CN107757199A - It is cross to be automatically positioned walking mechanism - Google Patents
It is cross to be automatically positioned walking mechanism Download PDFInfo
- Publication number
- CN107757199A CN107757199A CN201710914754.1A CN201710914754A CN107757199A CN 107757199 A CN107757199 A CN 107757199A CN 201710914754 A CN201710914754 A CN 201710914754A CN 107757199 A CN107757199 A CN 107757199A
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- China
- Prior art keywords
- pulley
- cross
- long rails
- walking mechanism
- plate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43L—ARTICLES FOR WRITING OR DRAWING UPON; WRITING OR DRAWING AIDS; ACCESSORIES FOR WRITING OR DRAWING
- B43L13/00—Drawing instruments, or writing or drawing appliances or accessories not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
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Abstract
One kind is cross to be automatically positioned walking mechanism, it include control module, bottom cross track and cross track above long rails normal thereto, motor center is provided between cross track and long rails, at least one end of described long rails is provided with work head；Described motor center includes a pulley mounting plate, described cross track and longitudinal both sides are provided with the V-type groove or V-type projection of strip, four horizontal pulleys and four longitudinal pulleys are installed in described pulley mounting plate, horizontal pulley is symmetrically positioned in the front and rear sides of cross track, and longitudinal pulley is symmetrically positioned in the left and right sides of long rails.The present invention, so as to be write, draw a picture, the typewriting of laser marking, screen, inhales thing and the various operations such as removes thing, plays chess by controlling module to automatically control the run trace of work head, or can also be used as point gum machine, sugared picture machine use.There is compact-sized, dependable performance, be active in one's movements, moving displacement precision height, long lifespan, suitable for the higher workplace of repeatability.
Description
Technical field
The present invention relates to intelligent robot apparatus field, more particularly to a kind of row that can be automatically positioned, control work head
Walk the mechanism of track.
Background technology
Some are frequently encountered in life needs the occasion of Palingraphia, such as writes invitation letter, invitation card, or star's label
Name etc., now printing or duplicate typically can not all operate, by hand-written and waste time and energy, it is therefore desirable to which one can write automatically
Device replaces the writing of people.Patent Office of the People's Republic of China in Application No. " 201510158378.9 " disclosed in 1 day July in 2015 one
Kind writing machine and its Writing method, writing machine include frame and housing；Housing is provided with input interface, and housing bottom is provided with writing
Window；Frame is provided with writing mechanism, displacement mechanism and walking mechanism；Writing mechanism controls lettering pen to be provided with lettering pen
Complete lift pen start to write state switching writing mechanism；Displacement mechanism is configured to the displacement mechanism of handwriting trace for control writing machine；
Walking mechanism is walked to switch the walking mechanism in region to be write for control writing machine complete machine.This apparatus structure is more complicated,
Moving displacement precision is also than relatively low.
The content of the invention
The defects of it is an object of the invention to for above-mentioned prior art and deficiency, providing one kind for people can determine automatically
Position, control work head run trace mechanism, come replace people voluntarily automatically writing, drawing, laser marking, screen typewrite etc. respectively
Kind operation.
To achieve the above object, the technical solution used in the present invention is：This is cross to be automatically positioned walking mechanism, and it is wrapped
Include control module, bottom cross track and cross track above long rails normal thereto, in cross track and longitudinal direction
Motor center is provided between track, the both ends of described cross track are provided with left motor and right motor, in left side electricity
Left driving wheel and right driving wheel are separately installed with machine and right motor；Four pulleys are provided with described motor center, point
Wei not upper left chain wheel, upper right pulley, lower left chain wheel, lower right pulley；One end of the long rails is provided with fixing device, another
End is provided with end pulley, and a timing belt sequentially passes through right pulley, right driving wheel, lower right pulley, end pulley, bottom left and slided
Fixed after wheel, left driving wheel and upper left chain wheel with fixing device；At least one end of described long rails is provided with work head,
Described work head is lift work head or fixed work head；
Described motor center includes a pulley mounting plate, described upper left chain wheel, upper right pulley, lower left chain wheel, lower right pulley
Be mounted in pulley mounting plate, described cross track and longitudinal both sides be provided with strip V-type groove or V-type it is raised, V
There is the inclined-plane at two pieces of 45 degree of angles symmetrical above and below on type groove or V-type projection, four are provided with below described pulley mounting plate
Individual horizontal pulley, four longitudinal pulleys are installed above pulley mounting plate, before horizontal pulley is symmetrically positioned in cross track
Both sides afterwards, longitudinal pulley are symmetrically positioned in the left and right sides of long rails, are provided with described longitudinal pulley and horizontal pulley
The symmetrical above and below two piece conical surface that can be bonded with inclined-plane.
Described horizontal pulley and longitudinal pulley are arranged on by roller arm on the mounting hole of pulley mounting plate, described peace
The diameter in dress hole is more than roller arm.
Longitudinal pulley of horizontal pulley and the long rails side of described cross track side is extremely gap with roller arm
Coordinate.
Described fixing device includes end plate and pressing plate, and two of timing belt is turned back after passing through pressing plate, and pressing plate connects with end plate
The return portion of timing belt is compressed after connecing.
Described lift work head includes fixed plate, upright slide rail is provided with described fixed plate, in upright slide rail
On be movably installed with sliding block, be provided with supporting plate on front side of described sliding block, locking mounting bracket be provided with front side of supporting plate；It is described
Fixed plate below be provided with lifting motor, the output end of lifting motor is provided with swing rod, and the swing rod is located at the lower section of supporting plate.
Case is provided with front side of described fixed plate, upright slide rail, sliding block, supporting plate are coated on interior by the case.
The top and bottom of the upright slide rail are provided with limited block.
Lettering pen, paintbrush or screen touch pen are installed on the locking mounting bracket of described lift work head.
Described fixed work head is arranged on the end of long rails, described fixed work head by fixed support
Including laser marking head.
Described control module is arranged on one end of cross track, and the control module includes guidance panel and master board.
The present invention is by controlling module to automatically control the run trace of work head, and so as to be write, draw a picture, laser is beaten
The various operations such as mark, screen are typewrited, suction thing removes thing, played chess, or point gum machine can also be used as, sugared picture machine uses.It is tight with structure
Gather, dependable performance, be active in one's movements, the advantages that moving displacement precision is high, long lifespan, suitable for the higher workplace of repeatability.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the internal structure schematic diagram of the present invention.
Fig. 3 is the sectional view of cross track of the present invention.
Fig. 4 is the sectional view of long rails of the present invention.
Fig. 5 is the structural representation of toothed belt transmission of the present invention.
Fig. 6 is the structural representation of lift of the present invention work head.
Fig. 7 is the structure decomposition figure of lift of the present invention work head.
Embodiment
As shown in Figure 1 and Figure 2, the present invention is automatically positioned walking mechanism for one kind is cross, and it includes control module 1, bottom
Cross track 2-1 and cross track 2-1 above long rails 2-2 normal thereto, in cross track 2-1 and long rails
Motor center 6 is provided between 2-2.Described control module 1 is arranged on cross track 2-1 one end, and the control module 1 includes
One piece of connecting plate 1-1, guidance panel 1-3 bent and master board 1-2, described guidance panel 1-3 are located at connecting plate 1-1's
Outside, master board 1-2 are located at connecting plate 1-1 inner side.Described long rails 2-2 and motor center 6 can transversely tracks
2-1 moves laterally, and described long rails 2-2 energy relative motions maincenter 6 vertically moves.Described long rails 2-2's
At least one end is provided with work head, and the motion track of work head can be controlled by moving movement maincenter 6 and long rails 2-2, from
And realize a variety of operations.Described work head is lift first 4 or fixed work first 5 of work, and lift work first 4 refers to work
Making head can move up and down, and fixed first 5 of work is fixed, in long rails 2-2 one end lift can be set to work
First 4, the other end sets fixed work first 5, and lift work first 4 can also be set in long rails 2-2 one or both ends,
Fixed work first 5 can also be set in long rails 2-2 one or both ends.
As shown in Figure 2, Figure 3, Figure 4, described motor center 6 includes a pulley mounting plate 6-1, in pulley mounting plate 6-1
It is installed above to have cover plate, for protecting motor center 6.Described cross track 2-1 and longitudinal both sides are provided with the V-type of strip
There is the inclined-plane 2-4 at two pieces of 45 degree of angles symmetrical above and below in groove 2-3 or V-type projection, V-type groove 2-3 or V-type projection.It is described
Pulley mounting plate 6-1 below four horizontal pulley 6-3 are installed, four longitudinal directions are installed above pulley mounting plate 6-1
Pulley 6-2, horizontal pulley 6-3 are symmetrically positioned in cross track 2-1 front and rear sides, and longitudinal pulley 6-2 is symmetrically positioned in long rails
Be provided with the 2-2 left and right sides, described longitudinal pulley 6-2 and horizontal pulley 6-3 can be bonded with inclined-plane 2-4 it is upper and lower right
The two pieces of conical surface 6-5 claimed.Such structure can substantially reduce the frictional force between pulley and track, and operation also more smoothes out, no
Can be stuck.
Described horizontal pulley 6-3 and longitudinal pulley 6-2 is arranged on pulley mounting plate 6-1 installation by roller arm 6-4
Kong Shang, the diameter of described mounting hole are more than roller arm 6-4.Therefore roller arm 6-4 position can be carried out when mounted micro-
Adjust, it is ensured that horizontal pulley 6-3 and longitudinal pulley 6-2 are brought into close contact with V-type groove 2-3 or V-type projection.Described cross track 2-
Longitudinal pulley 6-2 of horizontal pulley 6-3 and long rails the 2-2 side of 1 side coordinates to roller arm 6-4 for gap, so
The gap being to compensate between pulley and guide rail.
When cross track 2-1 or long rails 2-2 both sides set the V-type groove 2-3 of strip, described transverse direction is sliding
Wheel 6-3 or longitudinal pulleys 6-2 top sides edge and bottom edge are provided with conical surface 6-5, as horizontal pulley 6-3 or longitudinal pulleys 6-
During 2 insertion V-type groove 2-3, V-type groove 2-3 can be supported to horizontal pulley 6-3 or longitudinal pulleys 6-2.
When cross track 2-1 or long rails 2-2 both sides set the V-type projection of strip, described horizontal pulley
6-3 or longitudinal pulleys 6-2 centre is provided with two conical surface being symmetrically recessed 6-5, as horizontal pulley 6-3 or longitudinal pulleys 6-2
When V-type projection, V-type projection can be supported spiral-lock to horizontal pulley 6-3 or longitudinal pulleys 6-2.
As shown in figure 5, described cross track 2-1 both ends are provided with left motor 3-1 and right motor 3-2, on a left side
Left driving wheel 3-5 and right driving wheel 3-6 are separately installed with side motor 3-1 and right motor 3-2.The control module 1 connects
Extend above plate 1-1 motor 3-1 to the left, left motor 3-1 and left driving wheel 3-5 are blocked, for protecting left motor 3-1
With left driving wheel 3-5.Spiral-lock has motor cover 3-4 above described right motor 3-2, for protecting right motor 3-2 and right drive
Driving wheel 3-6.Four pulleys are provided with described motor center 6, respectively upper left chain wheel 3-9a, upper right pulley 3-9b, bottom left
Pulley 3-9c, lower right pulley 3-9d.One end of the long rails 2-2 is provided with fixing device, and the other end is provided with end cunning
Wheel 10, a timing belt 3-3 sequentially pass through right pulley 3-9b, right driving wheel 3-6, lower right pulley 3-9d, end pulley 10, under
Fixed after left chain wheel 3-9c, left driving wheel 3-5 and upper left chain wheel 3-9a with fixing device.Described fixing device includes end plate
3-7 and pressing plate 3-8, timing belt 3-3 two are turned back after passing through pressing plate 3-8, pressing plate 3-8 be connected with end plate 3-7 after by timing belt
3-3 return portion is compressed, and timing belt 3-3 is securely fixed.Need to adjust timing belt 3-3 it is elastic when, as long as by pressing plate 3-8 with
End plate 3-7 unclamps, very convenient.
When described left motor 3-1 and right motor 3-2 rotating Vortexes, work head, motor center 6 and long rails 2-
2 make transverse movement on cross track 2-1, and when left motor 3-1 and right motor 3-2 are reversely rotated, work head and longitudinal rail
Road 2-2 relative motions maincenter 6 travels longitudinally.When left driving wheel 3-5 and right driving wheel 3-6 have speed difference, work head energy
Deviate horizontal and vertical, make inclination movement.
Described fixed work first 5 is arranged on long rails 2-2 end, described fixation by fixed support 5-1
Formula work first 5 includes laser marking head.
As shown in Figure 6, Figure 7, described lift work first 4 includes setting on fixed plate 4-1, described fixed plate 4-1
There is upright slide rail 4-5, be movably installed with upright slide rail 4-5 on front side of sliding block 4-6, described sliding block 4-6 and be provided with supporting plate
Locking mounting bracket 4-4 is provided with front side of 4-8, supporting plate 4-8.Lifting motor 4-2 is provided with below described fixed plate 4-1,
Lifting motor 4-2 output end is provided with swing rod 4-7, and swing rod 4-7 is located at supporting plate 4-8 lower section, lifting motor 4-2 work
When, band driven fork 4-7 is moved up supporting plate 4-8 can be promoted to move up, when swing rod 4-7 is fallen, supporting plate 4-8 due to gravity from
It is dynamic to fall.Lettering pen, paintbrush or screen touch pen are installed on the locking mounting bracket 4-4 of described lift work first 4, in supporting plate
4-8 can complete to start writing when lifting, down operation.The top and bottom of the upright slide rail 4-5 are provided with limited block, limit and slide
Block 4-6 displacement.Case 4-3 is provided with front side of described fixed plate 4-1, case 4-3 is by upright slide rail 4-5, cunning
Block 4-6, supporting plate 4-8 shield in being coated on.
The present invention is by controlling module 1 to automatically control the run trace of work head, so as to be write, drawn a picture, laser
The various operations such as mark, screen are typewrited, suction thing removes thing, played chess, or point gum machine can also be used as, sugared picture machine uses.With structure
Compact, dependable performance, it is active in one's movements, the advantages that moving displacement precision is high, long lifespan, suitable for the higher yard of repeatability
Close.
Claims (10)
1. one kind is cross to be automatically positioned walking mechanism, it includes control module（1）, bottom cross track（2-1）It is and horizontal
To track（2-1）Top long rails normal thereto（2-2）, in cross track（2-1）And long rails（2-2）Between set
There is motor center（6）, described cross track（2-1）Both ends left motor is installed（3-1）And right motor（3-2）,
Left motor（3-1）And right motor（3-2）On be separately installed with left driving wheel（3-5）And right driving wheel（3-6）；Described fortune
Dynamic maincenter（6）Four pulleys are inside provided with, respectively upper left chain wheel（3-9a）, upper right pulley（3-9b）, lower left chain wheel（3-9c）、
Lower right pulley（3-9d）；The long rails（2-2）One end be provided with fixing device, the other end is provided with end pulley
（10）, a timing belt（3-3）Sequentially pass through right pulley（3-9b）, right driving wheel（3-6）, lower right pulley（3-9d）, end
Pulley（10）, lower left chain wheel（3-9c）, left driving wheel（3-5）And upper left chain wheel（3-9a）Fixed afterwards with fixing device；It is described
Long rails（2-2）At least one end be provided with work head, described work head is that lift works head（4）Or fixed work
Make head（5）；
It is characterized in that described motor center（6）Including a pulley mounting plate（6-1）, described upper left chain wheel（3-9a）, on
Right pulley（3-9b）, lower left chain wheel（3-9c）, lower right pulley（3-9d）It is mounted on pulley mounting plate（6-1）On, described horizontal stroke
To track（2-1）The V-type groove of strip is provided with longitudinal both sides（2-3）Or V-type is raised, V-type groove（2-3）Or V-type is convex
Play the upper inclined-plane with two pieces of 45 degree of angles symmetrical above and below（2-4）, described pulley mounting plate（6-1）Lower section is provided with four horizontal strokes
To pulley（6-3）, in pulley mounting plate（6-1）Top four longitudinal pulleys are installed（6-2）, horizontal pulley（6-3）Symmetrically
Positioned at cross track（2-1）Front and rear sides, longitudinal pulley（6-2）It is symmetrically positioned in long rails（2-2）The left and right sides, it is described
Longitudinal pulley（6-2）With horizontal pulley（6-3）On be provided with can and inclined-plane（2-4）The symmetrical above and below two piece conical surface of fitting
（6-5）.
2. cross walking mechanism is automatically positioned according to claim 1, it is characterised in that horizontal pulley（6-3）And longitudinal direction
Pulley（6-2）Pass through roller arm（6-4）Installed in pulley mounting plate（6-1）Mounting hole on, the diameter of described mounting hole is big
In roller arm（6-4）.
3. cross walking mechanism is automatically positioned according to claim 1, it is characterised in that described cross track（2-1）
The horizontal pulley of side（6-3）And long rails（2-2）Longitudinal pulley of side（6-2）To and roller arm（6-4）Match somebody with somebody for gap
Close.
4. cross walking mechanism is automatically positioned according to claim 1, it is characterised in that described fixing device includes
End plate（3-7）And pressing plate（3-8）, timing belt（3-3）Two pass through pressing plate（3-8）After turn back, pressing plate（3-8）With end plate（3-
7）By timing belt after connection（3-3）Return portion compress.
5. described cross walking mechanism is automatically positioned according to claim 1-4 is any, it is characterised in that described lift
Work head（4）Including fixed plate（4-1）, described fixed plate（4-1）On be provided with upright slide rail（4-5）, in upright slide rail（4-
5）On be movably installed with sliding block（4-6）, described sliding block（4-6）Front side is provided with supporting plate（4-8）, supporting plate（4-8）Before
Side is provided with locking mounting bracket（4-4）；Described fixed plate（4-1）Lower section is provided with lifting motor（4-2）, lifting motor（4-
2）Output end be provided with swing rod（4-7）, the swing rod（4-7）Positioned at supporting plate（4-8）Lower section.
6. cross walking mechanism is automatically positioned according to claim 5, it is characterised in that described fixed plate（4-1）'s
Front side is provided with case（4-3）, the case（4-3）By upright slide rail（4-5）, sliding block（4-6）, supporting plate（4-8）In being coated on.
7. cross walking mechanism is automatically positioned according to claim 5, it is characterised in that the upright slide rail（4-5）'s
Top and bottom are provided with limited block.
8. cross walking mechanism is automatically positioned according to claim 5, it is characterised in that described lift work head
（4）Locking mounting bracket（4-4）On lettering pen, paintbrush or screen touch pen are installed.
9. described cross walking mechanism is automatically positioned according to claim 1-4 is any, it is characterised in that described is fixed
Work head（5）Pass through fixed support（5-1）Installed in long rails（2-2）End, described fixed work head（5）Including
Laser marking head.
10. described cross walking mechanism is automatically positioned according to claim 1-4 is any, it is characterised in that described control mould
Group（1）Installed in cross track（2-1）One end, the control module（1）Including guidance panel（1-3）And master board（1-2）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710914754.1A CN107757199A (en) | 2017-09-30 | 2017-09-30 | It is cross to be automatically positioned walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710914754.1A CN107757199A (en) | 2017-09-30 | 2017-09-30 | It is cross to be automatically positioned walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107757199A true CN107757199A (en) | 2018-03-06 |
Family
ID=61267393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710914754.1A Pending CN107757199A (en) | 2017-09-30 | 2017-09-30 | It is cross to be automatically positioned walking mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN107757199A (en) |
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| CN108559827A (en) * | 2018-04-10 | 2018-09-21 | 天津中德应用技术大学 | Hand-held ultrasound impact device stabilising arrangement |
| CN108718709A (en) * | 2018-06-05 | 2018-11-02 | 宁波大学 | Automate strawberry picking machine |
| CN108909290A (en) * | 2018-08-03 | 2018-11-30 | 安徽赛福贝特信息技术有限公司 | A kind of big data intelligence tracing device |
| CN109173089A (en) * | 2018-09-20 | 2019-01-11 | 成都真实维度科技有限公司 | A kind of device using laser aiming radioactive prospecting instrument tumour |
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| CN112989899A (en) * | 2019-12-18 | 2021-06-18 | 湖南创乐博智能科技有限公司 | Method for writing personalized font based on writing robot |
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|---|---|---|---|---|
| CN108559827A (en) * | 2018-04-10 | 2018-09-21 | 天津中德应用技术大学 | Hand-held ultrasound impact device stabilising arrangement |
| CN108718709A (en) * | 2018-06-05 | 2018-11-02 | 宁波大学 | Automate strawberry picking machine |
| CN108718709B (en) * | 2018-06-05 | 2020-12-29 | 宁波大学 | Automatic strawberry picking machine |
| CN108909290A (en) * | 2018-08-03 | 2018-11-30 | 安徽赛福贝特信息技术有限公司 | A kind of big data intelligence tracing device |
| CN109173089A (en) * | 2018-09-20 | 2019-01-11 | 成都真实维度科技有限公司 | A kind of device using laser aiming radioactive prospecting instrument tumour |
| CN109173089B (en) * | 2018-09-20 | 2024-02-13 | 成都真实维度科技有限公司 | Device for guiding radioactive particles to implant tumor by laser |
| CN110435339A (en) * | 2019-07-27 | 2019-11-12 | 深圳萌贝科技有限公司 | Intelligent drawing device |
| CN110405639A (en) * | 2019-08-30 | 2019-11-05 | 河北建材职业技术学院 | A kind of woodcarving by sand blast machine track-type facilities that can be operated normally in dust atmosphere |
| CN112989899A (en) * | 2019-12-18 | 2021-06-18 | 湖南创乐博智能科技有限公司 | Method for writing personalized font based on writing robot |
| CN111962935A (en) * | 2020-09-21 | 2020-11-20 | 格瑞(天津)科技发展有限公司 | Multifunctional cantilever parking stall shed lock |
| CN112297682A (en) * | 2020-10-21 | 2021-02-02 | 华东师范大学 | Drawing machine with two-stage mechanical arm structure |
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