Mechanical arm for pyrography

Abstract

The utility model discloses a pyrograph mechanical arm, which relates to the field of pyrograph equipment, and comprises a base, a mounting seat, a large arm assembly, a small arm assembly and a mechanical claw assembly, and the mounting seat is arranged on the base and can rotate around an axis extending along the vertical direction relative to the base; the large arm assembly is arranged on the upper mounting side of the mounting base and comprises a first large arm, a second large arm, a first driving part and a second driving part, the first large arm and the second large arm are distributed at intervals in the first direction and connected, the first driving part is in driving connection with the first large arm, and the second driving part is in driving connection with the second large arm; the small arm assembly comprises a first small arm and a second small arm, the first small arm is connected with the first large arm, and the second small arm is connected with the second large arm; the mechanical claw assembly is provided with an electric soldering pen and is in threaded connection with the small arm assembly; therefore, the pyrography mechanical arm has three degrees of freedom, can control the electric pyrography pen to perform pyrography operation, is high in operability and flexibility, greatly improves the pyrography efficiency, and is suitable for pyrography non-perpetual culture teaching.

Description

Technical Field

[0001] This utility model relates to the field of pyrography equipment technology, specifically to a pyrography robotic arm. Background Technology

[0002] Pyrography, as a traditional handicraft, boasts a long history and unique artistic value. However, traditional handmade pyrography has several limitations. On the one hand, it demands extremely high skill levels from the artist, requiring long-term practice and accumulation to master the techniques and create exquisite works. However, the number of skilled pyrography artists is relatively small, making it difficult to meet market demand. On the other hand, handmade pyrography is inefficient; completing a complex piece often requires a significant amount of time and effort, hindering the scaling up of production and limiting the widespread dissemination and commercial application of this art form. Utility Model Content

[0003] The main purpose of this invention is to propose a pyrography robotic arm to solve the above-mentioned problems.

[0004] To achieve the above objectives, this utility model proposes a pyrography robotic arm, comprising:

[0005] Base;

[0006] The mounting base is disposed on the base and can rotate relative to the base about an axis extending in the vertical direction;

[0007] The boom assembly, located on the upper mounting side of the mounting base, includes a first boom, a second boom, a first drive member, and a second drive member. The first boom and the second boom are spaced apart and connected along a first direction. The first drive member is driven to the first boom to drive the first boom to rotate relative to the mounting base about an axis extending along the first direction. The second drive member is driven to the second boom to drive the second boom to rotate relative to the mounting base about an axis extending along the first direction.

[0008] A forearm assembly, including a first forearm and a second forearm, wherein the first forearm is connected to a first upper arm, and the second forearm is connected to a second upper arm; and...

[0009] A mechanical gripper assembly for mounting an electric soldering pen, the mechanical gripper assembly being threadedly connected to the forearm assembly so that the angle between the mechanical gripper assembly and the forearm assembly is adjustable;

[0010] Wherein, the first direction is perpendicular to the up and down direction.

[0011] Optionally, the first driving element and the second driving element are both drive motors;

[0012] The pyrography robotic arm also includes a transmission arm assembly disposed between the first large arm and the second large arm, and the transmission arm assembly is connected to the first small arm and the second large arm;

[0013] The boom assembly also includes:

[0014] A first transmission wheel is fixedly connected to the first main arm, and the first driving component is connected to the first transmission wheel via a first transmission belt; and...

[0015] The second drive wheel is fixedly connected to the drive arm assembly, and the second drive component is connected to the second drive wheel via a second drive belt.

[0016] Optionally, the transmission arm assembly includes a first transmission arm and a second transmission arm arranged sequentially along the first direction, a first end of the first transmission arm being threadedly connected to a first end of the second transmission arm, a second end of the first transmission arm being threadedly connected to a first forearm, and a first end of the second transmission arm being fixedly connected to a second transmission wheel.

[0017] Optionally, the first forearm includes:

[0018] A first small connecting arm includes a first arm body and a first connecting portion. The first connecting portion is located at a first end of the first arm body and is angled to the first arm body. The first connecting portion is fixedly connected to the first large arm. The second end of the first arm body is threadedly connected to the mechanical claw assembly.

[0019] The second small connecting arm, arranged sequentially with the first small connecting arm along the first direction, includes a second arm body, a second connecting part, and a third connecting part. The second arm body is fixedly connected to the first arm body. The second connecting part is located at the first end of the second arm body and is set at an angle to the second arm body, and is fixedly connected to the first connecting part. The third connecting part is located between the two ends of the second arm body and is set at an angle to the second arm body. The third connecting part is threadedly connected to the second end of the first transmission arm and is connected to the second large arm and the second small arm through a first triangular connector.

[0020] Optionally, the pyrography robotic arm further includes a first support base, a second support base, and a support shaft. The first support base and the second support base are spaced apart along the first direction on the upper mounting side of the mounting base, and the support shaft passes through the first support base and the second support base along the first direction.

[0021] The first drive wheel, the first large arm, the drive arm assembly and the second drive wheel are disposed between the first support base and the second support base, and are sequentially sleeved on the outside of the support shaft along the first direction; the second large arm is fixedly connected to the second support base.

[0022] The first driving component is fixedly connected to the first support base, and the second driving component is fixedly connected to the second support base.

[0023] Optionally, the mechanical gripper assembly includes a second triangular connector, a third triangular connector, and a fixing block. The second and third triangular connectors are spaced apart along the first direction, and the fixing block is provided between the second and third triangular connectors. The second triangular connector is threadedly connected to the first forearm and the fixing block, and the third triangular connector is threadedly connected to the second forearm and the fixing block, so that the angle between the fixing block and the forearm assembly is adjustable. The fixing block is used to fix the soldering pen.

[0024] Optionally, the pyrography robotic arm further includes a third driving component, a third transmission wheel, and a third transmission belt. The third transmission wheel is located on the lower mounting side of the mounting base and is fixedly connected to the mounting base. The third driving component is a drive motor and is located on the upper mounting side of the mounting base. The output shaft of the third driving component passes through the mounting base in the vertical direction and is connected to the third transmission wheel via the third transmission belt, so that the mounting base can rotate relative to the base about an axis extending in the vertical direction.

[0025] Optionally, the pyrography robotic arm further includes a controller, which is electrically connected to the first drive unit, the second drive unit, the third drive unit, and the electric pyrography pen.

[0026] Optionally, the base has multiple through holes, which are spaced apart along the circumference of the base.

[0027] Optionally, the mounting base is provided with two limit switches to provide feedback on the rotation angle of the boom assembly.

[0028] In the technical solution of this utility model, the mounting base can rotate relative to the base around an axis extending in the vertical direction, thereby driving the electric soldering pen to rotate; the upper arm assembly can rotate relative to the mounting base around an axis extending in the first direction, thereby driving the electric soldering pen to perform pitching motion; the mechanical claw assembly is threadedly connected to the lower arm assembly, so that the mechanical claw assembly can be disassembled and rotated before use to drive the electric soldering pen to rotate and perform pitching motion. Thus, the pyrography robotic arm provided by this utility model has three degrees of freedom, which can control the electric soldering pen to perform pyrography work on the drawing board. It has strong operability and high flexibility, can simulate the operation of real artisans to the greatest extent, and greatly improves the efficiency of pyrography. It is also suitable for teaching pyrography intangible cultural heritage, promoting the inheritance and innovation of pyrography art, and meeting people's needs for traditional culture. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0030] Figure 1 A schematic diagram of the structure of an embodiment of the pyrography robotic arm provided by this utility model from a first-view perspective;

[0031] Figure 2 for Figure 1 A schematic diagram of the robotic arm for pyrography from a second-view perspective;

[0032] Figure 3 for Figure 1 A schematic diagram of the robotic arm for pyrography from a third-person perspective;

[0033] Figure 4 for Figure 1 A schematic diagram of the Chinese pyrography robotic arm from a fourth-person perspective;

[0034] Figure 5 for Figure 1 A schematic diagram of the Chinese pyrography robotic arm from a fifth-person perspective.

[0035] Explanation of icon numbers:

[0036]

[0037]

[0038] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0040] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0041] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0042] Pyrography, as a traditional handicraft, boasts a long history and unique artistic value. However, traditional handmade pyrography has several limitations. On the one hand, it demands extremely high skill levels from the artist, requiring long-term practice and accumulation to master the techniques and create exquisite works. However, the number of skilled pyrography artists is relatively small, making it difficult to meet market demand. On the other hand, handmade pyrography is inefficient; completing a complex piece often requires a significant amount of time and effort, hindering the scaling up of production and limiting the widespread dissemination and commercial application of this art form.

[0043] In view of this, the present invention provides a pyrography robotic arm 100. Figures 1 to 5 An embodiment of the pyrography robotic arm 100 provided by this utility model.

[0044] Please see Figures 1 to 5The pyrography robotic arm 100 includes a base 1, a mounting base 2, a large arm assembly 3, a small arm assembly 4, and a robotic gripper assembly 5. The mounting base 2 is disposed on the base 1 and can rotate relative to the base 1 about an axis extending in the vertical direction. The large arm assembly 3 is disposed on the upper mounting side of the mounting base 2 and includes a first large arm 31, a second large arm 32, a first driving member 33, and a second driving member 34. The first large arm 31 and the second large arm 32 are spaced apart and connected along a first direction. The first driving member 33 is drivenly connected to the first large arm 31 to drive the first large arm 31 relative to the mounting base 2 about an axis extending in the first direction. The axis of extension rotates, and the second driving member 34 is driven to connect with the second large arm 32 to drive the second large arm 32 to rotate relative to the mounting base 2 about an axis extending along the first direction; the forearm assembly 4 includes a first forearm 41 and a second forearm 42, the first forearm 41 is connected to the first large arm 31, and the second forearm 42 is connected to the second large arm 32; the mechanical claw assembly 5 is used to install the electric soldering pen 200, and the mechanical claw assembly 5 is threadedly connected to the forearm assembly 4 so that the included angle between the mechanical claw assembly 5 and the forearm assembly 4 is adjustable; wherein, the first direction and the up and down direction are perpendicular.

[0045] In this utility model, the mounting base 2 can rotate relative to the base 1 around an axis extending in the vertical direction, thereby driving the electric soldering pen 200 to rotate; the upper arm assembly 3 can rotate relative to the mounting base 2 around an axis extending in the first direction, thereby driving the electric soldering pen 200 to perform pitching motion; the mechanical claw assembly 5 is threadedly connected to the lower arm assembly 4, so that the mechanical claw assembly 5 can be disassembled and rotated before use to drive the electric soldering pen 200 to perform pitching motion. Thus, the pyrography robotic arm 100 provided by this utility model has three degrees of freedom, which can control the electric soldering pen 200 to perform pyrography work on the drawing board. It has strong operability and high flexibility, can simulate the operation of real artisans to the greatest extent, and greatly improves the efficiency of pyrography. It is also suitable for teaching pyrography intangible cultural heritage, promoting the inheritance and innovation of pyrography art, and meeting people's needs for traditional culture.

[0046] It should be noted that in this utility model, the first large arm 31 and the second large arm 32 are arranged in parallel in the first direction.

[0047] Further, please refer to Figures 1 to 5The first driving component 33 and the second driving component 34 are drive motors, respectively. The pyrography robotic arm 100 also includes a transmission arm assembly 6 disposed between the first large arm 31 and the second large arm 32. The transmission arm assembly 6 is connected to the first small arm 41 and the second large arm 32. The large arm assembly 3 also includes a first transmission wheel 35 and a second transmission wheel 36. The first transmission wheel 35 is fixedly connected to the first large arm 31. The first driving component 33 is belt-driven connected to the first transmission wheel 35 through a first transmission belt 37. The second transmission wheel 36 is fixedly connected to the transmission arm assembly 6. The second driving component 34 is belt-driven connected to the second transmission wheel 36 through a second transmission belt 38.

[0048] Thus, the first drive member 33 drives the first large arm 31 to rotate through the first transmission wheel 35 and the first transmission belt 37, and the second drive member 34 drives the transmission arm assembly 6 to rotate through the second transmission wheel 36 and the second transmission belt 38. Consequently, the transmission arm assembly 6 simultaneously drives the first small arm 41 and the second large arm 32 to rotate, thereby achieving the pitching motion of the second large arm 32. The first large arm 31 and the second large arm 32 are connected through the transmission arm assembly 6, and the output power of the first drive member 33 and the output power of the second drive member 34 are the same. The first large arm 31 and the second large arm 32 have the same direction of rotation and rotation speed, thereby achieving synchronous movement of the first large arm 31 and the second large arm 32 and improving the stability of the movement of the mechanical claw assembly 5.

[0049] More specifically, in one embodiment of this utility model, the first driving member 33 and the second driving member 34 are stepper motors.

[0050] Further, please refer to Figures 1 to 5 The transmission arm assembly 6 includes a first transmission arm 61 and a second transmission arm 62 arranged sequentially along the first direction. The first end of the first transmission arm 61 is threadedly connected to the first end of the second transmission arm 62, and the second end of the first transmission arm 61 is threadedly connected to the first forearm 41. The first end of the second transmission arm 62 is fixedly connected to the second transmission wheel 36. Thus, the first large arm 31, the first forearm 41, and the second large arm 32 are connected through the transmission arm assembly 6, achieving synchronous movement and improving the stability of the mechanical gripper assembly 5.

[0051] It should be noted that the second end of the first transmission arm 61 is threadedly connected to the first forearm 41, that is, the first transmission arm 61 and the first forearm 41 are detachable. Thus, before use, the first transmission arm 61 and the first forearm 41 can be disassembled first, and the included angle between the first transmission arm 61 and the first forearm 41 can be adjusted according to the actual situation, and then threadedly fixed to meet different needs.

[0052] Further, please refer to Figures 1 to 5 The first forearm 41 includes a first small connecting arm 411 and a second small connecting arm 412. The first small connecting arm 411 includes a first arm body 4111 and a first connecting portion 4112. The first connecting portion 4112 is disposed at the first end of the first arm body 4111 and is set at an angle to the first arm body 4111. The first connecting portion 4112 is fixedly connected to the first large arm 31. The second end of the first arm body 4111 is threadedly connected to the mechanical claw assembly 5. The second small connecting arm 412 and the first small connecting arm 411 are arranged sequentially along the first direction, including a second arm body 4121 and a second connecting portion 4122. The second arm body 4121 is fixedly connected to the first arm body 4111. The second connection is located at the first end of the second arm body 4121 and is set at an angle to the second arm body 4121. It is also fixedly connected to the first connection 4112. The third connection 4123 is located between the two ends of the second arm body 4121 and is set at an angle to the second arm body 4121. The third connection 4123 is threadedly connected to the second end of the first transmission arm 61 and is connected to the second upper arm 32 and the second lower arm 42 through the first triangular connector 43.

[0053] For more details, please see Figures 1 to 5 In one embodiment of this utility model, the third connecting part 4123 is arranged in a triangular shape to improve stability.

[0054] For details, please refer to Figures 1 to 5The pyrography robotic arm 100 further includes a first support base 7, a second support base 8, and a support shaft 9. The first support base 7 and the second support base 8 are spaced apart along the first direction on the upper mounting side of the mounting base 2. The support shaft 9 passes through the first support base 7 and the second support base 8 along the first direction. The first transmission wheel 35, the first large arm 31, the transmission arm assembly 6, and the second transmission wheel 36 are disposed between the first support base 7 and the second support base 8, and are sequentially sleeved on the outside of the support shaft 9 along the first direction. The second large arm 32 is fixedly connected to the second support base 8. The first driving member 33 is fixedly connected to the first support base 7, and the second driving member 34 is fixedly connected to the second support base 8.

[0055] For more details, please see Figure 2 An installation space is formed between the first support base 7 and the second support base 8. Since the first driving member 33 and the second driving member 34 are drive motors, the first driving member 33 is located on the side of the first support base 7 away from the second support base 8. The first support base 7 has a first clearance hole corresponding to the output shaft of the first driving member 33, allowing the output end of the first driving member 33 to extend into the installation space and connect to the first transmission wheel 35 via the first transmission belt 37. Similarly, the second driving member 34 is located on the side of the second support base 8 away from the first support base 7, and the second support base 8 has a second clearance hole corresponding to the output shaft of the second driving member 34, allowing the output end of the second driving member 34 to extend into the installation space and connect to the second transmission wheel 36 via the second transmission belt 38. This design results in a compact structure and saves space.

[0056] For details, please refer to Figures 1 to 5 The mechanical gripper assembly 5 includes a second triangular connector 51, a third triangular connector 52, and a fixing block 53. The second triangular connector 51 and the third triangular connector 52 are spaced apart along the first direction, and the fixing block 53 is provided between the second triangular connector 51 and the third triangular connector 52. The second triangular connector 51 is threadedly connected to the first forearm 41 and the fixing block 53, and the third triangular connector 52 is threadedly connected to the second forearm 42 and the fixing block 53, so that the included angle between the fixing block 53 and the forearm assembly 4 is adjustable. The fixing block 53 is used to fix the soldering pen 200. Thus, the fixing block 53 can rotate indirectly relative to the forearm assembly 4 through the second triangular connector 51 and the third triangular connector 52, or it can rotate directly relative to the second triangular connector 51 and the third triangular connector 52.

[0057] Furthermore, the angle between the first upper arm 31 and the first lower arm 41 is smaller than the angle between the second upper arm 32 and the second lower arm 42. For more details, please refer to... Figures 1 to 5 The first forearm 41 is connected to the lower end of the second triangular connector 51, and the second forearm 42 is connected to the upper end of the third triangular connector 52.

[0058] For details, please refer to Figure 5 The pyrography robotic arm 100 further includes a third driving component 10, a third transmission wheel 1A, and a third transmission belt 1B. The third transmission wheel 1A is located on the lower mounting side of the mounting base 2 and is fixedly connected to the mounting base 2. The third driving component 10 is a drive motor and is located on the upper mounting side of the mounting base 2. The output shaft of the third driving component 10 passes through the mounting base 2 in the vertical direction and is connected to the third transmission wheel 1A via the third transmission belt 1B, so that the mounting base 2 can rotate relative to the base 1 about an axis extending in the vertical direction.

[0059] More specifically, in one embodiment of this utility model, the third driving component 10 is a stepper motor.

[0060] Specifically, the pyrography robotic arm 100 also includes a controller, which is electrically connected to the first drive component 33, the second drive component 34, the third drive component 10, and the electric pyrography pen 200. More specifically, the controller is electrically connected to an external terminal, such as a mobile phone or computer.

[0061] For details, please refer to Figures 1 to 3 The base 1 has multiple through holes 11, which are spaced apart circumferentially along the base 1. This allows the base 1 to withstand greater torque, making the pyrography robotic arm 100 more stable during pyrography operations.

[0062] Furthermore, the base 1 is manufactured using an integral casting process.

[0063] Specifically, in one embodiment of this utility model, the mounting base is provided with two limit switches, which are electrically connected to the controller to provide feedback on the rotation angle of the boom assembly, thereby controlling the rotation range of the boom assembly. Further, the limit switches are located on the second support base. More specifically, the limit switches are SS-5GL type limit switches.

[0064] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A sgraffito robotic arm, characterized in that, The pyrography robotic arm includes: Base; The mounting base is disposed on the base and can rotate relative to the base about an axis extending in the vertical direction; The boom assembly, located on the upper mounting side of the mounting base, includes a first boom, a second boom, a first drive member, and a second drive member. The first boom and the second boom are spaced apart and connected along a first direction. The first drive member is driven to the first boom to drive the first boom to rotate relative to the mounting base about an axis extending along the first direction. The second drive member is driven to the second boom to drive the second boom to rotate relative to the mounting base about an axis extending along the first direction. A forearm assembly, including a first forearm and a second forearm, wherein the first forearm is connected to a first upper arm, and the second forearm is connected to a second upper arm; and... A mechanical gripper assembly for mounting an electric soldering pen, the mechanical gripper assembly being threadedly connected to the forearm assembly so that the angle between the mechanical gripper assembly and the forearm assembly is adjustable; Wherein, the first direction is perpendicular to the up and down direction.

2. The scribing robot of claim 1, wherein, The first driving component and the second driving component are both drive motors; The pyrography robotic arm also includes a transmission arm assembly disposed between the first large arm and the second large arm, and the transmission arm assembly is connected to the first small arm and the second large arm; The boom assembly also includes: The first transmission wheel is fixedly connected to the first boom, and the first driving component is connected to the first transmission wheel via a first transmission belt. as well as, The second drive wheel is fixedly connected to the drive arm assembly, and the second drive component is connected to the second drive wheel via a second drive belt.

3. The scribing robot of claim 2, wherein, The transmission arm assembly includes a first transmission arm and a second transmission arm arranged sequentially along the first direction. The first end of the first transmission arm is threadedly connected to the first end of the second transmission arm, the second end of the first transmission arm is threadedly connected to the first forearm, and the first end of the second transmission arm is fixedly connected to the second transmission wheel.

4. The scribing robot of claim 3, wherein The first forearm includes: A first small connecting arm includes a first arm body and a first connecting portion. The first connecting portion is located at a first end of the first arm body and is angled to the first arm body. The first connecting portion is fixedly connected to the first large arm. The second end of the first arm body is threadedly connected to the mechanical claw assembly. The second small connecting arm, arranged sequentially with the first small connecting arm along the first direction, includes a second arm body, a second connecting part, and a third connecting part. The second arm body is fixedly connected to the first arm body. The second connecting part is located at the first end of the second arm body and is set at an angle to the second arm body, and is fixedly connected to the first connecting part. The third connecting part is located between the two ends of the second arm body and is set at an angle to the second arm body. The third connecting part is threadedly connected to the second end of the first transmission arm and is connected to the second large arm and the second small arm through a first triangular connector.

5. The sgraffito robotic arm of any one of claims 2-4, wherein, The pyrography robotic arm also includes a first support base, a second support base, and a support shaft. The first support base and the second support base are spaced apart along the first direction on the upper mounting side of the mounting base, and the support shaft passes through the first support base and the second support base along the first direction. The first drive wheel, the first large arm, the drive arm assembly and the second drive wheel are disposed between the first support base and the second support base, and are sequentially sleeved on the outside of the support shaft along the first direction; the second large arm is fixedly connected to the second support base. The first driving component is fixedly connected to the first support base, and the second driving component is fixedly connected to the second support base.

6. The scribing robot of claim 1 wherein, The mechanical gripper assembly includes a second triangular connector, a third triangular connector, and a fixing block. The second and third triangular connectors are spaced apart along the first direction, and the fixing block is provided between the second and third triangular connectors. The second triangular connector is threadedly connected to the first forearm and the fixing block, and the third triangular connector is threadedly connected to the second forearm and the fixing block, so that the angle between the fixing block and the forearm assembly is adjustable. The fixing block is used to fix the soldering pen.

7. The scribing robot of claim 1 wherein, The pyrography robotic arm also includes a third driving component, a third transmission wheel, and a third transmission belt. The third transmission wheel is located on the lower mounting side of the mounting base and is fixedly connected to the mounting base. The third driving component is a drive motor and is located on the upper mounting side of the mounting base. The output shaft of the third driving component passes through the mounting base in the vertical direction and is connected to the third transmission wheel via the third transmission belt, so that the mounting base can rotate relative to the base about an axis extending in the vertical direction.

8. The pyrography robotic arm as described in claim 7, characterized in that, The pyrography robotic arm also includes a controller, which is electrically connected to the first drive unit, the second drive unit, the third drive unit, and the electric pyrography pen.

9. The scribing robot of claim 1 wherein, The base has multiple through holes, which are spaced apart along the circumference of the base.

10. The scribing robot of claim 1 wherein, The mounting base is equipped with two limit switches to provide feedback on the rotation angle of the boom assembly.

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