Mechanical arm for drawing work and intelligent drawing device

Abstract

The application discloses a mechanical arm for drawing work and an intelligent drawing device, wherein the mechanical arm for drawing work comprises a base, a multi-axis mechanical arm and a drawing assembly; the base has a bottom plate; the multi-axis mechanical arm is installed on the base; the drawing assembly can perform drawing work with an external drawing medium, a drawing surface of the drawing medium is parallel or flush with the bottom plate, the drawing assembly is installed at the end of the multi-axis mechanical arm, and the drawing assembly has a drawing end; and the multi-axis mechanical arm can drive the drawing end of the drawing assembly to move on the drawing medium to perform the drawing work. The multi-axis mechanical arm can drive the drawing end of the drawing assembly to move on the drawing medium to perform the drawing work, and the upper surface of the drawing medium does not change in the process of the mechanical arm performing the drawing work, so that the drawing reference surface does not need to be repeatedly adjusted in the drawing work, and the efficiency and convenience of the drawing work are greatly improved.

Description

Technical Field

[0001] This application relates to the field of automation technology, specifically to robotic arms and intelligent drawing devices used for drawing operations. Background Technology

[0002] In the fields of intelligent manufacturing and automation, robotic arms, as key automated devices, are widely used in industrial production, artistic creation, education, and scientific research. With continuous technological advancements, the functions of robotic arms are becoming increasingly diversified, and their precision, flexibility, and intelligence are constantly improving. In the field of artistic creation, robotic arm drawing is gradually becoming an emerging creative method, combining the characteristics of mechanical automation and artistic design, bringing new possibilities to artistic creation.

[0003] Currently, there are several robotic arm drawing devices and systems on the market. Common robotic arm drawing systems mainly consist of the robotic arm itself, drawing tools (such as pens and airbrushes), and control software. The robotic arm typically employs a multi-axis structure to achieve precise movement of the drawing tools in space. The control software is responsible for generating the drawing path and controlling the robotic arm's movement. Regarding the drawing board, most are ordinary flat boards used to hold the drawing paper. Drawing is usually done on a separate platform. Because each setup requires repeated readjustment of the drawing reference surface, it's difficult to ensure that the angle and distance from the robotic arm are completely consistent each time. Each drawing job requires frequent and repeated adjustments, which is quite cumbersome. Utility Model Content

[0004] To address the shortcomings of existing technologies, this application provides a robotic arm and intelligent drawing device for drawing operations, which solves the problem that traditional robotic arms used for drawing operations have to repeatedly readjust the drawing reference surface each time they are set up, making it difficult to ensure that the angle and distance between the robotic arm and the main body are completely consistent each time. This results in a cumbersome process that requires repeated adjustments for each drawing operation.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] A robotic arm for drawing tasks includes:

[0007] The base has a bottom plate;

[0008] A multi-axis robotic arm, the multi-axis robotic arm being mounted on the base; and,

[0009] A drawing component capable of performing drawing operations with an external drawing medium, wherein the drawing surface of the drawing medium is parallel or flush with the base plate, the drawing component is mounted at the end of the multi-axis robotic arm, and the drawing component has a drawing end;

[0010] The multi-axis robotic arm can drive the drawing end of the drawing component to move on the drawing medium to perform drawing operations.

[0011] This application discloses a robotic arm and intelligent drawing device for drawing operations, including a base with a bottom plate, a multi-axis robotic arm, and a drawing component. The multi-axis robotic arm is mounted on the base, and the drawing component is capable of drawing with an external drawing medium. The drawing component is mounted at the end of the multi-axis robotic arm and has a drawing end. The multi-axis robotic arm can drive the drawing end of the drawing component to move on the drawing medium to perform the drawing operation. This application enables the multi-axis robotic arm to drive the drawing end of the drawing component to move on the drawing medium to perform the drawing operation. During the drawing operation, the upper surface of the drawing medium is flush with or parallel to the upper surface of the bottom plate, and the surface formed by the movement path of the drawing end is flush with or parallel to the upper surface of the bottom plate. This eliminates the need for repeated adjustments to the drawing reference surface in subsequent drawing operations, greatly improving the efficiency and convenience of the drawing operation. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the intelligent drawing device of this application;

[0014] Figure 2 This is a schematic diagram of the robotic arm of this application;

[0015] Figure 3 This is a schematic diagram of the assembly flange according to one embodiment of this application;

[0016] Figure 4 This is a structural schematic diagram of an assembly flange from one perspective, representing another embodiment of this application.

[0017] Figure 5 This is a schematic diagram of the structure of the drawing components in this application;

[0018] Figure 6 This is a schematic diagram of the pen holder structure of this application;

[0019] Figure 7 This is a cross-sectional view of the sleeve and pen holder in the pen holder of this application;

[0020] Figure 8This is a cross-sectional view of the sleeve, pen holder, and drawing pen in the pen holder of this application;

[0021] Figure 9 for Figure 8 A diagram from another perspective;

[0022] Figure 10 This is a structural schematic diagram of the assembly flange from another perspective, representing yet another embodiment of this application.

[0023] Figure 11 This is a schematic diagram of the structure of a camera module according to one embodiment of this application;

[0024] Figure 12 This is a structural schematic diagram of the pen holder and drawing pen used in this application;

[0025] Figure 13 This is a schematic diagram of a camera module according to another embodiment of this application;

[0026] Figure 14 This is a schematic diagram of the structure of the drawing board in this application.

[0027] The following are the labeling elements in the figure:

[0028] 1. Base plate; 2. Base; 3. Multi-axis robotic arm; 4. Metal plate; 5. Assembly flange; 6. Cylinder; 7. Drawing pen; 8. Camera module; 9. Drawing board; 10. Magnetic component; 11. First fixing component; 12. First mounting position; 13. Second mounting position; 14. Second connector; 15. Cover plate; 16. Adjusting screw; 17. Pen holder; 18. Drawing medium; 19. Elastic component; 20. Weight reduction hole; 21. Boss; 22. First blind hole; 23. First connector; 24. Second blind hole; 25. Second fixing component. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0030] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0031] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0032] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0033] The following disclosure provides many different implementations or examples for carrying out different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or reference letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various implementations and / or arrangements discussed.

[0034] This application provides a robotic arm for drawing tasks, comprising:

[0035] Base 2, base 2 has a base plate 1;

[0036] Multi-axis robotic arm 3, the multi-axis robotic arm 3 is mounted on the base 2; and,

[0037] The drawing component is capable of performing drawing operations with an external drawing medium 18. The drawing component is installed at the end of the multi-axis robotic arm 3 and has a drawing end. The multi-axis robotic arm 3 can drive the drawing end of the drawing component to move on the drawing medium to perform drawing operations.

[0038] The robotic arm disclosed in this application for drawing operations includes a base 2, a base plate 1, a multi-axis robotic arm 3, and a drawing assembly. The multi-axis robotic arm 3 is mounted on the base 2, and the drawing assembly is capable of drawing with an external drawing medium 18. The drawing assembly is mounted at the end of the multi-axis robotic arm 3 and has a drawing end. The multi-axis robotic arm 3 can drive the drawing end of the drawing assembly to move on the drawing medium 18 to perform the drawing operation. This application enables the multi-axis robotic arm 3 to drive the drawing end of the drawing assembly to move on the drawing medium 18 to perform the drawing operation. During the drawing operation, the upper surface of the drawing medium 18 is flush with or parallel to the upper surface of the base plate 1, and the surface formed by the movement path of the drawing end is flush with or parallel to the upper surface of the base plate 1. This eliminates the need for repeated adjustments to the drawing reference surface in subsequent drawing operations, greatly improving the efficiency and convenience of the drawing operation.

[0039] Specifically, the base 2 serves as the basic support component of the entire kit, stabilizing the entire kit. A multi-axis robotic arm 3 is installed on the base 2, which has high flexibility and precision, enabling it to complete complex drawing actions in a relatively small space. During drawing, it can achieve multi-angle and multi-directional movement to meet different drawing needs. A drawing component is installed at the end of the multi-axis robotic arm 3. The drawing component is driven by the multi-axis robotic arm 3 to perform drawing operations with the external drawing medium 18, including but not limited to physical contact, magnetic interaction, capacitive sensing, and can be a magnetic drawing board, paper, or a drawing method similar to a smart electronic tablet.

[0040] In other embodiments of this application, this application also provides a robotic arm for drawing tasks, comprising:

[0041] Base 2, base 2 has a base plate 1;

[0042] Multi-axis robotic arm 3, the multi-axis robotic arm 3 is mounted on the base 2; and,

[0043] The drawing component is capable of performing drawing operations with an external drawing medium 18. The drawing component is installed at the end of the multi-axis robotic arm 3 and has a drawing end.

[0044] The multi-axis robotic arm 3 can drive the drawing end of the drawing component to move on the drawing medium 18 to perform drawing operations. During the drawing operation, the upper surface of the drawing medium 18 is flush with or parallel to the upper surface of the base plate 1, and the surface formed by the movement path of the drawing end is flush with or parallel to the upper surface of the base plate 1. The distance between the drawing end and the center of the base plate 1 is... The value of R is always greater than 250mm. In some specific embodiments of this application, the value of R is between 267mm and 400mm. This not only ensures that the drawing board can be basically on the same plane each time, requiring only one adjustment and eliminating the need for repeated adjustments for each drawing task, but also ensures that the multi-axis robotic arm 3 is less prone to singularities and interference between adjacent joints during the drawing process, thereby ensuring the drawing stability of the robotic arm during the drawing process.

[0045] The term "drawing end" refers to the tip of the drawing pen 7.

[0046] In some embodiments of this application, please refer to the appendix. Figure 1 - Appendix Figure 14 The drawing components may further include assembly flange 5.

[0047] It is worth noting that the robotic arm for drawing operations proposed in this application can be implemented in two ways.

[0048] In the first embodiment, the assembly flange 5 has only a first mounting position 12, and the drawing assembly also includes a pen holder mounted on the first mounting position 12. The direction of the base toward the drawing medium 18 is defined as front, and the first mounting position 12 is located on the front side of the assembly flange 5.

[0049] In other words, in the first implementation, the assembly flange 5 is only equipped with a pen holder, and the drawing operation is performed solely based on a predetermined drawing path. Furthermore, by fixing the pen holder to the front side of the assembly flange 5, that is, the drawing pen 7 can always be located in front of the multi-axis robotic arm 3 during the drawing operation, not only can the algorithm design be simplified, but the multi-axis robotic arm 3 can also be in a relatively stable drawing operation.

[0050] Understandably, when the end of the multi-axis robotic arm 3 is closer to the base 2, the adjacent joints are more compact, making it more difficult to move between adjacent joints and to calculate information such as their output torque. Therefore, fixing the pen holder's assembly position to the front side of the assembly flange 5 allows the drawing pen 7 to be further away from the base 2, thereby enabling the joints of the multi-axis robotic arm 3 to perform drawing operations more stably and smoothly.

[0051] The second implementation: The assembly flange 5 has a first mounting position 12 and a second mounting position 13. The drawing assembly also includes a pen holder mounted on the first mounting position 12 and a camera module 8 mounted on the second mounting position 13. The direction of the base towards the drawing medium 18 is defined as "front." The first mounting position 12 is located on the front side of the assembly flange, and the second mounting position 13 is located on the left or right side of the assembly flange 5. The assembly flange 5 acts as a connecting hub, allowing the pen holder and camera module 8 in the drawing assembly to form a whole at the end of the multi-axis robotic arm 3. This ensures that the drawing board 9 is in a relatively fixed position and angle each time it is installed, allowing the entire system to form a stable overall structure after installation. Therefore, in subsequent drawing operations, there is no need to repeatedly adjust the drawing reference surface, greatly improving the efficiency and convenience of the drawing operation. Moreover, through real-time monitoring and feedback from the camera module 8, the drawing process can be adjusted and optimized in real time, further ensuring the accuracy and quality of the drawing. The camera module 8 may include one or more cameras, which can be specifically set according to the actual application and is not limited here.

[0052] It should be noted that the assembly structure between the first mounting position 12 and the pen holder and the assembly structure between the second mounting position 13 and the camera module 8 can be similar or different. When the two adopt similar assembly structures, it is necessary to differentiate the dimensions of the connection structure in order to achieve the effect of preventing mistakes.

[0053] For example, both can use a slot and plug connection method (detachable plug connection); or one can use a detachable plug connection and the other can use a direct detachable embedded connection with the mounting flange.

[0054] The assembly between the second mounting position 13 and the camera module 13 can also be implemented in various ways, one of which can be found in [reference needed]. Figure 3The left or right side of the mounting flange 5 can be recessed to form a groove, in which the camera module 8 is at least partially embedded. Thus, by designing a recessed travel groove within the mounting flange 5 itself, not only can unnecessary structural parts of the mounting flange 5 be reduced, but the camera module 8 can be assembled without additional fittings. This also makes the mounting flange 5 and camera module 8 more compact overall, and reduces the overall mass of the drawing assembly, thereby reducing the load on the end effector of the multi-axis robotic arm 3. In other words, drawing operations can be performed using a multi-axis robotic arm 3 with a lower load.

[0055] In addition, to further reduce the overall mass of the drawing assembly and thus reduce the load on the end of the multi-axis robotic arm 3, weight reduction holes 20 can be made in unnecessary parts of the assembly flange 5 to reduce the mass of the drawing assembly.

[0056] Continue to refer to Figures 2-11 In some embodiments of this application, the front side of the assembly flange 5 is provided with a first slot, the first slot forms a first mounting position 12, and the pen holder has a first plug-in, which is inserted into the first slot.

[0057] In other embodiments of this application, a second slot is constructed on the left or right side of the assembly flange 5, the second slot forming a second mounting position, and the pen holder has a second connector that is inserted into the second slot; when the assembly flange 5 has a first mounting position 12 and a second mounting position 13, the outer diameter of the first connector is different from the outer diameter of the second connector, thus achieving the above-mentioned foolproof effect.

[0058] In some embodiments of this application, such as Figures 3-11 As shown, a first fixing hole can be provided on one side wall of the first slot, and the first fixing hole is connected to the first slot; the drawing component can also include a first fixing member, which is movably assembled in the first fixing hole and abuts against the first plug-in to fix the first plug-in; in other embodiments of this application, a second fixing hole can also be provided on one side wall of the second slot, and the second fixing hole is connected to the second slot; in this case, the drawing component can also include a second fixing member, which is movably assembled in the second fixing hole and abuts against the second plug-in to fix the second plug-in.

[0059] Specifically, both the first and second fasteners can be hand-tightened screws to improve assembly efficiency, eliminating the need for users to use standard tools for disassembly and assembly.

[0060] Correspondingly, both the first fixing hole and the second fixing hole can be threaded holes.

[0061] In some embodiments of this application, such as Figures 3-11As shown, the first connector 23 has a first blind hole 22, and the first fixing member 11 abuts against the bottom wall of the first blind hole 22. The diameter of the first blind hole 22 is greater than or equal to the outer diameter of the first fixing member 11. The diameter of the first blind hole 22 gradually decreases in the direction from the first fixing member 11 toward the first connector 23. In other embodiments of this application, the second connector 14 has a second blind hole 24, and the second fixing member 25 abuts against the bottom wall of the second blind hole 24. The diameter of the second blind hole 24 is greater than or equal to the outer diameter of the second fixing member 25. The diameter of the second blind hole 24 gradually decreases in the direction from the second fixing member 25 toward the second connector 14.

[0062] It should be noted that both the first connector 23 and the second connector 14 are metal inserts with relatively thin structures. They are not suitable for using rigid connection methods and are prone to deformation.

[0063] Therefore, a first blind hole 22 and a second blind hole 24 are correspondingly provided on the first connector 23 and the second connector 14, and the diameters of the first blind hole 22 and the second blind hole 24 are correspondingly larger than the outer diameters of the first fixing member 11 and the second fixing member 25, that is, larger than the outer diameter of the end of the hand-tightening screw.

[0064] In this way, the connection area of ​​the first fastener 11 and the second fastener 25 corresponding to the first connector 23 and the second connector 14 can be greatly reduced. It is only a point connection, rather than a synchronous connection of the outer diameter and end face of the screw end, which can effectively reduce the deformation probability of the first connector 23 and the second connector 14.

[0065] Furthermore, the design of the first blind hole 22 and the second blind hole 24 gradually decreasing in size along the insertion direction of the first connector 23 and the second connector 14 can avoid the friction between the wall of the blind hole and the hand-tightening screw, thereby ensuring the service life of the first connector 23 and the second connector 14.

[0066] Optional, such as Figures 6-9 As shown, the pen holder may further include a pen holder 17 and a sleeve fitted on the outside of the pen holder 17, the sleeve being mounted on the mounting flange 5; the pen holder 17 may be movably mounted on the sleeve in the vertical direction, and the pen holder 17 is used to fix the drawing pen 7.

[0067] In this way, during the drawing process, the drawing pen 7 will be squeezed against the surface of the drawing medium 9, which will cause damage to the tip of the drawing pen 7. In severe cases, it may even prevent the drawing work from being carried out. However, since the pen holder 17 is movably connected to the sleeve, the drawing pen 7 can be adaptively adjusted during the contact between the drawing pen and the drawing medium, and will not make relatively rigid contact with each other, thus preventing damage and playing a certain buffering role.

[0068] Furthermore, in some embodiments of this application, such as Figures 6-9As shown, the sleeve may include: a cover plate 15, which is mounted on the mounting flange 5; a cylinder 6, which is mounted on the cover plate 15 and engages with the cover plate 15 at its top; a pen holder 17 channel is formed in the middle of the cover plate 15 and the cylinder 6; the outer side of the pen holder 17 has a boss, and the bottom of the cylinder 6 has a limiting platform, which overlaps the boss in its natural state. A receiving cavity is formed between the inner wall surface of the cylinder 6 and the outer wall surface of the pen holder 17, and an elastic member 19 is placed inside the receiving cavity. One end of the elastic member 19 abuts against the cover plate 15, and the other end of the elastic member 19 abuts against the boss. The elastic member 19 has a tendency to drive the boss to move downward. The elastic member 19 may be a spring.

[0069] By setting the elastic element 19, on the one hand, the drawing pen 7 can always maintain pressure towards the drawing medium (downward), ensuring the degree of contact between the drawing pen 7 and the drawing medium, thus ensuring the drawing quality and preventing line breakage. On the other hand, when the drawing pen 7 and the drawing medium 18 make excessive contact, the elastic element 19 can also achieve a buffering effect, preventing the two from making relatively rigid excessive contact.

[0070] Specifically, a base 2 is installed on top of the base plate 1. The base 2 is fixed to the base plate 1 by bolts, welding or other secure connection methods to ensure that it will not shift or shake during use. The multi-axis robotic arm 3, as the operating component, is mounted on top of the base 2. It is a six-axis robotic arm with high flexibility and freedom, capable of achieving complex motion trajectories in three-dimensional space to meet diverse drawing needs. The base 2 not only provides stable support for the multi-axis robotic arm 3, but also limits the installation position of the multi-axis robotic arm 3 to ensure the stability and accuracy of the multi-axis robotic arm 3 during operation and avoid the decrease in drawing accuracy due to installation deviation.

[0071] The assembly flange 5 is installed at one end of the multi-axis robotic arm 3, serving to connect different functional components. It has a first slot on one side and a second mounting position 13 on the other, fully considering the actual needs of the drawing operation. This allows the pen holder and camera module to be rationally distributed at the end of the robotic arm, working together without interference. The fixing component 11 at its bottom is mainly for adjusting and fixing the pen diameter to accommodate different sizes of drawing pens 7. The camera module 8 plays a visual assistance role during the drawing process. It can capture image information of the drawing area in real time and transmit the image data to the system for analysis and processing through connection with the robotic arm control system. Before drawing, the camera module 8 can identify and locate the position and angle of the drawing paper, providing a basis for the multi-axis robotic arm 3 to plan an accurate drawing path. During the drawing process, the camera module 8 can monitor the position and drawing effect of the drawing pen 7 in real time, promptly detect deviations and feed them back to the control system for adjustment and correction, ensuring the accuracy and quality of the drawing.

[0072] The pen holder is the main structure of the pen holder, serving to support and connect other components. The top of the pen holder is fixedly connected to the first connector 23. One side of the first connector 23 is installed in the first slot of the assembly flange 5 and fixed by bolts or slots to ensure that the connection between the pen holder and the assembly flange 5 is firm and will not loosen or shake during the movement of the robotic arm. The pen holder 17 is used to install the drawing pen 7. After the drawing pen 7 is inserted into the pen holder 17, the drawing pen 7 can be firmly fixed in the pen holder 17 by tightening the adjusting screw 16. The pen diameter can also be adjusted to improve adaptability. The evenly distributed design of the adjusting screw 16 can ensure that the pressure applied to the drawing pen 7 is uniform, avoiding damage to the drawing pen 7 or insecure fixation due to excessive local pressure.

[0073] The pen holder 17 has an elastic element 19 in the middle. The elastic element 19 serves to buffer and adjust the pressure of the drawing pen 7. During the drawing process, the multi-axis robotic arm 3 moves the drawing pen 7 on the drawing paper. The elastic element 19 can elastically expand and contract according to the unevenness of the drawing surface or the change in drawing pressure. When the drawing pen 7 encounters a protrusion or needs to increase the drawing pressure, the elastic element 19 will be compressed to absorb some of the impact force, so as to avoid excessive damage to the drawing medium or drawing lines that are too dark. When the drawing pen 7 encounters a depression or needs to reduce the drawing pressure, the elastic element 19 will rebound, so that the drawing pen 7 maintains appropriate pressure and ensures the uniformity and smoothness of the drawn lines.

[0074] Please see the appendix. Figure 1 , Figures 13-14 As shown, this application also provides an intelligent drawing device, including a robotic arm for drawing operations according to any of the above embodiments of the robotic arm for drawing operations, and a drawing board 9, wherein the drawing board 9 is detachably mounted on the outer periphery of the base plate 1 of the base 2, and the upper surface of the drawing board 9 is parallel or coplanar with the upper surface of the base plate 1.

[0075] In this embodiment, the intelligent drawing device can drive the drawing end of the drawing component to move on the drawing medium 18 through the multi-axis robotic arm 3 to perform drawing operations. During the drawing operation of the multi-axis robotic arm 3, the upper surface of the drawing medium is flush with or parallel to the upper surface of the base plate 1, and the surface formed by the moving path of the drawing end is flush with or parallel to the upper surface of the base plate 1. This eliminates the need to repeatedly adjust the drawing reference surface in subsequent drawing operations, greatly improving the efficiency and convenience of the intelligent drawing device's drawing operations.

[0076] Optionally, the periphery of the drawing board 9 has a snap-fit ​​notch that can snap into the periphery of the base plate 1; or, the drawing board 9 can be detachably attached to the base plate 1 by magnetic attraction.

[0077] like Figure 14 As shown, the drawing board 9 includes a metal plate 4, and the robotic arm assembly also includes a magnetic component 10. The magnetic component 10 can magnetically adhere to the upper surface of the drawing board 9 to fix the drawing medium 18 to the upper surface of the drawing board 9, thereby enabling the drawing board 9 to be detachably connected to the base plate 1 via the magnetic component 10. The metal plate 4, as the basic support structure of the drawing board 9, has high strength and stability. One side of it is set on one side of the base plate 1 and is firmly connected to the base plate 1 by welding, bolt connection, or slot embedding, ensuring that the metal plate 4 remains stable throughout the drawing process without displacement or shaking, thus providing a reliable basic platform for the drawing operation.

[0078] Specifically, the magnetic component 10 is typically made of permanent magnet materials, such as neodymium iron boron magnets. Its working principle utilizes the mutual attraction between the magnetic component 10 and the metal plate 4. When the magnetic component 10 is placed on the drawing board 9, due to the magnetic attraction of the metal plate 4, the magnetic component 10 will firmly adhere to the metal plate 4, thus generating a fixing force. Through the magnetic force between the magnetic component 10 and the metal plate 4, the paper or other drawing media to be drawn on can be easily fixed onto the drawing board 9, making the operation simpler and faster. Furthermore, when replacing it, simply remove the magnetic component 10 gently, and then place it back in its original position to complete the fixation, greatly saving time and effort. On the other hand, the fixing effect is more stable and reliable, and multiple magnetic components 10 can be installed. Multiple magnetic components can be evenly distributed on the upper surface of the drawing plate 9. For example, four magnetic components can be set at the four corners of the upper surface of the drawing plate 9. This ensures that the magnetic force generated by the magnetic components is evenly distributed. The even distribution of magnetic force ensures that the drawing medium remains flat throughout the drawing process, without any movement or wrinkles that would affect the drawing effect. This meets the requirements of precise drawing by the robotic arm. It is understood that more magnetic components can be set, such as eight. In addition to the four corners of the upper surface of the drawing plate 9, one can also be set in the middle of each of the four sides of the upper surface of the drawing plate 9 for more secure fixation. The specific number of components is determined according to the actual application and is not limited here.

[0079] like Figure 14As shown, in some embodiments of this application, a PC board 9 can also be disposed on the top of the metal plate 4, and one side of the metal plate 4 is disposed on one side of the base plate 1; thus, the magnetic component 10 can be disposed on the top of the PC board. The PC board disposed on the top of the metal plate 4 has good flatness, wear resistance and impact resistance. Its flatness ensures that the drawing paper can remain flat when placed on it, avoiding uneven or deviated lines due to uneven surface. Its wear resistance means that the PC board is not easily worn or scratched even when frequently rubbed by the drawing pen 7 during long-term use, thereby ensuring the quality of the drawing surface. Its impact resistance can reduce damage to the drawing board 9 when the drawing pen 7 accidentally collides with the PC board during the robotic arm drawing process, thus extending the service life of the drawing board 9.

[0080] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0081] The above provides a detailed description of an electronic device provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A robotic arm for drawing tasks, characterized in that, include: The base has a bottom plate; A multi-axis robotic arm, wherein the multi-axis robotic arm is mounted on the base; as well as, A drawing component capable of performing drawing operations with an external drawing medium, wherein the drawing surface of the drawing medium is parallel or flush with the base plate, the drawing component is mounted at the end of the multi-axis robotic arm, and the drawing component has a drawing end; The multi-axis robotic arm can drive the drawing end of the drawing component to move on the drawing medium to perform drawing operations.

2. A robotic arm for drawing tasks, characterized in that, include: The base has a bottom plate; A multi-axis robotic arm, wherein the multi-axis robotic arm is mounted on the base; as well as, A drawing component, which is capable of performing drawing operations with an external drawing medium, is mounted on the end of the multi-axis robotic arm and has a drawing end. The multi-axis robotic arm can drive the drawing end of the drawing component to move on the drawing medium to perform drawing operations; During the drawing operation, the upper surface of the drawing medium is flush with or parallel to the upper surface of the base plate, the surface formed by the movement path of the drawing end is flush with or parallel to the upper surface of the base plate, and the distance between the drawing end and the center of the base plate is... Always greater than 250mm.

3. The robotic arm for drawing operations according to claim 1 or 2, characterized in that, The drawing component includes an assembly flange; When the assembly flange has a first mounting position, the drawing assembly further includes a pen holder mounted on the first mounting position, and the direction of the base toward the drawing medium is defined as front, and the first mounting position is located on the front side of the assembly flange; When the assembly flange has a first mounting position and a second mounting position, the drawing assembly further includes a pen holder mounted at the first mounting position and a camera module mounted at the second mounting position. The direction of the base toward the drawing medium is defined as front. The first mounting position is located on the front side of the assembly flange, and the second mounting position is located on the left or right side of the assembly flange.

4. The robotic arm for drawing operations according to claim 3, characterized in that, The left or right side of the assembly flange is recessed to form a groove, and the camera module is at least partially embedded in the groove.

5. The robotic arm for drawing operations according to claim 4, characterized in that, The front side of the assembly flange has a first slot, which constitutes the first mounting position. The pen holder has a first connector, which is inserted into the first slot. And / or, the left or right side of the mounting flange is provided with a second slot, the second slot forming the second mounting position, and the pen holder has a second connector that is inserted into the second slot; When the assembly flange has a first mounting position and a second mounting position, the outer diameter of the first connector is different from the outer diameter of the second connector.

6. The robotic arm for drawing operations according to claim 5, characterized in that, One side wall of the first slot has a first fixing hole, which is connected to the first slot. The drawing component further includes a first fixing member, which is movably assembled in the first fixing hole and abuts against the first plug-in member to fix the first plug-in member; And / or, one side wall of the second slot has a second fixing hole, which communicates with the second slot; The drawing component further includes a second fixing member, which is movably assembled in the second fixing hole and abuts against the second plug-in member to fix the second plug-in member.

7. The robotic arm for drawing operations according to claim 6, characterized in that, The first connector has a first blind hole, the first fixing member abuts against the bottom wall of the first blind hole, and the diameter of the first blind hole is greater than or equal to the outer diameter of the first fixing member; In the direction from the first fastener toward the first connector, the diameter of the first blind hole gradually decreases; And / or, the second connector has a second blind hole, the second fixing member abuts against the bottom wall of the second blind hole, and the diameter of the second blind hole is greater than or equal to the outer diameter of the second fixing member; In the direction from the second fastener toward the second connector, the diameter of the second blind hole gradually decreases.

8. The robotic arm for drawing operations according to claim 3, characterized in that, The pen holder includes a pen holder and a sleeve fitted over the outside of the pen holder, the sleeve being mounted on the assembly flange; The pen holder can be movably mounted on the sleeve in the vertical direction, and the pen holder is used to fix the drawing pen.

9. The robotic arm for drawing operations according to claim 8, characterized in that, The sleeve includes: Cover plate, the cover plate being mounted on the assembly flange; A cylindrical body is installed on the cover plate and its top is joined to the cover plate, and a pen holder channel is formed in the middle of the cover plate and the cylindrical body; The pen holder has a protrusion on its outer side and a limiting platform at the bottom of the holder. In its natural state, the protrusion rests on the limiting platform.

10. The robotic arm for drawing operations according to claim 9, characterized in that, A receiving cavity is formed between the inner wall surface of the cylinder and the outer wall surface of the pen holder. An elastic element is placed inside the receiving cavity. One end of the elastic element abuts against the cover plate, and the other end of the elastic element abuts against the boss. The elastic element has a tendency to drive the boss to move downward.

11. An intelligent drawing device, characterized in that, include: A robotic arm for drawing operations as described in any one of claims 1 to 10; A drawing board is detachably mounted on the outer periphery of the base plate, and the upper surface of the drawing board is parallel or coplanar with the upper surface of the base plate.

12. The intelligent drawing device according to claim 11, characterized in that, The drawing board has a snap-fit ​​notch on its periphery, which can snap into the periphery of the base plate. Alternatively, the drawing board can be detachably attached to the base plate via magnetic attraction.

13. The intelligent drawing device according to claim 12, characterized in that, The drawing board includes a metal plate, and the intelligent drawing device also includes a magnetic component that can magnetically attach to the upper surface of the drawing board to fix the drawing medium to the upper surface of the drawing board.

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