CN209903476U - Novel portable mechanical arm type 3D printing apparatus - Google Patents
Novel portable mechanical arm type 3D printing apparatus Download PDFInfo
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- CN209903476U CN209903476U CN201920096291.7U CN201920096291U CN209903476U CN 209903476 U CN209903476 U CN 209903476U CN 201920096291 U CN201920096291 U CN 201920096291U CN 209903476 U CN209903476 U CN 209903476U
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- 238000010146 3D printing Methods 0.000 title claims abstract description 27
- 238000007639 printing Methods 0.000 claims abstract description 90
- 239000004568 cement Substances 0.000 claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 239000007921 spray Substances 0.000 claims abstract description 8
- 239000000463 material Substances 0.000 claims description 16
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 239000002994 raw material Substances 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000012255 powdered metal Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The utility model provides a novel movable mechanical arm type 3D printing device, which comprises a movable base and a main support post fixedly arranged on the movable base, wherein the main support post is connected with an mechanical arm through a turntable; the top end of the mechanical arm, which is far away from the main support, is connected with a printing nozzle; the equipment also comprises a cement conveying mechanism and a control driving mechanism; the cement conveying mechanism is connected with the printing spray head; the control driving mechanism is respectively connected with the movable base, the cement conveying mechanism and the mechanical arm. The mechanical arm comprises a main arm and at least one slave arm; one end of the main arm is connected with the turntable, and the other end of the main arm is connected with the slave arm through a rotating shaft; the mechanical arm further comprises a hydraulic telescopic rod, the fixed end of the hydraulic telescopic rod is connected with the main arm, and the output end of the hydraulic telescopic rod is connected with the slave arm; the top end of the slave arm, which is far away from the connecting point with the master arm, is connected with the printing spray head.
Description
Technical Field
The utility model belongs to the technical field of cement products 3D prints, concretely relates to novel portable mechanical arm formula 3D printing apparatus.
Background
3D printing is one of the rapid prototyping technologies, which is a technology for constructing an object by stacking and accumulating layer by layer using a bondable material such as powdered metal or plastic based on a digital model file (i.e., "build-up modeling method"). It has been used to manufacture models in the fields of mold manufacturing, industrial design, etc., and is now increasingly used for direct manufacture of some products.
With the continuous development of 3D printing technology, the conventional mold manufacturing method increasingly exposes the defects of low efficiency, high cost, long period, limited precision improvement space, and the like. The 3D printing technology is a rapid forming manufacturing technology which is rapidly developed at home and abroad in recent years, has the advantages of high forming speed, low equipment price, low operation and maintenance cost and capability of being manufactured in a personalized creative manner, is used as a manufacturing mode of a new era of big data cloud computing, is widely applied to various engineering fields of modern society such as machinery, electronics, airplanes, biological manufacturing, pharmacy, micro-electro-mechanical and the like at present, and shows wide market prospects.
However, the main materials for 3D printing at present are chemical materials such as ABS and nylon, and printing equipment for cement materials used in the large-scale construction field has not yet reached a mature level.
Disclosure of Invention
Use cement material to carry out 3D to the heavy construction field and print, the utility model provides a novel portable robotic arm formula 3D printing apparatus.
The technical scheme of the utility model is that:
a novel movable mechanical arm type 3D printing device comprises a movable base and a main support fixedly arranged on the movable base, wherein the main support is connected with a mechanical arm through a turntable;
the top end of the mechanical arm, which is far away from the main support, is connected with a printing nozzle;
the equipment also comprises a cement conveying mechanism and a control driving mechanism; the cement conveying mechanism is connected with the printing spray head;
the control driving mechanism is respectively connected with the movable base, the cement conveying mechanism and the mechanical arm.
Preferably, the mechanical arm comprises a main arm and at least one slave arm;
one end of the main arm is connected with the turntable, and the other end of the main arm is connected with the slave arm through a rotating shaft;
the mechanical arm further comprises a hydraulic telescopic rod, the fixed end of the hydraulic telescopic rod is connected with the main arm, and the output end of the hydraulic telescopic rod is connected with the slave arm;
the top end of the slave arm far away from the connection point of the master arm is connected with the printing spray head.
The main arm is connected with the carousel, rotates the rotation that drives the arm through the carousel, and the main arm is connected through hydraulic telescoping rod between the arm with following, and the width and the height of arm are adjusted through the flexible length of control hydraulic telescoping rod, improve and print the precision.
Preferably, the equipment further comprises a hydraulic pump, and the hydraulic pump is connected with the hydraulic telescopic rod through a pipeline;
the hydraulic telescopic rod comprises a piston push rod and a hydraulic cylinder, the piston push rod is connected with the outer wall of the slave arm, the bottom of the piston push rod is connected to the inner side of the top of the hydraulic cylinder, and the hydraulic cylinder is connected with the outer wall of the master arm through a bolt. The control driving mechanism adjusts the telescopic length of the hydraulic telescopic rod by controlling the hydraulic pump, so that the width and the height of the mechanical arm are adjusted.
Preferably, the control driving mechanism comprises a servo motor and a controller, and the servo motor is connected with the controller; the servo motor is connected with the rotary disc through a rotating connecting rod. The controller controls the servo motor to rotate and drives the turntable to rotate through the rotating connecting rod.
Preferably, the cement conveying mechanism comprises a cement container, a pump and a feeding hose; the cement container is connected with the pump and is communicated with the feed inlet of the printing nozzle through a feeding hose. The feeding hose is used for conveying cement raw materials, and the hose is convenient to drive in the printing process to move back and forth and is not easy to damage.
Preferably, said movable chassis comprises a crawler.
Preferably, the hydraulic pump, the pump and the crawler are each connected to a controller. The control driving mechanism is connected with the crawler to control the movement of the crawler, and the large crawler is suitable for printing of large building structures in the field of outdoor environment buildings. The crawler movement is used to adjust the path of travel in the X-axis direction.
Preferably, the mechanical arm comprises a main arm and three slave arms;
the three slave arms are respectively a first slave arm, a second slave arm and a third slave arm;
the rotating shaft comprises a first rotating shaft, a second rotating shaft and a third rotating shaft;
the hydraulic telescopic rods comprise a first hydraulic telescopic rod, a second hydraulic telescopic rod and a third hydraulic telescopic rod;
the bottom end of the main arm is connected with the turntable, and the top end of the main arm is connected with the first end of the first slave arm through a first rotating shaft;
a hydraulic cylinder of the first hydraulic telescopic rod is connected with the main arm, and a piston push rod of the first hydraulic telescopic rod is connected with the first slave arm;
the second end of the first slave arm is connected with the first end of the second slave arm through a second rotating shaft; a hydraulic cylinder of the second hydraulic telescopic rod is connected with the first slave arm, and a piston push rod of the second hydraulic telescopic rod is connected with the second slave arm;
the second end of the second slave arm is connected with the first end of the third slave arm through a third rotating shaft, a hydraulic cylinder of a third hydraulic telescopic rod is connected with the second slave arm, and a piston push rod of the third hydraulic telescopic rod is connected with the third slave arm;
the second end of the third slave arm is connected with the printing spray head. The positions of the mechanical arms of the mechanical slave arms are adjusted by controlling the extension and retraction of the hydraulic telescopic rods, and the printing precision is improved.
Preferably, the main pillar is welded on the crawler, the main pillar is fixed on the crawler through a fixing bracket, one end of the fixing bracket is connected with the main pillar, and the other end of the fixing bracket is fixedly connected with the crawler. To stabilize the entire macro robot arm.
Preferably, the printing nozzle comprises a material barrel, the top end of the material barrel is fixedly connected with a flange, and the printing nozzle is connected with a blind plate connected with the output end of the slave arm through the flange; the printing operation is finished, and the printing nozzle is convenient to disassemble; the circular hole is formed in the center of the flange, so that the printing nozzle can be conveniently cleaned through the circular hole;
the upper portion of feed cylinder is equipped with the feed inlet, and the bottom of feed cylinder is equipped with the discharge gate.
The printing equipment consists of a movable base, a mechanical arm and a cement conveying mechanism. The moving base is a large-volume and large-mass crawler, and the moving direction and distance of the crawler are controlled by the controller.
The main support is connected to the crawler through hard welding, and fixed supports are welded on four sides of the main support to stabilize the whole large mechanical arm.
The main arm is connected with the main support through the turntable, and the whole mechanical arm can move on the position through rotation of the turntable, so that large-range printing is realized.
The main arm is connected with the slave arm through a rotating shaft, and the rotation of the slave arm is realized through the telescopic length of the hydraulic telescopic rod.
The cement conveying mechanism is arranged outside the mechanical arm and consists of a cement container, a pump machine and a feeding hose, a material source is contained in the cement container, and the feeding hose is connected with a feeding hole of the printing nozzle to discharge cement.
Before formal printing, the graphics to be printed are analyzed and input into the controller from the upper computer, and then the controller controls the printing equipment to move according to a set program algorithm. The moving direction of the crawler is an X axis, and the width and the height of the mechanical arm are adjusted according to the requirements of the graph.
And during formal printing, the controller controls the tracked vehicle to start, and the pump machine starts to start the cement conveying mechanism. Starting from the starting point, after the controller determines the height, the position and the pattern of an article to be printed, the crawler is controlled to move in a given direction, the mechanical arm is moved to a proper position by controlling the turntable to rotate by a certain angle through the servo motor, and the hydraulic telescopic rod is controlled to start to stretch and retract by controlling the hydraulic pump to adjust the mechanical arm to a proper printing height and width.
The cement conveying mechanism conveys cement to the position of the printing nozzle to start continuous printing, and the position of the printing nozzle can be changed at any time according to the requirement of the controller to complete the printing work until the final printing work is completed during the printing of the object. The equipment can perform 3D printing work in an uninterrupted, remote and large-range movement.
According to the technical scheme, the utility model has the advantages of it is following: and during formal printing, the controller controls the tracked vehicle to start, and the pump machine starts to start the cement conveying mechanism. Starting from the starting point, after the controller determines the height, the position and the pattern of an article to be printed, the crawler is controlled to move in a given direction, the mechanical arm is moved to a proper position by controlling the turntable to rotate by a certain angle through the servo motor, and the hydraulic telescopic rod is controlled to start to stretch and retract by controlling the hydraulic pump to adjust the mechanical arm to a proper printing height and width.
The cement conveying mechanism conveys cement to the position of the printing nozzle to start continuous printing, and the position of the printing nozzle can be changed at any time according to the requirement of the controller to complete the printing work until the final printing work is completed during the printing of the object. The equipment can perform 3D printing work in an uninterrupted, remote and large-range movement.
Furthermore, the utility model relates to a principle is reliable, and simple structure has very extensive application prospect.
Therefore, compared with the prior art, the utility model has the outstanding substantive features and remarkable progress, and the beneficial effects of the implementation are also obvious.
Drawings
Fig. 1 is a schematic structural diagram of a novel movable mechanical arm type 3D printing device;
fig. 2 is a schematic structural diagram of a print head.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings by way of specific examples, which are illustrative of the present invention and are not limited to the following embodiments.
Example one
As shown in fig. 1 and 2, a novel movable mechanical arm type 3D printing apparatus includes a movable base and a main support 8 fixedly mounted on the movable base, wherein the main support 8 is connected with a mechanical arm through a turntable 3;
the top end of the mechanical arm, which is far away from the main support 8, is connected with a printing nozzle 7;
the equipment also comprises a cement conveying mechanism and a control driving mechanism; the cement conveying mechanism is connected with the printing spray head 7;
the control driving mechanism is respectively connected with the movable base, the cement conveying mechanism and the mechanical arm.
The mechanical arm comprises a main arm 4 and at least one slave arm;
one end of the main arm 4 is connected with the turntable 3, and the other end of the main arm 4 is connected with the slave arm through a rotating shaft;
the mechanical arm further comprises a hydraulic telescopic rod, the fixed end of the hydraulic telescopic rod is connected with the main arm, and the output end of the hydraulic telescopic rod is connected with the slave arm;
the top end of the slave arm, which is far away from the connection point of the master arm, is connected with a printing nozzle 7. The printing nozzle 7 comprises a material barrel, the top end of the material barrel is fixedly connected with a flange 7.3, the output end of the slave arm is connected with a blind plate 13, and the printing nozzle 7 is connected with the blind plate 13 connected with the output end of the slave arm through the flange 7.3;
the upper portion of feed cylinder is equipped with feed inlet 7.1, and the bottom of feed cylinder is equipped with discharge gate 7.2.
Main arm 4 is connected with carousel 3, rotates the rotation that drives the arm through carousel 3, and main arm 4 is connected through hydraulic telescoping rod between the arm with following, and the width and the height of arm are adjusted to flexible length through control hydraulic telescoping rod, improve and print the precision.
The equipment also comprises a hydraulic pump, wherein the hydraulic pump is connected with the hydraulic telescopic rod through a pipeline;
the hydraulic telescopic rod comprises a piston push rod and a hydraulic cylinder, the piston push rod is connected with the outer wall of the slave arm, the bottom of the piston push rod is connected to the inner side of the top of the hydraulic cylinder, and the hydraulic cylinder is connected with the outer wall of the master arm through a bolt. The control driving mechanism adjusts the telescopic length of the hydraulic telescopic rod by controlling the hydraulic pump, so that the width and the height of the mechanical arm are adjusted.
The control driving mechanism comprises a servo motor and a controller, and the servo motor is connected with the controller; the servo motor is connected with the rotary disc 3 through a rotating connecting rod. The controller controls the servo motor to rotate and drives the rotary table 3 to rotate through the rotating connecting rod.
The cement conveying mechanism comprises a cement container 11, a pump 10 and a feeding hose 9; the cement container 11 is connected with the pump 10 and is communicated with the feeding hole 7.1 of the printing nozzle through the feeding hose 9. The feeding hose 9 is used for conveying cement raw materials, and the hose is convenient to drive in the printing process to move back and forth and is not easy to damage.
The movable chassis comprises a crawler 1.
The hydraulic pump, the pump 10 and the crawler 1 are connected to a controller, respectively. The control driving mechanism is connected with the crawler 1 to control the movement of the crawler 1, and the large crawler 1 is suitable for printing of large building structures in the field of outdoor environment buildings. The crawler 1 moves for adjusting the travel path in the X-axis direction.
The mechanical arm comprises a main arm 4 and three slave arms;
the three slave arms are respectively a first slave arm 12.1, a second slave arm 12.2 and a third slave arm 12.3;
the rotating shafts comprise a first rotating shaft 5.1, a second rotating shaft 5.2 and a third rotating shaft 5.3;
the hydraulic telescopic rods comprise a first hydraulic telescopic rod 6.1, a second hydraulic telescopic rod 6.2 and a third hydraulic telescopic rod 6.3;
the bottom end of the main arm 4 is connected with the turntable 3, and the top end of the main arm 4 is connected with the first end of the first slave arm 12.1 through the first rotating shaft 5.1;
a hydraulic cylinder of the first hydraulic telescopic rod 6.1 is connected with the main arm 4, and a piston push rod of the first hydraulic telescopic rod 6.1 is connected with the first slave arm 12.1;
the second end of the first slave arm 12.1 is connected with the first end of the second slave arm 12.2 through a second rotating shaft 5.2; the hydraulic cylinder of the second hydraulic telescopic rod 6.2 is connected with the first slave arm 12.1, and the piston push rod of the second hydraulic telescopic rod 6.2 is connected with the second slave arm 12.2;
the second end of the second slave arm 12.2 is connected with the first end of the third slave arm 12.3 through a third rotating shaft 5.3, the hydraulic cylinder of the third hydraulic telescopic rod 6.3 is connected with the second slave arm 12.2, and the piston push rod of the third hydraulic telescopic rod 6.3 is connected with the third slave arm 12.3;
the second end of the third slave arm 12.3 is connected to the print head 7 via a blind plate. The positions of the mechanical arms of the mechanical slave arms are adjusted by controlling the extension and retraction of the hydraulic telescopic rods, and the printing precision is improved.
The main support 8 is welded on the tracked vehicle 1, the main support 8 is fixed on the tracked vehicle 1 through the fixing support 2, one end of the fixing support 2 is connected with the main support 8, and the other end of the fixing support 2 is fixedly connected with the tracked vehicle 1. To stabilize the entire macro robot arm.
The printing equipment consists of a movable base, a mechanical arm and a cement conveying structure. Wherein the mobile base is a large-volume and large-mass crawler 1, and the moving direction and distance of the crawler 1 are controlled by a controller.
The main support 8 is connected to the crawler 1 through hard welding, and the fixed support 2 is welded on four sides to stabilize the whole large mechanical arm.
The main arm 4 is connected with the main support column 8 through the rotary table 3, and the whole mechanical arm can move on the position through rotation of the rotary table 3, so that large-range printing is realized.
The main arm 4 is connected with the slave arm through a rotating shaft, and the rotation of the slave arm is realized through the telescopic length of the hydraulic telescopic rod.
The cement conveying system is arranged outside the mechanical arm and consists of a cement container 11, a pump machine 10 and a feeding hose 9, a material source is contained in the cement container 11, and the feeding hose 9 is connected with a feeding hole 7.1 of the printing nozzle to discharge cement.
Before formal printing, the graphics to be printed are analyzed and input into the controller from the upper computer, and then the controller controls the printing equipment to move according to a set program algorithm. The moving direction of the crawler 1 is an X axis, and the width and the height of the mechanical arm are adjusted according to the requirements of the graph.
In formal printing, the controller controls the crawler 1 to start, and the pump 10 starts to start the cement conveying mechanism. Starting from the starting point, after the controller determines the height, the position and the pattern of an article to be printed, the crawler 1 is controlled to move in a given direction, the servo motor controls the rotary table 3 to rotate for a certain angle to move the mechanical arm to a proper position, and the hydraulic pump is controlled to control the hydraulic telescopic rod to start to stretch and retract so as to adjust the mechanical arm to a proper printing height and width.
The cement conveying mechanism conveys cement to the position of the printing nozzle 7 to start continuous printing, and the position of the printing nozzle can be changed at any time according to the requirement of the controller to complete the printing work until the final printing work is completed during the printing of the object. The equipment can perform 3D printing work in an uninterrupted, remote and large-range movement.
Example two
A novel movable mechanical arm type 3D printing device comprises a movable base and a main support column 8 fixedly installed on the movable base, wherein the main support column 8 is connected with a mechanical arm through a turntable 3;
the top end of the mechanical arm, which is far away from the main support 8, is connected with a printing nozzle 7;
the equipment also comprises a cement conveying mechanism and a control driving mechanism; the cement conveying mechanism is connected with the printing spray head 7;
the control driving mechanism is respectively connected with the movable base, the cement conveying mechanism and the mechanical arm.
The mechanical arm comprises a main arm 4 and at least one slave arm;
one end of the main arm 4 is connected with the turntable 3, and the other end of the main arm 4 is connected with the slave arm through a rotating shaft;
the mechanical arm further comprises a hydraulic telescopic rod, the fixed end of the hydraulic telescopic rod is connected with the main arm, and the output end of the hydraulic telescopic rod is connected with the slave arm;
the top end of the slave arm, which is far away from the connection point of the master arm, is connected with a printing nozzle 7. The printing nozzle 7 comprises a material barrel, the top end of the material barrel is fixedly connected with a flange 7.3, and the printing nozzle 7 is connected with a blind plate 13 connected with the output end of the slave arm through the flange 7.3;
the upper portion of feed cylinder is equipped with feed inlet 7.1, and the bottom of feed cylinder is equipped with discharge gate 7.2.
Main arm 4 is connected with carousel 3, rotates the rotation that drives the arm through carousel 3, and main arm 4 is connected through hydraulic telescoping rod between the arm with following, and the width and the height of arm are adjusted to flexible length through control hydraulic telescoping rod, improve and print the precision.
The equipment also comprises a hydraulic pump, wherein the hydraulic pump is connected with the hydraulic telescopic rod through a pipeline;
the hydraulic telescopic rod comprises a piston push rod and a hydraulic cylinder, the piston push rod is connected with the outer wall of the slave arm, the bottom of the piston push rod is connected to the inner side of the top of the hydraulic cylinder, and the hydraulic cylinder is connected with the outer wall of the master arm through a bolt. The control driving mechanism adjusts the telescopic length of the hydraulic telescopic rod by controlling the hydraulic pump, so that the width and the height of the mechanical arm are adjusted.
The control driving mechanism comprises a servo motor and a controller, and the servo motor is connected with the controller; the servo motor is connected with the rotary disc 3 through a rotating connecting rod. The controller controls the servo motor to rotate and drives the rotary table 3 to rotate through the rotating connecting rod.
The cement conveying mechanism comprises a cement container 11, a pump 10 and a feeding hose 9; the cement container 11 is connected with the pump 10 and is communicated with the feeding hole 7.1 of the printing nozzle through the feeding hose 9. The feeding hose 9 is used for conveying cement raw materials, and the hose is convenient to drive in the printing process to move back and forth and is not easy to damage.
The movable chassis comprises a crawler 1. The main columns 8 are welded to the crawler 1.
The hydraulic pump, the pump 10 and the crawler 1 are connected to a controller, respectively. The control driving mechanism is connected with the crawler 1 to control the movement of the crawler 1, and the large crawler 1 is suitable for printing of large building structures in the field of outdoor environment buildings. The crawler 1 moves for adjusting the travel path in the X-axis direction.
The mechanical arm comprises a main arm 4 and three slave arms;
the three slave arms are respectively a first slave arm 12.1, a second slave arm 12.2 and a third slave arm 12.3;
the rotating shafts comprise a first rotating shaft 5.1, a second rotating shaft 5.2 and a third rotating shaft 5.3;
the hydraulic telescopic rods comprise a first hydraulic telescopic rod 6.1, a second hydraulic telescopic rod 6.2 and a third hydraulic telescopic rod 6.3;
the bottom end of the main arm 4 is connected with the turntable 3, and the top end of the main arm 4 is connected with the first end of the first slave arm 12.1 through the first rotating shaft 5.1;
a hydraulic cylinder of the first hydraulic telescopic rod 6.1 is connected with the main arm 4, and a piston push rod of the first hydraulic telescopic rod 6.1 is connected with the first slave arm 12.1;
the second end of the first slave arm 12.1 is connected with the first end of the second slave arm 12.2 through a second rotating shaft 5.2; the hydraulic cylinder of the second hydraulic telescopic rod 6.2 is connected with the first slave arm 12.1, and the piston push rod of the second hydraulic telescopic rod 6.2 is connected with the second slave arm 12.2;
the second end of the second slave arm 12.2 is connected with the first end of the third slave arm 12.3 through a third rotating shaft 5.3, the hydraulic cylinder of the third hydraulic telescopic rod 6.3 is connected with the second slave arm 12.2, and the piston push rod of the third hydraulic telescopic rod 6.3 is connected with the third slave arm 12.3;
the second end of the third slave arm 12.3 is connected to the print head 7 via a blind plate. The positions of the mechanical arms of the mechanical slave arms are adjusted by controlling the extension and retraction of the hydraulic telescopic rods, and the printing precision is improved.
The printing equipment consists of a movable base, a mechanical arm and a cement conveying mechanism. Wherein the mobile base is a large-volume and large-mass crawler 1, and the moving direction and distance of the crawler 1 are controlled by a controller.
The main support 8 is connected to the crawler 1 through hard welding, and the fixed support 2 is welded on four sides to stabilize the whole large mechanical arm.
The main arm 4 is connected with the main support column 8 through the rotary table 3, and the whole mechanical arm can move on the position through rotation of the rotary table 3, so that large-range printing is realized.
The main arm 4 is connected with the slave arm through a rotating shaft, and the rotation of the slave arm is realized through the telescopic length of the hydraulic telescopic rod. The cement conveying system is arranged outside the mechanical arm and consists of a cement container 11, a pump machine 10 and a feeding hose 9, a material source is contained in the cement container 11, and the feeding hose 9 is connected with a feeding hole 7.1 of the printing nozzle to discharge cement. In this embodiment, in order to make the printing process remove conveniently, cement container and pump machine can set up on the tracked vehicle.
Before formal printing, the graphics to be printed are analyzed and input into the controller from the upper computer, and then the controller controls the printing equipment to move according to a set program algorithm. The moving direction of the crawler 1 is an X axis, and the width and the height of the mechanical arm are adjusted according to the requirements of the graph.
In formal printing, the controller controls the crawler 1 to start, and the pump 10 starts to start the cement conveying mechanism. Starting from the starting point, after the controller determines the height, the position and the pattern of an article to be printed, the crawler 1 is controlled to move in a given direction, the servo motor controls the rotary table 3 to rotate for a certain angle to move the mechanical arm to a proper position, and the hydraulic pump is controlled to control the hydraulic telescopic rod to start to stretch and retract so as to adjust the mechanical arm to a proper printing height and width.
The cement conveying mechanism conveys cement to the position of the printing nozzle 7 to start continuous printing, and the position of the printing nozzle can be changed at any time according to the requirement of the controller to complete the printing work until the final printing work is completed during the printing of the object. The equipment can perform 3D printing work in an uninterrupted, remote and large-range movement.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The novel movable mechanical arm type 3D printing equipment is characterized by comprising a movable base and a main support column (8) fixedly installed on the movable base, wherein the main support column (8) is connected with a mechanical arm through a turntable (3);
the top end of the mechanical arm, which is far away from the main support (8), is connected with a printing nozzle (7);
the equipment also comprises a cement conveying mechanism and a control driving mechanism; the cement conveying mechanism is connected with the printing spray head (7);
the control driving mechanism is respectively connected with the movable base, the cement conveying mechanism and the mechanical arm.
2. The new movable robotic arm 3D printing device according to claim 1, wherein the robotic arm comprises a master arm (4) and at least one slave arm;
one end of the main arm (4) is connected with the turntable (3), and the other end of the main arm (4) is connected with the slave arm through a rotating shaft;
the mechanical arm further comprises a hydraulic telescopic rod, the fixed end of the hydraulic telescopic rod is connected with the main arm (4), and the output end of the hydraulic telescopic rod is connected with the slave arm;
the top end of the slave arm far away from the connection point of the master arm is connected with a printing nozzle (7).
3. The novel movable mechanical arm type 3D printing device as claimed in claim 2, further comprising a hydraulic pump, wherein the hydraulic pump is connected with the hydraulic telescopic rod through a pipeline;
the hydraulic telescopic rod comprises a piston push rod and a hydraulic cylinder, the piston push rod is connected with the outer wall of the slave arm, the bottom of the piston push rod is connected to the inner side of the top of the hydraulic cylinder, and the hydraulic cylinder is connected with the outer wall of the master arm through a bolt.
4. The novel movable mechanical arm type 3D printing device as claimed in claim 2, wherein the control driving mechanism comprises a servo motor and a controller, and the servo motor is connected with the controller; the servo motor is connected with the rotary disc through a rotating connecting rod.
5. The new movable robotic 3D printing device according to claim 3, wherein the cement delivery mechanism comprises a cement container (11), a pump (10) and a feed hose (9); the cement container (11) is connected with the pump (10) and is communicated with the feed inlet (7.1) of the printing nozzle (7) through a feeding hose (9).
6. The new movable robotic 3D printing device according to claim 5, wherein the movable chassis comprises a crawler (1).
7. The new movable mechanical arm type 3D printing apparatus as claimed in claim 5, wherein the hydraulic pump, the pump (10) and the crawler (1) are connected to the controller respectively.
8. A new movable robotic arm 3D printing device as claimed in claim 3 wherein the robotic arm comprises a master arm (4) and three slave arms;
the three slave arms are respectively a first slave arm (12.1), a second slave arm (12.2) and a third slave arm (12.3);
the rotating shafts comprise a first rotating shaft (5.1), a second rotating shaft (5.2) and a third rotating shaft (5.3);
the hydraulic telescopic rods comprise a first hydraulic telescopic rod (6.1), a second hydraulic telescopic rod (6.2) and a third hydraulic telescopic rod (6.3);
the bottom end of the main arm (4) is connected with the turntable (3), and the top end of the main arm (4) is connected with the first end of the first slave arm (12.1) through a first rotating shaft (5.1);
a hydraulic cylinder of the first hydraulic telescopic rod (6.1) is connected with the main arm (4), and a piston push rod of the first hydraulic telescopic rod (6.1) is connected with the first slave arm (12.1);
the second end of the first slave arm (12.1) is connected with the first end of the second slave arm (12.2) through a second rotating shaft (5.2); a hydraulic cylinder of the second hydraulic telescopic rod (6.2) is connected with the first slave arm (12.1), and a piston push rod of the second hydraulic telescopic rod (6.2) is connected with the second slave arm (12.2);
the second end of the second slave arm (12.2) is connected with the first end of the third slave arm (12.3) through a third rotating shaft (5.3), a hydraulic cylinder of the third hydraulic telescopic rod (6.3) is connected with the second slave arm (12.2), and a piston push rod of the third hydraulic telescopic rod (6.3) is connected with the third slave arm (12.3);
the second end of the third slave arm (12.3) is connected with the printing nozzle (7).
9. The novel movable mechanical arm type 3D printing equipment as claimed in claim 3, wherein the main support (8) is welded on the crawler (1), the main support (8) is fixed on the crawler (1) through a fixing support (2), one end of the fixing support (2) is connected with the main support (8), and the other end of the fixing support (2) is fixedly connected with the crawler (1).
10. The novel movable mechanical arm type 3D printing equipment as claimed in claim 2, wherein the printing nozzle (7) comprises a material barrel, a flange (7.3) is fixedly connected to the top end of the material barrel, a blind plate (13) is connected to the output end of the slave arm, and the printing nozzle (7) is connected with the blind plate (13) connected to the output end of the slave arm through the flange (7.3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920096291.7U CN209903476U (en) | 2019-01-21 | 2019-01-21 | Novel portable mechanical arm type 3D printing apparatus |
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| CN201920096291.7U CN209903476U (en) | 2019-01-21 | 2019-01-21 | Novel portable mechanical arm type 3D printing apparatus |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514690A (en) * | 2019-01-21 | 2019-03-26 | 齐鲁工业大学 | A kind of Novel moveable mechanical arm type 3D printing equipment |
| CN112549530A (en) * | 2020-11-20 | 2021-03-26 | 芜湖英罗智能制造有限公司 | Discharging head angle control device of 3D printer |
| CN113021887A (en) * | 2021-03-10 | 2021-06-25 | 扬州工业职业技术学院 | 3D printing nozzle suitable for industrial robot arm and use method thereof |
-
2019
- 2019-01-21 CN CN201920096291.7U patent/CN209903476U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514690A (en) * | 2019-01-21 | 2019-03-26 | 齐鲁工业大学 | A kind of Novel moveable mechanical arm type 3D printing equipment |
| CN112549530A (en) * | 2020-11-20 | 2021-03-26 | 芜湖英罗智能制造有限公司 | Discharging head angle control device of 3D printer |
| CN113021887A (en) * | 2021-03-10 | 2021-06-25 | 扬州工业职业技术学院 | 3D printing nozzle suitable for industrial robot arm and use method thereof |
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