on the paper fixed by the paper fixing device, and the printer body comprises a main control system, an ink jet system and a driving system. The self-walking printer can realize ink-jet printing while moving by controlling the driving system provided with the Mecanum wheels, performs horizontal fixation and reference positioning on paper of different sizes through the paper fixing device, and has the characteristics of small size, strong portability and the like; and printing of paper with any sheet size can be completed in any scene.

Description

TECHNICAL FIELD

[0001] The utility model relates to a self -walking printer, concretely relates to a self -walking printer with independent paper fixing device. BACKGROUND

[0002] With the growth of mobile office, business travel and other needs, personal users' demand for portability and convenience is increasing, which promotes the continuous expansion of the portable printer market. In general, the portable printer industry is in the stage of technological innovation and diversification, and products continue to make breakthroughs in intelligence, portability and efficiency.

[0003] The main portable printers on the market are divided into two categories: portable inkjet printers and portable thermal printers. However, the existing products are generally serious homogenization, poor mobile scene adaptability, and paper size limitation. These problems restrict the application of portable printers in more scenarios, especially in the case of large-scale printing or different paper size adaptation, the existing technology cannot provide an effective solution. UTILITY MODEL CONTENT

[0004] In order to solve the problems in the background art, the utility model provides a self -walking printer with independent paper fixing device. The printer of the utility model can solve the problems of poor mobile scene adaptability, inconvenience of large-scale printing, and poor adaptability of different paper sizes of traditional printers.

[0005] The utility model adopts the technical scheme of:

[0006] The self -walking printer with independent paper fixing device of the utility model has the characteristics of:

[0007] It includes a paper fixing device for horizontal fixing and reference positioning of different size paper;

[0008] It includes a printer body for self -walking printing on the paper fixed by the paper fixing device, and the printer body and the paper fixing device are wirelessly connected.

[0009] The printer body includes a cover, a housing, a main control system, an inkjet system, a shelf plate and a drive system. The cover covers the top of the housing, the shelf plate is horizontally installed inside the housing, and the top surface of the shelf plate is provided with buckles on both sides for fixed connection with the housing. The main control system is installed on the top surface of the shelf plate, the inkjet system is installed in the through slot in the center of the shelf plate, and the inkjet nozzle is vertically downward to the paper below. The drive system is installed at the bottom of the housing. The main control system includes a processor integrated with a first wireless communication module and a first battery, respectively used for controlling the operation and power supply of the printer body. The processor and the first battery are electrically connected. The inkjet system and the drive system are electrically connected to the processor of the main control system. The processor is wirelessly connected to the paper fixing device through the first wireless communication module.

[0010] The paper fixing device comprises four paper fixing sub-devices, which are respectively clamped at four corners of the horizontally placed paper, each paper fixing sub-device comprises a base, a paper clamping spring, a buckle plate and an upper clamping plate, the base is horizontally arranged, a isosceles trapezoidal groove is formed in one side of the base, and the top surface of the groove is in a stepped structure with the outside being lower and the inside being higher, the two sides of the isosceles trapezoidal groove are perpendicular to each other, the top corners of each step are right angles and are symmetric to the isosceles trapezoidal groove, the top corner of the outermost step layer abuts against one of the top corners of the paper, the buckle plate is obliquely arranged above the middle part of the top surface of the base, one end of the paper clamping spring is connected to the middle part of the top surface of the base, and the other end of the paper clamping spring, which is used to provide clamping force, is connected to the lower part of the side of the buckle plate facing the base, the upper clamping plate is coaxially arranged above the step at the opening of the isosceles trapezoidal groove, the upper clamping plate is in an A-shaped structure and has a side with a top corner parallel to the bottom side of the isosceles trapezoidal groove and integrated with the bottom side of the buckle plate, the other side of the upper clamping plate has an opening coaxially located above the isosceles trapezoidal groove, the bottom surface of the opening of the upper clamping plate is provided with a stepped structure and is embedded in the stepped structure at the opening of the isosceles trapezoidal groove, the top corner of the paper is clamped between the base and the outermost step layer of the upper clamping plate, the outermost step layer of the upper clamping plate at the position in contact with the paper is further provided with a toothed structure to increase the friction with the paper, the two sides of the upper clamping plate are perpendicular to each other, and the middle part of the upper clamping plate is a right-angled triangular through groove and can visualize the top corner of the paper located below to facilitate manual adjustment of the top corner of the paper.

[0011] The paper fixing sub-device further comprises two ultrasonic distance sensors respectively used for receiving and transmitting signals, the two ultrasonic distance sensors are installed on the top surface of the base and are respectively located on the two symmetrical sides of the upper clamping plate, the ultrasonic distance sensor used for transmitting signals of each paper fixing sub-device and the ultrasonic distance sensor used for receiving signals of the adjacent next paper fixing sub-device form a distance measurement assembly, the connection line between the transmitting port and the receiving port is parallel and equal to one side of the paper, and the four sides of the paper are respectively measured in length by the four distance measurement assemblies.

[0012] The paper fixing sub-device further comprises a U-shaped wrench, a cylindrical slider, a pin shaft, a suction cup and a suction spring, the suction cup is horizontally located below the other side of the base, a through hole is formed in the other side of the base in the vertical direction, the cylindrical slider is vertically sleeved in the through hole, the upper part of the cylindrical slider is connected with the U-shaped wrench through the pin shaft, the lower part of the cylindrical slider is sleeved with the suction spring, the lower end of the cylindrical slider is connected with the top surface center of the suction cup, and the suction spring is located between the bottom surface of the other side of the base and the top surface of the suction cup.

[0013] The driving system comprises four driving mechanisms symmetrically installed at four corners of the bottom of the shell, each driving mechanism comprising a steering engine, a shaft coupling and a Mecanum wheel, the body of the steering engine being installed at the bottom of the shell, the output shaft of the steering engine being horizontally and synchronously connected to the central shaft of the Mecanum wheel through the shaft coupling, the output shafts of the four steering engines being parallel to each other, and the four steering engines being electrically connected to the processor.

[0014] The bottom surface of the shelf plate is provided with an optical positioning sensor for obtaining displacement changes of the self-walking printer in the X-axis and Y-axis directions, and the optical positioning sensor is electrically connected to the processor.

[0015] The top surface of the cover is further provided with a touch screen for manually controlling printing and displaying printing information prompts, and the touch screen is electrically connected to the processor.

[0016] The shell is further provided with a charging port for charging the first battery, and the charging port is electrically connected to the first battery.

[0017] The self-walking printer provided by the utility model has the advantages that:

[0018] The self-walking printer provided by the utility model discards the paper feeding mechanism of a traditional printer, fixes paper on a plane, realizes movement in the X-axis and Y-axis directions through a driving system provided with a Mecanum wheel, and prints while moving. Meanwhile, the paper fixing device can effectively fix paper, avoids affecting printing quality due to paper movement in the printing process, and can also perform reference positioning. Compared with a traditional printer, the utility model has the characteristics of small size and strong portability, can realize printing of paper with an arbitrary scene and an arbitrary picture size, and better solves the defects of a traditional printer, such as limited picture size and poor portability. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 Fig. 1 is a working schematic view of the printer of the utility model;

[0020] Figure 2 Fig. 2 is a structural view of the printer body in the utility model;

[0021] Figure 3 Fig. 3 is a back view of the printer body in the utility model;

[0022] Figure 4 Fig. 4 is a bottom view of the printer body in the utility model;

[0023] Figure 5 Fig. 5 is an internal structural view of the printer body in the utility model;

[0024] Figure 6 Fig. 6 is a structural view of the driving system in the utility model;

[0025] Figure 7It is the structure diagram of the paper fixing device in the utility model;

[0026] Figure 8 It is the bottom view of the paper fixing device in the utility model;

[0027] Figure 9 It is the perspective view of the paper fixing device in the utility model;

[0028] Figure 10 It is the partial view of the paper fixing device after the upper clamping plate is removed in the utility model;

[0029] Figure 11 It is the suction disc schematic view of the paper fixing device in the utility model;

[0030] In the drawing: 1, printer body, 10, machine cover, 101, touch screen, 11, machine shell, 111, charging port, 12, inkjet system, 13, frame plate, 131, optical positioning sensor, 14, driving system, 141, rudder machine, 142, coupling, 143, Mecanum wheel, 15, processor, 16, first battery, 2, paper fixing device, 20, base, 21, U-shaped wrench, 22, cylindrical slider, 23, pin shaft, 24, paper clamping spring, 25, buckle plate, 26, upper clamping plate, 27, ultrasonic distance sensor, 28, suction disc, 29, suction disc spring. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the utility model will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the utility model and not all the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0032] It should be noted that the terms "first", "second" and the like in the specification and claims of the application and the above-described drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein. In addition, the term "comprising" and any other variation thereof is intended to cover non-exclusive inclusion, for example, the process, method, system, product or equipment including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0033] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "transverse", "longitudinal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0034] In addition, in addition to indicating the orientation or positional relationship, the above-mentioned partial terms may also be used to indicate other meanings, for example, the term "upper" may also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances.

[0035] In addition, the terms "provided with", "connected" should be understood broadly. For example, it can be fixedly connected, detachably connected, or integrally constructed; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two devices, elements or components. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0036] As Figure 1 shown, the self-walking printer with independent paper fixing device of the present application comprises a paper fixing device and a printer body 1, the paper fixing device is used for horizontal fixing and reference positioning of paper sheets of different sizes, and the printer body 1 is used for self-walking printing on the paper sheet fixed by the paper fixing device and is wirelessly connected with the paper fixing device.

[0037] As Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the printer body 1 comprises a cover 10, a casing 11, a main control system, an inkjet system 12, a shelf plate 13 and a driving system 14, the cover 10 covers the top of the casing 11, the shelf plate 13 is horizontally installed inside the casing 11, and the top surface of the shelf plate 13 is provided with buckles on both sides for fixed connection with the casing 11; the main control system is installed on the top surface of the shelf plate 13, the inkjet system 12 is installed in the through slot opened in the center of the shelf plate 13 and the inkjet port is vertically downward to the paper, and the driving system 14 is installed at the bottom of the casing 11; the main control system comprises a processor 15 integrated with a first wireless communication module and a first battery 16 for controlling the operation and power supply of the printer body 1 respectively, the processor 15 and the first battery 16 are electrically connected, the inkjet system 12 and the driving system 14 are electrically connected with the processor 15 of the main control system, the processor 15 is wirelessly connected with the paper fixing device through the first wireless communication module, and the first wireless communication module is used for receiving the printing instructions sent by the touch screen 101 and the paper side length information sent by the second wireless communication module of the paper fixing device; the processor 15 specifically adopts an STM32F103 series single-chip microcomputer and an expansion PCB board thereof; the first battery 16 is a lithium battery that can be charged and discharged, and is used for controlling the operation and power supply of the printer.

[0038] The driving system 14 comprises four driving mechanisms symmetrically installed at the four corners of the bottom of the casing 11, each driving mechanism comprises a rudder 141, a shaft coupling 142 and a Mecanum wheel 143, the body of the rudder 141 is installed at the bottom of the casing 11, the output shaft of the rudder 141 is horizontally and synchronously connected with the central shaft of the Mecanum wheel 143 through the shaft coupling 142, the output shafts of the four rudders 141 are parallel to each other, and the four rudders 141 are electrically connected with the processor 15; the rudder 141 is used for driving the Mecanum wheel 143 to rotate, the rotation direction and speed of each Mecanum wheel 143 are adjusted to realize the horizontal and vertical movement of the printer along the X-axis and Y-axis on the paper plane; the Mecanum wheels 143 are divided into left-rotation Mecanum wheels and right-rotation Mecanum wheels, the front left wheel and the rear right wheel are right-rotation Mecanum wheels, and the front right wheel and the rear left wheel are left-rotation Mecanum wheels.

[0039] When printing, when it is needed to move along the positive direction of the X-axis, the front left wheel and the rear right wheel are reversed, and the rear left wheel and the front right wheel are rotated forward; when it is needed to move along the negative direction of the X-axis, the front left wheel and the rear right wheel are rotated forward, and the rear left wheel and the front right wheel are reversed; when it is needed to move along the positive direction of the Y-axis, all the wheels are rotated forward; and when it is needed to move along the negative direction of the Y-axis, all the wheels are reversed. The left and right observation view is the bottom view of the printer body, the forward rotation means that the wheels are rotated clockwise from right to left.

[0040] The bottom surface of the shelf plate 13 is provided with an optical positioning sensor 131 for obtaining the displacement changes of the self-walking printer in the X-axis and Y-axis directions, the optical positioning sensor 131 is electrically connected to the processor 15, and the optical positioning sensor 131 can assist the processor 15 to dynamically adjust the driving system 14 and improve the printing precision. The top surface of the cover 10 is further provided with a touch screen 101 for manually controlling printing and displaying printing information prompts, the touch screen 101 is electrically connected to the processor 15; the printing instructions can be input to the processor 15 through the touch screen 101 to perform the printing task, and various printing information prompts received by the processor 15 are displayed, including the information of various sensors and the like. The shell 11 is further provided with a charging port 111 for charging the first battery 16, and the charging port 111 is electrically connected to the first battery 16.

[0041] As shown in Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11 , the paper fixing device includes four paper fixing sub-devices 2, which are clamped at four corners of the horizontally placed paper, each paper fixing sub-device 2 includes a base 20, a paper clamping spring 24, a buckle plate 25 and an upper clamping plate 26, the base 20 is horizontally arranged, a side of the base 20 is provided with an isosceles trapezoidal groove, the top surface of the groove opening is in a stepped structure with the outside being lower and the inside being higher, the two sides of the isosceles trapezoidal groove are perpendicular to each other, the top corners of each step are right angles and are symmetrical with the isosceles trapezoidal groove, the top corner of the outermost step layer abuts against one of the top corners of the paper, the buckle plate 25 is obliquely arranged above the middle part of the top surface of the base 20, one end of the paper clamping spring 24 is connected to the middle part of the top surface of the base 20, the other end of the paper clamping spring 24 connected to the buckle plate 25 is towards the lower part of the side surface of the base 20, the upper clamping plate 26 is coaxially arranged above the step at the groove opening of the isosceles trapezoidal groove, the upper clamping plate 26 is in the shape of A and one side top corner is parallel to the bottom side of the isosceles trapezoidal groove and is integrally formed with the bottom side of the buckle plate 25, the other side opening of the upper clamping plate 26 is the same as and coaxially arranged above the isosceles trapezoidal groove, the bottom surface of the opening of the upper clamping plate 26 is provided with a stepped structure and is embedded with the stepped structure at the groove opening of the isosceles trapezoidal groove, the top corner of the paper is clamped between the outermost step layer of the base 20 and the upper clamping plate 26, the outermost step layer bottom surface of the upper clamping plate 26 in contact with the paper is further provided with a toothed structure to increase the friction with the paper, the two sides of the upper clamping plate 26 are perpendicular to each other, the middle part of the upper clamping plate 26 is a right-angled triangular through groove and can visualize the top corner of the paper below to facilitate manual adjustment of the top corner of the paper. The base 20 and the upper clamping plate 26 of the paper fixing sub-device 2 are made of polyamide (PA) material, the thinnest part is 0.8 mm thick, the suction cup 28 is made of silica gel, the paper clamping spring 24 is a torsion spring, and the suction cup spring 29 is a compression spring.

[0042] The paper clamping spring 24, the buckle plate 25, the upper clamping plate 26 and the side of the base 20 form a clamp shape clamping the top corner of the paper, pressing the buckle plate 25 makes the upper clamping plate 26 lift along the symmetry axis, and then the top corner of the paper is leaned against the bottommost step top surface of the notch of the isosceles trapezoidal groove, and then the buckle plate 25 is released, so that the upper clamping plate 26 and the side of the base 20 directly below clamps the top corner of the paper.

[0043] The paper fixing device 2 further comprises two ultrasonic distance sensors 27 for receiving and transmitting signals respectively, the two ultrasonic distance sensors 27 are installed on the top surface of the base 20 and are located on the symmetrical two sides of the upper clamping plate 26 respectively, the ultrasonic distance sensor 27 for transmitting signals of each paper fixing device 2 and the ultrasonic distance sensor 27 for receiving signals of the adjacent next paper fixing device 2 form a distance measuring assembly, and the connection line between the transmitting port and the receiving port is parallel and equal to one side of the paper between them, and the four sides of the paper are measured in length by four distance measuring assemblies respectively; the base 20 is internally provided with a second battery and a second wireless communication module which are electrically connected, the two ultrasonic distance sensors 27 are electrically connected to the second battery and are wirelessly connected to the processor 15 through the second wireless communication module and the first wireless communication module, and the second battery adopts a button cell.

[0044] The paper fixing device 2 further comprises a U-shaped wrench 21, a cylindrical slider 22, a pin shaft 23, a suction cup 28 and a suction cup spring 29, the suction cup 28 is horizontally located directly below the other side of the base 20, the other side of the base 20 is provided with a through hole in the vertical direction, the cylindrical slider 22 is vertically sleeved in the through hole, the upper part of the cylindrical slider 22 is connected to the U-shaped wrench 21 through the pin shaft 23, the lower part of the cylindrical slider 22 is sleeved with the suction cup spring 29, the lower end of the cylindrical slider 22 is connected to the top surface center of the suction cup 28, and the suction cup spring 29 is located between the bottom surface of the other side of the base 20 and the top surface of the suction cup 28; when the paper fixing device 2 is fixed, the suction cup 28 is first attached to the desktop, at this time the U-shaped wrench 21 is horizontally attached to the top surface of the base 20, the suction cup spring 29 is in a relaxed state, the U-shaped wrench 21 is rotated to a vertical state, the bottom end of the U-shaped wrench 21 presses the base 20 downward to compress the suction cup spring 29, and the suction cup 28 is extruded to completely attach to the desktop, and the fixing of the paper fixing device 2 is completed.

[0045] If a printing task needs to be performed, first, the four paper fixing sub-devices 2 are respectively aligned and clamped at the four corners of the paper to be printed; then, the paper to be printed is laid flat on a flat surface, and the suction cups 28 of the four paper fixing sub-devices 2 are adsorbed on the surface; subsequently, the printer body 1 is placed at the upper left corner of the paper, aligned with the right angle of the paper fixing sub-device 2 at the upper left corner, and an XY coordinate system is established on the paper, and a printing instruction is issued through the touch screen 101, and the printing task starts to be performed. During the execution of the printing task, the paper fixing sub-device 2 transmits the four edge length information of the paper measured by the ultrasonic distance sensor 27 to the processor 15 through wireless communication, and the processor 15 plans a walking path of the printer body 1. According to the planned walking path, the processor sends an instruction to the driving system 14 to drive the printer to move in the positive direction of the X axis, while the inkjet system 12 performs printing on the surface to be printed. When the first row of printing is completed, the processor 15 controls the driving system 14 to first move in the positive direction of the Y axis by a line spacing, and then moves in the negative direction of the X axis to the starting position of the next row, and starts the printing of the next row. In this way, the full-width printing can be completed.

[0046] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. It should be understood by those skilled in the art that the technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the specification of the present application.

Claims

1. A self-walking printer with independent paper fixing device, characterized in that: it comprises a paper fixing device for horizontal fixing and reference positioning of paper of different sizes; a printer body (1) for self-walking printing on the paper fixed by the paper fixing device, the printer body (1) and the paper fixing device being wirelessly connected. The printer body (1) comprises a cover (10), a casing (11), a main control system, an inkjet system (12), a shelf plate (13) and a driving system (14), the cover (10) covers the top of the casing (11), the shelf plate (13) is horizontally installed inside the casing (11), the main control system is installed on the top surface of the shelf plate (13), the inkjet system (12) is installed in a through slot centrally formed in the shelf plate (13) and the inkjet nozzles are vertically directed to the paper below, the driving system (14) is installed at the bottom of the casing (11), the main control system comprises a processor (15) integrated with a first wireless communication module and a first battery (16), the processor (15) and the first battery (16) are electrically connected, the inkjet system (12) and the driving system (14) are electrically connected to the processor (15) of the main control system, and the processor (15) is wirelessly connected to the paper fixing device through the first wireless communication module. The paper fixing device comprises four paper fixing sub-devices (2) which are respectively clamped at the four corners of the horizontally placed paper, each paper fixing sub-device (2) comprises a base (20), a paper clamping spring (24), a buckle plate (25) and an upper clamping plate (26), the base (20) is horizontally arranged, a isosceles trapezoidal slot is formed in one side of the base (20) and the top surface of the slot opening has a stepped structure with the outside being lower and the inside being higher, the top corner of each step is a right angle, the top corner of the top surface of the outermost step layer abuts against one of the top corners of the paper, the buckle plate (25) is obliquely arranged directly above the middle part of the top surface of the base (20), one end of the paper clamping spring (24) is connected to the middle part of the top surface of the base (20), the other end of the paper clamping spring (24) is connected to the lower part of the side of the buckle plate (25) facing the base (20), the upper clamping plate (26) is located directly above the step at the slot opening of the isosceles trapezoidal slot and is coaxially arranged, the upper clamping plate (26) is in the shape of A and one side top corner is a side parallel to the bottom side of the isosceles trapezoidal slot and is integrally formed with the bottom side of the buckle plate (25), the opening of the other side of the upper clamping plate (26) is the same as and coaxially located directly above the isosceles trapezoidal slot, the bottom surface of the opening of the upper clamping plate (26) is provided with a stepped structure which is embedded with the stepped structure at the slot opening of the isosceles trapezoidal slot, and the top corner of the paper is clamped between the outermost step layers of the base (20) and the upper clamping plate (26).

2. The self-walking printer with independent paper fixing device according to claim 1, characterized in that: ​ 3. The self-walking printer with independent paper fixing device according to claim 2, characterized in that: ​ 4. The self-walking printer with independent paper fixing device according to claim 3, characterized in that: The fixed paper device (2) further comprises two ultrasonic distance sensors (27) for receiving and transmitting signals respectively, the two ultrasonic distance sensors (27) are installed on the top surface of the base (20) and are located on the symmetrical two sides of the upper clamping plate (26) respectively, the ultrasonic distance sensor (27) for transmitting signals of each fixed paper device (2) and the ultrasonic distance sensor (27) for receiving signals of the adjacent next fixed paper device (2) constitute a distance measuring assembly, and the connection line between the transmitting port and the receiving port is parallel and equal to one side of the paper between them; The base (20) is built-in with a second battery and a second wireless communication module connected by electricity, the two ultrasonic distance sensors (27) are connected to the second battery and are connected to the processor (15) through the second wireless communication module and the first wireless communication module.

5. The self-walking printer with independent paper fixing device according to claim 3, characterized in that: The fixed paper device (2) further comprises a U-shaped wrench (21), a cylindrical slider (22), a pin shaft (23), a suction cup (28) and a suction cup spring (29), the suction cup (28) is horizontally located directly below the other side of the base (20), the other side of the base (20) is provided with a through hole in the vertical direction, the cylindrical slider (22) is vertically sleeved in the through hole, the upper part of the cylindrical slider (22) is connected with the U-shaped wrench (21) through the pin shaft (23), the lower part of the cylindrical slider (22) is sleeved with the suction cup spring (29), the lower end of the cylindrical slider (22) is connected with the top surface center of the suction cup (28), and the suction cup spring (29) is located between the bottom surface of the other side of the base (20) and the top surface of the suction cup (28).

6. The self-walking printer with independent paper fixing device according to claim 2, characterized in that: The driving system (14) comprises four driving mechanisms, the four driving mechanisms are symmetrically installed at the four corners of the bottom of the shell (11), each driving mechanism comprises a rudder (141), a shaft coupling (142) and a Mecanum wheel (143), the body of the rudder (141) is installed at the bottom of the shell (11), the output shaft of the rudder (141) is connected with the center shaft of the Mecanum wheel (143) horizontally and synchronously through the shaft coupling (142), the output shafts of the four rudders (141) are parallel to each other, and the four rudders (141) are all connected to the processor (15) by electricity.

7. The self-walking printer with independent paper fixing device according to claim 2, characterized in that: The bottom surface of the shelf plate (13) is provided with an optical positioning sensor (131) for obtaining the displacement change of the self-walking printer, and the optical positioning sensor (131) is connected to the processor (15) by electricity.

8. The self-walking printer with independent paper fixing device according to claim 2, characterized in that: The top surface of the cover (10) is further provided with a touch screen (101) for manually controlling printing and displaying printing information prompts, and the touch screen (101) is connected to the processor (15) by electricity.

9. The self-walking printer with independent paper fixing device according to claim 2, characterized in that: The shell (11) is further provided with a charging port (111) for charging the first battery (16), and the charging port (111) is connected to the first battery (16) by electricity.

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