Writing and drawing robot

Abstract

The utility model relates to the technical field of intelligent robots, in particular to a writing and drawing robot. The writing and drawing robot comprises a shell, a writing assembly, a first driving assembly, a second driving assembly and a lifting assembly, and the first driving assembly, the second driving assembly and the lifting assembly are arranged in the shell. The writing assembly is arranged outside the shell and located at the opening. The first driving assembly is used for driving the writing assembly to move in the X-axis direction; the second driving assembly is used for driving the writing assembly to move in the Y-axis direction; the lifting assembly is used for driving the writing assembly to move in the Z-axis direction so as to complete pen falling and pen lifting. A guide structure is arranged between the lifting assembly and the shell and used for guiding the writing assembly to move in the Z-axis direction. According to the writing and drawing robot, the possibility that the writing assembly shakes and deviates in the moving process in the Z-axis direction can be reduced, the moving stability of the writing assembly in the Z-axis direction is improved, the accuracy of pen lifting and pen falling positions of the writing assembly is ensured, and the use experience feeling of the writing and drawing robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, and in particular to a drawing robot. Background Technology

[0002] With the rapid development of artificial intelligence and robotics, drawing robots have been widely used in education, artistic creation, and personalized customization.

[0003] Most existing writing and drawing robots use motor-driven robotic arms to drive the writing motion to complete writing or drawing. However, existing writing and drawing robots are prone to wobbling and deviation during the pen lifting and lowering process, resulting in inaccurate pen placement and lifting positions, inaccurate lines, and a poor user experience. Utility Model Content

[0004] The technical problem to be solved by this utility model embodiment is to provide a writing and drawing robot to solve the problem that writing and drawing robots in the prior art are prone to shaking and deviating during the process of lifting and putting down the pen, resulting in a poor user experience.

[0005] This utility model discloses a writing and drawing robot, including a shell, a writing component, and a first drive component, a second drive component, and a lifting component disposed within the shell.

[0006] The housing is provided with an opening;

[0007] The writing component is located outside the housing and at the opening;

[0008] The first driving component is used to drive the writing component to move along the X-axis direction;

[0009] The second driving component is used to drive the writing component to move along the Y-axis direction;

[0010] The lifting component is used to drive the writing component to move along the Z-axis direction to complete the pen placement and lifting;

[0011] A guide structure is provided between the lifting component and the housing, and the guide structure is used to guide the writing component to move along the Z-axis.

[0012] Optionally, the writing robot further includes a first sensing component disposed within the housing. The first sensing component is used to detect whether the writing component has moved to a first limit position along the X-axis direction, and outputs a first sensing signal when the writing component moves to the first limit position to trigger the first driving component to stop working. The first limit position is located near the opening.

[0013] Optionally, the first driving component connects the writing component and the second driving component. The second driving component drives the first driving component to move along the Y-axis. The writing robot also includes a second sensing component disposed in the housing. The second sensing component is used to detect whether the first driving component moves to a second limit position or a third limit position along the Y-axis. When the first driving component moves to the second limit position, it outputs a second sensing signal, and when it moves to the third limit position, it outputs a third sensing signal to trigger the second driving component to stop working. The second limit position and the third limit position are respectively close to two inner sidewalls of the housing that are opposite to each other.

[0014] Optionally, the writing robot further includes a fixed bracket disposed inside the housing and fixedly connected to the housing. The first sensing component includes a first magnetic element and a first magnetic sensing element. The first magnetic element is disposed on the first driving component, and the first magnetic sensing element is disposed on the fixed bracket and disposed near the opening. When the first driving component drives the writing component to move to a position corresponding to the first magnetic element and the first magnetic sensing element, the first magnetic sensing element outputs the first sensing signal.

[0015] Optionally, the second sensing component includes a second magnetic element, a third magnetic element, a second magnetic sensing element, and a third magnetic sensing element. The second and third magnetic sensing elements are distributed along the Y-axis on the fixed bracket and are respectively located at the second and third extreme positions. The second and third magnetic elements are also distributed along the Y-axis on the first driving component. When the second driving component moves the first driving component to a position corresponding to the second magnetic element and the second magnetic sensing element, the second magnetic sensing element outputs the second sensing signal. When the second driving component moves the first driving component to a position corresponding to the third magnetic element and the third magnetic sensing element, the third magnetic sensing element outputs the third sensing signal.

[0016] Optionally, the writing robot further includes a third sensing component disposed on the bottom wall of the housing. The third sensing component is used to detect whether the writing component has moved to the pen-dropping position along the Z-axis, and outputs a fourth sensing signal when the writing component moves to the pen-dropping position to trigger the stopping of the lifting component.

[0017] Optionally, the first driving assembly includes a first driving member, a first gear, a moving rod, and a first mounting bracket. The first driving member is mounted on the first mounting bracket and its driving end is connected to the first gear to drive the first gear to rotate. The first mounting bracket is provided with a first guide groove arranged along the X-axis direction. The first gear is disposed in the first mounting bracket and exposed in the first guide groove. The moving rod is provided with a first rack that meshes with the first gear and moves along the first guide groove through the meshing action of the first rack and the first gear. The front end of the moving rod is connected to the writing assembly.

[0018] Optionally, the second drive assembly includes a second drive member, a second gear, a lifting bracket, and a second mounting bracket. The drive end of the second drive member is connected to the second gear to drive the second gear to rotate. The second drive member is mounted on the second mounting bracket, which has a second guide groove arranged along the Y-axis. The second gear is disposed within the second mounting bracket and exposed outside the second guide groove. The lifting bracket includes a guide arm, on which a second rack meshes with the second gear. The second mounting bracket is fixedly connected to the first mounting bracket and moves relative to the guide arm along the second guide groove through the meshing action of the second gear and the second rack.

[0019] Optionally, the drawing robot further includes a fixed bracket disposed within the housing and fixedly connected to the housing. The guide structure includes a buffer elastic element, multiple first guide rods disposed on the housing, and multiple hollow first guide posts disposed on the fixed bracket. The lifting bracket is provided with multiple second guide rods and multiple second guide posts. The multiple first guide rods and multiple second guide posts are arranged in a one-to-one correspondence. The end of each first guide rod away from the housing extends into a corresponding second guide post and can move within the second guide post. The multiple second guide rods and multiple first guide posts are arranged in a one-to-one correspondence. The end of each second guide rod away from the lifting bracket extends into a corresponding first guide post and can move within the first guide post.

[0020] The buffer elastic element is sleeved on the first guide rod and located between the second guide post and the housing. When the lifting assembly moves the writing assembly to the pen placement position, one end of the buffer elastic element abuts against the second guide post and the other end abuts against the housing, and the buffer elastic element is in a compressed state.

[0021] Optionally, the drawing robot further includes an identification module disposed within the housing. The housing is provided with a slot for inserting a card, the position of which corresponds to the identification module. The identification module is connected to the first drive component, the second drive component, and the lifting component, and is used to identify the graphic on the card and control the first drive component, the second drive component, and the lifting component to work.

[0022] Compared with the prior art, the beneficial effects of the writing robot provided by this utility model embodiment are as follows: by setting a shell, a first driving component, a second driving component, and a lifting component are set inside the shell, and a writing component is set outside the shell, with the writing component located at the opening of the shell. The first driving component drives the writing component to move along the X-axis, the second driving component drives the writing component to move along the Y-axis, and the lifting component drives the writing component to move along the Z-axis, realizing the pen placement and lifting of the writing component. A guide structure is set between the lifting component and the shell to guide the movement of the writing component along the Z-axis, reducing the possibility of swaying and deviation of the writing component during movement along the Z-axis, improving the stability of the writing component's movement along the Z-axis, ensuring the accuracy of the pen placement and lifting positions of the writing component, and enhancing the user experience of the writing robot. Attached Figure Description

[0023] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0024] Figure 1 This is a three-dimensional structural diagram of the drawing robot provided in this embodiment of the utility model;

[0025] Figure 2 This is an exploded structural diagram of the drawing robot provided in this embodiment of the utility model;

[0026] Figure 3 This is a three-dimensional structural diagram of the fixed bracket provided in an embodiment of the present utility model;

[0027] Figure 4 This is a three-dimensional structural diagram of the connection of the first driving component, the second driving component, the lifting component, and the writing component provided in this embodiment of the utility model at one angle;

[0028] Figure 5 This is a three-dimensional structural diagram of the connection between the first driving component, the second driving component, the lifting component, and the writing component provided in this embodiment of the utility model from another angle;

[0029] Figure 6 yes Figure 4 A schematic diagram of the exploded structure;

[0030] Figure 7This is a cross-sectional structural schematic diagram of the drawing robot provided in this embodiment of the utility model;

[0031] Figure 8 This is a three-dimensional structural diagram of the drawing robot (with a card inserted in the slot) provided in an embodiment of this utility model.

[0032] The labels for the attached figures are as follows:

[0033] 110, Housing; 110a, Opening; 110b, Slot; 120, Writing Component; 130, First Drive Assembly; 131, First Drive Component; 132, First Gear; 133, Moving Rod; 1331, First Rack; 134, First Mounting Bracket; 134a, First Guide Groove; 140, Second Drive Assembly; 141, Second Drive Component; 142, Second Gear; 143, Lifting Bracket; 1431, Guide Arm; 14311, Second Rack; 1432, Second Guide Rod; 1433, Second Guide Post; 144, Second Mounting Bracket; 144a, Second Guide Groove; 150. Lifting assembly; 151. Third drive component; 152. Third gear; 153. Third mounting bracket; 1531. Third rack; 160. Guide structure; 161. First guide rod; 162. First guide post; 163. Buffer elastic component; 170. First sensing assembly; 171. First magnetic component; 172. First magnetic sensing component; 180. Fixed bracket; 190. Second sensing assembly; 191. Second magnetic component; 192. Third magnetic component; 193. Second magnetic sensing component; 194. Third magnetic sensing component; 210. Third sensing assembly; 220. Identification module. Detailed Implementation

[0034] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The preferred embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0035] This utility model provides a writing and drawing robot that can be used for writing or drawing. For example... Figure 1 , Figure 2 and Figure 4 As shown, the writing robot includes a housing 110, a writing component 120, and a first drive component 130, a second drive component 140, and a lifting component 150 disposed within the housing 110.

[0036] The housing 110 is provided with an opening 110a.

[0037] The writing component 120 is located outside the housing 110 and at the opening 110a.

[0038] The first drive component 130 is used to drive the writing component 120 to move along the X-axis.

[0039] The second drive component 140 is used to drive the writing component 120 to move along the Y-axis.

[0040] The lifting component 150 is used to move the writing component 120 along the Z-axis to complete the pen placement and lifting.

[0041] A guide structure 160 is provided between the lifting component 150 and the housing 110. The guide structure 160 is used to guide the writing component 120 to move along the Z-axis.

[0042] The writing robot of this application embodiment has a housing 110, inside which a first drive component 130, a second drive component 140, and a lifting component 150 are arranged. A writing component 120 is arranged outside the housing 110 and is located at the opening 110a of the housing 110. The first drive component 130 drives the writing component 120 to move along the X-axis, the second drive component 140 drives the writing component 120 to move along the Y-axis, and the lifting component 150 drives the writing component 120 to move along the Z-axis, thereby realizing the pen placement and lifting of the writing component 120. A guide structure 160 is provided between the lifting component 150 and the housing 110 to guide the movement of the writing component 120 along the Z-axis, reducing the possibility of swaying and deviation of the writing component 120 during movement in the Z-axis direction, improving the stability of the writing component 120 during movement in the Z-axis direction, ensuring the accuracy of the pen placement and lifting positions of the writing component 120, and improving the user experience of the writing robot.

[0043] refer to Figure 2 , Figure 3 and Figure 6 In an optional embodiment of this application, the writing robot further includes a first sensing component 170 disposed in the housing 110. The first sensing component 170 is used to detect whether the writing component 120 has moved to a first limit position along the X-axis direction, and outputs a first sensing signal when the writing component 120 moves to the first limit position, which is used to trigger the first driving component 130 to stop working. The first limit position is set close to the opening.

[0044] The first extreme position is set near the opening of the housing 110. When the writing component 120 moves along the X-axis to the first extreme position, it indicates that the writing component 120 is at risk of colliding with the housing 110. By setting the first sensing component 170 to output the first sensing signal when the writing component 120 moves along the X-axis to the first extreme position, the first driving component 130 can be stopped in time to avoid the writing component 120 colliding with the housing 110 and extend the service life of the writing robot.

[0045] Continue to refer to Figure 2 , Figure 3 and Figure 6In an optional embodiment of this application, the writing robot further includes a fixed bracket 180. The first sensing component 170 includes a first magnetic element 171 and a first magnetic sensing element 172. The fixed bracket 180 is disposed inside the housing 110 and fixedly connected to the housing 110. The first magnetic element 171 is disposed on the first driving component 130. The first magnetic sensing element 172 is disposed on the fixed bracket 180 and is disposed near the opening 110a. When the first driving component 130 drives the writing component 120 to move to the position where the first magnetic element 171 and the first magnetic sensing element 172 correspond, the first magnetic sensing element 172 outputs a first sensing signal to trigger the first driving component 130 to stop working.

[0046] The first magnetic sensor 172 can sense the presence of a magnetic field. By setting the first magnetic element 171 and the first magnetic sensor 172, when the positions of the first magnetic sensor 172 and the first magnetic element 171 correspond, the magnetic field around the first magnetic sensor 172 changes. The first magnetic sensor 172 can detect this change and output a first sensing signal. This first sensing signal can be used to trigger the first drive assembly 130 to stop working, thereby controlling the writing assembly 120 to stop moving along the X-axis. Since the first magnetic element 171 is located close to the opening 110a of the housing 110, the first magnetic sensor 172, in cooperation with the first magnetic element 171, can trigger the first drive assembly 130 to stop working when the writing assembly 120 moves to a position close to the opening 110a of the housing 110, i.e., the first limit position. This avoids the writing assembly 120 colliding with the housing 110, prevents damage to the writing robot, and extends the service life of the writing robot.

[0047] The writing component 120 is detected by magnetic induction to detect whether it has moved to a position close to the opening 110a of the housing 110. This eliminates the need for mechanical contact, avoids mechanical wear caused by contact detection, and extends the service life of the device. In addition, the magnetic field of magnetic induction is relatively stable, has a fast response speed, and is not easily affected by environmental interference. This ensures the accuracy of stopping the first drive component 130 when the writing component 120 moves to the first limit position.

[0048] In a specific implementation, the first magnetic component 171 can be a magnet, and the first magnetic sensing component 172 can be a Hall element. The Hall element can sense the magnetic field of the magnet and output a first sensing signal.

[0049] Further reference Figure 2 , Figure 3 and Figure 6The first drive component 130 is connected to the writing component 120 and the second drive component 140. The second drive component 140 drives the first drive component 130 to move along the Y-axis. The writing robot also includes a second sensing component 190 disposed in the housing 110. The second sensing component 190 is used to detect whether the first drive component 130 moves to the second limit position or the third limit position along the Y-axis. When the first drive component 130 moves to the second limit position, it outputs a second sensing signal, and when it moves to the third limit position, it outputs a third sensing signal to trigger the second drive component 140 to stop working. The second limit position and the third limit position are respectively close to the two inner sidewalls of the housing 110 that are opposite to each other.

[0050] When the first drive assembly 130 moves along the Y-axis to the second or third extreme position, it indicates that the first drive assembly 130 is at risk of colliding with the inner wall of the housing 110. By setting the second sensing assembly 190, it is possible to detect whether the first drive assembly 130 has moved to the second or third extreme position, and promptly send corresponding second and third sensing signals when it moves to the second or third extreme position, triggering the stop of the second drive assembly 140 to prevent the first drive assembly 130 from continuing to move, thereby protecting the housing 110.

[0051] Specifically, please refer to Figure 2 , Figure 3 and Figure 6 The second sensing component 190 includes a second magnetic element 191, a third magnetic element 192, a second magnetic sensing element 193, and a third magnetic sensing element 194. The second magnetic sensing elements 193 and 194 are distributed along the Y-axis on the fixed bracket 180 and are located at the second and third extreme positions, respectively. The second magnetic element 191 and 192 are distributed along the Y-axis on the first driving component 130. The first driving component 130 connects to the writing component 120 and the second driving component 140. The second driving component 140 drives the writing component 120... A drive assembly 130 moves along the Y-axis. When the second drive assembly 140 drives the first drive assembly 130 to move to a position where the second magnetic element 191 and the second magnetic sensing element 193 correspond, the second magnetic sensing element 193 outputs a second sensing signal to trigger the second drive assembly 140 to stop working. When the second drive assembly 140 drives the first drive assembly 130 to move to a position where the third magnetic element 192 and the third magnetic sensing element 194 correspond, the third magnetic sensing element 194 outputs a third sensing signal to trigger the second drive assembly 140 to stop working.

[0052] The second drive assembly 140 drives the first drive assembly 130 to move along the Y-axis, thereby driving the writing assembly 120 to move along the Y-axis. The second magnetic sensor 193 and the third magnetic sensor 194 can sense the presence of a magnetic field. By setting the second magnetic sensor 191 and its corresponding second magnetic sensor 193, when the positions of the second magnetic sensor 193 and the second magnetic sensor 191 correspond, a change in the magnetic field around the second magnetic sensor 193 occurs. The second magnetic sensor 193 can detect this change and output a second sensing signal. This second sensing signal can be used to trigger the second drive assembly 140 to stop working, thereby controlling the first drive assembly 130 to stop moving further along the Y-axis. Similarly, when the positions of the third magnetic sensor 194 and the third magnetic sensor 192 correspond, a change in the magnetic field around the third magnetic sensor 194 occurs. The third magnetic sensor 194 can detect this change and output a third sensing signal. This third sensing signal can be used to trigger the second drive assembly 140 to stop working, thereby controlling the first drive assembly 130 to stop moving further along the Y-axis. Since the second magnetic sensor 193 and the third magnetic sensor 194 are respectively located close to the two opposite inner sidewalls of the housing 110, that is, at the second limit position and the third limit position respectively, the second magnetic sensor 193 cooperating with the second magnetic sensor 191, and the third magnetic sensor 194 cooperating with the third magnetic sensor 192 can trigger the stop of the second drive assembly 140 when the first drive assembly 130 moves to a position close to the two side walls of the housing 110, so as to avoid the first drive assembly 130 colliding with the housing 110, avoid damage to the writing robot, and extend the service life of the writing robot.

[0053] Similarly, magnetic induction is used to detect whether the first drive component 130 has moved to a position close to the two side walls of the housing 110. This eliminates the need for mechanical contact, avoids mechanical wear caused by contact detection, and extends the service life of the device. Furthermore, the magnetic field of magnetic induction is relatively stable, has a fast response speed, and is not easily affected by environmental interference. This ensures the accuracy of stopping the second drive component 140 when the writing component 120 moves to the second and third extreme positions.

[0054] In specific implementation, the second magnetic component 191 and the third magnetic component 192 can also be magnets, and the second magnetic sensing component 193 and the third magnetic sensing component 194 can also be Hall elements. The Hall elements can sense the magnetic field of the magnet and output the second sensing signal and the third sensing signal.

[0055] refer to Figure 7In an optional embodiment of this application, the writing robot further includes a third sensing component 210 disposed on the bottom wall of the housing 110. The third sensing component 210 is used to detect whether the writing component 120 has moved to the pen-dropping position along the Z-axis direction, and outputs a fourth sensing signal when the writing component 120 moves to the pen-dropping position, which is used to trigger the stop lifting component 150 to work.

[0056] By setting the third sensing component 210, it is possible to detect when the writing component 120 moves to the pen placement position and trigger the stop lifting component 150 to work, so that the writing component 120 can accurately place itself every time it places a pen, thereby improving writing quality and drawing accuracy.

[0057] Optionally, the third sensing component 210 can be an infrared sensing component or a press-type sensing component, etc. In a specific implementation, the lifting component 150 is connected to the second driving component 140, driving the second driving component 140 to move along the Z-axis, thereby driving the writing component 120 to move along the Z-axis. When the sensing component 210 is an infrared sensing component, the infrared sensing component emits infrared light. When the second driving component 140 moves to a position that blocks the infrared light, i.e., the writing component 120 moves to the pen-dropping position, the infrared sensing component generates a fourth sensing signal, triggering the lifting component 150 to stop working. When the sensing component 210 is a press-type sensing component, the lifting component 150 drives the second driving component 140 to move to the press-type sensing component position, i.e., the writing component 120 moves to the pen-dropping position, the press-type sensing component generates a fourth sensing signal, triggering the lifting component 150 to stop working.

[0058] refer to Figures 4 to 6 In an optional embodiment of this application, the first driving assembly 130 includes a first driving member 131, a first gear 132, a moving rod 133, and a first mounting frame 134. The first driving member 131 is mounted on the first mounting frame 134 and its driving end is connected to the first gear 132 to drive the first gear 132 to rotate. The first mounting frame 134 is provided with a first guide groove 134a arranged along the X-axis direction. The first gear 132 is disposed in the first mounting frame 134 and exposed in the first guide groove 134a. The moving rod 133 is provided with a first rack 1331 that meshes with the first gear 132 and moves along the first guide groove 134a through the meshing action of the first rack 1331 and the first gear 132. The front end of the moving rod 133 is connected to the writing assembly 120.

[0059] The first driving component 131 provides power for the rotation of the first gear 132. In specific implementations, the first driving component 131 can be a power component such as a motor or servo motor to drive the first gear 132 to rotate.

[0060] The meshing transmission between the first gear 132 and the first rack 1331 on the moving rod 133 enables high-precision linear motion control of the moving rod 133, ensuring the accuracy of the writing component 120's movement in the X-axis direction. The first guide groove 134a on the first mounting bracket 134 is set along the X-axis direction, restricting the movement trajectory of the moving rod 133, ensuring its movement along the X-axis direction, avoiding deviation or wobbling, thereby improving the positioning accuracy of the writing component 120.

[0061] The first mounting bracket 134 provides a stable mounting base for the first drive component 131, the first gear 132, and the moving rod 133, ensuring the rigidity and stability of the entire transmission system. This structural design effectively reduces vibration and shaking, improving the reliability of writing and drawing. The first gear 132 is installed inside the first mounting bracket 134, with the first gear 132 exposed in the first guide groove 134a. The first rack 1331 on the moving rod 133 meshes with the first gear 132, enabling movement along the first guide groove 134a. The first mounting bracket 134, the first drive component 131, the first gear 132, and the moving rod 133 achieve a compact spatial layout, making the overall size of the writing and drawing robot smaller.

[0062] refer to Figures 4 to 6 In an optional embodiment of this application, the second drive assembly 140 includes a second drive member 141, a second gear 142, a lifting bracket 143, and a second mounting bracket 144. The drive end of the second drive member 141 is connected to the second gear 142 to drive the second gear 142 to rotate. The second drive member 141 is mounted on the second mounting bracket 144. The second mounting bracket 144 is provided with a second guide groove 144a arranged along the Y-axis. The second gear 142 is disposed inside the second mounting bracket 144 and exposed outside the second guide groove 144a. The lifting bracket 143 includes a guide arm 1431. A second rack 14311 that meshes with the second gear 142 is provided on the guide arm 1431. The second mounting bracket 144 is fixedly connected to the first mounting bracket 134 and moves relative to the guide arm 1431 along the second guide groove 144a through the meshing action of the second gear 142 and the second rack 14311.

[0063] The second drive unit 141 can provide power for the rotation of the second gear 142. In specific implementations, the second drive unit 141 can also be a power component such as a motor or servo motor to drive the second gear 142 to rotate.

[0064] The meshing transmission between the second gear 142 and the second rack 14311 on the guide arm 1431 of the lifting bracket 143 enables high-precision linear motion control of the second mounting bracket 144, ensuring accurate movement of the writing component 120 in the Y-axis direction. The second guide groove 144a on the second mounting bracket 144 is set along the Y-axis direction, restricting the movement trajectory of the second mounting bracket 144, ensuring its movement along the Y-axis direction, avoiding deviation or shaking, and ensuring that the writing component 120 moves along the Y-axis direction.

[0065] The second mounting bracket 144 provides a stable mounting base for the second drive component 141 and the second gear 142, ensuring the rigidity and stability of the entire transmission system. This structural design effectively reduces vibration and shaking, improving the reliability of writing and drawing. The second gear 142 is installed inside the second mounting bracket 144, with the second gear 142 exposed in the second guide groove 144a. The second rack 14311 on the guide arm 1431 of the lifting bracket 143 meshes with the second gear 142, enabling the second mounting bracket to move along the second guide groove 144a. A compact spatial layout is achieved between the second mounting bracket 144, the second drive component 141, and the second gear 142, making the overall size of the writing and drawing robot smaller.

[0066] refer to Figures 4 to 7 In an optional embodiment of this application, the lifting assembly 150 includes a third driving member 151, a third gear 152, and a third mounting bracket 153. The third driving member 151 is mounted on the housing 110 and its driving end is connected to the third gear 152 to drive the third gear 152 to rotate. The third mounting bracket 153 is provided with a third rack 1531 that meshes with the third gear 152. The third mounting bracket 153 is connected to the lifting bracket 143 and moves along the Z-axis direction under the guidance of the guide structure 160 through the meshing action of the third gear 152 and the third rack 1531.

[0067] The third drive unit 151 can provide power for the rotation of the third gear 152. In specific implementations, the third drive unit 151 can also be a power component such as a motor or servo motor to drive the third gear 152 to rotate.

[0068] The meshing of the third gear 152 and the third rack 1531 enables high-precision control of the movement of the lifting bracket 143 along the Z-axis. The gear transmission allows for rapid start, stop, and direction switching, and features high precision, high rigidity, and high efficiency. This ensures that the writing component 120 moves quickly, accurately, and stably in the Z-axis direction, which is beneficial for improving the quality of writing and drawing.

[0069] The third mounting bracket 153 provides a stable mounting foundation for the third drive component 151, the third gear 152, and the third rack 1531, ensuring the rigidity and stability of the entire transmission system. This structural design effectively reduces vibration and sway, improving the reliability of the system. The third mounting bracket 153 is connected to the lifting bracket 143. Through the meshing of the third gear 152 and the third rack 1531, the lifting bracket 143 can be moved along the Y-axis, realizing the pen placement and lifting of the writing component 120. It cooperates with the components of the first drive component 130 and the second drive component 140 to realize the writing and drawing functions of the writing and drawing robot, exhibiting high flexibility and precision.

[0070] refer to Figure 3 , Figure 4 and Figure 7 In an optional embodiment of this application, the drawing robot further includes a fixed bracket 180 disposed within and fixedly connected to the housing 110. The guide structure 160 includes a buffer elastic element 163, multiple first guide rods 161 disposed on the housing 110, and multiple hollow first guide posts 162 disposed on the fixed bracket 180. Multiple second guide rods 1432 and multiple second guide posts 1433 are disposed on the lifting bracket 143. The multiple first guide rods 161 and multiple second guide posts 1433 are arranged in a one-to-one correspondence. The end of each first guide rod 161 away from the housing 110 extends into a corresponding second guide post 1433 and can move within the second guide post 1433. The multiple second guide rods 1432 and multiple first guide posts 162 are arranged in a one-to-one correspondence. The end of each second guide rod 1432 away from the lifting bracket 143 extends into a corresponding first guide post 162 and can move within the first guide post 162.

[0071] When the third drive component 151 drives the third gear 152 to rotate, it causes the lifting bracket to move along the Z-axis. Since the first guide rod 161 on the housing 110 corresponds to the second guide post 1433 on the lifting bracket 143, and the first guide post 162 on the fixed bracket 180 corresponds to the first guide post 162 on the lifting bracket 143, the end of the first guide rod 161 away from the housing 110 can move within the second guide post 1433 of the lifting bracket 143. The second guide post 1433 guides the movement of the lifting bracket 143. Similarly, the end of the second guide rod 1432 away from the lifting bracket 143 can move within the first guide post 162, which also guides the movement of the lifting bracket 143. Therefore, the multiple first guide rods 161, first guide posts 162, second guide rods 1432, and second guide posts 1433 ensure more stable movement of the lifting bracket 143 in the Z-axis direction, preventing deviation or wobbling and improving the smoothness and accuracy of the writing and drawing robot. Furthermore, the combined design of multiple guide rods and guide columns can distribute the load and ensure the stability of the lifting bracket 143 and the components mounted on the lifting bracket 143 as they move along the Z-axis within the housing 110.

[0072] The number of first guide rods 161 can be two, three, or more, and correspondingly, the number of second guide posts 1433 can also be two, three, or more. The number of second guide rods 1432 can also be two, three, or more, and correspondingly, the number of first guide posts 162 can also be two, three, or more. Preferably, three first guide rods 161 are provided on the first housing 110, and three second guide posts 1433 are provided on the lifting bracket 143, forming a three-point support between the housing 110 and the lifting bracket 143; four second guide posts 1433 are provided on the fixed bracket 180, and four second guide rods 1432 are provided on the lifting bracket 143, forming a four-point support between the fixed bracket 180 and the lifting bracket 143.

[0073] The buffer elastic element 163 is sleeved on the first guide rod 161 and located between the second guide post 1433 and the housing 110. When the lifting component 150 drives the writing component 120 to the pen placement position, one end of the buffer elastic element 163 abuts against the second guide post 1433 and the other end abuts against the housing 110, and the buffer elastic element 163 is in a compressed state.

[0074] The cushioning elastic element 163 absorbs the impact force when the lifting assembly 150 reaches the pen placement position, reducing the impact force of the writing assembly 120 on the writing medium, and reducing vibration and noise caused by rapid contact, further improving the user experience. The cushioning effect of the cushioning elastic element 163 can also effectively protect other components in the guide structure 160 (such as guide rods and guide posts) from damage due to impact.

[0075] In specific implementation, the buffer elastic element 163 is a spring. The spring is sleeved on the first guide rod 161 and located between the second guide post 1433 and the housing 110. When the lifting component 150 drives the writing component 120 to the pen placement position, one end of the spring abuts against the second guide post 1433 and the other end abuts against the housing 110, and the spring is in a compressed state.

[0076] refer to Figure 4 , Figure 5 and Figure 8 In an optional embodiment of this application, the drawing robot further includes an identification module 220 disposed within the housing 110. The housing 110 is provided with a slot 110b for inserting a card. The position of the slot 110b corresponds to that of the identification module 220. The identification module 220 is connected to the first drive component 130, the second drive component 140, and the lifting component 150, and is used to identify the graphics on the card and control the first drive component 130, the second drive component 140, and the lifting component 150 to work.

[0077] The recognition module 220 can recognize the graphic information on the card and control the first drive component 130, the second drive component 140, and the lifting component 150 to complete the writing or drawing of the graphics on the card. The card can be changed at any time, allowing for quick switching between different task modes without the need for complex reprogramming of the writing robot. This design enables the writing robot to adapt to various application scenarios, such as writing different texts and drawing different paintings, enhancing the system's flexibility.

[0078] When using the drawing robot, users simply insert the card into the card slot, and the recognition module 220 recognizes the graphics on the card to complete the drawing task.

[0079] The recognition module 260 can recognize graphic information on cards using conventional deep learning-based image recognition algorithms, which will not be elaborated here.

[0080] It should be understood that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Those skilled in the art can modify the technical solutions described in the above embodiments, or make equivalent substitutions for some of the technical features; and all such modifications and substitutions should fall within the protection scope of the appended claims of this utility model.

Claims

1. A drawing robot, characterized in that, It includes a housing, a writing component, and a first drive component, a second drive component, and a lifting component disposed within the housing, wherein, The housing is provided with an opening; The writing component is located outside the housing and at the opening; The first driving component is used to drive the writing component to move along the X-axis direction; The second driving component is used to drive the writing component to move along the Y-axis direction; The lifting component is used to drive the writing component to move along the Z-axis direction to complete the pen placement and lifting; A guide structure is provided between the lifting component and the housing, and the guide structure is used to guide the writing component to move along the Z-axis.

2. The drawing robot according to claim 1, characterized in that, The writing robot also includes a first sensing component disposed within the housing. The first sensing component is used to detect whether the writing component has moved to a first limit position along the X-axis direction, and outputs a first sensing signal when the writing component moves to the first limit position to trigger the first driving component to stop working. The first limit position is located near the opening.

3. The drawing robot according to claim 2, characterized in that, The first driving component connects the writing component and the second driving component. The second driving component drives the first driving component to move along the Y-axis. The writing robot also includes a second sensing component disposed in the housing. The second sensing component is used to detect whether the first driving component moves to a second limit position or a third limit position along the Y-axis. When the first driving component moves to the second limit position, it outputs a second sensing signal, and when it moves to the third limit position, it outputs a third sensing signal to trigger the second driving component to stop working. The second limit position and the third limit position are respectively close to two inner sidewalls of the housing that are opposite to each other.

4. The drawing robot according to claim 3, characterized in that, The writing robot also includes a fixed bracket disposed inside the housing and fixedly connected to the housing. The first sensing component includes a first magnetic element and a first magnetic sensing element. The first magnetic element is disposed on the first driving component, and the first magnetic sensing element is disposed on the fixed bracket and close to the opening. When the first driving component drives the writing component to move to a position corresponding to the first magnetic element and the first magnetic sensing element, the first magnetic sensing element outputs the first sensing signal.

5. The drawing robot according to claim 4, characterized in that, The second sensing component includes a second magnetic element, a third magnetic element, a second magnetic sensing element, and a third magnetic sensing element. The second and third magnetic sensing elements are distributed along the Y-axis on the fixed bracket and are located at the second and third extreme positions, respectively. The second and third magnetic elements are also distributed along the Y-axis on the first driving component. When the second driving component moves the first driving component to a position corresponding to the second magnetic element and the second magnetic sensing element, the second magnetic sensing element outputs the second sensing signal. When the second driving component moves the first driving component to a position corresponding to the third magnetic element and the third magnetic sensing element, the third magnetic sensing element outputs the third sensing signal.

6. The drawing robot according to claim 1, characterized in that, The writing robot also includes a third sensing component located on the bottom wall of the housing. The third sensing component is used to detect whether the writing component has moved to the pen-dropping position along the Z-axis, and outputs a fourth sensing signal when the writing component moves to the pen-dropping position to trigger the stopping of the lifting component.

7. The drawing robot according to any one of claims 1-6, characterized in that, The first driving assembly includes a first driving member, a first gear, a moving rod, and a first mounting bracket. The first driving member is mounted on the first mounting bracket and its driving end is connected to the first gear to drive the first gear to rotate. The first mounting bracket is provided with a first guide groove arranged along the X-axis direction. The first gear is disposed in the first mounting bracket and exposed in the first guide groove. The moving rod is provided with a first rack that meshes with the first gear and moves along the first guide groove through the meshing action of the first rack and the first gear. The front end of the moving rod is connected to the writing assembly.

8. The drawing robot according to claim 7, characterized in that, The second drive assembly includes a second drive member, a second gear, a lifting bracket, and a second mounting bracket. The drive end of the second drive member is connected to the second gear to drive the second gear to rotate. The second drive member is mounted on the second mounting bracket. The second mounting bracket is provided with a second guide groove arranged along the Y-axis. The second gear is disposed inside the second mounting bracket and exposed outside the second guide groove. The lifting bracket includes a guide arm, and a second rack that meshes with the second gear is provided on the guide arm. The second mounting bracket is fixedly connected to the first mounting bracket and moves relative to the guide arm along the second guide groove through the meshing action of the second gear and the second rack.

9. The drawing robot according to claim 8, characterized in that, The drawing robot also includes a fixed bracket disposed within the housing and fixedly connected to the housing. The guiding structure includes a buffer elastic element, multiple first guide rods disposed on the housing, and multiple hollow first guide posts disposed on the fixed bracket. The lifting bracket is provided with multiple second guide rods and multiple second guide posts. The multiple first guide rods and multiple second guide posts are arranged in a one-to-one correspondence. The end of each first guide rod away from the housing extends into a corresponding second guide post and can move within the second guide post. The multiple second guide rods and multiple first guide posts are arranged in a one-to-one correspondence. The end of each second guide rod away from the lifting bracket extends into a corresponding first guide post and can move within the first guide post. The buffer elastic element is sleeved on the first guide rod and located between the second guide post and the housing. When the lifting assembly moves the writing assembly to the pen placement position, one end of the buffer elastic element abuts against the second guide post and the other end abuts against the housing, and the buffer elastic element is in a compressed state.

10. The drawing robot according to claim 1, characterized in that, The drawing robot also includes an identification module disposed within the housing. The housing has a slot for inserting a card, the position of which corresponds to the identification module. The identification module is connected to the first drive component, the second drive component, and the lifting component, and is used to identify the graphics on the card and control the first drive component, the second drive component, and the lifting component to work.

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