CN107443734A - 一种基于类scara机械臂的移动3d打印机器人 - Google Patents
一种基于类scara机械臂的移动3d打印机器人 Download PDFInfo
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- CN107443734A CN107443734A CN201710563371.4A CN201710563371A CN107443734A CN 107443734 A CN107443734 A CN 107443734A CN 201710563371 A CN201710563371 A CN 201710563371A CN 107443734 A CN107443734 A CN 107443734A
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- B33—ADDITIVE MANUFACTURING TECHNOLOGY
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Abstract
本发明提供了一种类SCARA机械臂的移动3D打印机器人，包括底座，底座底部设有移动机构，底座可在移动机构上直线移动；底座上设有转盘及用于驱动转盘转动的转盘运动电机，Z轴升降机构包括Z轴丝杆及用于驱动Z轴丝杆运转的Z轴直线运动电机，Z轴丝杆穿过转盘中心并与底座固定；末端设有打印喷头的类SCARA机械伸展手臂设于Z轴丝杆上，且可沿Z轴丝杆做直线升降运动；底座上还设有用于给所述打印喷头传送3D打印材料的送料机构和用于控制所述打印喷头按设定要求运动的控制箱。本发明打印机器人打印空间大、体积小、结构简单灵活，可移动打印，还可以无线打印，且机械伸展手臂可折叠放置，节省了空间。
Description
一种基于类SGARA机械臂的移动3D打印机器人
技术领域
[0001] 本发明涉及移动机器人与3D打印技术领域，特别涉及一种基于类SCARA (平面关节 型)机械臂的移动3D打印机器人。
背景技术
[0002] 目前，大部分的传统3D打印机均存在着结构复杂、机体体积大、打印空间小等缺 点。此外，3D打印需要先在建模软件里建立待打印模型，再通过切片软件将模型生成STL文 件，然后再将其转换为3D打印机能识别的G代码，最后再通过通讯总线传送给3D打印机。此 类打印机的空间受机械结构制约，不能打印大型物体，且流程较为繁琐，只能实现有线打 印。
[0003] 如何解决传统3D打印机体积大、打印空间小、打印操作繁琐等问题，是本领域技术 人员致力于解决的难题。
[0004] 随着信息时代大数据、人工智能、云计算等技术的快速发展，3D打印技术也得到了 飞跃的进步。SCARA机械臂具有结构简单、灵活度高、工作空间大等特点，被广泛应用在汽 车、物流、电子、甚至医疗等领域。
[0005] 本发明致力于将SCARA机械臂与移动3D打印机器人相结合，以解决传统3D打印机 存在的问题。
发明内容
[0006] 本发明要解决的是传统3D打印机体积大、打印空间小、打印操作繁琐的技术问题。 [0007]为了解决上述技术问题，本发明的技术方案是提供一种类SCARA机械臂的移动3D 打印机器人，其特征在于:包括底座，底座底部设有移动机构，底座可在移动机构上直线移 动;底座上设有转盘及用于驱动转盘转动的转盘运动电机，Z轴升降机构包括Z轴丝杆及用 于驱动Z轴丝杆运转的Z轴直线运动电机，Z轴丝杆穿过转盘中心并与底座固定;末端设有打 印喷头的类SCARA机械伸展手臂设于Z轴丝杆上，且可沿Z轴丝杆做直线升降运动;底座上还 设有用于给所述打印喷头传送3D打印材料的送料机构和用于控制所述打印喷头按设定要 求运动的控制箱。
[0008] 优选地，通过转盘运动电机带动转盘旋转，Z轴丝杆随之旋转，进而带动设于Z轴丝 杆上的类SCARA机械伸展手臂旋转，旋转范围为〇度到360度。
[0009]优选地，所述类SCARA机械伸展手臂包括第一支链、第二支链，第一支链一端设于 所述Z轴丝杆上且可沿所述z轴丝杆做直线升降运动，第一支链上设有机械臂运动电机，第 一支链内部设有第一旋转副，第一旋转副与机械臂运动电机连接;第一支链另一端与第二 支链一端通过第二旋转副连接，第一旋转副与第二旋转副通过皮带连接;第二支链另一端 设有打印喷头。
[0010]更优选地，所述打印喷头上设有用于将3D打印材料在喷出前预先进行加热熔化的 加热腔。
[0011] 更优选地，所述第一支链上的机械臂运动电机带动第一旋转副旋转，第一旋转副 通过皮带带动第二旋转副旋转，进而带动第二支链及设于第二支链末端的打印喷头做平面 旋转。
[0012] 进一步地，机械臂运动电机带动打印喷头平面旋转的范围为0度到270度。
[0013] 更优选地，所述送料机构包括金属挤出机、送料电机、送料管，金属挤出机通过送 料管与所述打印喷头相连，送料电机驱动送料管传送打印材料至所述打印喷头。
[0014] 优选地，所述移动机构包括两根导轨和一根滚珠丝杆，两根导轨设于滚珠丝杆两 侧，底座中心通过滑块设于滚珠丝杆上，底座两端通过滑动槽设于两根导轨上，直线运动电 机与滚珠丝杆连接。
[0015] 更优选地，所述直线运动电机带动滚珠丝杆转动，进而带动底座及底座上的Z轴升 降机构、类SCARA机械伸展手臂、送料机构、控制箱一起做水平方向的平移直线运动，实现3D 打印机器人边移动边打印。
[0016] 优选地，所述控制箱包括核心数据处理控制器模块，电源模块、通信模块、电机驱 动模块、加热模块均与核心数据处理控制器模块连接;电机驱动模块连接各电机，各电机通 过光电编码器模块与核心数据处理控制器模块连接，提供各电机的位置反馈;加热模块与 所述打印喷头连接;通信模块与上位机和/或远程控制终端连接。
[0017] 优选地，所述Z轴直线运动电机与Z轴丝杆连接，驱动Z轴丝杆运转，进而带动设于Z 轴丝杆上的类SCARA机械伸展手臂沿Z轴丝杆做直线升降运动。
[0018] 本发明中，转盘为第三旋转副，Z轴升降机构为升降副，移动机构为平移副，打印喷 头受第二旋转副、第三旋转副、升降副和平移副四个运动副的作用。第二旋转副:机械臂运 动电机通过第二支链带动打印喷头做平面旋转，旋转范围为〇度到270度。第三旋转副:转盘 运动电机通过第一支链、第二支链带动打印喷头做平面旋转，旋转范围为〇度到360度。升降 副:Z轴直线运动电机通第一支链、第二支链带动打印喷头做垂直直线运动。平移副:底座直 线运动电机通过底座带动打印喷头做水平直线运动。由于上述各运动副的作用，打印喷头 的工作空间远大于传统3D打印机，解决了传统3D打印机打印空间小的问题。
[0019] 本发明提供的基于类SCARA机械臂的移动3D打印机器人克服了现有技术的不足， 类SCARA机械伸展手臂使打印空间更加灵活、且机械伸展手臂可折叠放置，节省空间。底座 下的导轨和滚珠丝杆使其可移动打印，减少了机械结构对打印空间的约束，导轨可根据打 印需求延长，大幅度增加了打印空间。该打印机器人打印空间大、体积小、结构简单灵活、可 移动打印，还可以无线打印。
附图说明
[0020] 图1为类SCARA机械臂的移动3D打印机器人总体结构图；
[0021] 图2为类SCARA机械臂的移动3D打印机器人左视图；
[0022] 图3为类SCARA机械臂的移动3D打印机器人俯视图；
[0023] 图4为类SCARA机械臂的移动3D打印机器人原理结构方框图；
[0024] 图5为无线3D打印应用系统原理结构方框图。
具体实施方式
[0025] 下面结合具体实施例，进一步阐述本发明。
[0026] 结合图1〜图3,一种基于类SCARA机械臂的移动3D打印机器人，由底座100、类 SCARA机械伸展手臂200、Z轴升降机构300、送料机构400、控制箱500、移动机构600等组成。Z 轴表示竖直方向。
[0027] 底座1〇〇上面装有转盘101及用于驱动转盘101转动的转盘运动电机102。转盘运动 电机102的输出轴连接驱动盘，驱动盘与转盘1〇1通过皮带连接。为了降低机器人本体的重 心，使其平稳的进行打印，底座100主要的构成材料为金属材料，如铁。
[0028] Z轴升降机构300为由运动电机控制的带有滑轨的滚珠丝杠机构，为一升降副。本 实施例中，Z轴升降机构300包括Z轴丝杆301和Z轴直线运动电机3〇2，Z轴直线运动电机302 与Z轴丝杆301连接，驱动Z轴丝杆301运转。Z轴丝杆301穿过转盘101中心与底座100固定。
[0029] 类SCARA机械伸展手臂200安装在Z轴升降机构300的Z轴丝杆301上，可沿Z轴丝杆 301做直线升降运动。通过转盘运动电机102控制转盘101旋转，可以带动Z轴升降机构3〇〇和 类SCARA机械伸展手臂200进行旋转。
[0030] 类SCARA机械伸展手臂200包括第一支链201、第二支链202、机械臂运动电机203、 第一旋转副、第二旋转副、皮带和打印喷头204。第一支链201—端固定在Z轴升降机构300 上，第一支链201上装有机械臂运动电机203,第一支链201内部装有第一旋转副，第一旋转 副与机械臂运动电机203连接。第一支链201另一端与第二支链2〇2—端通过第二旋转副连 接，第一旋转副与第二旋转副通过皮带连接。第二支链202另一端装有打印喷头204。打印喷 头204上有加热腔，用于将3D打印材料加热熔化后由打印喷头204均匀喷出。
[0031] 类SCARA机械伸展手臂200中的第一旋转副与第二旋转副之间有一定对应比例，且 机械手臂运动在极坐标系下完成，运动方程和轨迹规划需要将笛卡尔型坐标系转为极坐标 型。第一支链201上的机械臂运动电机203旋转带动第一旋转副，第一旋转副通过皮带带动 第二旋转副，第二旋转副带动第二支链202及其上的打印喷头204做平面旋转。第二支链202 通过第二旋转副可折叠放置，节省了放置空间。
[0032] 送料机构400安装在底座100上。送料机构400包括金属挤出机、送料电机、送料管， 金属挤出机通过送料管与打印喷头相连，送料电机驱动送料管传送打印材料。
[0033] 结合图4,控制箱500安装在底座100上。控制箱500包括电源模块501、通信模块 502、光电编码器模块503、电机驱动模块504、核心数据处理控制器模块505、加热模块506。 电机驱动模块504连接送料电机和各运动电机，各运动电机通过光电编码器模块503与核心 数据处理控制器模块505连接。电源模块501、通信模块5〇2、电机驱动模块504、加热模块506 均连接核心数据处理控制器模块505。通信模块502与上位机连接，实现与PC机的通讯，也具 有无线接收信息的功能，当用户通过选择远程控制终端软件里需要打印的图形时，要打印 的图形会对应一系列编写好的运动控制指令，运动控制指令会控制电机的方向和速度，通 过NRF905射频模块的发送端把指令信息传输给3D打印机器人的无线接收端，经核心数据处 理控制器505处理后驱动3D打印机器人实时开始打印工作。
[0034] 本实施例中，电源模块501通过220V电压经过开关电源将电压降到稳定电压12V， 给3D打印机器人其他模块以及运动电机提供打印时所需的能源。光电编码器模块503提供 电机的位置反馈信号。电机驱动模块504可完成对电机的电流和速度的控制。核心数据处理 控制器模块505完成第一、二支链关节空间轨迹的指令周期插补、人机信息交互、网络通讯 等任务。加热模块5〇6为打印喷头加热，使打印材料融化，完成打印。
[0035]底座100底部装有移动机构600。移动机构6〇〇包括两根导轨601、滚珠丝杆602和底 座直线运动电机603。移动机构6〇0为一平移副，两根导轨601位于滚珠丝杆602两侧，两根导 轨601—端通过钢板使二者连接为一体。底座10〇中心通过滑块设于滚珠丝杆602上，底座 100两端通过滑动槽设于导轨601上。直线运动电机603控制滚珠丝杆602转动，带动底座1〇〇 及底座100上的类SCARA机械伸展手臂2〇〇、Z轴升降机构300、送料机构400、控制箱500—起 做水平方向的平移直线运动。实际工作时，可按打印需求铺设导轨长度，以增加了打印空 间。
[0036]在本实施例中，核心数据处理控制器模块505将G代码里的运动控制信息反解为各 个关节的变化量，通过控制底座下的底座直线运动电机603,使滚珠丝杆602旋转，带动底座 水平直线运动，从而使3D打印机器人边移动边打印。
[0037]本实施例中，转盘101为第三旋转副，Z轴升降机构300为升降副，移动机构600为平 移副，打印喷头204受第二旋转副、第三旋转副、升降副和平移副四个运动副的作用。第二旋 转副:机械臂运动电机203通过第二支链202带动打印喷头204做平面旋转，平面旋转范围为 〇度到27〇度。第三旋转副:转盘运动电机102通过第一支链201、第二支链202带动打印喷头 204做平面旋转，平面旋转范围为〇度到360度。升降副：Z轴直线运动电机302通第一支链 2〇1、第二支链202带动打印喷头204做垂直直线运动。平移副：底座直线运动电机603通过底 座带动打印喷头204做水平直线运动。由于上述各运动副的作用，本实施例打印喷头204的 工作空间远大于传统3D打印机，解决了传统3D打印机打印空间小的问题。
[0038]结合图5,在本实施例中，无线3D打印应用系统由三部分组成:远程控制终端(手机 或平板电脑）、服务器、核心数据处理控制器。首先，在远程控制终端软件上选择需要打印的 图形并点击打印，终端会发送带有控制命令的数据包到服务器，服务器收到控制指令之后， 通过设备类型和子设备号来识别是哪个设备的控制命令，然后将相应的控制命令发送到控 制器上，再由服务器发送控制命令到核心数据处理控制器上，核心数据处理控制器将指令 发送给三个运动电机，从而进行无线3D打印。远程终端和服务器之间的通信传输协议选择 的是最常用的UDP网络通信协议，它具有传输速度快的特点，适用于这种数据较少的应用环 境。
[0039]以上所述，仅为本发明的较佳实施例，并非对本发明任何形式上和实质上的限制， 应当指出，对于本技术领域的普通技术人员，在不脱离本发明方法的前提下，还将可以做出 若干改进和补充，这些改进和补充也应视为本发明的保护范围。凡熟悉本专业的技术人员， 在不脱离本发明的精神和范围的情况下，当可利用以上所揭示的技术内容而做出的些许更 动、修饰与演变的等同变化，均为本发明的等效实施例；同时，凡依据本发明的实质技术对 上述实施例所作的任何等同变化的更动、修饰与演变，均仍属于本发明的技术方案的范围 内。
Claims (10)
- L一种类SCARA机械臂的移动3D打印机器人，其特征在于:包括底座（100)，底座（100) 底部设有移动机构(6〇〇)，底座（1〇〇)可在移动机构(600)上直线移动;底座（1〇〇)上设有转 盘（101)及用于驱动转盘（101)转动的转盘运动电机(102)，Z轴升降机构(300)包括Z轴丝杆 (301)及用于驱动Z轴丝杆（301)运转的Z轴直线运动电机（302)，Z轴丝杆（301)穿过转盘 (101)中心并与底座（1〇〇)固定;末端设有打印喷头(204)的类SCARA机械伸展手臂(200)设 于Z轴丝杆(301)上，且可沿Z轴丝杆(301)做直线升降运动;底座（100)上还设有用于给所述 打印喷头(204)传送3D打印材料的送料机构(400)和用于控制所述打印喷头(204)按设定要 求运动的控制箱(500)。
- 2. 如权利要求1所述的一种类SCARA机械臂的移动3D打印机器人，其特征在于:通过转 盘运动电机（102)带动转盘（101)旋转，Z轴丝杆（301)随之旋转，进而带动设于Z轴丝杆 (301)上的类SCARA机械伸展手臂(2⑽旋转，旋转范围为〇度至U360度。
- 3. 如权利要求1所述的一种类SCARA机械臂的移动邪打印机器人，其特征在于:所述类 SCARA机械伸展手臂（2〇〇)包括第一支链(2〇1)、第二支链(2〇2)，第一支链(2〇1) —端设于所 述Z轴丝杆(301)上且可沿所述Z轴丝杆(3〇1)做直线升降运动，第一支链(2〇1)上设有机械 臂运动电机(203)，第一支链(201)内部设有第一旋转副，第一旋转副与机械臂运动电机 (203) 连接;第一支链(201)另一端与第二支链(202) —端通过第二旋转副连接，第一旋转副 与第二旋转副通过皮带连接;第二支链(2〇2)另一端设有打印喷头(2〇4)。
- 4. 如权利要求3所述的一种类SCARA机械臂的移动3D打印机器人，其特征在于:所述打 印喷头(204)上设有用于将3D打印材料在喷出前预先进行加热熔化的加热腔。
- 5. 如权利要求3所述的一种类SCARA机械臂的移动3D打印机器人，其特征在于:所述第 一支链(201)上的机械臂运动电机(2〇3)带动第一旋转副旋转，第一旋转副通过皮带带动第 二旋转副旋转，进而带动第二支链(202)及设于第二支链(202)末端的打印喷头（204)做平 面旋转，平面旋转范围为〇度到270度。
- 6. 如权利要求5所述的一种类SCARA机械臂的移动3D打印机器人，其特征在于:所述机 械臂运动电机(203)带动打印喷头(204)平面旋转的范围为0度到27〇度。
- 7. 如权利要求3所述的一种类SCARA机械臂的移动3D打印机器人，其特征在于:所述送 料机构(400)包括金属挤出机、送料电机、送料管，金属挤出机通过送料管与所述打印喷头 (204) 相连，送料电机驱动送料管传送打印材料至所述打印喷头(2〇4)。
- 8. 如权利要求1所述的一种类SCARA机械臂的移动3D打印机器人，其特征在于:所述移 动机构（600)包括两根导轨（601)和一根滚珠丝杆（602)，两根导轨（6〇1)设于滚珠丝杆 (602)两侧，底座（1〇〇)中心通过滑块设于滚珠丝杆®〇2)上，底座（1〇〇)两端通过滑动槽设 于两根导轨(601)上，直线运动电机(6〇3)与滚珠丝杆602连接。
- 9. 如权利要求8所述的一种类SCARA机械臂的移动3D打印机器人，其特征在于:所述直 线运动电机(603)带动滚珠丝杆(602)转动，进而带动底座（1〇〇)及底座（1〇〇)上的Z轴升降 机构(300)，类SCARA机械伸展手臂(2〇〇)、送料机构(400)、控制箱(500) —起做水平方向的 平移直线运动，实现3D打印机器人边移动边打印。
- 10. 如权利要求1所述的一种类SCARA机械臂的移动3D打印机器人，其特征在于:所述控 制箱(500)包括核心数据处理控制器模块(5〇5)，电源模块(501)、通信模块(502)、电机驱动 模块(504)、加热模块(506)均与核心数据处理控制器模块(5〇5)连接；电机驱动模块(504) 连接各电机，各电机通过光电编码器模块(503)与核心数据处理控制器模块(505)连接，提 供各电机的位置反馈;加热模块(506)与所述打印喷头(204)连接;通信模块(502)与上位机 和/或远程控制终端连接。
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