CN109779260A - A kind of robot wisdom 3D building printer - Google Patents
A kind of robot wisdom 3D building printer Download PDFInfo
- Publication number
- CN109779260A CN109779260A CN201811226266.2A CN201811226266A CN109779260A CN 109779260 A CN109779260 A CN 109779260A CN 201811226266 A CN201811226266 A CN 201811226266A CN 109779260 A CN109779260 A CN 109779260A
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- robot
- control cabinet
- pumping
- water
- washing
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- 238000007639 printing Methods 0.000 claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 89
- 238000005086 pumping Methods 0.000 claims description 70
- 238000005406 washing Methods 0.000 claims description 66
- 239000000463 material Substances 0.000 claims description 54
- 238000003756 stirring Methods 0.000 claims description 34
- 238000009434 installation Methods 0.000 claims description 33
- 239000007921 spray Substances 0.000 claims description 18
- 238000004140 cleaning Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 15
- 238000001914 filtration Methods 0.000 claims description 14
- 238000011010 flushing procedure Methods 0.000 claims description 14
- 230000003139 buffering effect Effects 0.000 claims description 10
- 238000005273 aeration Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 9
- 239000002351 wastewater Substances 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 5
- 238000000746 purification Methods 0.000 claims description 5
- 206010001497 Agitation Diseases 0.000 claims description 3
- 238000013019 agitation Methods 0.000 claims description 3
- 239000002910 solid waste Substances 0.000 claims description 3
- 238000010009 beating Methods 0.000 claims 1
- 238000011049 filling Methods 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 238000012806 monitoring device Methods 0.000 claims 1
- 238000010146 3D printing Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 239000013589 supplement Substances 0.000 description 3
- 238000000889 atomisation Methods 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000007711 solidification Methods 0.000 description 2
- 230000008023 solidification Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 239000010963 304 stainless steel Substances 0.000 description 1
- 229910000589 SAE 304 stainless steel Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000003020 moisturizing effect Effects 0.000 description 1
- 238000000465 moulding Methods 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
- 239000013618 particulate matter Substances 0.000 description 1
- 239000008188 pellet Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Abstract
The present invention discloses a kind of robot wisdom 3D building printer.The printer includes: six axis printer device people.Six axis printer device people include robot support base, robot support platform, six shaft mechanical arms, robot control cabinet, printing head, robot stock pipeline；Robot support base is fixed in robot support platform, and six shaft mechanical arms are fixed on robot support base；Printing head is fixedly connected on the end of six shaft mechanical arms；Robot stock pipeline arranges that one end of robot stock pipeline is connected to printing head along six shaft mechanical arms, and the other end is connected to the feed inlet of six axis printer device people；Robot control cabinet is fixed in robot support platform, for controlling six shaft mechanical arms and printing head.Robot wisdom 3D of the invention builds printer conveniently moving, is readily transported.
Description
Technical field
The present invention relates to 3D printing technique fields, build printer more particularly to a kind of robot wisdom 3D.
Background technique
With being constantly progressive for 3D printing technique, 3D printing technique attains full development in every profession and trade field, by 3D printing
Technical application has green energy conservation, efficiently molding and a building advantages such as environmental protection in building, thus the development of technique by
The attention of domestic and international relevant industries.
Building 3D printing uses and fused glass pellet (Fused DepositionModeling, FDM) similar technique,
By printed material extrusion forming, stacked in multi-layers forms 3D solid house or component.
For the mechanical type that building 3D printer uses at present all for row rack and panel construction, the printer of this form is more stupid
Weight, it is mobile inconvenient, be not suitable for field print, gather materials on the spot to cannot achieve, print component can only be transported to scene realization
Assembly.
Summary of the invention
The object of the present invention is to provide a kind of robot wisdom 3D to build printer, and conveniently moving is readily transported.
To achieve the above object, the present invention provides following schemes:
A kind of robot wisdom 3D building printer, comprising: six axis printer device people, the six axis printer device people include
Robot support base, robot support platform, six shaft mechanical arms, robot control cabinet, printing head, robot stock pipeline；
The robot support base is fixed in the robot support platform, and the six shaft mechanicals arm is fixed on the machine
On device people's support base；The printing head is fixedly connected on the end of the six shaft mechanicals arm；The robot stock pipeline edge
The six shaft mechanicals arm arrangement, one end of the robot stock pipeline are connected to the printing head, the other end and described six
The feed inlet of axis printer device people is connected to；The robot control cabinet is fixed in the robot support platform, for institute
It states six shaft mechanical arms and the printing head is controlled.
Optionally, which further includes from feeding stirring and washing vehicle and pumping installations；The pumping installations is used for institute
It states and is stirred from the printed material that feeding stirring and washing vehicle is supplied and the printed material is pumped to the six axis printer
Device people；
The pumping installations include pumping control cabinet, pumping equipment frame, stirring motor, pumping stock pipeline, agitating shaft,
Agitator tank, stock screw rod, feed bin, rubber spray head and threeway valve group；
The pumping control cabinet, the stirring motor and the feed bin are arranged on the pumping equipment frame, described
Pumping equipment frame is used to support the pumping control cabinet, the stirring motor and the feed bin；The agitator tank is located at described
Above feed bin, the discharge port of the agitator tank is connected to by the pumping stock pipeline with the feed inlet of the feed bin, the material
The discharge port in storehouse is connected to the rubber spray head, and the end of the rubber spray head is arranged in the threeway valve group；The agitating shaft
It is arranged in the agitator tank, for being stirred under the drive of the stirring motor to printed material；The pumping stock
Pipeline is used to the printed material being stirred in agitator tank being delivered to the feed bin；The stock screw rod is arranged in the feed bin
It is interior, for carrying out secondary agitation to the printed material and the printed material being delivered to the rubber spray head；The rubber
Spray head is connected to the first entrance of the threeway valve group, for the printed material to be delivered to the threeway valve group；Described three
The outlet of port valve group is connected to the feed inlet of the six axis printer device people；The pumping control cabinet is used for the stirring motor
It is controlled with the stock screw rod.
Optionally, which further includes water washing device；The water washing device is used for the pumping installations and described six
Axis printer device people cleans and carries out humidification process to the printed material in the pumping installations；
The water washing device includes washing platform, washing control cabinet, buffering water pot, flush box and flush water pump；
The washing control cabinet, the buffering water pot, the flush box and the flush water pump are installed in the water
It washes on platform；
The water outlet of the flush box is connected to the flush water pump, and the flush water pump passes through outlet pipe and flushing pipe
Connection；The buffering water pot is mounted on the outlet pipe；The flushing pipe end is connected with syringe pipe；The flush box is used
In storage water purification；The syringe pipe is for being rinsed and to described the pumping installations and the six axis printer device people
Printed material is humidified；
The flushing pipe is also connected to the second entrance of the threeway valve group, for delivering water into the machine when rinsing
Device people's stock pipeline；
The washing control cabinet is for controlling the flush water pump.
Optionally, the water washing device further includes water tank with strainer and filtering Aeration fan；The water tank with strainer and the mistake
Filter Aeration fan is installed on the washing platform；
The water tank with strainer is used to collect the waste water after flushing is rinsed and is filtered to the waste water；The filtering aeration
The air outlet of blower is connected to by being aerated pipeline with the water tank with strainer, for being aerated to the water solid waste liquid after filtering.
Optionally, liquidometer is installed in the flush box, the output end of the liquidometer and the washing control
Cabinet connection, the liquidometer are used to measure the water level in the flush box.
Optionally, buckling installation nozzle is provided on the outlet pipe, the buckling installation nozzle is for installing pressure
Transmitter, the pressure transmitter are used to detect the hydraulic pressure of the outlet pipe.
Optionally, multiple first universal wheels are installed below the pumping equipment frame.
Optionally, multiple second universal wheels are installed below the washing platform.
Optionally, which further includes video monitoring apparatus；The video monitoring apparatus setting is printed in six axis
Robot surrounding is monitored for the print procedure to the six axis printer device people.
Optionally, which further includes main control cabinet, the main control cabinet and the robot control cabinet, the pumping
Control cabinet and washing control cabinet connection, are used for the robot control cabinet, the pumping control cabinet and the water
It washes control cabinet connection and sends control instruction.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: robot intelligence of the invention
Intelligent 3D builds printer, is printed using six axis printer device people, relatively existing row posture printer, conveniently moving, just
In transport, it is more applicable for field print.The present invention realizes printer by adding from feeding stirring and washing vehicle and pumping installations
Voluntarily feeding.The present invention also passes through setting water washing device, realizes the automation cleaning after the completion of printing.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the single unit system structure chart that robot wisdom 3D of the present invention builds printer embodiment；
Fig. 2 is the structure drawing of device for the six axis printer device people that robot wisdom 3D of the present invention builds printer embodiment；
Fig. 3 is the structure drawing of device for the pumping installations that robot wisdom 3D of the present invention builds printer embodiment；
Fig. 4 is the structure drawing of device for the water washing device that robot wisdom 3D of the present invention builds printer embodiment.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of robot wisdom 3D to build printer, and conveniently moving is readily transported.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the single unit system structure chart that robot wisdom 3D of the present invention builds printer embodiment.
A kind of robot wisdom 3D builds printer, comprising: six axis printer device people 1, from feeding stirring and washing vehicle 4, pump
Send device 2, water washing device 3, video monitoring apparatus 5 and main control cabinet 6.
Type body is six axis printer device people 1, with the printing for completing building element；From feeding stirring and washing vehicle 4, pumping
Device 2, water washing device 3, video monitoring apparatus 5 and main control cabinet 6 are peripheral equipment part, and pumping installations 2 is for realizing right
The supply of the material of six axis printer device people 1, and material is stirred in real time, prevent the solidification of material；From feeding stirring and washing
Vehicle 4 completes the supply to 2 material of pumping installations for realizing stirring and transporting from feeding to material；Water washing device 3 has been used for
At the cleaning after printing, such as the tank body of pumping installations 2, the print head and material of six axis printer device people, 1 end are conveyed
The isostructural cleaning of pipeline, in addition to this water washing device 3 is also used to realize the real-time humidity adjustment to printed material, is added
The operations such as wet, atomization, so that the parameters such as viscosity of printed material are kept in a certain range；The setting of video monitoring apparatus 5 exists
Six axis printer device people, 1 surrounding, is monitored for the print procedure to the six axis printer device people 1, so that operation
Work can quickly handle it to printing situation real-time monitoring if there is print fault；Main control cabinet 6 is for completing to six axis
Printer device people 1, from the monitoring and instruction of feeding stirring and washing vehicle 4, pumping installations 2, water washing device 3 and video monitoring apparatus 5
Output.
Wall 7 is finished product of the six axis printer device people 1 using printed material printing in figure.
Fig. 2 is the structure drawing of device for the six axis printer device people that robot wisdom 3D of the present invention builds printer embodiment.
Referring to fig. 2, which includes robot support base 101, robot support platform 102, six axis machines
Tool arm 103, robot control cabinet 104, printing head 105, robot stock pipeline 106.
The robot support base 101 is fixed in the robot support platform 102, the robot support base 101
Make six shaft mechanicals arm, 103 stable operation collectively as pedestal with the robot support platform 102.The six shaft mechanicals arm
103 are fixed on the robot support base 101；The printing head 105 is fixedly connected on the end of the six shaft mechanicals arm 103
End；The robot stock pipeline 106 arranges along the six shaft mechanicals arm 103, one end of the robot stock pipeline 106 with
The printing head 105 is connected to, and the other end is connected to the feed inlet of the six axis printer device people 1；The robot control cabinet
104 are fixed in the robot support platform 102 by control cabinet bracket 213, for the six shaft mechanicals arm 103 and institute
Printing head 105 is stated to be controlled.
Multiple stock Pipeline clips 107 are fixed on the six shaft mechanicals arm 103, the stock Pipeline clip 107 is for solid
The fixed robot stock pipeline 106.The robot stock pipeline 106 is made of multistage pump line, is passed through between each section of pump line
Universal joint 108 connects；The universal joint 108 is for preventing the robot stock pipeline 106 due to six shaft mechanical arms 103
Torsion lead to instability of flow.The robot stock pipeline 106 is flexible wear-resisting for realizing the transmission of printed material
Compounded rubber tubing.
Fig. 3 is the structure drawing of device for the pumping installations that robot wisdom 3D of the present invention builds printer embodiment.
Referring to Fig. 3, the pumping installations 2 is for the printed material supplied from feeding stirring and washing vehicle 4 to be stirred
And the printed material is pumped to the six axis printer device people 1.
The pumping installations 2 uses integrated mode, conveniently moving.
The pumping installations 2 includes pumping control cabinet 201, pumping equipment frame 202, stirring motor 203, pumping stock pipe
Line 204, agitating shaft 205, agitator tank 206, stock screw rod 207, feed bin 208, rubber spray head 209 and threeway valve group 210.
The pumping control cabinet 201, the stirring motor 203 and the feed bin 208 are arranged at the pumping equipment frame
On frame 202, the pumping equipment frame 202 is used to support the pumping control cabinet 201, the stirring motor 203 and the material
Storehouse 208；The stirring motor 203 is fixed on motor support platform 212, and the motor support platform 212 is arranged in the pump
It send on device framework 202；Multiple first universal wheels 211 are installed in the lower section of the pumping equipment frame 202.The motor branch
Support platform 212, the pumping equipment frame 202 and first universal wheel 211 collectively form the bracket frame of the pumping installations 2
Structure.
Agitator tank 206 is located at 208 top of feed bin, and the discharge port of the agitator tank 206 passes through the pumping stock pipe
Line 204 is connected to the feed inlet of the feed bin 208, and the discharge port of the feed bin 208 is connected to the rubber spray head 209, described
The end of the rubber spray head 209 is arranged in threeway valve group 210；The agitating shaft 205 is arranged in the agitator tank 206, uses
Printed material is stirred under the drive in the stirring motor 203；The pumping stock pipeline 204 is located at the stirring
The lower section of motor 203, for the printed material being stirred in agitator tank 206 to be delivered to the feed bin 208；The stock screw rod
207 are arranged in the feed bin 208, for carrying out secondary agitation to the printed material and the printed material being delivered to institute
State rubber spray head 209；The rubber spray head 209 is connected to the first entrance of the threeway valve group 210, is used for the printing material
Material is delivered to the threeway valve group 210；The outlet of the threeway valve group 210 connects with the feed inlet of the six axis printer device people 1
It is logical；The pumping control cabinet 201 is for controlling the stirring motor 203 and the stock screw rod 207.
The second entrance of the threeway valve group 210 is connected to water washing device 3, for washing when will be in water washing device 3
Water is transported to six axis printer device people 1.
When work, pumping control cabinet 201 receives the control instruction of main control cabinet 6, and to stirring motor 203 and the stock
Screw rods 207 etc. issue control command, and Real-time Feedback state parameter information.After receiving order, stirring motor 203 starts to turn
It is dynamic, it drives agitating shaft 205 to stir, is in printed material in dynamic environment, prevents from condensing.The printed material meeting of agitator tank 206
It is transported in feed bin 208 by pumping stock pipeline 204, the stock screw rod 207 in feed bin 208 is turned printed material by stirring
It moves on in rubber spray head 209, the printed material come out from rubber spray head 209 is for sending six axis printer device people 1 to.
Fig. 4 is the structure drawing of device for the water washing device 3 that robot wisdom 3D of the present invention builds printer embodiment.
Referring to fig. 4, the effect of the water washing device 3 is as follows:
1, the pumping installations 2 and the six axis printer device people 1 are cleaned and in the pumping installations 2
Printed material carries out humidification process.
2, secondary filtration is carried out to the waste material after washing, realizes the recycling of material.
The water washing device 3 includes washing platform 301, washing control cabinet 302, buffering water pot 303, flush box 304, punching
Wash water pump 305, water tank with strainer 306 and filtering Aeration fan 307.
The washing control cabinet 302, the flush box 304, flush water pump 305, crosses drainage at the buffering water pot 303
Case 306 and filtering Aeration fan 307 are installed on the washing platform 301.It is equipped in the lower section of the washing platform 301
Multiple second universal wheels 308.
The flush box 304 is 304 stainless steel materials.The water outlet and the flush water pump of the flush box 304
305 connections, the flush water pump 305 are connected to by outlet pipe with flushing pipe；The buffering water pot 303 is mounted on the outlet pipe
On, the buffering water pot 303 provides a buffer for stablizing hydraulic pressure, for band press liquid, can effectively reduce with pressure
Damage of the liquid to equipment.The flushing pipe end is connected with syringe pipe；The flush box 304 is for storing water purification；It is described
Syringe pipe is for being rinsed the pumping installations 2 and the six axis printer device people 1 and carrying out to the printed material
Humidification；Liquidometer is installed in the flush box 304, the output end of the liquidometer and the washing control cabinet 302 connect
It connects, the liquidometer is used to measure the water level in the flush box 304.The top of the flush box 304 is provided with flushing
Case lid 309, water supplement port 310 and flange 311；The flushing case lid 309 covers the top open part in the flush box 304；Institute
The moisturizing water inlet that water supplement port 310 is the flush box 304 is stated, is connected to water purification water pipe, is used for the flush box 304
Interior supplement water purification；The flange 311 is for installing the liquidometer.The side bottom of the flush box 304 is provided with row
Solidifying nozzle 312；The impurity in the flush box 304 is discharged for being connected to condensate drain for the condensate drain nozzle 312.
The flushing pipe is also connected to the second entrance of the threeway valve group 210, for delivering water into institute when rinsing
State robot stock pipeline 106.
As an alternative embodiment, flushing pipe includes three tunnels, respectively cleaning pipe, humidifier tube and hydraulic giant pipe；Clearly
The one end for washing one end of pipe, one end of humidifier tube and hydraulic giant pipe is connected to outlet pipe, the other end connection cleaning spray of cleaning pipe
Head, the other end of humidifier tube connect humidifying spraying nozzle, and hydraulic giant is rinsed in the other end connection of hydraulic giant pipe.Cleaning sprayer is for cleaning pumping
Device 2, humidifying spraying nozzle are used to humidify humidification material, rinse hydraulic giant for being rinsed to the structure being difficult to clean.
The washing control cabinet 302 is for controlling the flush water pump 305.
The water tank with strainer 306 is secondary filtration water tank, and the water tank with strainer 306 is used to collect the waste water after rinsing
And secondary filtration is carried out to the waste water, the sandstone that partial size is greater than setting diameter are subjected to recycling and reusing；The filtering aeration
The air outlet of blower 307 is connected to by being aerated pipeline 313 with the water tank with strainer 306, for the water solid waste liquid after filtering
Be aerated, i.e., by being passed through air into water tank with strainer 306, make air and it is flushed after water liquidate, prevent strainer from blocking,
Particulate matter can also be reduced simultaneously to build up in the bottom of water tank with strainer 306.Drainpipe is also equipped on the water tank with strainer 306
Line 314 and blowdown pipeline 315；The flowing line 314 is for being discharged waste water, and the blowdown pipeline 315 is for being discharged waste.
Buckling installation nozzle 316 is provided on the outlet pipe, the buckling installation nozzle 316 is for installing pressure change
Device is sent, the pressure transmitter is used to detect the hydraulic pressure of the outlet pipe.The pressure transmitter and washing control cabinet 302 connect
It connects, for hydraulic pressure value to be transferred to washing control cabinet 302.
When work, washing control cabinet 302 receives the instruction of main control cabinet 6, and issues and control to each component of water washing device 3
Order, and the parameter status information of Real-time Feedback water washing device 3.In print procedure, water washing device 3 is according to the sticky of printed material
The operation that parameter realizes atomization and humidification is spent, so that the state of printed material maintains a stationary value.After printing, washing dress
It sets 3 and a circuit is used as by two closed-loop controls, robot stock pipeline 106 and printing head 105, pumping installations 2 is used as one
Cleaning is carried out simultaneously in a circuit, two circuits, and working efficiency improves 50%.Pipeline-cleaning be in whole printing process very
Important a part, because of the characteristic that building printed material is own, pipeline, cabinet and printing head 105 etc. after the completion of printing
Retained material can be solidified because of not clearing up in structure, influence next use.And cleaning efficiency is more crucial, if cleaning compared with
Slowly, cleaning is not completed before printed material starts solidification, then seriously affects next use.Therefore, the present invention improves cleaning efficiency
While can also greatly prolong the service life of device.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: robot intelligence of the invention
Intelligent 3D builds printer, is printed using six axis printer device people 1, relatively existing row posture printer, conveniently moving, just
In transport, it is more applicable for field print.The present invention realizes printing by adding from feeding stirring and washing vehicle 4 and pumping installations 2
The voluntarily feeding of machine.The present invention also passes through setting water washing device 3, realizes the automation cleaning after the completion of printing.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of robot wisdom 3D builds printer characterized by comprising six axis printer device people, the six axis printing
Robot includes robot support base, robot support platform, six shaft mechanical arms, robot control cabinet, printing head, robot
Stock pipeline；
The robot support base is fixed in the robot support platform, and the six shaft mechanicals arm is fixed on the robot
On support base；The printing head is fixedly connected on the end of the six shaft mechanicals arm；The robot stock pipeline is described in
Six shaft mechanical arms arrangement, one end of the robot stock pipeline are connected to the printing head, and the other end and six axis are beaten
Print the feed inlet connection of robot；The robot control cabinet is fixed in the robot support platform, for described six
Shaft mechanical arm and the printing head are controlled.
2. a kind of robot wisdom 3D according to claim 1 builds printer, which is characterized in that further include being stirred from feeding
Mix cleaning vehicle and pumping installations；The pumping installations is used to stir the printed material supplied from feeding stirring and washing vehicle
It mixes and the printed material is pumped to the six axis printer device people；
The pumping installations includes pumping control cabinet, pumping equipment frame, stirring motor, pumping stock pipeline, agitating shaft, stirring
Tank, stock screw rod, feed bin, rubber spray head and threeway valve group；
The pumping control cabinet, the stirring motor and the feed bin are arranged on the pumping equipment frame, the pumping
Device framework is used to support the pumping control cabinet, the stirring motor and the feed bin；The agitator tank is located at the feed bin
The discharge port of top, the agitator tank is connected to by the pumping stock pipeline with the feed inlet of the feed bin, the feed bin
Discharge port is connected to the rubber spray head, and the end of the rubber spray head is arranged in the threeway valve group；The agitating shaft setting
In the agitator tank, for being stirred under the drive of the stirring motor to printed material；The pumping stock pipeline
For the printed material being stirred in agitator tank to be delivered to the feed bin；The stock screw rod is arranged in the feed bin, uses
In carrying out secondary agitation and the printed material being delivered to the rubber spray head to the printed material；The rubber spray head with
The first entrance of the threeway valve group is connected to, for the printed material to be delivered to the threeway valve group；The threeway valve group
Outlet be connected to the feed inlet of the six axis printer device people；The pumping control cabinet is used for the stirring motor and described
Stock screw rod is controlled.
3. a kind of robot wisdom 3D according to claim 2 builds printer, which is characterized in that further include washing dress
It sets；The water washing device is for cleaning the pumping installations and the six axis printer device people and filling to the pumping
Printed material in setting carries out humidification process；
The water washing device includes washing platform, washing control cabinet, buffering water pot, flush box and flush water pump；
It is flat that the washing control cabinet, the buffering water pot, the flush box and the flush water pump are installed in the washing
On platform；
The water outlet of the flush box is connected to the flush water pump, and the flush water pump is connected by outlet pipe and flushing pipe
It is logical；The buffering water pot is mounted on the outlet pipe；The flushing pipe end is connected with syringe pipe；The flush box is used for
Store water purification；The syringe pipe is for being rinsed the pumping installations and the six axis printer device people and beating described
Print material is humidified；
The flushing pipe is also connected to the second entrance of the threeway valve group, for delivering water into the robot when rinsing
Stock pipeline；
The washing control cabinet is for controlling the flush water pump.
4. a kind of robot wisdom 3D according to claim 3 builds printer, which is characterized in that the water washing device is also
Including water tank with strainer and filtering Aeration fan；The water tank with strainer and the filtering Aeration fan are installed in the washing platform
On；
The water tank with strainer is used to collect the waste water after flushing is rinsed and is filtered to the waste water；The filtering Aeration fan
Air outlet by be aerated pipeline be connected to the water tank with strainer, for being aerated to the water solid waste liquid after filtering.
5. a kind of robot wisdom 3D according to claim 3 builds printer, which is characterized in that in the flush box
Liquidometer is inside installed, the output end of the liquidometer is connect with the washing control cabinet, and the liquidometer is described for measuring
Water level in flush box.
6. a kind of robot wisdom 3D according to claim 3 builds printer, which is characterized in that on the outlet pipe
It is provided with buckling installation nozzle, the buckling installation nozzle is for installing pressure transmitter, and the pressure transmitter is for detecting
The hydraulic pressure of the outlet pipe.
7. a kind of robot wisdom 3D according to claim 2 builds printer, which is characterized in that in the pumping equipment
Multiple first universal wheels are installed below frame.
8. a kind of robot wisdom 3D according to claim 3 builds printer, which is characterized in that in the washing platform
Lower section multiple second universal wheels are installed.
9. a kind of robot wisdom 3D according to claim 1 builds printer, which is characterized in that further include video monitoring
Device；The video monitoring apparatus is arranged in six axis printer device people's surrounding, for the six axis printer device people's
Print procedure is monitored.
10. a kind of robot wisdom 3D according to claim 3 builds printer, which is characterized in that further include main control
Cabinet, the main control cabinet are connect with the robot control cabinet, the pumping control cabinet and the washing control cabinet, for
The robot control cabinet, the pumping control cabinet and washing control cabinet connection send control instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811226266.2A CN109779260B (en) | 2018-10-22 | 2018-10-22 | Intelligent 3D building printer of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811226266.2A CN109779260B (en) | 2018-10-22 | 2018-10-22 | Intelligent 3D building printer of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109779260A true CN109779260A (en) | 2019-05-21 |
| CN109779260B CN109779260B (en) | 2023-12-05 |
Family
ID=66496330
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811226266.2A Active CN109779260B (en) | 2018-10-22 | 2018-10-22 | Intelligent 3D building printer of robot |
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| US20050280185A1 (en) * | 2004-04-02 | 2005-12-22 | Z Corporation | Methods and apparatus for 3D printing |
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| CN108407042A (en) * | 2018-05-15 | 2018-08-17 | 中铁四局集团有限公司 | A kind of building 3D printer continuous feeding system |
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| US20040265413A1 (en) * | 2003-05-23 | 2004-12-30 | Z Corporation | Apparatus and methods for 3D printing |
| US20050280185A1 (en) * | 2004-04-02 | 2005-12-22 | Z Corporation | Methods and apparatus for 3D printing |
| CN104023925A (en) * | 2011-11-01 | 2014-09-03 | 拉夫伯勒大学 | Method and apparatus for delivery of cementitious material |
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| CN109779260B (en) | 2023-12-05 |
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