Pen changing device for drawing robot

Abstract

The utility model provides a pen changing device for a drawing robot, and relates to the field of drawing robots. The rotating assembly and the pen pressing assembly are both installed on the fixing frame; the rotating assembly comprises a driving motor, a rotating shaft and a turntable, the driving motor is mounted at the top of the fixing frame, one end of the rotating shaft is connected to the output end of the driving motor, and the other end of the rotating shaft is connected with the turntable which is concentric with the rotating shaft; a plurality of through holes used for installing the elastic pen pieces are formed in the rotating shaft in the circumferential direction of the rotating shaft; the pen pressing assembly comprises a lifting driving piece and a pressing piece. The lifting driving piece is installed on the fixing frame and located on one side of the rotary disc. One end of the pressing piece is connected with the output end of the lifting driving piece, and the other end of the pressing piece is provided with a pressing part; the pressing part is located above the through holes and is opposite to one of the through holes. The pen changing device is simple in structure, quick and continuous pen changing can be achieved, and the drawing efficiency is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of drawing robots, and more specifically, to a pen-changing device for a drawing robot. Background Technology

[0002] In the field of drawing robots, automatic pen-changing mechanisms have made some progress. Traditional pen-changing methods for drawing robots include using a robotic arm to pick up a pen from a specific position; or using a linear guide system to allow the pen holder to move along a predetermined track to a designated pen-picking point; and in more complex designs, there are multi-axis linkage control systems to realize the pen-changing action, using a program to control the movement of each axis to switch between different pens.

[0003] However, existing pen-changing mechanisms have several shortcomings. For example, robotic arm gripping methods may suffer from precision issues; after prolonged use, the grippers may wear or loosen, affecting the stable gripping of the pen and potentially causing it to fall or misalign during the changing process. While linear guide systems can ensure a certain level of motion accuracy, their structure is relatively complex, they occupy a large space, and the guides are prone to accumulating dust and other impurities, affecting their smoothness and consequently impacting pen-changing speed. Multi-axis linkage control systems, although capable of precisely controlling pen-changing actions, are expensive, require complex programming and debugging, and demand highly skilled operators.

[0004] Currently, there is a lack of a simple, efficient, space-saving, and accurate pen-changing mechanism to meet the needs of drawing robots, especially in scenarios where pen changes are frequent. Existing technologies struggle to achieve a good balance between cost, efficiency, and accuracy. Utility Model Content

[0005] The purpose of this invention is to provide a pen-changing device for a drawing robot, which can efficiently and stably achieve rapid pen changing.

[0006] The embodiments of this utility model are implemented as follows:

[0007] This application provides a pen-changing device for a drawing robot, including a fixed frame, a rotating component, and a pen-pressing component, wherein the rotating component and the pen-pressing component are both mounted on the fixed frame;

[0008] The rotating assembly includes a drive motor, a rotating shaft, and a turntable. The drive motor is mounted on the top of the fixed frame. One end of the rotating shaft is connected to the output end of the drive motor, and the other end of the rotating shaft is connected to the turntable. The turntable is concentric with the rotating shaft. The rotating shaft has multiple through holes along its circumference for mounting elastic pen components.

[0009] The pen assembly includes a lifting drive and a pressing component. The lifting drive is mounted on the fixed frame and located on one side of the turntable. One end of the pressing component is connected to the output end of the lifting drive, and the other end of the pressing component is provided with a pressing part. The pressing part is located above the through hole and is opposite to one of the through holes.

[0010] Furthermore, based on the aforementioned solution, the fixing frame includes a vertical plate and a first support plate and a second support plate spaced vertically on one side of the vertical plate. The first support plate is used to install the drive motor, and the second support plate is used to install the lifting drive component.

[0011] Furthermore, based on the aforementioned scheme, the first support plate includes two strip plates, which are horizontally spaced apart on one side of the vertical plate; the opposite sides of the drive motor are respectively connected to the two strip plates through a connecting lug.

[0012] Furthermore, based on the aforementioned scheme, the second support plate includes a plate body, the plate body having a first mounting hole, the lifting drive component passing through the first mounting hole and connected to the vertical plate, and the output end of the lifting drive component being located below;

[0013] The pressing member is L-shaped. The horizontal plate of the pressing member is connected to the output end of the lifting drive member. The vertical plate of the pressing member is located on one side of the lifting drive member and passes through the first mounting hole. The pressing part is connected to the end of the vertical plate of the pressing member away from its horizontal plate.

[0014] Furthermore, based on the aforementioned scheme, a second mounting hole concentric with the rotating shaft is provided at the end of the plate away from the vertical plate, and the turntable is located in the second mounting hole.

[0015] Furthermore, based on the aforementioned scheme, a pen shell is connected to the bottom of the second mounting hole, and the pen shell is concentric with the rotating shaft and the turntable.

[0016] Furthermore, based on the aforementioned scheme, the lifting drive component is a direct-push pole.

[0017] Furthermore, based on the aforementioned scheme, the drive motor is a five-wire four-phase stepper motor.

[0018] Furthermore, based on the aforementioned solution, the elastic pen component includes a pen refill, a pressing block, and a spring. The pen refill passes through the through hole, the pressing block is connected to the top of the pen refill, and the spring is sleeved on the outside of the pen refill and abuts against the pressing block and the turntable.

[0019] Furthermore, based on the aforementioned scheme, a control unit is also included, which is electrically connected to the drive motor and the lifting drive component respectively.

[0020] Compared with the prior art, the embodiments of this utility model have at least the following advantages or beneficial effects:

[0021] This application integrates a fixed frame for mounting and fixing a rotating component and a pen-pressing component, reducing space occupation. The rotating component is driven by a drive motor to rotate a shaft, which in turn drives a concentric turntable. Multiple through holes on the turntable allow for the mounting of various colored pens. The rotation of the turntable causes the pen-pressing component to press the corresponding colored pen. The pen-pressing component uses a lifting drive to move a pressing part up and down. One end of the pressing part is aligned with one of the through holes, i.e., with the top of one of the pen's elastic parts. When the turntable moves the corresponding colored pen below the pressing part, the pressing part presses down on the pen, causing it to contact the paper for drawing. This application has a simple structure, enables rapid and continuous pen changing, and greatly improves drawing efficiency. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A schematic diagram of the overall structure of the pen-changing device for the drawing robot according to an embodiment of this utility model;

[0024] Figure 2 This is a partial structural schematic diagram of the pen-changing device for the drawing robot according to an embodiment of the present invention;

[0025] Figure 3 This is an enlarged schematic diagram of a portion of the structure of an embodiment of this utility model.

[0026] Icons: 10-Fixed frame, 11-Vertical plate, 12-First support plate, 13-Second support plate, 131-First mounting hole, 132-Second mounting hole, 20-Rotating assembly, 21-Drive motor, 22-Rotating shaft, 23-Turntable, 231-Through hole, 30-Pen assembly, 31-Lifting drive component, 32-Pressing component, 33-Pressing part, 40-Elastic pen component, 41-Pen refill, 42-Pressing block, 43-Spring, 50-Pen casing. Detailed Implementation

[0027] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0028] Please refer to Figures 1-3 The image shown is a schematic diagram of the overall structure of the pen-changing device used in the drawing robot.

[0029] This embodiment provides a pen changing device for a drawing robot, including a fixed frame 10, a rotating component 20 and a pen pressing component 30, both of which are mounted on the fixed frame 10.

[0030] The rotating assembly 20 includes a drive motor 21, a rotating shaft 22, and a turntable 23. The drive motor 21 is mounted on the top of the fixed frame 10. One end of the rotating shaft 22 is connected to the output end of the drive motor 21, and the other end of the rotating shaft 22 is connected to the turntable 23. The turntable 23 is concentric with the rotating shaft 22. The rotating shaft 22 has a plurality of through holes 231 along its circumference for mounting the elastic pen element 40.

[0031] The pen assembly 30 includes a lifting drive 31 and a pressing member 32. The lifting drive 31 is mounted on the fixed frame 10 and located on one side of the turntable 23. One end of the pressing member 32 is connected to the output end of the lifting drive 31, and the other end of the pressing member 32 is provided with a pressing part 33. The pressing part 33 is located above the through hole 231 and is opposite to one of the through holes 231.

[0032] The following will further describe an exemplary embodiment of a pen-changing device for a drawing robot.

[0033] In some implementations, refer to Figure 1 The aforementioned rotating assembly 20 includes a drive motor 21, a rotating shaft 22, and a turntable 23. The drive motor 21 is mounted on the top of the fixed frame 10 and can be a five-wire four-phase stepper motor. One end of the rotating shaft 22 is connected to the output end of the drive motor 21, and the other end of the rotating shaft 22 is connected to the turntable 23, with the turntable 23 being concentric with the rotating shaft 22. The rotating shaft 22 has multiple through holes 231 along its circumference for mounting the elastic pen components 40. The five-wire four-phase stepper motor drives the rotating shaft 22 to rotate, which in turn drives the concentric turntable 23 to rotate, thereby causing the multiple elastic pen components 40 to rotate. This allows the elastic pen components 40 of different colors to be positioned opposite the pen pressing assembly 30, enabling pen pressing. The concentric and coaxial design ensures high accuracy in pen pressing.

[0034] The aforementioned pen assembly 30 includes a lifting drive 31 and a pressing member 32. The lifting drive 31 is mounted on the fixed frame 10 and located on one side of the turntable 23. The lifting drive 31 can be a direct-push rod, which achieves vertical lifting by extending and retracting. One end of the pressing member 32 is connected to the output end of the lifting drive 31, and the other end of the pressing member 32 is provided with a pressing part 33. The pressing part 33 is located above the through hole 231 and is opposite to one of the through holes 231. The pressing member 32 is driven to move up and down by the direct-push rod, which in turn drives the pressing part 33 at one end to move up and down. The pressing part 33 is located above one of the through holes 231, that is, opposite to one of the elastic pen members 40. As the pressing part 33 moves up and down, the elastic pen member 40 can be pressed and released. Specifically, when the elastic pen 40 is not replaced, the pressing part 33 squeezes the elastic pen 40 and keeps it stationary, allowing it to continue drawing. When the elastic pen 40 needs to be replaced, the pressing part 33 releases the elastic pen 40, the turntable 23 rotates and drives the elastic pen 40 of the corresponding color to rotate below the pressing part 33, and the pressing part 33 moves down to squeeze the elastic pen 40 to draw.

[0035] The aforementioned stepper motor controls its angular rotation through its pulse signal, enabling it to quickly, accurately, and stably change pens to meet the needs of the drawing robot. This device is particularly advantageous in scenarios requiring frequent pen changes, achieving a good balance between cost, efficiency, and accuracy.

[0036] In a preferred embodiment, the aforementioned mounting bracket 10 includes a vertical plate 11 and a first support plate 12 and a second support plate 13 spaced apart vertically on one side of the vertical plate 11. The first support plate 12 is used to mount the drive motor 21, and the second support plate 13 is used to mount the lifting drive component 31. The mounting bracket 10 integrates the rotating component 20 and the pen assembly 30 into one unit, and through the above-mentioned positional design, the integration of the three components is high, occupying little space.

[0037] In one embodiment, the first support plate 12 includes two strip plates, which are horizontally spaced apart on one side of the vertical plate 11. The opposite sides of the drive motor 21 are connected to the two strip plates via connecting lugs, which can be bolted together for easy disassembly. By positioning the two strip plates on either side of the drive motor 21, the drive motor 21 is located within the open groove formed by the vertical plate 11 and the two strip plates, thus improving structural compactness.

[0038] In one embodiment, the second support plate 13 includes a plate body with a first mounting hole 131. A lifting drive member 31 passes through the first mounting hole 131 and is connected to the vertical plate 11, with the output end of the lifting drive member 31 located below. The pressing member 32 is L-shaped, with its horizontal plate connected to the output end of the lifting drive member 31, and its vertical plate located on one side of the lifting drive member 31 and passing through the first mounting hole 131. A pressing part 33 is connected to the end of the vertical plate of the pressing member 32 away from its horizontal plate. Installing the lifting drive member 31 and the pressing member 32 through the first mounting hole 131 further improves structural compactness and reduces the space occupied by the device. By setting the L-shaped pressing member 32 and the pressing part 33 located at the end away from its horizontal plate, together with the pressing member 32, a Z-shaped structure is formed, saving space while allowing it to be accurately aligned with the elastic pen member 40 for pressing. The horizontal plate of the pressing member 32 is connected to the output end of the lifting drive member 31 by bolts, and the vertical plate of the pressing member 32 is connected to the fixed end of the lifting drive member 31 by bolts, so as to achieve a stable connection and facilitate disassembly.

[0039] In a preferred embodiment, the end of the plate away from the vertical plate 11 has a second mounting hole 132 concentric with the rotating shaft 22, and the turntable 23 is located within the second mounting hole 132. A pen shell 50 is connected to the bottom of the second mounting hole 132, and the pen shell 50 is concentric with the rotating shaft 22 and the turntable 23. The pen shell 50 is fitted over the multiple elastic pen components 40 to protect them and improve aesthetics. The concentric and coaxial design of the pen shell 50 with the rotating shaft 22 and the turntable 23 improves the accuracy of rotation and pressing.

[0040] As a preferred implementation method, refer to Figure 2 and Figure 3 The aforementioned elastic pen component 40 includes a pen refill 41, a pressing block 42, and a spring 43. The pen refill 41 passes through the through hole 231, the pressing block 42 is connected to the top of the pen refill 41, and the spring 43 is sleeved on the outside of the pen refill 41 and abuts against the pressing block 42 and the turntable 23. It should be noted that the outer diameter of the lower part of the pen refill 41 on the turntable 23 is larger than the outer diameter of the upper part of the turntable 23, and the outer diameter of the pressing block 42 is larger than the outer diameter of the through hole 231, which can limit the pen refill 41 and prevent it from coming out of the through hole 231 of the turntable 23. When the pressing part 33 presses the pressing block 42, the pressing block 42 moves downward, causing the pen refill 41 to move downward and contact the paper. At this time, the spring 43 is compressed. When the pressing part 33 releases the pressure, the pen refill 41 returns to its original position under the restoring force of the spring 43.

[0041] In a preferred embodiment, the device further includes a control unit, which is electrically connected to both the drive motor 21 and the lifting drive component 31. The control unit controls the rotation angle of the turntable 23 and the movement of the pen-changing assembly. The control unit can also be set to different drawing modes, such as changing pens in a preset order or intelligently changing pens based on the content of the drawing.

[0042] Compared to traditional manual pen-changing devices or simple automatic pen-changing devices, the rotary design of this application enables rapid and continuous pen changing. For example, when creating a painting with rich colors and diverse brushstrokes, manual pen changing may frequently interrupt the painting process, while this device can complete pen changing in a few seconds, greatly improving painting efficiency.

[0043] Furthermore, unless otherwise explicitly specified or limited, the terms "installation" and "connection" in this application embodiment should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. The terms "upper," "lower," "left," "right," "inner," "outer," and "side," etc., are merely for reference to the direction in the accompanying drawings or the usual placement of the product during use. They are only for clearly describing this application and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limitations on this application. The terms "first," "second," etc., are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance; "multiple" refers to at least two. In this application embodiment, the limitations on relative positional relationships such as parallel, perpendicular, and aligned are all relative to the current technological level and are not absolutely strict limitations. Slight deviations are allowed; approximations of parallel, perpendicular, and aligned are all acceptable. For example, "A and B are parallel" means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 degrees and 10 degrees.

[0044] The above are only some embodiments and implementation methods of this application. The protection scope of this application is not limited thereto. In the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other. Any combination of features in different embodiments is also within the protection scope of this application. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application.

Claims

1. A pen-changing device for a drawing robot, characterized in that, The utility model relates to a pen pressing device, including fixed frame, rotating assembly and press pen assembly, rotating assembly and press pen assembly all install in fixed frame, Rotating assembly includes drive motor, pivot and rotating disc, drive motor installs at the top of fixed frame, one end of pivot is connected to the output end of drive motor, the other end of pivot is connected with rotating disc, and rotating disc is concentric with pivot, a plurality of through holes for installing elastic pen spare are set up along the circumference of pivot, Press pen assembly includes lifting drive part and pressing piece, lifting drive part is installed in fixed frame and is located one side of rotating disc, one end of pressing piece is connected with the output end of lifting drive part, the other end of pressing piece is equipped with pressing portion, pressing portion is located above through hole and is opposite one through hole, 2. The pen changing device for a drawing robot according to claim 1, characterized by Fixed frame includes vertical plate and first support plate and second support plate that are arranged in the upper and lower interval of one side of vertical plate, first support plate is used for installing drive motor, second support plate is used for installing lifting drive part.

3. The pen changing device for a drawing robot according to claim 2, characterized by First support plate includes two strip plates, two strip plates are horizontally spaced apart and arranged on one side of vertical plate, and the opposite sides of drive motor are connected with two strip plates through a connecting lug.

4. The pen changing device for a drawing robot according to claim 2, wherein Second support plate includes plate body, plate body is equipped with first mounting hole, lifting drive part is arranged in first mounting hole and is connected to vertical plate, and the output end of lifting drive part is located below, Pressing piece is L-shaped, the horizontal plate of pressing piece is connected with the output end of lifting drive part, the vertical plate of pressing piece is located on one side of lifting drive part and is arranged in first mounting hole, and the end of pressing portion away from the horizontal plate of pressing piece is connected to the vertical plate of pressing piece.

5. The pen changing device for a drawing robot according to claim 4, wherein The end of plate body away from vertical plate is equipped with second mounting hole concentric with pivot, and rotating disc is located in second mounting hole.

6. The pen changing device for a drawing robot according to claim 5, wherein The bottom of second mounting hole is connected with pen shell, and pen shell is concentric with pivot and rotating disc.

7. The pen changing device for a drawing robot according to claim 1, wherein Lifting drive part is a straight push rod.

8. The pen changing device for a drawing robot according to claim 1, wherein Drive motor is a five-wire four-phase stepping motor.

9. The pen changing device for a drawing robot according to claim 1, wherein Elastic pen spare includes pen core, pressing block and spring, pen core is arranged in through hole, pressing block is connected to the top end of pen core, spring is sleeved on the outside of pen core and abuts between pressing block and rotating disc.

10. The pen changing device for a drawing robot according to claim 1, wherein It also includes a control unit, which is electrically connected with the drive motor and the lifting drive part respectively.

Images