CN107097419A - The intelligent production line of photocuring 3D printing based on six axis robot - Google Patents
The intelligent production line of photocuring 3D printing based on six axis robot Download PDFInfo
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- CN107097419A CN107097419A CN201710442504.2A CN201710442504A CN107097419A CN 107097419 A CN107097419 A CN 107097419A CN 201710442504 A CN201710442504 A CN 201710442504A CN 107097419 A CN107097419 A CN 107097419A
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- photocuring
- pivot
- conveyer belt
- quick
- hopper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y40/00—Auxiliary operations or equipment, e.g. for material handling
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
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Abstract
The invention discloses a kind of intelligent production line of photocuring 3D printing based on six axis robot, including tape transport, at least two fixtures, at least two supersonic wave cleaning machines, at least two photocuring 3D printers, print platform, inductive component and six axis robot.Tape transport includes conveyer belt and the drive component for driving conveyer belt to move；Fixture offers neck and conveyed step by step by conveyer belt；Supersonic wave cleaning machine is located at beside the side of conveyer belt length direction, and its rinse bath is provided with neck；Photocuring 3D printer is located at beside the opposite side of conveyer belt length direction, and the platform member in photocuring 3D printer is provided with neck and is connected with air pump and is installed on the sucker in platform member；Print platform is removable liftoff to be stuck on the neck of fixture, platform member and supersonic wave cleaning machine；Six axis robot is responsible for transferring between the print platform between fixture, photocuring 3D printer and supersonic wave cleaning machine three, to realize the purpose of intelligent production.
Description
Technical field
The present invention relates to 3D printing technique field, more particularly to a kind of photocuring 3D printing intelligence based on six axis robot
Production line.
Background technology
Photocuring 3D printing principle is：Photosensitive resin is printed according to the modeling structure layering being pre-designed, produced
The section layer of object, rapid curing is allowed to while being irradiated with the light wave of specific frequency, and each section layer is accumulated and glued
It is combined, ultimately forms 3D models.
At present, in existing 3D models production process, software section, addition consumptive material, loading platform, light are generally comprised solid
Change the processes such as printing, disassembly model and model post processing, each process all needs artificial operation, and main with liquid photosensitive resin
This homogenous material is printed.And, will be by manually because each process is relatively independent in existing 3D models production process
Operation, therefore low production efficiency, production cost are high；Simultaneously as photosensitive resin main component is unsaturated polyester resin, belong to easy
The material of volatilization, also with certain toxicity, is excessively contacted harmful；Furthermore, it is only capable of during due to a printer job
Use homogenous material, it is impossible to realize that multi items are printed simultaneously, low production efficiency.
Therefore, it is badly in need of wanting a kind of intelligent production line of photocuring 3D printing based on six axis robot overcoming above-mentioned lack
Fall into.
The content of the invention
It is an object of the invention to provide a kind of simplified production procedure, can meet multi items and meanwhile print with improve efficiency,
The photocuring 3D printing intelligence based on six axis robot of material use efficiency need not be manually operated and effectively improved in production process
Can production line.
To realize above-mentioned purpose, the intelligent production line of the photocuring 3D printing based on six axis robot of the invention and control
Device is electrically connected with, including tape transport, at least two fixtures, at least two supersonic wave cleaning machines, at least two photocuring 3D
Printer, print platform, inductive component and along the conveyer belt length direction be located at the photocuring 3D printer and ultrasonic wave
Six axis robot between cleaning machine.The tape transport includes the conveyer belt arranged in the horizontal direction and drives the transmission
Band does the drive component of gyration；The fixture is located at the conveyer belt and is arranged along the length direction of the conveyer belt, institute
State fixture and offer neck, the conveyer belt drives the fixture to convey step by step in the horizontal direction；The supersonic wave cleaning machine position
Beside the side of the conveyer belt length direction, the rinse bath in the supersonic wave cleaning machine is provided with neck；The light is consolidated
Change 3D printer to be located at beside the opposite side of the conveyer belt length direction, and the photocuring 3D printer and the ultrasonic wave
Cleaning machine homonymy arranges that the platform member in the photocuring 3D printer is provided with neck and is connected with air pump and is installed on described
Sucker in platform member；The removable liftoff card for being stuck in the fixture, platform member and supersonic wave cleaning machine of print platform
On groove；The inductive component is used to control the fixture to convey step by step together with the controller and drive component；Six axle
Manipulator is responsible for transferring between the print platform between the fixture, photocuring 3D printer and supersonic wave cleaning machine three.
It is preferred that the photocuring 3D printer comprising board, mechanism for stripping, anti-precipitation mechanism, for containing photocuring
The hopper of liquid, the lifting platform directly over the hopper, the platform member being installed on the lifting platform, it is arranged on
On the board and drive the lifting platform elevating mechanism of hopper lifting relatively and on the board and be located at
Projecting apparatus below the hopper correspondence；Wherein, the mechanism for stripping includes and is articulated in the machine around horizontally disposed pivotal axis
Pivot on platform set a table and drive the pivot set a table around the pivotal axis do above and below the pivot of pivot pendulum put driver, the pivot puts driver
On the board, on the hopper is set a table installed in the pivot, the hopper follow the pivot set a table do above and below pivot pendulum；
The anti-precipitation mechanism includes circulating pump, recovery flexible pipe and delivery hose, and the recovery flexible pipe is connected to entering for the circulating pump
Between mouth and the hopper, the delivery hose is connected between the outlet of the circulating pump and the hopper, the circulating pump
On the board and the optical solidified liquid in the hopper is driven to circulate.
It is preferred that each side wall of the hopper is respectively provided with the circulation pipe in the hopper, the circulation pipe is along water
Square to arrangement, the longitudinal direction of the circulation pipe is consistent with the length direction of the side wall of the hopper, the circulating pump, exports soft
Pipe, circulation pipe and recovery flexible pipe are gone here and there form circulation loop together successively, and the circulation pipe offers what is arranged in the horizontal direction
Spray orifice is arranged, and the spray orifice row in all circulation pipes is in contour arrangement.
It is preferred that the board is provided with fixed seat one in front and one in back, the fixation in front is fixed in the front end of the pivotal axis
On seat, the rear end of the pivotal axis is fixed in the fixed seat at rear, and the bottom that the pivot is set a table is provided with bearing one in front and one in back
Bearing is installed on seat, the bearing block, the pivotal axis is also placed through on the bearing.
It is preferred that the board includes bottom plate, top plate and the stand for supporting the bottom plate and top plate, the top plate is set
Have set a table for the pivot do above and below pivot pendulum space, the pivot sets a table in the space, and the pivot pendulum drives
Dynamic device and projecting apparatus are separately mounted in the bottom plate, and the fixed seat is arranged at the bottom of the top plate；The pivot pendulum drives
Dynamic device is that an output shaft is in upwardly disposed rotary electric machine, and the output shaft of the rotary electric machine is connected with the cloth along above and below the board
The pivot pendulum wire bar put, the upper end sliding sleeve of the pivot pendulum wire bar has screw mandrel joint, and the screw mandrel joint is connected with joint, the joint
Upper end set a table and be connected with the pivot, the rotary electric machine passes through the pivot pendulum wire bar, screw mandrel joint and joint and drives the pivot
Pivot is put above and below setting a table.
It is preferred that the photocuring 3D printer also includes quick-disassembly structure, the quick-disassembly structure includes Quick Release pressing plate, Quick Release
Bar, quick-release handle and quick-release handle seat, above-below direction of the Quick release along the board sequentially pass through downwards the Quick Release hand
Screwed in again after handle seat and Quick Release pressing plate in the pivot sets a table, the quick-release handle be located at the top of quick-release handle seat and with institute
The upper end pivot joint of Quick release is stated, and the quick-release handle has the cam structure coordinated with quick-release handle seat pushing tow, it is described
Quick-release handle seat is arranged on the Quick Release pressing plate；In the relatively described Quick release pivoting of the quick-release handle, institute is driven
State cam structure and quick-release handle seat mutually pushing tow and realize the Quick Release pressing plate and compress or unclamp the hopper.
It is preferred that the elevating mechanism includes the electromechanical machine of liter, lifting guide pillar, elevating screw and lifting nut, described liter of machine
Motor is arranged on the board in output shaft is upwardly disposed, and the upper and lower ends of the lifting guide pillar are respectively arranged in the machine
On platform, the upper end of the elevating screw is arranged on the board, and the lower end of the elevating screw rises the defeated of electromechanical machine with described
Shaft is fixedly connected, and the lifting nut sliding sleeve is on the elevating screw, and the lifting platform is placed through on the lifting guide pillar,
The lifting nut is installed in the lifting platform.
It is preferred that the photocuring 3D printer and each direction along perpendicular to the conveyer belt of supersonic wave cleaning machine are arranged
Embark on journey.
It is preferred that the inductive component includes generating laser and laser pickoff, the generating laser and laser connect
Receive one in device and be located at the corresponding top of the conveyer belt, the other of the generating laser and laser pickoff is located at institute
State the corresponding lower section of conveyer belt.
It is preferred that the drive component comprising the first belt roller, the second belt roller, motor, driving pulley, driven pulley and
Timing belt, first belt roller is spaced arrangement and by the conveyer belt institute with length direction of second belt roller along the conveyer belt
It is arranged, the driven pulley is arranged in first belt roller, the driving pulley is arranged on the motor, it is described same
Step band is sheathed on the driving pulley and driven pulley.
Compared with prior art, due to the intelligent production line of the photocuring 3D printing based on six axis robot of the present invention and control
Device processed is electrically connected with and including tape transport, at least two fixtures, at least two supersonic wave cleaning machines, at least two photocurings
3D printer, print platform, inductive component and along conveyer belt length direction be located at photocuring 3D printer and supersonic wave cleaning machine
Between six axis robot；When being moved to the position for blocking inductive component under driving of the fixture in conveyer belt, by inductive component
Signal is fed back in controller, controls drive component to stop the driving to conveyer belt by controller so that conveyer belt stops continuing
Conveying fixture, six axis robot now catches away the print platform at fixture, and the print platform caught away at fixture is put into
Into the neck of the platform member of photocuring 3D printer；After six axis robot leaves photocuring 3D printer, now air pump
By electric power compressed air to produce air pressure so that the sucker at platform member presses down and clamped the neck for being put into platform member
In print platform；When photocuring 3D printer prints threedimensional model on the print platform being put into the neck of platform member
Afterwards, air pump deenergization so that sucker unclamps the print platform at platform member, then catches away platform member by six axis robot
Print platform, and the print platform is put into together with threedimensional model in the neck of the rinse bath of supersonic wave cleaning machine,
Ultrasonic wave cleaning is carried out by supersonic wave cleaning machine, to remove the optical solidified liquid of residual；Then, six axis robot is clear by ultrasonic wave
Print platform at washing machine is caught away together with cleaned threedimensional model, in the neck for placing into fixture, by conveyer belt after
Continuous conveying, direct next fixture covers inductive component, and so circulation can realize the production of automation.Therefore, it is of the invention
The intelligent production line of photocuring 3D printing based on six axis robot this have the advantage that：(1) existing 3D models are produced and flowed
Software section, addition consumptive material, loading/unloading platform, photocuring printing, disassembly model and model post processing are merged into one automatically in journey
Change production procedure, simple flow improves production efficiency.(2) at least two photocuring 3D printers and at least two ultrasounds are configured
Ripple cleaning machine, multi items can be met simultaneously while the requirement printed, drastically increases production efficiency.(3) mechanization is used
Production model, without artificial operation, efficiently reduces injury of the photosensitive resin to human body, saves production cost.(4) due to photosensitive
Resin is met light and easily solidified to light sensitive, using mechanization production pattern can the operation in dark environment, effectively improve
The utilization rate of material.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the intelligent production line of the photocuring 3D printing based on six axis robot of the present invention.
Fig. 2 is the supersonic wave cleaning machine in the intelligent production line of the photocuring 3D printing based on six axis robot of the present invention
Dimensional structure diagram.
Fig. 3 is the tape transport and folder in the intelligent production line of the photocuring 3D printing based on six axis robot of the present invention
Dimensional structure diagram when tool is installed together.
Fig. 4 is the photocuring 3D printer in the intelligent production line of the photocuring 3D printing based on six axis robot of the present invention
Dimensional structure diagram.
Fig. 5 is dimensional structure diagram of the photocuring 3D printer after board is hidden shown in Fig. 4.
Fig. 6 is the dimensional structure diagram of the board in the photocuring 3D printer shown in Fig. 4.
Fig. 7 is solid when elevating mechanism in the photocuring 3D printer shown in Fig. 4 is fitted together with print platform
Structural representation.
Fig. 8 is stereochemical structure when mechanism for stripping in the photocuring 3D printer shown in Fig. 4 is fitted together with hopper
Schematic diagram.
Fig. 9 is the dimensional structure diagram of another angle when mechanism for stripping shown in Fig. 8 is fitted together with hopper.
Embodiment
In order to describe in detail the present invention technology contents, construction feature, below in conjunction with embodiment and coordinate accompanying drawing make into
One step explanation.
Referring to Fig. 1, the intelligent production line 1000 of the photocuring 3D printing based on six axis robot of the present invention and controller
It is electrically connected with, the intelligence of the intelligent production line 1000 of the photocuring 3D printing based on six axis robot of the present invention is controlled by controller
System.The intelligent production line 1000 of the photocuring 3D printing based on six axis robot of the present invention be applied to Mold Making, medicine equipment,
The field such as historical relic's protection and architectural design, the optical solidified liquid for ceramic particle to be mixed with photosensitive resin prints three-dimensional mould
Type so that the intelligent production line 1000 of photocuring 3D printing of the invention based on six axis robot can make orthopaedics, dentistry and micro-
The products such as sensor, but be not limited.For example, in the proportioning of optical solidified liquid, the content of ceramic particle is 50%
Left and right, but be not limited.Cleavable, the specific control principle and structure of controller, are those of ordinary skill in the art
It is known, therefore will not be described in detail herein.
Wherein, the intelligent production line 1000 of the photocuring 3D printing of the invention based on six axis robot includes tape transport
200th, at least two fixtures 300, at least two supersonic wave cleaning machines 400, at least two photocuring 3D printers 100, printings are flat
Platform 500, inductive component (not shown) and along the length direction of conveyer belt 210 being described to below (i.e. in Fig. 1 on conveyer belt 210
Double-head arrow it is signified) be located at the six axis robot 600 between photocuring 3D printer 100 and supersonic wave cleaning machine 400；Specifically
Ground, as shown in figure 1, in the present embodiment, photocuring 3D printer 100 and supersonic wave cleaning machine 400 are each along perpendicular to conveyer belt
210 direction is arranged in rows, in order to the work of six axis robot 600；For example, in the present embodiment, the number of fixture 300
Measure as four, the quantity of supersonic wave cleaning machine 400 and photocuring 3D printer 100 is respectively three, certainly, according to actual needs may be used
It is four or more to make fixture 300, and the quantity of supersonic wave cleaning machine 400 and photocuring 3D printer 100 is respectively five or more
It is many, therefore be not limited.
With reference to Fig. 3, tape transport 200 includes the conveyer belt 210 arranged in the horizontal direction and drives conveyer belt 210 to return
The dynamic drive component 220 of transhipment, drives conveyer belt 210 to move, to realize the purpose of conveying fixture 300 by drive component 220；Tool
Body, in the present embodiment, drive component 220 comprising the first belt roller 221, the second belt roller (not shown), motor 223,
Driving pulley 224, driven pulley 225 and timing belt 226；The length direction of first belt roller 221 and the second belt roller along conveyer belt 210
It is spaced and arranges and be arranged by conveyer belt 210, driven pulley 225 is arranged in the first belt roller 221, and driving pulley 224 is installed
On motor 223, timing belt 226 is sheathed on driving pulley 224 and driven pulley 225, and master is passed through by motor 223
Movable belt pulley 224, driven pulley 225 and the three of timing belt 226 combination can more stably and reliably drive the first belt roller 221 to rotate, and
Under the cooperation of the second belt roller, realize that conveyer belt 210 does the purpose of gyration, but be not limited.
As shown in Figures 1 and 3, fixture 300 is located at conveyer belt 210 and is arranged along the length direction of conveyer belt 210, fixture
300 offer neck 310, and conveyer belt 210 drives fixture 300 to convey step by step in the horizontal direction.Supersonic wave cleaning machine 400, which is located at, to be passed
Beside the side for sending the length direction of band 210, beside the left side in such as Fig. 1；Set on rinse bath 410 in supersonic wave cleaning machine 400
There is neck 420, full 98% alcoholic solution is contained by rinse bath 420, after being powered up, ultrasonic wave cleaning is carried out, so as to carry
High cleaning effect.And photocuring 3D printer 100 is located at beside the opposite side of the length direction of conveyer belt 210, the right side in such as Fig. 1
Side；And photocuring 3D printer 100 is arranged with the homonymy of supersonic wave cleaning machine 400, in order to the work of six axis robot 600；
Platform member 44 in photocuring 3D printer 100 is provided with neck 46 and is connected with air pump and is installed on the suction in platform member 44
Disk 47, with air pump by electric power compressed air to produce air pressure when, pressed down by sucker 47 and clamped and be put into platform member 44
Neck 46 in print platform 500, state is as shown in Figure 7.Print platform 500 is removable liftoff to be stuck in fixture 300, platform member
44 and supersonic wave cleaning machine 400 neck 310,46,420 on, in order to the handling of print platform 500.Inductive component be used for
Controller and drive component 220 control fixture 300 to convey step by step together, for example, and in the present embodiment, inductive component is included
One is located at the corresponding top of conveyer belt 210 in generating laser and laser pickoff, generating laser and laser pickoff, swashs
The other of optical transmitting set and laser pickoff are located at the corresponding lower section of conveyer belt 210, can more be accurately controlled fixture 300
Conveying step by step, but do not illustrated and be limited with this.And six axis robot 600 is responsible for fixture 300, photocuring 3D printer 100 and surpassed
Transferred between print platform 500 between the three of sound wave cleaning machine 400, i.e. six axis robot 600 is by the printing at fixture 300
Platform 500 is caught away and loaded at the neck 46 of the platform member 44 of photocuring 3D printer 100, and six axis robot 600 will be flat
The print platform 500 for having printed threedimensional model at the neck 46 of platform component 44 is caught away and loads supersonic wave cleaning machine 400
At neck 420, six axis robot 600 also grabs the print platform 500 that the threedimensional model at supersonic wave cleaning machine 400 has been cleaned
Walk and be fitted into the neck 310 of fixture 300, but be not limited.More specifically, as follows：
Fig. 4 and Fig. 5 is referred to, photocuring 3D printer 100 includes board 10, mechanism for stripping 60, anti-precipitation mechanism 70, use
In the hopper 20, the lifting platform 45 directly over hopper 20, the platform structure on lifting platform 45 that contain optical solidified liquid
Part 44, on board 10 and drive lifting platform 45 with respect to hopper 20 lift elevating mechanism 40 and on board 10 simultaneously
Projecting apparatus 50 below the correspondence of hopper 20.Specifically, as shown in fig. 6, in the present embodiment, board 10 comprising bottom plate 11,
Top plate 12 and the stand 13 for support baseboard 11 and top plate 12 so that top plate 12, bottom plate 11 and the three of stand 13 constitute framework
Structure, in order to the installation of extraneous part, certainly, in other embodiments, board 10 can also be other structures component, therefore not
As limit.
As shown in Fig. 5, Fig. 8 and Fig. 9, mechanism for stripping 60 is included and is articulated in around horizontally disposed pivotal axis 90 on board 10
Pivot set a table 61 and drive pivot set a table 61 around pivotal axis 90 do above and below pivot pendulum pivot put driver 62.Pivot pendulum driver 62 is arranged on machine
On platform 10, hopper 20 is set a table on 61 installed in pivot so that hopper 20 follow pivot set a table 61 do above and below pivot pendulum so that hopper 20
Interior optical solidified liquid is peeled off with the cured layer on print platform 500 by the edge at interface.It will be appreciated that in this implementation
Example in, due to board 10 include bottom plate 11, top plate 12 and stand 13, so when pivot pendulum driver 62 and projecting apparatus 50 pacify respectively
In bottom plate 11, frame structure is constituted by pivot pendulum driver 62 and projecting apparatus 50 by bottom plate 11, top plate 12 and the three of stand 13
It is covered up；And top plate 12 be provided with for pivot set a table 61 do above and below pivot pendulum space 121, pivot set a table 161 be located at motion sky
Between in 121, hence in so that the outward appearance of photocuring 3D printer 100 is more succinct attractive in appearance, but be not limited.
As shown in figs. 5 and 8, anti-precipitation mechanism 70 includes circulating pump 71, recovery flexible pipe 72 and delivery hose 73.Reclaim soft
Pipe 72 is connected between the entrance of circulating pump 71 and hopper 20, delivery hose 73 be connected to the outlet of circulating pump 71 and hopper 20 it
Between so that the circulating pump 71 on board 10 drives the optical solidified liquid in hopper 20 to circulate.Specifically, in the present embodiment
In, the selection of circulating pump 71 is peristaltic pump, but is not limited；Each side wall of hopper 20 is respectively provided with the circulation in hopper 20
Pipe 21, circulation pipe 21 is arranged in the horizontal direction, and the longitudinal direction of circulation pipe 21 is consistent with the length direction of the side wall of hopper 20, makes
The longitudinal length of circulation pipe 21 in hopper 20 is sufficiently extended, circulating pump 71, delivery hose 73, circulation pipe 21 and time
Receipts flexible pipe 72 is gone here and there successively forms circulation loop together, and circulation pipe 21 offers the spray orifice row 211 arranged in the horizontal direction, owns
Spray orifice row 211 in circulation pipe 21 is in contour arrangement, therefore by the spray orifice row 211 on circulation pipe 21 and circulation pipe 21 so that follow
Ring pump 71 extracts the optical solidified liquid at the bottom of hopper 20 out by flexible pipe 72 is reclaimed, and then returns again to and sets by delivery hose 73
In the circulation pipe 21 of each side wall of hopper 20 (i.e. surrounding), sprayed by the spray orifice row 211 of circulation pipe 21 so that optical solidified liquid
Preferably stirred, so that suspended state is kept, accordingly ensure that printing precision, but be not limited.
As shown in Figures 4 and 5, fore-and-aft direction arrangement of the pivotal axis 90 along board 10, and pivotal axis 90 makes pivot set a table 61
Right-hand member is pivotally connected with board 10, certainly, makes that pivot sets a table 61 left end and board 10 is pivotally connected by pivotal axis 90 according to actual needs, therefore not
As limit.Meanwhile, board 10 is provided with fixed seat 14 one in front and one in back, and the fixed seat 14 in front is fixed in the front end of pivotal axis 90
On, the rear end of pivotal axis 90 is fixed in the fixed seat 14 at rear so that pivotal axis 90 is fixed on board 10 by fixed seat 14
On.Pivot set a table 61 bottom provided with bearing block 63 one in front and one in back, bearing 631 is installed on bearing block 63, pivotal axis 90 is also worn
Be placed on bearing 631, thus cause by the cooperation of pivotal axis 90 and bearing 631 pivot set a table 61 the pendulum of pivot up and down it is more flexible can
Lean on, the more conducively stripping of the cured layer on print platform 500 and the optical solidified liquid of hopper 20, but be not limited.It is appreciated that
, because board 10 includes bottom plate 11, top plate 12 and stand 13, so when fixed seat 14 be mounted in the bottom of top plate 12
Place, but be not limited.
As shown in Figure 5 and 7, pivot pendulum driver 62 is that an output shaft is in upwardly disposed rotary electric machine, rotary electric machine
Output shaft is connected with the pivot pendulum wire bar 64 arranged along board about 10, and the upper end sliding sleeve of pivot pendulum wire bar 64 has screw mandrel joint 65, silk
Knock-off joint 65 is connected with joint 66, and upper end and the pivot in joint 66, which are set a table, 61 to be connected so that motor is connect by pivot pendulum wire bar 64, screw mandrel
First 65 and joint 66 drive pivot to set a table about 61 pivots pendulum, the reliability of about 61 pivots pendulum further such that pivot is set a table, but not with this
It is limited.
As shown in Fig. 4, Fig. 5 and Fig. 7, elevating mechanism 40 is comprising the electromechanical machine 41 of liter, lifting guide pillar 42, elevating screw 43 and rises
Screw (not shown) drops.Rise electromechanical machine 41 to be arranged on board 10 in output shaft is upwardly disposed, lifting guide pillar is about 42
Two ends are respectively arranged on board 10, and the upper end of elevating screw 43 is arranged on board 10, and the lower end of elevating screw 43 is with rising machine
The output shaft of motor 41 is fixedly connected, and lifting nut sliding sleeve is on elevating screw 43, and lifting platform 45 is placed through on lifting guide pillar 42,
Lifting nut is installed in lifting platform 45；Therefore when a liter electromechanical machine 41 drives elevating screw 43 to rotate, by the elevating screw rotated
43 drive longitudinal sliding motion of the lifting nut along elevating screw 43, so as to drive lifting platform 45 to follow cunning by the lifting nut slided
It is dynamic, thus platform member 44 is driven together with the lifting of print platform 500 1 by the lifting platform 45 slided, and lifting guide pillar 42 is liter
The lifting for dropping platform 45 provides guiding, so as to improve the precision of the lifting of print platform 500 to ensure printing precision.For example,
In the present embodiment, lifting guide pillar 42 is respectively arranged at the both sides of elevating screw 43, but is not illustrated and be limited with this.It is intelligible
Be, in the present embodiment, due to board 10 include bottom plate 11, top plate 12 and stand 13, so when elevating screw 43 upper end
It is installed at the armstand 122 on top plate 12, lifting motor 41 is installed at the bottom of top plate 12, the output shaft of the lifting motor 41
The lower end after top plate 12 again with elevating screw 43 is upward through to be fixedly connected；The upper end of lifting guide pillar 42 is installed on the vertical of top plate 12
At arm 122, the lower end of lifting guide pillar 42 is installed at top plate 12, but is not limited.
As shown in figs. 5 and 8, in order that the assembly and disassembly for obtaining hopper 20 are more convenient, therefore photocuring 3D printer 100 is also included soon
Tear structure 80 open, quick-disassembly structure 80 includes Quick Release pressing plate 81, Quick release 82, quick-release handle 83 and quick-release handle seat 84；Quick release 82
Sequentially passed through downwards along the above-below direction of board 10 and screw in pivot again after quick-release handle seat 84 and Quick Release pressing plate 81 and set a table in 61, Quick Release
Handle 83 is located at the top of quick-release handle seat 84 and is pivotally connected with the upper end of Quick release 82, and quick-release handle 83 has and quick-release handle
The cam structure 831 that 84 pushing tows of seat coordinate, quick-release handle seat 84 is arranged on Quick Release pressing plate 81；Therefore it is relatively fast in quick-release handle 83
Tear open in the pivoting of bar 82, cam structure 831 and quick-release handle 84 mutual pushing tows of seat are driven, so as to realize that Quick Release pressing plate 81 is compressed
Or hopper 20 is unclamped, but be not limited.
Compared with prior art, due to the intelligent production line 1000 of the photocuring 3D printing based on six axis robot of the present invention
Be electrically connected with controller and including tape transport 200, at least two fixtures 300, at least two supersonic wave cleaning machines 400,
At least two photocuring 3D printers 100, print platform 500, inductive component and it is located at photocuring along the length direction of conveyer belt 210
Six axis robot 600 between 3D printer 100 and supersonic wave cleaning machine 400；When under driving of the fixture 300 in conveyer belt 210
When being moved to the position for blocking inductive component, signal is fed back in controller by inductive component, drive component is controlled by controller
220 stop the driving to conveyer belt 210 so that conveyer belt 210 stops continuing conveying fixture 300, six axis robot 600 now
The print platform 500 at fixture 300 is caught away, and the print platform 500 caught away at fixture 300 is put into photocuring 3D printing
In the neck 46 of the platform member 44 of machine 100；After six axis robot 600 leaves photocuring 3D printer 100, now air pump leads to
Electric power compressed air is crossed to produce air pressure so that the sucker 47 at platform member 44 press down and clamp be put into platform member 44 it
Print platform 500 in neck 46；When print platform of the photocuring 3D printer 100 in the neck 46 of platform member 44 is put into
Printed on 500 after threedimensional model, air pump deenergization so that sucker 47 unclamps the print platform 500 at platform member 44, then
The print platform 500 of platform member 44 is caught away by six axis robot 600, and by the print platform 500 together with threedimensional model one
Rise and be put into the neck 420 of the rinse bath 410 of supersonic wave cleaning machine 400, it is clear to carry out ultrasonic wave by supersonic wave cleaning machine 400
Wash, to remove the optical solidified liquid of residual；Then, six axis robot 600 is by the print platform 500 at supersonic wave cleaning machine 400
Caught away together with cleaned threedimensional model, in the neck 310 for placing into fixture 300, conveying continued by conveyer belt 210,
Direct next fixture 300 covers inductive component, and so circulation can realize the production of automation.Therefore, base of the invention
This have the advantage that in the intelligent production line 100 of the photocuring 3D printing of six axis robot：(1) by existing 3D models production procedure
Middle software section, addition consumptive material, loading/unloading platform, photocuring printing, disassembly model and model post processing are merged into an automation
Production procedure, simple flow improves production efficiency.(2) at least two photocuring 3D printers 100 and at least two ultrasounds are configured
Ripple cleaning machine 400, multi items can be met simultaneously while the requirement printed, drastically increases production efficiency.(3) using machinery
Change production model, without artificial operation, efficiently reduce injury of the photosensitive resin to human body, save production cost.(4) due to light
Quick resin is met light and easily solidified to light sensitive, using mechanization production pattern can the operation in dark environment, effectively carry
The utilization rate of high material.
Above disclosed is only the preferred embodiments of the present invention, can not limit the right model of the present invention with this certainly
Enclose, therefore the equivalent variations made according to the claims in the present invention, still fall within the scope that the present invention is covered.
Claims (10)
1. a kind of intelligent production line of the photocuring 3D printing based on six axis robot, is electrically connected with controller, it is characterised in that
Including：
Tape transport, the tape transport includes the conveyer belt arranged in the horizontal direction and drives the conveyer belt to turn round
The drive component of motion；
At least two fixtures, the fixture is located at the conveyer belt and is arranged along the length direction of the conveyer belt, the fixture
Neck is offered, the conveyer belt drives the fixture to convey step by step in the horizontal direction；
At least two supersonic wave cleaning machines, beside the side of the conveyer belt length direction, in the supersonic wave cleaning machine
Rinse bath be provided with neck；
At least two photocuring 3D printers, the photocuring 3D printer is located at by the opposite side of the conveyer belt length direction
Platform in side, and the photocuring 3D printer and supersonic wave cleaning machine homonymy arrangement, the photocuring 3D printer
Component is provided with neck and is connected with air pump and is installed on the sucker in the platform member；
Print platform, it is removable liftoff to be stuck on the neck of the fixture, platform member and supersonic wave cleaning machine；
For controlling the inductive component that the fixture is conveyed step by step together with the controller and drive component；And
It is located at the six axis robot between the photocuring 3D printer and supersonic wave cleaning machine along the conveyer belt length direction,
The six axis robot is responsible between the print platform between the fixture, photocuring 3D printer and supersonic wave cleaning machine three
Transfer.
2. the intelligent production line of the photocuring 3D printing based on six axis robot according to claim 1, it is characterised in that institute
State photocuring 3D printer comprising board, mechanism for stripping, anti-precipitation mechanism, the hopper for containing optical solidified liquid, positioned at institute
State the lifting platform directly over hopper, the platform member being installed on the lifting platform, on the board and drive
Elevating mechanism and correspond to lower section on the board and positioned at the hopper that the relatively described hopper of the lifting platform is lifted
Projecting apparatus；Wherein, the mechanism for stripping includes the pivot being articulated in around horizontally disposed pivotal axis on the board and sets a table and drive
Make the pivot set a table around the pivotal axis do above and below the pivot of pivot pendulum put driver, pivot pendulum driver is arranged on the board
On, on the hopper is set a table installed in the pivot, the hopper follow the pivot set a table do above and below pivot pendulum；The anti-precipitation mechanism
Comprising circulating pump, reclaim flexible pipe and delivery hose, the recovery flexible pipe be connected to the circulating pump entrance and the hopper it
Between, the delivery hose is connected between the outlet of the circulating pump and the hopper, and the circulating pump is arranged on the board
Go up and drive the optical solidified liquid in the hopper to circulate.
3. the intelligent production line of the photocuring 3D printing based on six axis robot according to claim 2, it is characterised in that institute
The each side wall for stating hopper is respectively provided with the circulation pipe in the hopper, and the circulation pipe is arranged in the horizontal direction, described to follow
The longitudinal direction of endless tube is consistent with the length direction of the side wall of the hopper, and the circulating pump, delivery hose, circulation pipe and recovery are soft
Pipe is gone here and there forms circulation loop together successively, and the circulation pipe offers the spray orifice row arranged in the horizontal direction, all described to follow
Spray orifice row in endless tube is in contour arrangement.
4. the intelligent production line of the photocuring 3D printing based on six axis robot according to claim 3, it is characterised in that institute
Board is stated provided with fixed seat one in front and one in back, the front end of the pivotal axis is fixed in the fixed seat in front, the pivotal axis
Rear end is fixed in the fixed seat at rear, and the bottom that the pivot is set a table, which is provided with bearing block one in front and one in back, the bearing block, pacifies
Equipped with bearing, the pivotal axis is also placed through on the bearing.
5. the intelligent production line of the photocuring 3D printing based on six axis robot according to claim 4, it is characterised in that institute
State board and include bottom plate, top plate and the stand for supporting the bottom plate and top plate, the top plate is provided with to set a table for the pivot and done
The space of pivot pendulum up and down, the pivot is set a table in the space, the pivot pendulum driver and projecting apparatus difference
In the bottom plate, the fixed seat is arranged at the bottom of the top plate；The pivot pendulum driver is that an output shaft is in
Upwardly disposed rotary electric machine, the output shaft of the rotary electric machine is connected with the pivot pendulum wire bar arranged along above and below the board, institute
Stating the upper end sliding sleeve of pivot pendulum wire bar has screw mandrel joint, and the screw mandrel joint is connected with joint, the upper end in the joint and the pivot
Set a table connection, the rotary electric machine by the pivot pendulum wire bar, screw mandrel joint and joint drive the pivot set a table above and below pivot put.
6. the intelligent production line of the photocuring 3D printing based on six axis robot according to claim 2, it is characterised in that institute
Stating photocuring 3D printer also includes quick-disassembly structure, and the quick-disassembly structure includes Quick Release pressing plate, Quick release, quick-release handle and Quick Release
Handle set, above-below direction of the Quick release along the board is sequentially passed through downwards after the quick-release handle seat and Quick Release pressing plate again
Screw in the pivot sets a table, the quick-release handle be located at the top of quick-release handle seat and with the upper end pivot of the Quick release
Connect, and the quick-release handle has the cam structure coordinated with quick-release handle seat pushing tow, the quick-release handle seat is arranged on
On the Quick Release pressing plate；In the relatively described Quick release pivoting of the quick-release handle, drive the cam structure with it is described
Quick-release handle seat mutually pushing tow and realize the Quick Release pressing plate and compress or unclamp the hopper.
7. the intelligent production line of the photocuring 3D printing based on six axis robot according to claim 2, it is characterised in that institute
It is in output shaft cloth upward that elevating mechanism, which is stated, comprising electromechanical machine, lifting guide pillar, elevating screw and lifting nut, the electromechanical machine of the liter is risen
That puts is arranged on the board, and the upper and lower ends of the lifting guide pillar are respectively arranged on the board, the elevating screw
Upper end be arranged on the board on, the lower end of the elevating screw with it is described rise electromechanics machine output shaft be fixedly connected, it is described
Lifting nut sliding sleeve is on the elevating screw, and the lifting platform is placed through on the lifting guide pillar, and the lifting nut is installed
In in the lifting platform.
8. the intelligent production line of the photocuring 3D printing based on six axis robot according to claim 1, it is characterised in that institute
State photocuring 3D printer and each edge of supersonic wave cleaning machine is arranged in rows perpendicular to the direction of the conveyer belt.
9. the intelligent production line of the photocuring 3D printing based on six axis robot according to claim 1, it is characterised in that institute
Inductive component is stated comprising generating laser and laser pickoff, one is located at described in the generating laser and laser pickoff
The corresponding top of conveyer belt, the other of the generating laser and laser pickoff be located at the conveyer belt it is corresponding under
Side.
10. the intelligent production line of the photocuring 3D printing based on six axis robot according to claim 1, it is characterised in that
The drive component includes the first belt roller, the second belt roller, motor, driving pulley, driven pulley and timing belt, described first
Length direction of the belt roller with the second belt roller along the conveyer belt, which is spaced, to be arranged and is arranged by the conveyer belt, the driven belt
Wheel is arranged in first belt roller, and the driving pulley is arranged on the motor, and the timing belt is sheathed on described
On driving pulley and driven pulley.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710442504.2A CN107097419A (en) | 2017-06-13 | 2017-06-13 | The intelligent production line of photocuring 3D printing based on six axis robot |
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| CN201710442504.2A CN107097419A (en) | 2017-06-13 | 2017-06-13 | The intelligent production line of photocuring 3D printing based on six axis robot |
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| CN108162387A (en) * | 2018-03-05 | 2018-06-15 | 郑州智高电子科技有限公司 | A kind of 3D printing center |
| CN108215203A (en) * | 2018-03-05 | 2018-06-29 | 郑州智高电子科技有限公司 | A kind of control system of 3D printing device |
| CN108568969A (en) * | 2018-04-28 | 2018-09-25 | 广东丽格科技股份有限公司 | A kind of 3D printing equipment for after-treatment |
| CN108749000A (en) * | 2018-07-26 | 2018-11-06 | 苏州因钛智能科技有限公司 | Clean uv equipment |
| CN109007945A (en) * | 2018-06-12 | 2018-12-18 | 合肥中农科泓智营养健康有限公司 | A kind of accurate nutraceutical 3D printing system of cooperating type and method |
| CN110421843A (en) * | 2019-08-20 | 2019-11-08 | 杭州德迪智能科技有限公司 | A kind of sound emission gas-liquid interface photocuring three-dimensional device and method |
| CN110435129A (en) * | 2019-08-08 | 2019-11-12 | 江苏汇博机器人技术股份有限公司 | A kind of the robot vision guidance 3D printing system and its working method of teaching-oriented |
| CN112549539A (en) * | 2019-09-26 | 2021-03-26 | 广州黑格智造信息科技有限公司 | Automatic 3D printing production line and production method |
| JP2022512301A (en) * | 2018-12-14 | 2022-02-03 | スリーディー システムズ インコーポレーテッド | Precision optical assembly for 3D printing |
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Application publication date: 20170829 |