CN109878581A - A kind of cterpillar drive and 3D printing robot of 3D printing robot - Google Patents
A kind of cterpillar drive and 3D printing robot of 3D printing robot Download PDFInfo
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- CN109878581A CN109878581A CN201910135849.2A CN201910135849A CN109878581A CN 109878581 A CN109878581 A CN 109878581A CN 201910135849 A CN201910135849 A CN 201910135849A CN 109878581 A CN109878581 A CN 109878581A
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- printing robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of cterpillar drive of 3D printing robot, the walking mechanism on the casing of 3D printing robot is arranged in including two front and backs, walking mechanism includes driving host, transmission device, crawler rack, traveling crawler；The driving wheel for driving the traveling crawler is provided on crawler rack；Driving host is fixedly connected on the casing of 3D printing robot, and below driving host, transmission device is connected with driving host and the driving wheel respectively for crawler rack and traveling crawler setting；Running gear further includes the steering lifting device for going up and down and rotating the crawler rack, turns to lifting device and is arranged on the driving host, the free end for turning to lifting device is fixedly connected with the crawler rack.The present invention is not easy to skid by using caterpillar running gear between the walking mechanism and formed body, can preferably control the precision of the run trace of 3D printing robot, can be improved the print quality of 3D printing.
Description
Technical field
The present invention relates to 3D printing fields, and in particular to be a kind of 3D printing robot cterpillar drive and 3D
Printer device people.
Background technique
3 D-printing (3D printing), i.e. one kind of rapid prototyping technology, it is that a kind of digital model file is base
Plinth constructs the technology of object by layer-by-layer printing with adhesive materials such as powdery metal or plastics.
A kind of expanded type robot as disclosed in Chinese patent CN106564189, existing 3D printing robot 100 leads to
It crosses the walking of 3D printing robot 100 and realizes successively printing on printed formed body 300, the walking mechanism of roller type is easy
It skids and printing precision is caused to reduce, when carrying out curved path printing, be easy to cause Path error.
In view of this, the applicant furthers investigate in view of the above-mentioned drawbacks in the prior art, there is this case generation then.
Summary of the invention
The main purpose of the present invention is to provide a kind of cterpillar drives of 3D printing robot, have walking essence
Degree is high, is not easy the characteristics of skidding.
In order to achieve the above objectives, solution of the invention is:
A kind of cterpillar drive of 3D printing robot, wherein be arranged including two front and backs in 3D printing robot
Casing on walking mechanism, the walking mechanism include driving host, transmission device, crawler rack, traveling crawler；The shoe
The driving wheel for driving the traveling crawler is provided on belt supporting frame；Driving host is fixedly connected on the machine of 3D printing robot
On shell, the crawler rack and the traveling crawler are arranged below the driving host, the transmission device respectively with driving
Host is connected with the driving wheel；The running gear further includes being promoted for going up and down and rotating the steering of the crawler rack
Device, the steering lifting device are arranged on the driving host, the free end for turning to lifting device and the crawler belt
Bracket is fixedly connected.
Further, the transmission device includes elevator, driving shaft, universal joint and power reversing mechanism, the elevator
It is slidably arranged on the driving host, the power reversing mechanism is connected with the driving wheel, and the driving shaft setting exists
On the elevator, the both ends of the universal joint are connected with the driving shaft and power reversing mechanism respectively.
Further, the universal joint is dual cardan type U-joint.
Further, the steering lifting device includes lift lever and the rotating bar for being rotatably connected on the lift lever lower end,
The lift lever is connected with the driving host, and the rotating bar is fixedly connected with the crawler rack.
Further, intermeshing sliding tooth is formed on the inside of the driving wheel and the traveling crawler.
Further, the first support wheel, the second support wheel, the traveling crawler winding are rotatably connected on the crawler rack
On first support wheel, the second support wheel and driving wheel, the traveling crawler includes positioned at first support wheel and the
Horizontal segment track between two support wheels and the inclination segment track between the first support wheel and the driving wheel；The level
Segment track is fitted on printed formed body, and the inclination segment track is located at the direction of advance of the traveling crawler and tilts upward
It rises.
Further, third support wheel is also rotatably connected on the crawler rack, the third support wheel is supported described
On the inside of traveling crawler between driving wheel and second support wheel.
Further, buffering wheel has been supported on the inside of the horizontal segment track.
Further, the crawler rack is formed with support shaft, and there are two buffering stand, institutes for rotation connection in the support shaft
It states buffering wheel and is rotatably connected to two buffering stand lower ends respectively, two buffering stands are far from the support shaft and institute
The one end for stating buffering wheel is connected with buffer spring.
A kind of 3D printing robot, including casing, guiding device, printing head and feeding machanism, wherein further include walking
Device.
After adopting the above structure, the cterpillar drive of a kind of 3D printing robot of the present invention, the walking
The traveling crawler of mechanism is walked on printed formed body, and the liter of lifting device is turned to described in the driving host driven
Drop and steering.When needing to be printed according to curved path, the steering lifting device will drive the crawler rack to revolve
Turn specified angle, two walking mechanisms are advanced jointly realizes steering.When carrying out 3D printing, the walking mechanism of front side is walked before
On the formed body that one circle prints, the walking mechanism of rear side is walked on the formed body just printed, and there are one layer of height for the two
It is poor to spend.When one layer of printing terminates to need to change layer fastly, the walking mechanism of front side is promoted under the promotion for turning to lifting device
One layer of height is restored to the walking mechanism ratio of rear side to realize the transition of printing shaping body between layers after transition
The state of the high formable layer body height of the walking mechanism of front side.
Compared with prior art, it by using caterpillar running gear, is not easy between the walking mechanism and formed body
It skids, can preferably control the precision of the run trace of 3D printing robot, can be improved the print quality of 3D printing.
Detailed description of the invention
Fig. 1 is that the present invention relates to a kind of overall structures of the walking mechanism of the cterpillar drive of 3D printing robot to show
It is intended to.
Fig. 2 is the working state schematic representation of 3D printing robot.
Fig. 3 is the internal structure chart of 3D printing robot.
Fig. 4 is that 3D printing robot removes the schematic internal view after casing.
Fig. 5 is the structural schematic diagram of the walking mechanism of another angle.
Fig. 6 is the overall mechanism schematic diagram of 3D printing robot.
Fig. 7 is the structural schematic diagram that 3D printing robot removes casing.
Fig. 8 is the working state schematic representation of 3D guiding device.
Fig. 9 is that the guiding device of Fig. 8 removes the structural schematic diagram of casing.
Figure 10 is the overall structure diagram of printing head.
Figure 11 and Figure 12 is the working state figure of printing head when removing casing.
Figure 13 is the partial cutaway schematic of printing head.
In figure: walking mechanism 1；Drive host 11；Transmission device 12；Elevator 121；Driving shaft 122；Dual cardan type U-joint
123；Power reversing mechanism 124；Turn to lifting device 13；Lift lever 131；Rotating bar 132；Crawler rack 14；First support wheel
141, the second support wheel 142；Third support wheel 143；Driving wheel 144；Buffering wheel 145；Buffering stand 146；Support shaft 147；Row
Walk crawler belt 15；Sliding tooth 151；Horizontal segment track 152；Tilt segment track 153；First guiding mechanism 21；Second guiding mechanism 22；
First driver 211；Second driver 221；
Printing head 3；First moulded side panel 31；First gathers plate 311；Second moulded side panel 32；Second gathers plate 321；
Substance nozzle 33；First Transition guide section 331；Second transition guide section 332；Form top plate 34；Molding cavity 35；Discharge gate
36；Lateral discharging channel 361；Discharge block 362；Longitudinal discharging channel 363；
3D printing robot 100；Casing 200；Formed body 300.
Specific embodiment
In order to further explain the technical solution of the present invention, being explained in detail below by specific embodiment the present invention
It states.
It as shown in figure 1 to figure 13, is a kind of cterpillar drive of 3D printing robot of the present invention, including
The walking mechanism 1 on the casing 200 of 3D printing robot 100 is arranged in two front and backs, and the walking mechanism 1 includes driving host
11, transmission device 12, crawler rack 14, traveling crawler 15；It is provided on the crawler rack 14 for driving the walking to carry out
With 15 driving wheel 144；Driving host 11 is fixedly connected on the casing 200 of 3D printing robot 100, the crawler rack 14
Be arranged below the driving host 11 with the traveling crawler 15, the transmission device 12 respectively with drive host 11 and described
Driving wheel 144 is connected；The running gear further includes the steering lifting device for going up and down and rotating the crawler rack 14
13, the steering lifting device 13 is arranged on the driving host 11, the free end of the steering lifting device 13 with it is described
Crawler rack 14 is fixedly connected.
In this way, a kind of cterpillar drive of 3D printing robot of the present invention, the walking mechanism 1 it is described
Traveling crawler 15 is walked on printed formed body 300, and the driving host 11 drives the liter for turning to lifting device 13
Drop and steering.When needing to be printed according to curved path, the steering lifting device 13 will drive the crawler rack
14 rotation specified angles, two walking mechanisms 1 are advanced jointly realizes steering.
When carrying out 3D printing, the power of the driving host 11 is transferred to the driving wheel by the transmission device 12
144, the walking of the walking mechanism 1 of front side the formed body 300 that prints of previous circle on, the walking mechanism 2 of rear side is walked rigid
On the formed body 300 printed, there are one layer of differences in height for the two.When one layer of printing terminates to need to change layer fastly, the row of front side
Mechanism 1 is walked under the promotion for turning to lifting device 13, one layer of height is promoted, to realize 300 layers of printing shaping body and layer
Between transition, be restored to after transition rear side walking mechanism 1 it is higher than the high formable layer body 300 of walking mechanism 1 of front side
The state of degree.
The walking mechanism 1 also has another working method, when printing first layer, the 3D printing robot
100 under the driving of walking mechanism 1, is promoted while printing, so that 300 upper surface of formed body has certain gradient, when
At the end of first layer prints, the highest point of first layer formed body 300 is higher by certain altitude than lowest part, then the vehicle with walking machine of front side
The walking of structure 1 is printed in the previous formed body 300 for enclosing and printing, 3D printing robot 100 along the gradient of first layer formed body 300
The formed body 300 of fixed height out, the 3D printing machine mankind are similar to print upwards along sky way, until printing is completed.This
When sample prints the second layer and the above formed body 300, layer is changed without stopping after printing one layer, 3D printing robot 100 has more
Printing effect.
Preferably, the transmission device 12 includes elevator 121, driving shaft 122, universal joint and power reversing mechanism 124,
The elevator 121 is slidably arranged on the driving host 11, the power reversing mechanism 124 and 144 phase of driving wheel
Connection, the driving shaft 122 are arranged on the elevator 121, the both ends of the universal joint respectively with the driving shaft 122 and
Power reversing mechanism 124 is connected.When needing that the traveling crawler 15 is driven to walk, the driving host 11 drives the active
Axis 122 rotates, and then drives the universal joint rotation, and the universal joint drives the power commutation connecting with the driving wheel 144
Mechanism 124, to realize that traveling crawler 15 moves.When the steering lifting device 13 is promoted or is declined, the elevator 121
It is gone up and down to adapt to the variation of the distance between the universal joint and the driving host 11.
Due to the presence of the universal joint, when the steering lifting device 13 drives the crawler rack 14 to turn to, institute
The rotation for stating driving shaft 122 can be also transferred in the power reversing mechanism 124, enable the traveling crawler 15 normal
Movement.Further, the universal joint is dual cardan type U-joint 123.Dual cardan type U-joint 123 has constant speed, i.e., will not
Driving shaft 122 and the drive are caused because the angle that the steering lifting device 13 drives the crawler rack 14 to turn over is different
The revolving speed of driving wheel 144 is disproportionate, ensure that the walking precision of 3D printing robot 100.
Preferably, the steering lifting device 13 includes lift lever 131 and is rotatably connected on 131 lower end of lift lever
Rotating bar 132, the lift lever 131 are connected with the driving host 11, and the rotating bar 132 and the crawler rack 14 are solid
Fixed connection.When needing to promote the traveling crawler 15, the lift lever 131 is promoted under the driving of driving host 11.
When needing to turn to, the rotating bar 132 is turned under the driving of the driving host 11.
In order to guarantee the driving wheel 144 and the synchronism before the traveling crawler 15, avoid skidding and influencing precision,
Preferably, intermeshing sliding tooth 151 is formed on the inside of the driving wheel 144 and the traveling crawler 15.
Preferably, the first support wheel 141, the second support wheel 142, the walking are rotatably connected on the crawler rack 14
Crawler belt 15 is wound around on first support wheel 141, the second support wheel 142 and driving wheel 144, and the traveling crawler 15 includes position
Horizontal segment track 152 between first support wheel 141 and the second support wheel 142 and it is located at the first support wheel 141 and institute
State the inclination segment track 153 between driving wheel 144；The horizontal segment track 152 is fitted on printed formed body 300, institute
Inclination segment track 153 is stated to be located at the direction of advance of the traveling crawler 15 and be upturned.Further, first support
Wheel 141 and second support wheel 142 are to respectively include two wheel bodys being arranged symmetrically.First support wheel 141 and second
Horizontal segment track 152 between support wheel 142 is bonded with formed body 300, since horizontal segment track 152 has biggish contact surface
Product is smaller to the damage of formed body 300.The inclination segment track 153 is conducive to increase the passability of traveling crawler 15.
Preferably, third support wheel 143 is also rotatably connected on the crawler rack 14, the third support wheel 143 supports
Withstand on 15 inside of traveling crawler between the driving wheel 144 and second support wheel 142.The third support wheel 143 is used
To support the traveling crawler 15 between the driving wheel 144 and second support wheel 142, its sagging influence traveling crawler is prevented
15 mass motion.
Preferably, buffering wheel 145 has been supported on the inside of the horizontal segment track 152.In this way, the weight of 3D printing robot 100
Amount will reduce the first support wheel by 145 shared of the first support wheel 141, the second support wheel 142 and the buffering wheel
141 and second support wheel 142 support force so that horizontal segment track 152 bear pressure it is more uniform.
Preferably, it is formed in the middle part of each sliding tooth 151 on the traveling crawler 15 for the logical of the buffering wheel 145
The support slot crossed.The traveling crawler 15 described in this way will be limited in the support slot, can effectively avoid the buffering wheel
145 are detached from the traveling crawler 15.
Preferably, the crawler rack 14 is formed with support shaft 147, and there are two slow for rotation connection in the support shaft 147
Bracket 146 is rushed, the buffering wheel 145 is rotatably connected to two 146 lower ends of buffering stand, two buffering stands respectively
146 one end far from the support shaft 147 and the buffering wheel 145 are connected with buffer spring (not shown).Further
Ground, each 146 lower end of buffering stand are separately connected there are two buffering wheel 145.In this way, when the buffering wheel 145 bears pressure mistake
When big, the position at the buffer spring both ends is changed, so that buffer spring deforms.As shown in figure 5, when pressure is excessive
When, the buffer spring receives stretcher strain, so that the buffering wheel 145 can play buffer function.
Compared with prior art, by using caterpillar running gear, between the walking mechanism 1 and formed body 300
It is not easy to skid, can preferably control the precision of the run trace of 3D printing robot 100, can be improved the printing matter of 3D printing
Amount.
A kind of 3D printing robot, including casing 200, guiding device, printing head 3 and feeding machanism, wherein further include
Running gear.
Further, the guiding device includes the first guiding mechanism 21 for being fixed at 100 two sides of 3D printing robot
With the second guiding mechanism 22, the two sides of printed formed body 300 are arranged in the first guiding mechanism 21 and the second guiding mechanism 22
And it fits with formed body 300.
In this way, passing through the clamping action of the first guiding mechanism 21 and the second guiding mechanism 22,3D printing robot 100 can
Stable walking is on formed body 300.The 3D printing robot 100 walk forward printing when, first guiding mechanism 21
The formed body 300 just printed can be smoothed out with the second guiding mechanism 22, guarantee the flatness of 300 side wall of formed body.
In use, first guiding mechanism 21 and the second guiding mechanism 22 are stuck in 300 two sides of formed body, formed body 300 can be realized
Printing, compared with prior art, the more steady safety of the operation of 3D printing robot 100 avoids the danger fallen from eminence,
So that print procedure is safer.
The stability of 3D printing robot 100 in order to further increase avoids first guiding mechanism 21 and second from leading
It is only fitted in mechanism 22 on the very not firm formed body 300 that just printing has been completed, it is preferable that first guiding mechanism
21 and second guiding mechanism 22 be bonded at least two layers of formed body 300.In this way, first guiding mechanism 21 and the second guiding mechanism
22 can at least be bonded the formed body 300 that a period prints in one layer of 3D printing robot 100, due to the molding of printing of the upper period
300 curing time of body is long, has more preferably stability, first guiding mechanism 21 and the second guiding mechanism 22 can be more firm
The fitting leaned on.Further, first guiding mechanism 21 and the second guiding mechanism 22 are bonded two layers of formed body 300.
Preferably, first guiding mechanism 21 and the second guiding mechanism 22 are cylinder deflector roll.By the way that cylinder deflector roll is arranged,
It can be turned to freely and smoothly when 3D printing robot 100 is run along curved path.Further, described to lead
To the driving assembly that device further includes for driving the first guiding mechanism 21 and the second guiding mechanism 22 to rotate, the driving component
It is fixed on the casing 200 of 3D printing robot 100.With the advance of 3D printing robot 100, first Guiding machine
Structure 21 and the second guiding mechanism 22 are rotated under the driving of the driving component.By the rotation of active, just printing is smoothed out
The formed body 300 of completion, is further ensured that molding effect.
Preferably, the driving component includes the first driver 211 and the second driver 221, first driver 211
It is arranged on the casing 200 of 3D printing robot 100 with the second driver 221 and respectively drives the first guiding mechanism 21 and second
Guiding mechanism 22 rotates.By the way that 211 He of the first driver is respectively set on the first guiding mechanism 21 and the second guiding mechanism 22
Second driver 221, enormously simplifies the structure of driving assembly.So that the entirety of 3D printing robot 100 is more compact.
Using the direction of advance of 3D printing robot 100, that is, printing head 3 direction of advance as front side direction.Such as Figure 10
To shown in Figure 13, the printing head 3 includes substance nozzle 33, the first moulded side panel 31, the second moulded side panel 32 and molding top
Plate 34.
The substance nozzle 33 and the molding top plate 34 are fixedly connected on the first moulded side panel 31 and the second moulded side panel
32 upper end, the substance nozzle 33 are located at the front side of the molding top plate 34；The molding top plate 34, the first moulded side panel 31
The molding cavity 35 of a font of falling Qian is surrounded with the second moulded side panel 32.
In this way, material needed for the output 3D printing of substance nozzle 33, described to beat with the advance of 3D printing robot 100
Print spray head 3 also advances therewith.Material carries out moulding, first moulded side panel 31 and second by the molding cavity 35 of Qian font
Moulded side panel 32 smoothes out the side wall of formed body 300, and the molding top plate 34 modifies the top of formed body 300.
Compared with prior art, the present invention is by being arranged the first moulded side panel 31 being fixedly connected with the substance nozzle 33, the second one-tenth
Type side plate 32 and molding top plate 34, modify the formed body 300 printed, compact overall structure is repaired without being additionally arranged
Whole structure.
Preferably, the distance between first moulded side panel 31 and the second moulded side panel 32 gradually become smaller from front to back.
Preferably, the first moulded side panel 31 and the second moulded side panel 32 are arranged in parallel.
Since the material of 3D printing has certain mobility, in order to enable the material on formed body 300 obtains effective benefit
With.Preferably, the front side of the first moulded side panel 31 and the second moulded side panel 32 is each formed with first be inclined outwardly and gathers plate 311
Gather plate 321 with second.In this way, with the advance of the printing head 3, material on formed body 300 can it is described can
Gather to molding cavity 35.
Substance nozzle 33 exports the material of 3D printing from top to down, in order to which the material of 3D printing can be in printing head 3
It is smoothly delivered on formed body 300 when advance, it is preferable that the front side of the material spray head 33 is formed with First Transition guide section
331.In this way, the material of 3D printing from being changed into beating from top to bottom by the guiding role of the First Transition guide section 331
The opposite direction inclination for printing 3 direction of advance of spray head, can smoothly be delivered on formed body 300.
In order to avoid the material that the angle between the substance nozzle 33 and the molding top plate 34 influences 3D printing conveys
To formed body 300, it is preferable that be formed with the second transition guide section between the substance nozzle 33 and the molding top plate 34
332.The second transition guide section 332 cooperates with the First Transition guide section 331, by the material of 3D printing from from top to bottom
It is changed into the opposite direction of 3 direction of advance of printing head and tilts, print procedure is more smooth.
Preferably, first moulded side panel 31 and the second moulded side panel 32 are respectively formed on for squeezing out extra material
Discharge gate 36.Since the speed of travel of 33 load of substance nozzle and 3D printing robot 100 is not necessarily completely the same, it is
Guarantee printing effect, needs slightly to increase the load of material, and extra material passes through the first moulded side panel 31 and the second one-tenth
Discharge gate 36 on type side plate 32 is discharged.
Preferably, the discharge gate 36 includes the cross being arranged on first moulded side panel 31 and the second moulded side panel 32
To discharging channel 361；The discharge gate 36 further includes being formed on 32 lateral wall of the first moulded side panel 31 and the second moulded side panel
Discharge block 362, on the discharge block 362 in be formed with longitudinal discharging channel 363 of bottom opening, the longitudinal direction discharging channel
363 are connected with the lateral discharging channel 361.In this way, extra material needs to squeeze can just be led to by the lateral discharge
Road 361, is formed by that formed body 300 is even closer, guarantees the use intensity after solidifying.It is logical that extra material passes through longitudinal discharge
The bottom opening row in road 363 is to the ground.Further, the cross sectional shape of the lateral discharging channel 361 is triangle.It is described
The side that lateral discharging channel 361 is located at direction of advance is vertically arranged, and the angle on remaining two sides is obtuse angle.Material extra in this way
It will enter in lateral discharging channel 361, with the advance of printing head 3, the surface of formed body 300 will be obtuse-angulate in shape
The finishing on side.
Above-described embodiment and schema and non-limiting product form and style of the invention, any technical field it is common
The appropriate changes or modifications that technical staff does it all should be regarded as not departing from patent category of the invention.
Claims (9)
1. a kind of cterpillar drive of 3D printing robot, which is characterized in that be arranged including two front and backs in 3D printer
Walking mechanism on the casing of device people, the walking mechanism include driving host, transmission device, crawler rack, traveling crawler；Institute
State the driving wheel being provided on crawler rack for driving the traveling crawler；Driving host is fixedly connected on 3D printing robot
Casing on, the crawler rack and the traveling crawler are arranged below the driving host, the transmission device respectively with
Driving host is connected with the driving wheel；The running gear further includes the steering for going up and down and rotating the crawler rack
Lifting device, the steering lifting device are arranged on the driving host, the free end of the steering lifting device with it is described
Crawler rack is fixedly connected.
2. a kind of cterpillar drive of 3D printing robot as described in claim 1, which is characterized in that the transmission dress
It sets including elevator, driving shaft, universal joint and power reversing mechanism, the elevator is slidably arranged on the driving host,
The power reversing mechanism is connected with the driving wheel, and the driving shaft is arranged on the elevator, the universal joint
Both ends are connected with the driving shaft and power reversing mechanism respectively.
3. a kind of cterpillar drive of 3D printing robot as claimed in claim 2, which is characterized in that the universal joint
For dual cardan type U-joint.
4. a kind of cterpillar drive of 3D printing robot as described in claim 1, which is characterized in that the steering mentions
Rising device includes lift lever and the rotating bar for being rotatably connected on the lift lever lower end, the lift lever and the driving host phase
Connection, the rotating bar are fixedly connected with the crawler rack.
5. a kind of cterpillar drive of 3D printing robot as described in claim 1, which is characterized in that the driving wheel
Intermeshing sliding tooth is formed with on the inside of the traveling crawler.
6. a kind of cterpillar drive of 3D printing robot as described in claim 1, which is characterized in that the crawler belt branch
The first support wheel, the second support wheel are rotatably connected on frame, the traveling crawler is wound around first support wheel, the second support
On wheel and driving wheel, the traveling crawler include horizontal segment track between first support wheel and the second support wheel and
Inclination segment track between the first support wheel and the driving wheel；The horizontal segment track is fitted in printed formed body
On, the inclination segment track is located at the direction of advance of the traveling crawler and is upturned.
7. a kind of cterpillar drive of 3D printing robot as claimed in claim 6, which is characterized in that the crawler belt branch
Third support wheel is also rotatably connected on frame, the third support wheel is supported between the driving wheel and second support wheel
Traveling crawler on the inside of.
8. a kind of cterpillar drive of 3D printing robot as claimed in claim 6, which is characterized in that the horizontal shoe
Buffering wheel has been supported on the inside of band section.
9. a kind of cterpillar drive of 3D printing robot as claimed in claim 7, which is characterized in that the crawler belt branch
Frame is formed with support shaft, and there are two buffering stands, the buffering wheel to be rotatably coupled respectively for rotation connection in the support shaft
Two buffering stand lower ends, two buffering stands are connected with buffering far from one end of the support shaft and the buffering wheel
Spring.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110054956.XA CN112810712B (en) | 2019-02-25 | 2019-02-25 | Crawler-type walking device of 3D printing robot with good passing performance |
| CN201910135849.2A CN109878581B (en) | 2019-02-25 | 2019-02-25 | Crawler-type running gear and 3D printing robot of 3D printing robot |
| CN202110054113.XA CN112810710B (en) | 2019-02-25 | 2019-02-25 | 3D printing robot's that conveniently turns to crawler-type running gear |
| CN202110054950.2A CN112810711B (en) | 2019-02-25 | 2019-02-25 | Improved generation 3D printing robot's crawler-type running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN202110054956.XA Division CN112810712B (en) | 2019-02-25 | 2019-02-25 | Crawler-type walking device of 3D printing robot with good passing performance |
| CN202110054950.2A Division CN112810711B (en) | 2019-02-25 | 2019-02-25 | Improved generation 3D printing robot's crawler-type running gear |
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| CN201910135849.2A Active CN109878581B (en) | 2019-02-25 | 2019-02-25 | Crawler-type running gear and 3D printing robot of 3D printing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114407354A (en) * | 2022-03-03 | 2022-04-29 | 天津大学 | Multi-degree-of-freedom double-nozzle crawler belt mobile 3D printing device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112810710B (en) | 2022-09-06 |
| CN112810712B (en) | 2022-09-06 |
| CN112810711A (en) | 2021-05-18 |
| CN112810711B (en) | 2022-10-28 |
| CN112810712A (en) | 2021-05-18 |
| CN109878581B (en) | 2021-03-05 |
| CN112810710A (en) | 2021-05-18 |
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