阅读说明：本技术 基于图像识别的全自动智能糖画机器人系统 (Full-automatic intelligent sugar painting robot system based on image recognition ) 是由 黄立羽 许诗艺 徐淑秋 李嘉颖 易宝玉 于 2020-07-21 设计创作，主要内容包括：本发明实施例公开了基于图像识别的全自动智能糖画机器人系统,包括顶板、底板、打印喷头、水平位移机构、竖向位移机构；顶板和底板均呈水平设置的平板状结构,底板的四角位置焊接固定有竖直朝上设置的立柱；打印喷头采用螺栓固定在安装板的下表面边沿位置,打印喷头沿圆周向呈等距间隔设置；水平位移机构包括X向位移机构和Y向位移机构,前后两根间隔设置的立柱之间设有前后水平设置的Y向导杆,且Y向导杆上滑动套设有导向滑块,导向滑块之间设有一左右水平设置的X向导杆,X向导杆的右端部采用螺栓以及法兰固定有X向驱动电动缸,Y向驱动电动缸的驱动缸轴的后端通过螺栓以及法兰固定连接X向导杆；竖向位移机构是沿Z向设置于底板上,Z向驱动电动缸的驱动缸轴的顶端采用螺栓以及法兰固定连接打印托板的底面中心位置。本发明的优点在于,将传统手工技艺与3D打印技术相结合,制作速度快而且功能多样,有效的保证了作品的质量,且该设计机械结构简单,操作方便,具有很高的实用价值。(The embodiment of the invention discloses a full-automatic intelligent sugar painting robot system based on image recognition, which comprises a top plate, a bottom plate, a printing nozzle, a horizontal displacement mechanism and a vertical displacement mechanism, wherein the printing nozzle is arranged on the top plate; the top plate and the bottom plate are both of flat-plate structures which are horizontally arranged, and upright columns which are vertically arranged upwards are welded and fixed at four corners of the bottom plate; the printing nozzles are fixed at the edge of the lower surface of the mounting plate by bolts and are arranged at equal intervals along the circumferential direction; the horizontal displacement mechanism comprises an X-direction displacement mechanism and a Y-direction displacement mechanism, a Y-direction guide rod horizontally arranged front and back is arranged between two stand columns arranged at intervals, a guide sliding block is sleeved on the Y-direction guide rod in a sliding mode, a left X-direction guide rod and a right X-direction guide rod horizontally arranged left and right are arranged between the guide sliding blocks, an X-direction driving electric cylinder is fixed to the right end portion of the X-direction guide rod through a bolt and a flange, and the rear end of a driving cylinder shaft of the Y-direction driving electric cylinder is fixedly connected with the X-direction guide rod through the bolt and the; the vertical displacement mechanism is arranged on the bottom plate along the Z direction, and the top end of a driving cylinder shaft of the Z-direction driving electric cylinder is fixedly connected with the center position of the bottom surface of the printing supporting plate by adopting a bolt and a flange. The invention has the advantages that the traditional manual skill and the 3D printing technology are combined, the manufacturing speed is high, the functions are various, the quality of the works is effectively ensured, and the design has a simple mechanical structure, is convenient to operate and has high practical value.)

1. Full-automatic intelligent sugar painting robot system based on image recognition, its characterized in that: comprises a top plate, a bottom plate, a printing nozzle, a horizontal displacement mechanism and a vertical displacement mechanism; the top plate (1) and the bottom plate (2) are both of a horizontally arranged flat structure, and upright columns (3) which are vertically arranged upwards are welded and fixed at four corners of the bottom plate (2); the printing nozzles (4) are fixed at the edge of the lower surface of the mounting plate by bolts, and the printing nozzles (4) are arranged at equal intervals along the circumferential direction; the horizontal displacement mechanism comprises an X-direction displacement mechanism and a Y-direction displacement mechanism, a Y-direction guide rod (5) horizontally arranged from front to back is arranged between two stand columns arranged at intervals, a guide sliding block is sleeved on the Y-direction guide rod (5) in a sliding mode, an X-direction guide rod (6) horizontally arranged from left to right is arranged between the guide sliding blocks, an X-direction driving electric cylinder (7) is fixed at the right end part of the X-direction guide rod (6) through a bolt and a flange, and the rear end of a driving cylinder shaft of the Y-direction driving electric cylinder (8) is fixedly connected with the X-direction guide rod (6) through the bolt and the flange; the vertical displacement mechanism is arranged on the bottom plate along the Z direction, and the top end of a driving cylinder shaft of the Z-direction driving electric cylinder (9) is fixedly connected with the center position of the bottom surface of the printing supporting plate (10) by adopting a bolt and a flange.

2. The full-automatic intelligent sugar painting robot system based on image recognition of claim 1, characterized in that: the lower surface of the mounting sliding block is fixedly provided with a rotating motor (11) through bolts, a motor shaft of the rotating motor (11) is vertically arranged downwards, and the bottom end of the motor shaft is welded and fixed with the center of the upper surface of the mounting plate.

3. The full-automatic intelligent sugar painting robot system based on image recognition of claim 1, characterized in that: the circumferential track where the printing spray head (4) is located and the mounting plate are coaxially arranged, the mounting plate realizes X-axis and Z-axis movement under the driving action of the printing assembly, and meanwhile, the mounting plate can realize conversion of the printing spray head (4) within a certain range in the rotating process.

Technical Field

The invention relates to the field of 3D printing, in particular to a full-automatic intelligent sugar painting robot system based on image recognition.

Background

The sugar maker is a traditional Chinese manual technique, most of sugar makers in the market still adopt manual making, the manual making quality completely depends on the level of an operator, the efficiency is low, and the labor intensity is high.

3D printing is typically achieved using digital technology material printers. The method is often used for manufacturing models in the fields of mold manufacturing, industrial design and the like, and is gradually used for directly manufacturing some works, and parts printed by the technology are already available.

The patent No. 208338794 discloses an invention patent discloses a sugar man making machine, including frame and control system, be provided with horizontal transverse driving device in the frame, be provided with horizontal longitudinal drive device on the horizontal transverse driving device, be provided with the work platform of horizontal arrangement on the horizontal longitudinal drive device, the frame is located the position of work platform top is provided with lift drive, the last syrup extrusion device that is provided with of lift drive, horizontal transverse driving device horizontal longitudinal drive device lift drive and syrup extrusion device respectively with control system communication connection. The invention provides the sugar maker making device with relatively high making speed, but the device has a relatively complex mechanical structure, complicated disassembly steps and inconvenient use, and the cost is increased.

Therefore, it is necessary to provide a further solution to the above problems.

Disclosure of Invention

In order to solve the problems, the invention provides a full-automatic intelligent sugar painting robot system based on image recognition.

The invention is realized by adopting the following technical scheme:

full-automatic intelligent sugar painting robot system based on image recognition, its characterized in that: comprises a top plate, a bottom plate, a printing nozzle, a horizontal displacement mechanism and a vertical displacement mechanism; the top plate and the bottom plate are both of flat-plate structures which are horizontally arranged, the top plate and the bottom plate are arranged oppositely up and down at intervals, upright columns which are vertically arranged upwards are welded and fixed at four corners of the bottom plate, and the upright columns are respectively fixedly connected with the four corners of the bottom surface of the top plate in a welding manner; a Y-shaped guide rod horizontally arranged front and back is arranged between the front upright post and the back upright post at intervals, a guide sliding block is sleeved on the Y-shaped guide rod in a sliding manner, a front-back through type guide hole is formed in the guide sliding block, and the guide sliding block is sleeved on the corresponding Y-shaped guide rod in a sliding manner through the guide hole; an X-direction guide rod horizontally arranged left and right is arranged between the guide sliding blocks, the left end and the right end of the X-direction guide rod are fixedly connected with the adjacent guide sliding blocks by screws, and the X-direction guide rod horizontally translates back and forth along the Y-direction guide rod under the action of the guide sliding blocks; the X-direction guide rod is sleeved with an installation sliding block in a sliding mode, a left-right through type guide hole is formed in the installation sliding block, the installation sliding block is sleeved on the X-direction guide rod in a sliding mode through the guide hole, the installation sliding block can translate left and right along the X-direction guide rod, and meanwhile the installation sliding block can also translate front and back horizontally along with the X-direction guide rod; an X-direction driving electric cylinder is fixed at the right end part of the X-direction guide rod through a bolt and a flange, a driving cylinder shaft of the X-direction driving electric cylinder is horizontally arranged towards the left, the left end part of the driving cylinder shaft of the X-direction driving electric cylinder is fixedly connected with the center position of the right side face of the mounting sliding block through a screw, and the mounting sliding block is driven to move horizontally left and right through pushing and pulling of the X-direction driving electric cylinder; a Y-direction driving electric cylinder mounting seat which is vertically arranged downwards is fixedly welded at the front edge of the top plate, a Y-direction driving electric cylinder is fixed on the back surface of the Y-direction driving electric cylinder mounting seat through bolts, a driving cylinder shaft of the Y-direction driving electric cylinder is horizontally arranged backwards, the rear end of the driving cylinder shaft of the Y-direction driving electric cylinder is fixedly connected with an X-direction guide rod through bolts and flanges, and the X-direction guide rod is driven to move forwards and backwards under the action of the Y-direction driving electric cylinder; the upper surface central point of bottom plate puts and adopts the bolt fastening to have Z to the electronic jar of drive, and Z sets up to the drive jar axle of the electronic jar of drive is vertical upwards, and the top of the drive jar axle of the electronic jar of drive of Z adopts bolt and flange fixed connection to print the bottom surface central point of layer board and puts, prints the layer board and is the flat structure of level setting, drives under the drive effect of the electronic jar of Z drive and prints the layer board translation from top to bottom, and whole printing assembly can realize XYZ triaxial motion this moment.

Further, the lower surface of the installation sliding block is fixedly provided with a rotating motor through bolts, a motor shaft of the rotating motor is arranged downwards vertically, and the bottom end of the motor shaft is welded and fixed with the center of the upper surface of the installation plate.

Furthermore, the circumferential track where the printing spray head is located and the mounting plate are coaxially arranged, the mounting plate realizes X-axis and Z-axis movement under the driving action of the printing assembly, and meanwhile, the mounting plate can realize the conversion of the printing spray head within a certain range in the rotating process.

Compared with the prior art, the invention has the beneficial effects that: combine together traditional manual skill and 3D printing technique, the preparation is fast and the function is various, the effectual quality of guaranteeing the works, and this design mechanical structure is simple, and convenient operation has very high practical value.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a rear view of the present invention;

FIG. 3 is a left side view of the present invention;

FIG. 4 is a right side view of the present invention;

FIG. 5 is a bottom view of the present invention;

fig. 6 is a top view of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 6, in the embodiment of the present invention, a full-automatic intelligent sugar painting robot system based on image recognition includes a top plate, a bottom plate, a printing nozzle, a horizontal displacement mechanism, and a vertical displacement mechanism; the top plate (1) and the bottom plate (2) are both of horizontally arranged flat-plate structures, the top plate (1) and the bottom plate (2) are arranged oppositely up and down at intervals, upright columns (3) which are vertically arranged upwards are welded and fixed at four corners of the bottom plate (2), and the upright columns (3) are respectively fixedly connected with four corners of the bottom surface of the top plate (1) in a welding manner; a Y-direction guide rod (5) horizontally arranged from front to back is arranged between the front upright post (3) and the back upright post (3) at intervals, a guide slide block is sleeved on the Y-direction guide rod (5) in a sliding manner, a front-back through type guide hole is formed in the guide slide block, and the guide slide block is sleeved on the corresponding Y-direction guide rod (5) in a sliding manner through the guide hole; an X-direction guide rod (6) horizontally arranged left and right is arranged between the guide sliding blocks, the left end and the right end of the X-direction guide rod (6) are fixedly connected with the adjacent guide sliding blocks by screws, and the X-direction guide rod (6) horizontally translates back and forth along the Y-direction guide rod (5) under the action of the guide sliding blocks; the X-direction guide rod (6) is sleeved with an installation sliding block in a sliding mode, a left-right through type guide hole is formed in the installation sliding block, the installation sliding block is sleeved on the X-direction guide rod (6) in a sliding mode through the guide hole, the installation sliding block can translate left and right along the X-direction guide rod (6), and meanwhile the installation sliding block can also translate back and forth along with the X-direction guide rod (6); an X-direction driving electric cylinder (7) is fixed at the right end part of the X-direction guide rod (6) through a bolt and a flange, a driving cylinder shaft of the X-direction driving electric cylinder (7) is horizontally arranged towards the left, the left end part of the driving cylinder shaft of the X-direction driving electric cylinder (7) is fixedly connected with the center position of the right side face of the mounting slide block through a screw, and the mounting slide block is driven to horizontally move left and right through the push-pull of the X-direction driving electric cylinder (7); a Y-direction driving electric cylinder (8) mounting seat which is vertically arranged downwards is welded and fixed at the front edge position of the top plate, a Y-direction driving electric cylinder (8) is fixed on the back surface of the Y-direction driving electric cylinder (8) mounting seat through bolts, a driving cylinder shaft of the Y-direction driving electric cylinder (8) is horizontally arranged backwards, the rear end of the driving cylinder shaft of the Y-direction driving electric cylinder (8) is fixedly connected with an X-direction guide rod (6) through bolts and flanges, and the X-direction guide rod (6) is driven to move forwards and backwards under the action of the Y-direction driving electric cylinder (8); the upper surface central point of bottom plate (2) puts and adopts the bolt fastening to have Z to electronic jar of drive (9), Z sets up to the drive jar axle of electronic jar of drive (9) is vertical upwards, and the bottom surface central point that the drive jar axle of Z to electronic jar of drive (9) adopted bolt and flange fixed connection to print layer board (10) puts, it is the flat structure of level setting to print layer board (10), it prints layer board (10) translation from top to bottom to drive under the drive effect of the electronic jar of drive (9) at Z, whole printing assembly can realize XYZ triaxial motion this moment.

Preferably, the lower surface of the installation sliding block is fixedly provided with a rotating motor (11) through a bolt, a motor shaft of the rotating motor (11) is vertically arranged downwards, and the bottom end of the motor shaft is welded and fixed with the center of the upper surface of the installation plate.

Preferably, the circumferential track where the printing spray head (4) is located and the mounting plate are coaxially arranged, the mounting plate realizes X-axis and Z-axis movement under the driving action of the printing assembly, and meanwhile, the mounting plate can also realize the conversion of the printing spray head (4) within a certain range in the rotating process.

The invention has the advantages that the traditional manual skill and the 3D printing technology are combined, the manufacturing speed is high, the functions are various, the quality of the works is effectively ensured, and the design has a simple mechanical structure, is convenient to operate and has high practical value.