CN109514689A - A kind of mechanical arm type cement products 3D printer - Google Patents
A kind of mechanical arm type cement products 3D printer Download PDFInfo
- Publication number
- CN109514689A CN109514689A CN201910054633.3A CN201910054633A CN109514689A CN 109514689 A CN109514689 A CN 109514689A CN 201910054633 A CN201910054633 A CN 201910054633A CN 109514689 A CN109514689 A CN 109514689A
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- Prior art keywords
- cement
- mechanical arm
- arm type
- nozzle
- products
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- 239000004568 cement Substances 0.000 title claims abstract description 270
- 238000007639 printing Methods 0.000 claims abstract description 83
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 238000003860 storage Methods 0.000 claims abstract description 32
- 238000004088 simulation Methods 0.000 claims abstract description 23
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 11
- 239000000047 product Substances 0.000 description 45
- 238000000034 method Methods 0.000 description 16
- 239000007921 spray Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000010146 3D printing Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B1/00—Producing shaped prefabricated articles from the material
- B28B1/001—Rapid manufacturing of 3D objects by additive depositing, agglomerating or laminating of material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Ceramic Engineering (AREA)
- Mechanical Engineering (AREA)
- Materials Engineering (AREA)
Abstract
The present invention provides a kind of mechanical arm type cement products 3D printers, it further include support base with walking mechanism, the sixdegree-of-freedom simulation being fixedly mounted on support base, the cement storage bin that is mounted on support base and for by the cement transportation mechanism in the cement transportation to printing head in cement storage bin including printing head；The printing head is fixed on the end of the sixdegree-of-freedom simulation；The end of the sixdegree-of-freedom simulation positioned at one side of support base, and can move in the perpendicular perpendicular to the direction of travel of walking mechanism.The printing head includes cement transportation cylinder and nozzle, is rotationally equipped with the second conveyor screw bar in cement transportation cylinder.The present invention is also used to improve the printing effect of mechanical arm type cement products 3D printer for increasing the convenience that mechanical arm type cement products 3D printer uses.
Description
Technical field
The present invention relates to cement products to print field, specifically a kind of mechanical arm type cement products 3D printer, for beating
Cement products is printed, is mainly used for printing cement sculpture.
Background technique
3 D-printing (i.e. three dimensional printing) is one kind based on digital model file, with powdery metal or plastic
Etc. adhesive materials, construct the technology of object by layer-by-layer printing.To be led in mold manufacture, industrial design etc. habitually in the past
Domain is used for modeling, has been used for the direct manufacture of cement products, for example be used for the manufacture of cement sculpture product.
Cement products 3D printer is to be beaten in the prior art using one kind of three-dimensional printing technology printing cement sculpture product
Print machine.
Existing cement products 3D printer mostly uses greatly a kind of frame built to be printed, i.e., existing cement system
Product 3D printer requires to construct corresponding frame, printing head in advance for the cement sculpture product to be printed greatly
3 D-printing is carried out based on constructed good frame, it is inconvenient for use.
In addition, the nozzle of the printing head of existing cement products 3D printer is easy stifled in view of the adhesiveness of cement material
Plug, this constrains the printing effect of cement products 3D printer to a certain extent.
In addition, for existing cement products 3D printer, occur in cement print procedure printing it is nonconforming it
When place, needs additionally to look for trowel and be modified to nonconforming place is printed, this constrains cement products to a certain extent
The printing effect of 3D printer.
This is deficiency in the prior art.
Summary of the invention
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide a kind of mechanical arm type cement system
Product 3D printer, the convenience used for increasing mechanical arm type cement products 3D printer.It is also used to improve cement products 3D
The printing effect of printer.
In order to solve the above technical problems, the present invention provides a kind of mechanical arm type cement products 3D printer, including printing
Spray head further includes the support base for having walking mechanism, the sixdegree-of-freedom simulation being fixedly mounted on support base, is mounted on support
Cement storage bin on seat and for by the cement transportation mechanism in the cement transportation to printing head in cement storage bin；
The printing head is fixed on the end of the sixdegree-of-freedom simulation；
The end of the sixdegree-of-freedom simulation, positioned at one side of support base, and can be in the walking side perpendicular to walking mechanism
To perpendicular in move.
Wherein, the walking mechanism is driven by automatically controlled driving mechanism.
Wherein, the top of cement storage bin is equipped with cement inlet, bottom is equipped with cement exit；
The cement transportation mechanism goes out including cement pipe and for the cement in cement storage bin to be squeezed into cement
The conveying power mechanism of mouth；
The cement exit is connected to by the cement pipe with the printing head.
Wherein, the conveying power mechanism, it is described including the first conveyor screw bar for being distributed vertically and for driving
First conveyor screw bar squeezes into cement exit and conveys the first screw rod driving motor of cement；
The first conveyor screw bar is located in cement storage bin, and the first screw rod driving motor is fixed on cement storage
The top of case is deposited, the top of the first conveyor screw bar passes through the output of the roof and the first screw rod driving motor of cement storage bin
Axis is coaxially connected.
Wherein, the printing head includes cement transportation cylinder and nozzle；
The top of cement transportation cylinder is equipped with the mounting flange for being mounted on the end of sixdegree-of-freedom simulation, cement transportation cylinder
The side wall of upper end is equipped with the cement entrance for being connected to the cement pipe, the bottom of cement transportation cylinder and the cement of nozzle
Inlet communication；
The nozzle is cylindrical in shape, and motor-operated control valve is equipped on nozzle, and cement transportation cylinder is equipped with filter screen far from one end of nozzle,
Filter screen is located at the lower section of the cement entrance；
The second conveyor screw bar is rotationally equipped in cement transportation cylinder, the second conveyor screw bar is located under the filter screen
Side is simultaneously distributed along the length direction of cement transportation cylinder；
The second screw rod driving motor is fixed on cement transportation cylinder lateral wall, the output shaft of the second screw rod driving motor passes through
One lateral rotation turns to longitudinally rotate the driving assembly driving second conveyor screw bar.
Wherein, the lateral rotation turns to longitudinally rotate driving assembly to include the shaft being arranged in cement transportation cylinder, should
Shaft is vertical with the second conveyor screw bar；
One end of shaft coaxially connected, other end across the barrel of cement transportation cylinder and the output shaft of the second screw rod driving motor
Equipped with the first tapered gear；
One end of the separate nozzle of second conveyor screw bar is equipped with the second angular wheel, second angular wheel and described
First tapered gear engagement cooperation.
Wherein, interior its cement import without leave to its cement ejiction opening of the nozzle is gradually reduced.
Wherein, the second conveyor screw bar, using spiral iron plate or using the conveyor screw for having helical blade
Bar.
Wherein, the lateral wall of the nozzle is equipped at least one trowel for being used to correct printing, the blade of the trowel
Lower than the cement ejiction opening of nozzle.
Wherein, a flow sensor is equipped on the inner sidewall of the lower end of the cement transportation cylinder.
Compared with the prior art, the advantages of the present invention are as follows:
(1) mechanical arm type cement products 3D printer of the present invention uses sixdegree-of-freedom simulation and with walking
The support base of mechanism, printing head are fixed on the end of sixdegree-of-freedom simulation, wherein used sixdegree-of-freedom simulation
End is located at one side of support base and can move in the perpendicular perpendicular to the direction of travel of walking mechanism, it is seen that institute
The use for stating sixdegree-of-freedom simulation, avoids and builds to frame described in background technique, so that not having to build background technique
Described in frame, just can be realized the 3 D-printing of cement products, it is seen that mechanical arm type cement products 3D printing can be increased
The convenience that machine uses.
(2) mechanical arm type cement products 3D printer of the present invention, printing head include cement transportation cylinder and spray
Mouth, wherein the side wall of the upper end of cement transportation cylinder is equipped with the cement entrance for being connected to the cement pipe, cement transportation
Cylinder is equipped with filter screen far from one end of nozzle, is rotationally equipped with the second conveyor screw bar in cement transportation cylinder, filter screen is located at
The lower section of the cement entrance, the second conveyor screw bar are located at the lower section of the filter screen and along the length sides of cement transportation cylinder
To distribution, the second screw rod driving motor, the output shaft of the second screw rod driving motor are fixed on cement transportation cylinder lateral wall
Turn to longitudinally rotate the driving assembly driving second conveyor screw bar by a lateral rotation, in use, passing through the second spiral
Bar driving motor rotate driving the second conveyor screw bar, the second conveyor screw bar rotation and by the cement transportation in cement transportation cylinder
To nozzle for printing, this reduces the occurrence probability of cement plug nozzle phenomenon to a certain extent, then to a certain degree
On improve the printing effect of cement products 3D printer.
(3) mechanical arm type cement products 3D printer of the present invention, nozzle are equipped with the mud for correcting printing
Knife when occurring printing nonconforming place in cement print procedure, convenient for being modified to the nonconforming place of printing, avoids
Searching in print procedure to trowel, it is seen that improve the printing effect of cement products 3D printer to a certain extent.
(4) mechanical arm type cement products 3D printer of the present invention, the lower end of the cement transportation cylinder of printing head
Inner sidewall on be equipped with a flow sensor, for detecting the liquid level of cement in cement transportation cylinder, convenient in cement print procedure
In, it is ensured that there is the cement for printing in printing head always, so that it is guaranteed that cement print job is gone on smoothly.
It can be seen that compared with prior art, the present invention implementing with substantive distinguishing features outstanding and significant progress
Beneficial effect be also obvious.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of mechanical arm type cement products 3D printer of the present invention.
Fig. 2 is the schematic cross-sectional view of printing head shown in Fig. 1.
Fig. 3 is a kind of specific embodiment of the walking mechanism of mechanical arm type cement products 3D printer of the present invention.
Fig. 4 is the enlarged diagram at A shown in Fig. 1.
Fig. 5 is the enlarged diagram at B shown in Fig. 1.
Wherein: 1, mounting flange, the 2, first screw rod driving motor, 3, cement inlet, 4, cement storage bin, 5, first
Conveyor screw bar, 6, cement exit, 7, chain, 8, support base, 9, cement pipe, 10, sixdegree-of-freedom simulation, 11, printing
Spray head, 12, trowel, 13, groove, 14, drive sprocket, 15, servo motor, 16, driven sprocket, 11.1, cement transportation cylinder,
11.2, nozzle, 11.3, shaft, 11.4, support plate, the 11.5, second screw rod driving motor, 11.6, mounting flange, 11.7, method
Blue mounting hole, 11.8, filter screen, 11.9, cement entrance, 11.10, flow sensor, the 11.11, second angular wheel, 11.12,
Support rod, 11.13, sleeve, the 11.14, second conveyor screw bar, 11.15, helical blade, 11.16, bearing, 11.17, cement jet
Outlet, the 11.18, first tapered gear, 11.19, motor-operated control valve.
Specific embodiment
To keep technical solution of the present invention and advantage clearer, below in conjunction with attached drawing, to technical solution of the present invention
It is clearly and completely described.
Fig. 1-5 is a kind of specific embodiment of mechanical arm type cement products 3D printer of the present invention.In this implementation
In mode, the mechanical arm type cement products 3D printer is support base 8 including printing head 11, with walking mechanism, solid
Sixdegree-of-freedom simulation 10 of the Dingan County on the support base 8, the cement storage bin 4 being mounted on support base 8 and for by water
The cement transportation mechanism in cement transportation to printing head 11 in mud storage bin 4；Printing head 11 is fixed on described six freely
Spend the end of mechanical arm 10；The end of sixdegree-of-freedom simulation 10, positioned at one side of support base 8, and can be perpendicular to walking
Movement in the perpendicular of the direction of travel of mechanism.In use, the cement for being used to print that first external world is stirred injects cement
Storage bin 4 is sprayed in the cement transportation in cement storage bin 4 to printing head 11 by printing by cement transportation mechanism later
First 11 carry out 3 D-printing.It can be seen that the use of sixdegree-of-freedom simulation, avoids and build to frame described in background technique, make
It obtains and does not have to build frame described in background technology, just can be realized the 3 D-printing of cement products, it is seen that machinery can be increased
The convenience that arm-type cement products 3D printer uses.
The walking mechanism using sprocket wheel walking mechanism or can use creeper undercarriage, can also use
Other with act on identical walking mechanism in the application, for example use the traveling wheel, etc. of respective numbers.In present embodiment
Walking mechanism is using sprocket wheel walking mechanism, referring to Fig. 1 and Fig. 3, including two drive sprockets and two driven sprockets, two
Drive sprocket is corresponded and is used cooperatively with two driven sprockets, is hung respectively on the drive sprocket and driven sprocket being used cooperatively
There is sprocket wheel.As shown in figure 3, drive force drive sprocket 14 rotate, under the transmission effect of sprocket wheel 7, driven sprocket 16 with
It is dynamic, so that mechanical arm type cement products 3D printer of the present invention be driven to walk.
In order to drive the walking of mechanical arm type cement products 3D printer, in the present embodiment, the walking mechanism
It is driven by automatically controlled driving mechanism, and the automatically controlled driving mechanism uses two servo motors, two servo motors are one by one
It is correspondingly used for driving two drive sprockets.In use, drive drive sprocket 14 to rotate by servo motor, control
The walking of mechanical arm type cement products 3D printer.
It should be noted that the use of servo motor, can make starting, the row of mechanical arm type cement products 3D printer
It sails and stops opposite plus stablize, can reduce or even prevent to a certain extent to mechanical arm type cement products 3D printer
The interference of print job, and can play the role of to a certain extent energy-efficient.
Referring to Fig. 1 and Fig. 4, the top of cement storage bin 4 is equipped with cement inlet 3, bottom is equipped with cement exit 6.Referring to
Fig. 1 and Fig. 5, the cement transportation mechanism include cement pipe 9 and for squeezing into the cement in cement storage bin 4
The conveying power mechanism of cement exit 6；The cement exit 6 passes through the cement pipe 9 and the printing head
11 connections.Referring to Fig. 1 and Fig. 4, the conveying power mechanism including the first conveyor screw bar 5 being distributed vertically and is used for
It drives the first conveyor screw bar 5 to squeeze into cement exit 6 and conveys the first screw rod driving motor 2 of cement；It is described
The first conveyor screw bar 5 be located in cement storage bin 4, the first screw rod driving motor 2 is fixed on cement storage bin 4
Top, the top of the first conveyor screw bar 5 passes through the output of the roof and the first screw rod driving motor 2 of cement storage bin 4
Axis is coaxially connected.Helical blade, the first conveying spiral shell are had on the part of first conveyor screw bar 5 being located in cement storage bin 4
The bottom of spinner handle 5 is close to the cement exit 6 and positioned at the surface of cement exit 6.In use, passing through the first screw rod
Driving motor 2 drives the rotation of the first conveyor screw bar 5, and the first conveyor screw bar 5 will be in cement storage bin 4 during rotation
Cement screw extrusion be delivered to printing head 11 into cement exit 6, then by cement pipe 9, for printing head 11
Printing uses.
In order to improve the printing effect of mechanical arm type cement products 3D printer, printing head 11 described in present embodiment
Including cement transportation cylinder 11.1 and nozzle 11.2, in which: the top of cement transportation cylinder 11.1 is equipped with for being mounted on six degree of freedom
The side wall of the mounting flange 11.6 of the end of mechanical arm 10, the upper end of cement transportation cylinder 11.1 is equipped with for being connected to the cement
The cement entrance 11.9 of delivery pipe 9, the bottom of cement transportation cylinder 11.1 and the cement inlet communication of nozzle 11.2；Nozzle 11.2 is in
Tubular, motor-operated control valve 11.19 is equipped on nozzle 11.2, and cement transportation cylinder 11.1 is equipped with filter screen far from one end of nozzle 11.2
11.8, filter screen 11.8 is located at the lower section of the cement entrance 11.9；It is rotationally defeated equipped with second in cement transportation cylinder 11.1
Square auger bar 11.14, the second conveyor screw bar 11.14 are located at the lower section of the filter screen 11.8 and along cement transportation cylinders 11.1
Length direction distribution；The second screw rod driving motor 11.5, the second screw rod are fixed on 11.1 lateral wall of cement transportation cylinder
The output shaft of driving motor 11.5 turns to longitudinally rotate the driving assembly driving second conveyor screw bar by a lateral rotation
11.14.In use, the cement that the conveying of cement transportation cylinder 11.1 comes enters cement transportation cylinder 11.1 through cement entrance 11.9, through filtering
After net 11.8 filters out the underproof part of granular size in cement, under the second screw rod driving motor rotate driving, second
Conveyor screw bar rotates and by the cement transportation in cement transportation cylinder to nozzle, and water can be carried out by opening motor-operated control valve 11.19
Mud printing.Wherein, the second conveyor screw bar plays during rotating and by the cement transportation in cement transportation cylinder to nozzle
Certain stirring action, this reduces the occurrence probability of cement plug nozzle phenomenon to a certain extent, then in certain journey
The printing effect of cement products 3D printer is improved on degree.
In the present embodiment, referring to fig. 2, the lateral rotation turns to longitudinally rotate driving assembly to include being arranged in cement
Shaft 11.3 in transport tube 11.1, the shaft 11.3 are vertical with the second conveyor screw bar 11.14；The one of shaft 11.3
Across the barrel of cement transportation cylinder 11.1 and the output shaft of the second screw rod driving motor 11.5, the coaxially connected, other end is equipped at end
First tapered gear 11.18；One end of the separate nozzle 11.2 of second conveyor screw bar 11.14 is equipped with the second angular wheel
11.11, second angular wheel 11.11 engages cooperation with the described first tapered gear 11.18.It can be seen that the lateral rotation
Turn that longitudinally rotate driving assembly structure simple.
In addition, referring to fig. 2,11.14 periphery of the second conveyor screw bar is arranged bearing 11.16, the periphery of bearing 11.16 is arranged
There is sleeve 11.13, the periphery of sleeve 11.13 is fixed on the inner sidewall of cement transportation cylinder 11.1 by two support rods 11.12.
Wherein, bearing 11.16 be fixed on outside the second conveyor screw bar 11.14 place, sleeve 11.13 is fixed on bearing 11.16, support
The use of bar 11.12, sleeve 11.13 and bearing 11.16 is used to support the second conveyor screw bar 11.14.Specific implementation
When, those skilled in the art can be according to actual conditions, such as in order to increase the slow-roll stabilization of the second conveyor screw bar 11.14
Property, it can suitably add the bearing 11.16 of respective numbers, and the corresponding sleeve 11.13 and support rod for adding respective numbers
11.12, wherein each bearing 11.16 added, the installation side of sleeve 11.13 and support rod 11.12 referring to fig. 2
Formula is installed in the other positions of the second conveyor screw bar 11.14.Wherein, in the present embodiment, second conveying
Screw rod 11.14, using the conveyor screw bar for having helical blade 11.15.
It should be noted that the first conveyor screw bar 5 described in present embodiment and the second conveyor screw bar 11.14,
Spiral iron plate can be used to be replaced, other conveyor screw bars with the same function in the prior art can also be used and replaced
It changes.
In the present embodiment, interior its cement import without leave of the nozzle 11.2 to its cement ejiction opening 11.17 gradually
It reduces, is printed convenient for cement.
To print unreasonable place convenient for correcting in cement print procedure, in the present embodiment, the nozzle 11.2
Lateral wall on set there are two for correct the trowel 12 printed, two trowels 12 are placed in the two sides of nozzle 11.2, two mud
The blade edge position of knife 12 is opposite and is below the cement ejiction opening 11.17 of nozzle 11.2.In use, in cement print procedure
When middle appearance prints nonconforming place, directly it is modified by 12 pairs of the trowel nonconforming places of printing, it is seen that avoid
To the searching of trowel in print procedure, this improves the printing effect of cement products 3D printer to a certain extent.
In addition, in order in cement print procedure, it is ensured that there is the cement for printing in printing head always, so that it is guaranteed that
Cement print job is gone on smoothly, and in the present embodiment, is equipped on the inner sidewall of the lower end of the cement transportation cylinder 11.1
One flow sensor 11.10.In cement print procedure, the liquid of cement in cement transportation cylinder is detected by flow sensor in real time
Position, and flow passes the amount of the cement in cement transportation cylinder 11.1 at this time when reducing to 11.10 position below of flow sensor
The detected value of sensor 11.10 is essentially 0, supplements cement into cement transportation cylinder 11.1 by cement entrance 11.9, it is seen that ensure
Always there is the cement for printing in printing head, then ensure going on smoothly for cement print job.
It should be noted that referring to Fig. 1, heretofore described sixdegree-of-freedom simulation 10, including be used cooperatively
One mechanical arm 10.1, second mechanical arm 10.2 and third mechanical arm 10.3, wherein the first end of first mechanical arm 10.1 is (with peace
Dress pedestal) it is fixed on the upper surface of support base 8, end of the third mechanical arm 10.3 with the sixdegree-of-freedom simulation 10
(one end for installing printing head 11 for installing printing head 11, third mechanical arm 10.3 is located at the one of support base 8
The first end of side, the second end of first mechanical arm 10.1 and second mechanical arm 10.2, the second end of second mechanical arm 10.2 and the
Its separate one end for being used to install printing head 11 of three-mechanical arm 10.3, is connected by the activity of mechanical arm articulating device respectively
It connects, wherein first mechanical arm 10.1, second mechanical arm 10.2 and third mechanical arm 10.3 are in the same plane, which is remembered
For plane M, plane M is vertical with the direction of travel of heretofore described walking mechanism, first mechanical arm 10.1, second mechanical arm
10.2 and third mechanical arm 10.3 be respectively positioned on plane M, the second end of second mechanical arm 10.2 can be with first mechanical arm
10.1 second end be fulcrum move in plane M, third mechanical arm 10.3 be used to install one end of printing head 11 can
It is moved in plane M using the second end of second mechanical arm 10.2 as fulcrum, it is seen that third mechanical arm 10.3 is printed for installing
One end of spray head 11 can move in the perpendicular perpendicular to the direction of travel of walking mechanism.
It is further to note that heretofore described sixdegree-of-freedom simulation 10, each corresponding component part, such as
The mechanical arm articulating device can be used any the relevant technologies with corresponding function in the prior art and carry out in fact
Existing, this is the prior art, and details are not described herein.
It is further to note that referring to Fig. 1, conveniently, support base 8 be equipped with for accommodate cement exit 6 with
And the groove 13 of the part of the one end of cement pipe 9 being connected with the cement exit 6, the groove 13 are recessed using rectangle
Slot, the width of groove 13 do not influence the stability of the installation of cement storage bin 4, such as in the straight of cement exit 6 and cement pipe 9
When diameter is identical, the width of groove 13 compared with the diameter (or with diameter of cement pipe 9) of cement exit 6, it is equal or the former
(i.e. the width of groove 13) is less times greater than the latter (i.e. the diameter (or diameter with cement pipe 9) of cement exit 6).
It is further to note that each noun of locality involved in the present invention, on the basis of Fig. 1.
It is further to note that the present invention is in specific implementation, can be realized by extraneous control device to above-mentioned machine
Each automatically controlled building block is (than walking mechanism as mentioned, six degree of freedom machine involved in the arm-type cement products 3D printer of tool
Tool arm 10, cement transportation mechanism and motor-operated control valve 11.19 it is automatically controlled, the course of work specifically includes shown in following (1)-(5)
Five aspect:
(1) it before cement print job starts, is filled be stirred into cement storage bin 4 by cement inlet 3 first
Cement, later by cement transportation mechanism by inside the cement transportation in cement storage bin 4 to printing head 11, spray to be printed
Stop conveying cement into printing head 11 after first a certain amount of cement of 11 internal reservoir；
(2) when print job starts, according to preset printing drawing needs, vehicle with walking machine is controlled by extraneous control device
Structure and sixdegree-of-freedom simulation 10 carry out the movement in accurate location direction, after printing head 11 determines position, pass through the external world
Control device controls motor-operated control valve 11.19 and opens, and printing head 11 starts to carry out cement printing；Wherein, it was printed in cement
Cheng Zhong, extraneous control device is according to the needs of preset printing drawing, and the walking of control walking mechanism and control six are freely
Mechanical arm 10 is spent with the movement of printing head 11, and the product to ensure printing is consistent with necessary requirement；
(3) in cement print procedure, 11 inside cement of printing head is determined based on the detected value that flow sensor issues in real time
Amount be deficiency, if it is determined that result be it is yes, then the cement in cement storage bin 4 is filled by printing by cement transportation mechanism
Spray head 11, to ensure the continuity of cement printing.
(4) after the completion of current region prints, control motor-operated control valve 11.19 is closed, to move to down printing head 11
One region to be printed is then turned on printing.
(5) it in cement print procedure, if occurring printing underproof place on printing product, is carried out using trowel 12
Amendment, to guarantee the aesthetics of product.
Embodiment of above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned implementation
Invention is explained in detail for mode, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are repaired
Change or replaces, the range for each embodiment technical solution of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of mechanical arm type cement products 3D printer, including printing head (11), it is characterised in that:
The mechanical arm type cement products 3D printer further includes the support base (8) for having walking mechanism, is fixedly mounted on branch
It supports the sixdegree-of-freedom simulation (10) on seat (8), the cement storage bin (4) being mounted on support base (8) and is used for cement
The cement transportation mechanism in cement transportation to printing head (11) in storage bin (4)；
The printing head (11) is fixed on the end of the sixdegree-of-freedom simulation (10)；
The end of the sixdegree-of-freedom simulation (10) is located at the one side of support base (8), and can be perpendicular to walking mechanism
Movement in the perpendicular of direction of travel.
2. mechanical arm type cement products 3D printer according to claim 1, it is characterised in that:
The walking mechanism is driven by automatically controlled driving mechanism.
3. mechanical arm type cement products 3D printer according to claim 1, it is characterised in that:
The top of cement storage bin (4) is equipped with cement inlet (3), bottom is equipped with cement exit (6)；
The cement transportation mechanism, including cement pipe (9) and for squeezing into the cement in cement storage bin (4)
The conveying power mechanism of cement exit (6)；
The cement exit (6) is connected to by the cement pipe (9) with the printing head (11).
4. mechanical arm type cement products 3D printer according to claim 1, it is characterised in that:
The conveying power mechanism, it is described first defeated including the first conveyor screw bar (5) for being distributed vertically and for driving
Square auger bar (5) squeezes into cement exit (6) and conveys the first screw rod driving motor (2) of cement；
The first conveyor screw bar (5) is located in cement storage bin (4), and the first screw rod driving motor (2) is solid
It is scheduled on the top of cement storage bin (4), the top of the first conveyor screw bar (5) passes through the roof and first of cement storage bin (4)
The output shaft of screw rod driving motor (2) is coaxially connected.
5. mechanical arm type cement products 3D printer according to claim 1, it is characterised in that:
The printing head (11) includes cement transportation cylinder (11.1) and nozzle (11.2)；
The top of cement transportation cylinder (11.1) is equipped with the mounting flange for being mounted on the end of sixdegree-of-freedom simulation (10)
(11.6), the side wall of the upper end of cement transportation cylinder (11.1) is equipped with the cement entrance for being connected to the cement pipe (9)
(11.9), the cement inlet communication of the bottom of cement transportation cylinder (11.1) and nozzle (11.2)；
The nozzle (11.2) is cylindrical in shape, and is equipped with motor-operated control valve (11.19) on nozzle (11.2), cement transportation cylinder (11.1)
One end far from nozzle (11.2) is equipped with filter screen (11.8), and filter screen (11.8) is located under the cement entrance (11.9)
Side；
The second conveyor screw bar (11.14), the second conveyor screw bar (11.14) are rotationally equipped in cement transportation cylinder (11.1)
Positioned at the filter screen (11.8) lower section and along the length direction of cement transportation cylinder (11.1) be distributed；
The second screw rod driving motor (11.5), the second screw rod driving motor are fixed on cement transportation cylinder (11.1) lateral wall
(11.5) output shaft turns to longitudinally rotate the driving assembly driving second conveyor screw bar by a lateral rotation
(11.14).
6. mechanical arm type cement products 3D printer according to claim 5, it is characterised in that:
The lateral rotation turns to longitudinally rotate driving assembly to include the shaft (11.3) being arranged in cement transportation cylinder (11.1),
The shaft (11.3) is vertical with second conveyor screw bar (11.14)；
One end of shaft (11.3) passes through the defeated of barrel and the second screw rod driving motor (11.5) of cement transportation cylinder (11.1)
Shaft is coaxially connected, the other end is equipped with the first tapered gear (11.18)；
One end of the separate nozzle (11.2) of second conveyor screw bar (11.14) is equipped with the second angular wheel (11.11), described
Second angular wheel (11.11) engages cooperation with the described first tapered gear (11.18).
7. mechanical arm type cement products 3D printer according to claim 5 or 6, it is characterised in that:
Interior its cement import without leave to its cement ejiction opening (11.17) of the nozzle (11.2) is gradually reduced.
8. mechanical arm type cement products 3D printer according to claim 5 or 6, it is characterised in that:
The second conveyor screw bar (11.14), using spiral iron plate or using the conveying for having helical blade (11.15)
Screw rod.
9. mechanical arm type cement products 3D printer according to claim 5 or 6, it is characterised in that:
The lateral wall of the nozzle (11.2) is equipped at least one trowel (12) for being used to correct printing, the trowel (12)
Blade is lower than the cement ejiction opening (11.17) of nozzle (11.2).
10. mechanical arm type cement products 3D printer according to claim 5 or 6, it is characterised in that:
A flow sensor (11.10) are equipped on the inner sidewall of the lower end of the cement transportation cylinder (11.1).
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| CN201910054633.3A CN109514689A (en) | 2019-01-21 | 2019-01-21 | A kind of mechanical arm type cement products 3D printer |
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| CN201910054633.3A CN109514689A (en) | 2019-01-21 | 2019-01-21 | A kind of mechanical arm type cement products 3D printer |
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Country or region after: China Address after: 250300 No. 3501 University Road, Changqing District, Jinan City, Shandong Province Applicant after: Qilu University of Technology (Shandong Academy of Sciences) Applicant after: JINAN DONGYUAN CEMENT PRODUCTS Co.,Ltd. Address before: 250300 No. 3501 University Road, Changqing District, Jinan City, Shandong Province Applicant before: Qilu University of Technology Country or region before: China Applicant before: JINAN DONGYUAN CEMENT PRODUCTS Co.,Ltd. |